Recuperação de componentes de metal duro por projeção térmica

The main objective of this work is the development of a hardmetal components (WC-6%Co) recovery method by thermal deposition process. The thermal deposition technique used was HVOF (high velocity oxygen-fuel). The HVOF enables depositions of thick coatings (100-500 µm) with low porosity levels, high hardness and excellent adhesion. Before deposition, hardmetal samples with different geometries (plates and cylinders) were finished in order to have different roughness. The influence of these parameters in adhesion was studied. After this step, different re-sintering temperatures were used, in order to determine which one allows to obtain the maxima densification, elements distribution and metallurgical bonding. The re-sintering promotes the densification of the coating, with an increase of its hardness and metallurgical bonding formation. The inclusion of an intermetallic layer was tested along with different layer parameters. In liquid phase sintering (1383 and 1455 ºC) a complete densification of the coating occurred, while a bonding between the substrate and the coating only partially happened. The results of SEM/EDS show low levels of porosity and a complete and uniform distribution of the elements of the alloy. The cylindrical samples without intermetallic layer showed the lowest level of porosity and best metallurgical bonding. When the substrate surface was polished (Ra = 0.05 mm) lower levels of porosity and greater metallurgical bonding were found for both geometries. Taking into account the results obtained in this study, we can conclude that the implementation of this process is appropriate for cylindrical components with a polished surface. In these components the intermetallic layer is unnecessary and punctual defects like pores can be repaired with this process.

Création littéraire sous contexte médiatisé: l'œuvre de Michel Houellebecq, Amélie Nothomb et Jacques Chessex

Partindo da análise dos processos de legitimação e de consagração que regem, a partir da segunda metade do século XX, a mediatização do campo literário, propomo-nos estudar os peri-fenómenos consequentes, tal como a correlação possível entre essa circunstância e a própria criação. O objeto deste estudo focaliza-se na produção de três escritores paradigmáticos das letras de expressão francesa europeias contemporâneas, cuja mediatização acompanha a popularidade: o francês Michel Houellebecq, a belga Amélie Nothomb e o suíço romando Jacques Chessex. Interrogamo-nos sobre as relações possíveis entre os instrumentos dessa mediatização e os seus efeitos nas opções de escrita destes três escritores. Atenta à projeção transfronteiriça de autores e de obras, resultado de uma convergência de alguns fatores de mediatização, mas também às particularidades da memória cultural e literária onde se inscrevem as literaturas respectivas (num percurso de legitimação progressiva das literaturas de periferia face à centralidade franco-francesa), a nossa reflexão visa também contribuir para uma recontextualização do cânone da literatura francesa no contexto globalizado da sociedade mediática contemporânea na qual os autores visados estão comprometidos.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

Functional analysis of String/CDC25 phosphatase in post-mitotic neurons

Cell cycle and differentiation are two highly coordinated processes during organ development. Recent studies have demonstrated that core cell cycle regulators also play cell cycle-independent functions in post-mitotic neurons, and are essential for the maintenance of neuronal homeostasis. CDC25 phosphatases are well-established CDK activators and their activity is mainly associated to proliferating tissues. The expression and activity of mammalian CDC25s has been reported in adult brains. However, their physiological relevance and the potential substrates in a non-proliferative context have never been addressed. string (stg) encodes the Drosophila CDC25 homolog. Previous studies from our group showed that stg is expressed in photoreceptors (PRs) and in lamina neurons, which are two differentiated cell types that compose the fly visual system. The aims of this work are to uncover the function of stg and to identify its potential neuronal substrates, using the Drosophila visual system as a model. To gain insight into the function of stg in a non-dividing context we used the GAL4/UAS system to promote downregulation of stg in PR-neurons, through the use of an RNAi transgene. The defects caused by stg loss-of-function were evaluated in the developing eye imaginal disc by immunofluorescence, and during adult stages by scanning electron microscopy. This genetic approach was combined with a specific proteomic method, two-dimensional difference gel electrophoresis (2D-DIGE), to identify the potential substrates in PR-cells. Our results showed that stg downregulation in PRs affects the well-patterned retina organization, inducing the loss of apical maintenance of PR-nuclei on the eye disc, and ommatidia disorganization. We also detected an abnormal accumulation of cytoskeletal proteins and a disruption of the axon structure. As a consequence, the projection of PR-axons into the lamina and medulla neuropils of the optic lobe was impaired. Upon stg downregulation, we also detected that PR-cells accumulate Cyclin B. Although the rough eye phenotype observed upon stg downregulation suggests neurodegeneration, we did not detect neuronal death during larval stages, suggesting that it likely occurs during pupal stages or during adulthood. By 2D-DIGE, we identified seven proteins which were differentially expressed upon stg downregulation, and are potential neuronal substrates of Stg. Altogether, our observations suggest that Stg phosphatase plays an essential role in the Drosophila visual system neurons, regulating several cell components and processes in order to ensure their homeostasis.

Sistema de realidade aumentada no procedimento cirúrgico de remoção de pedras nos rins

A inovação tecnológica e as facilidades que gera tem tido um impacto crescente em diversas área, inclusivamente na medicina. A rápida evolução por parte de algumas tecnologias, como é o caso da Realidade Aumentada (RA), criam excelentes oportunidades, nomeadamente para intervenções cirúrgicas laparoscópicas, que apresentam especialmente problemas ao nível da exposição do doente a radiação. O presente documento detalha todo o processo de investigação e desenvolvimento realizado com a pretensão de criar um sistema de navegação por RA que auxilie o procedimento cirúrgico laparoscópico de remoção de pedras nos rins. Com este objetivo em perspetiva, e numa parceria com a empresa ECmedica LTD, foram desenvolvidos quatro protótipo funcionais. Com o intuito de compreender as melhores práticas de sistemas de input, interface e sistema de registo a aplicar, estes integraram aspetos inovadores tais como a utilização de uma sonda ultra-som, como substituta do raioX, e um registo feito através de sensores magnéticos. Apoiados numa metodologia de design centrado no utilizador e em instrumentos de análise como entrevistas e observação natural, os protótipos foram testados, obtendo respostas esclarecedoras relativamente ao objetivos dos protótipos. Foi observado que a RA é vista pelos médicos como uma solução com potencial, com as soluções apresentadas ao nível de inputs, interface e registo a serem bem recebidas. A projeção bidimensional oferecida pela imagem ultra-som foi encarada como insuficientes, sendo sugerida a sua substituição por um aumento tridimensional capaz de facilitar a correta inserção da agulha.