Bin picking de objetos polimórficos convexos usando perceção 3D

O bin picking é um processo de grande interesse na indústria, uma vez que permite maior automatização, aumento da capacidade de produção e redução dos custos. Este tem vindo a evoluir bastante ao longo dos anos e essa evolução fez com que sistemas de perceção 3D começassem a ser implementados. Este trabalho tem como principal objetivo desenvolver um sistema de bin picking usando apenas perceção 3D. O sistema deve ser capaz de determinar a posição e orientação de objetos com diferentes formas e tamanhos, posicionados aleatoriamente numa superfície de trabalho. Os objetos utilizados para fazer os testes experimentais, são esferas, cilindros e prismas, uma vez que abrangem as formas geométricas existentes em muitos produtos submetidos a bin picking. Após a identi cação e seleção do objeto a apanhar, o manipulador deve autonomamente posicionar-se para fazer a aproximação e recolha do mesmo. A aquisição de dados é feita através de uma câmara Kinect. Dos dados recebidos apenas são trabalhados os referentes à profundidade, centrando-se assim este trabalho na análise e tratamento de nuvem de pontos. O sistema desenvolvido cumpre com os objetivos estabelecidos. Consegue localizar e apanhar objetos em várias posições e orientações. Além disso apresenta uma velocidade de processamento compatível com a aplicação em causa.

Metabonomic studies to assess beer quality and stability

The work reported in this thesis aimed at applying the methodology known as metabonomics to the detailed study of a particular type of beer and its quality control, with basis on the use of multivariate analysis (MVA) to extract meaningful information from given analytical data sets. In Chapter 1, a detailed description of beer is given considering the brewing process, main characteristics and typical composition of beer, beer stability and the commonly used analytical techniques for beer analysis. The fundamentals of the analytical methods employed here, namely nuclear magnetic resonance (NMR) spectroscopy, gas-chromatography-mass spectrometry (GC-MS) and mid-infrared (MIR) spectroscopy, together with the description of the metabonomics methodology are described shortly in Chapter 2. In Chapter 3, the application of high resolution NMR to characterize the chemical composition of a lager beer is described. The 1H NMR spectrum obtained by direct analysis of beer show a high degree of complexity, confirming the great potential of NMR spectroscopy for the detection of a wide variety of families of compounds, in a single run. Spectral assignment was carried out by 2D NMR, resulting in the identification of about 40 compounds, including alcohols, amino acids, organic acids, nucleosides and sugars. In a second part of Chapter 3, the compositional variability of beer was assessed. For that purpose, metabonomics was applied to 1H NMR data (NMR/MVA) to evaluate beer variability between beers from the same brand (lager), produced nationally but differing in brewing site and date of production. Differences between brewing sites and/or dates were observed, reflecting compositional differences related to particular processing steps, including mashing, fermentation and maturation. Chapter 4 describes the quantification of organic acids in beer by NMR, using different quantitative methods: direct integration of NMR signals (vs. internal reference or vs. an external electronic reference, ERETIC method) and by quantitative statistical methods (using the partial least squares (PLS) regression) were developed and compared. PLS1 regression models were built using different quantitative methods as reference: capillary electrophoresis with direct and indirect detection and enzymatic essays. It was found that NMR integration results generally agree with those obtained by the best performance PLS models, although some overestimation for malic and pyruvic acids and an apparent underestimation for citric acid were observed. Finally, Chapter 5 describes metabonomic studies performed to better understand the forced aging (18 days, at 45 ºC) beer process. The aging process of lager beer was followed by i) NMR, ii) GC-MS, and iii) MIR spectroscopy. MVA methods of each analytical data set revealed clear separation between different aging days for both NMR and GC-MS data, enabling the identification of compounds closely related with the aging process: 5-hydroxymethylfurfural (5-HMF), organic acids, γ-amino butyric acid (GABA), proline and the ratio linear/branched dextrins (NMR domain) and 5-HMF, furfural, diethyl succinate and phenylacetaldehyde (known aging markers) and, for the first time, 2,3-dihydro-3,5-dihydroxy-6-methyl-4(H)-pyran-4-one xii (DDMP) and maltoxazine (by GC-MS domain). For MIR/MVA, no aging trend could be measured, the results reflecting the need of further experimental optimizations. Data correlation between NMR and GC-MS data was performed by outer product analysis (OPA) and statistical heterospectroscopy (SHY) methodologies, enabling the identification of further compounds (11 compounds, 5 of each are still unassigned) highly related with the aging process. Data correlation between sensory characteristics and NMR and GC-MS was also assessed through PLS1 regression models using the sensory response as reference. The results obtained showed good relationships between analytical data response and sensory response, particularly for the aromatic region of the NMR spectra and for GC-MS data (r > 0.89). However, the prediction power of all built PLS1 regression models was relatively low, possibly reflecting the low number of samples/tasters employed, an aspect to improve in future studies.

Ecological quality assessment in transitional systems

Estuaries are poles of attraction for human settlement which is a source of pressures to surface water bodies. The implementation of the European Water Framework Directive (WDF, 2000/60/EC) has increased the investigation in order to develop methodologies to assess the Ecological Quality Status (EQS) of aquatic ecosystems. Transitional systems are naturally stressed and characterized by highly dynamic physical, chemical and hydro-morphologic conditions and by species with a higher level of tolerance to change, being more difficult to develop suitable quality indicators for these systems. The general purpose of this study is to test the ability of synthesis descriptors, including primary (S, taxa richness) and derived biological variable (H’, Shannon-Wiener diversity), biotic indices (AMBI and M-AMBI), body size properties (abundance distribution by body size classes, length, weight and length-weight relationships) and non-taxonomic indices (ISS), as well as functional indicators related to the decomposition rates of various experimental substrates, a macrophyte (Phragmites australis) and an alga (Fucus vesiculosus), to evaluate the environmental quality in transitional systems. This study was carried out in one of the most pristine channels of the Ria the Aveiro, Mira Channel, along a full salinity gradient and in a metals and metalloid sediment contamination area, the Estarreja Channel, and two reference channels (Canelas and Salreu). In this study were used different sampling techniques, the leaf-bag technique and a hand-held corer. In Mira Channel, the alga and the macrophyte presented an opposite trend in the decomposition rate along the salinity gradient, with the decomposition rates of the alga always higher than those of the macrophyte. The decomposition rates of the macrophyte and the alga were higher in the mid estuary and in higher salinity areas, respectively, corresponding to the preferencial distribution areas of each species. The macrobenthic fauna associated with the decaying and an artificial substrate (control) showed equally well the benthic succession from the marine to the freshwater areas and, despite the strong differences in the decay rates, no significant differences were found between the benthic communities associated with the alga and the macrophyte. The body size properties of the macrobenthic fauna associated with the P. australis leaf-bag (1mm and 5mm) and corer samples were studied along the full salinity gradient. The dominant species of the sub-set of measured specimens were not the same of the original macrobenthic fauna sampled but, despite that, the sub-set of measured specimens was also able to show the benthic succession from the marine to the freshwater areas. The body size abundance distribution of the benthic macroinvertebrates according to the ISS size classes did not show a particular trend in any sampler along the salinity gradient. Significant differences were found in the length, weight and length-weight relationships of Annelids, , Molluscs and even some species along the salinity gradient. No significant differences were found in the AMBI, M-AMBI and ISS values along the salinity gradient for all the samplers. The EQS of the corer samples obtained using the M-AMBI was lower than that of the leaf-bags. The EQS obtained with the ISS was higher than that obtained with the M-AMBI in the leaf-bags but not in the corer samples. The ecological effects of contaminated sediments associated with the industrial chemical effluents discharged in the Estarreja Channel were studied a decade after ceasing the emissions, using the Sediment Quality Triad approach and two reference channels. The results showed that despite the emissions ceased in 2004, the sediment remains polluted with high levels of metals and metalloid, available to bioaccumulation and with severe consequences at the community level. The sediment contamination problem was also studied using the leaf-bag technique with a macrophyte, an alga and a control substrate. The results showed that the decay rates, the associated macrofauna and the application of the AMBI, M-AMBI and ISS indices to the mesh-bag samples were not able to identify the sediment contamination. Contrarily to the AMBI, the M-AMBI and the ISS showed significant differences between the contaminated and the reference channels for the corer samples. Although such statistical significance, the interest of using these complex biotic indices could be questioned, when much simple ones, like the S and H’ allow to reach the same conclusions.

Obesidade infantil: práticas alimentares e percepção materna de competências

A obesidade infantil é um importante problema de saúde pública, não só pelos efeitos adversos durante a infância mas porque tende a persistir na idade adulta, constituindo um factor de risco para diversas doenças crónicas. Os alicerces de uma vida saudável estruturam-se na vida pré-natal e sedimentam-se nos seis primeiros anos de vida, sendo o crescimento da criança fortemente influenciado pelo seu contexto ambiental familiar. Foi neste âmbito que emergiu como objectivo geral deste estudo explorar as relações existentes entre os determinantes infantis (antecedentes obstétricos e peri-natais) e parentais (práticas alimentares, conhecimento dos pais sobre alimentação infantil, percepção parental de competência e percepção do peso da criança) e o desenvolvimento de excesso de peso em crianças pré-escolares. Este estudo, de carácter observacional e transversal, foi realizado com 792 crianças pré-escolares, idade M= 4,39 anos (±0,91Dp) e seus pais, residentes num concelho pertencente às NUTs III Dão-Lafões, sendo efectuada a avaliação antropométrica e classificação nutricional das crianças com base no referencial NCHS (CDC, 2000) e da OMS nos pais. O protocolo de pesquisa incluiu instrumentos de medida que validamos para a população portuguesa e a construção do Questionário de Conhecimentos sobre Alimentação Infantil (QAI) cujas propriedades psicométricas certificam a sua qualidade (Alfa de Cronbach = 0,942; Alfa de Cronbach teste re-teste = 0,977). Nas crianças, 31,3% apresentavam excesso de peso (12,4% obesidade), assim como 41,1% das mães (10,2% obesidade) e 64,4% dos pais (14,8% obesidade), sendo mais evidente nas mães o risco metabólico associado ao Perímetro da Cintura. As mães revelam mais conhecimentos sobre alimentação e sentimentos de eficácia mais elevados com o papel parental, enquanto os pais manifestaram mais sentimentos de motivação e satisfação. Os resultados obtidos corroboram existir efeito significativo dos determinantes infantis e parentais no excesso de peso da criança, designadamente: (i) do peso ao nascer, com impacto dos nascidos grandes; (ii) da higiene do sono especificamente dos que dormem menos de 11horas; (iii) dos que não brincam na rua, (iv) das mães mais jovens, do IMC e risco metabólico dos Pais; (v) da percepção parental da imagem corporal dos filhos, verificando-se que quanto mais elevado o IMC das crianças, mais distorcida é esta percepção dos pais; (vi) das crenças, atitudes e práticas alimentares e que permitem inferir que uma maior preocupação com o peso da criança, maior controlo, restrição e menor pressão para comer se associa a maior excesso de peso. As inferências evidenciam que, na vigilância de saúde periódica se torna imprescindível a valorização dos determinantes de risco biológicos e familiares do excesso de peso infantil, considerando programas de intervenção centrados na família, num processo que encontre sentido a partir daquilo que as famílias experienciam, de forma a ajudá-las a criar recursos fortalecedores de competência para uma parentalidade mais positiva.

Complete spin and orbital evolution of close-in bodies using a Maxwell viscoelastic rheology

In this paper, we present a formalism designed to model tidal interaction with a viscoelastic body made of Maxwell material. Our approach remains regular for any spin rate and orientation, and for any orbital configuration including high eccentricities and close encounters. The method is to integrate simultaneously the rotation and the position of the planet as well as its deformation. We provide the equations of motion both in the body frame and in the inertial frame. With this study, we generalize preexisting models to the spatial case and to arbitrary multipole orders using a formalism taken from quantum theory. We also provide the vectorial expression of the secular tidal torque expanded in Fourier series. Applying this model to close-in exoplanets, we observe that if the relaxation time is longer than the revolution period, the phase space of the system is characterized by the presence of several spin-orbit resonances, even in the circular case. As the system evolves, the planet spin can visit different spin-orbit configurations. The obliquity is decreasing along most of these resonances, but we observe a case where the planet tilt is instead growing. These conclusions derived from the secular torque are successfully tested with numerical integrations of the instantaneous equations of motion on HD 80606 b. Our formalism is also well adapted to close-in super-Earths in multiplanet systems which are known to have non-zero mutual inclinations.