Navegação de robô móvel em ambiente com humanos

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Biblioteca de navegação autónoma baseada em campos de potencial

Trabalho de Final de Mestrado para obtenção do grau de Mestre em Engenharia Informática e de Computadores

Qualified intervention/qualifying formation

An education promoting scientific literacy (SL) that prepares the citizens to a responsible citizenship has persisted as an argument across discussions on curricula design. The ubiquity of science and technology on contemporary societies and the ideological requirement of informed democratic participation led to the identification of relevant categories that drive curriculum reforms towards a humanistic approach of school science. The category ‘Science as culture’ acquires in the current work a major importance: it enlightens the meaning of scientific literacy. Looking closely to the French term, culture scientifique et tecnologique, turns science simultaneously into a cultural object and product that can be both received and worked at different levels and within several approaches by the individuals and the communities. On the other hand, nonformal and informal education spaces gain greater importance. Together with the formal school environment these spaces allow for an enrichment and diversification of learning experiences. Examples of nonformal spaces where animators can develop their work may be science museums or botanical gardens; television and internet can be regarded as informal education spaces. Due to the above mentioned impossibility of setting apart the individual or community-based experiences from Science and Technology (S&T), the work in nonformal and informal spaces sets an additional challenge to the preparation of socio-cultural animators. Socio-scientific issues take, at times, heavily relevance within the communities. Pollution, high tension lines, spreading of diseases, food contamination or natural resources conservation are among the socio-scientific issues that often call upon arguments and emotions. In the context of qualifying programmes on socio-cultural animation (social education and community development) within European Higher Education Area (EHEA) the present study describes the Portuguese framework. The comparison of programmes within Portugal aims to contribute to the discussion on the curriculum design for a socio-cultural animator degree (1st cycle of Bologna process). In particular, this study intends to assess how the formation given complies with enabling animators to work, within multiple scenarios, with communities in situations of socio-scientific relevance. A set of themes, issues and both current and potential fields of action, not described or insufficiently described in literature, is identified and analysed in the perspective of a qualified intervention of animators. One of these examples is thoroughly discussed. Finally, suggestions are made about curriculum reforms in order, if possible, to strongly link the desired qualified intervention with a qualifying formation.

Basis invariant conditions for supersymmetry in the two-Higgs-doublet model

The minimal supersymmetric standard model involves a rather restrictive Higgs potential with two Higgs fields. Recently, the full set of classes of symmetries allowed in the most general two-Higgs-doublet model was identified; these classes do not include the supersymmetric limit as a particular class. Thus, a physically meaningful definition of the supersymmetric limit must involve the interaction of the Higgs sector with other sectors of the theory. Here we show how one can construct basis invariant probes of supersymmetry involving both the Higgs sector and the gaugino-Higgsino-Higgs interactions.

Toxicological Assessment of Coated versus Uncoated Rubber Granulates Obtained from Used Tires for Use in Sport Facilities

Reuse of tire crumb in sport facilities is currently a very cost-effective waste management measure. Considering that incorporation of the waste materials in artificial turf would be facilitated if the rubber materials were already colored green, coatings were specifically developed for this purpose. This paper presents an experimental toxicological and environmental assessment aimed at comparing the obtained emissions to the environment in terms of polycyclic aromatic hydrocarbons (PAHs), heavy metals, and ecotoxicity for coated and noncoated rubber granulates. This study is a comprehensive evaluation of the major potential critical factors related with the release of all of these classes of pollutants because previous studies were not systematically performed. It was concluded that between the two types of coatings tested, one is particularly effective in reducing emissions to the environment, simultaneously meeting the requirements of adherence and color stability.

An artificial neural network approach for short-term wind power forecasting in Portugal

This paper presents an artificial neural network approach for short-term wind power forecasting in Portugal. The increased integration of wind power into the electric grid, as nowadays occurs in Portugal, poses new challenges due to its intermittency and volatility. Hence, good forecasting tools play a key role in tackling these challenges. The accuracy of the wind power forecasting attained with the proposed approach is evaluated against persistence and ARIMA approaches, reporting the numerical results from a real-world case study.

Potential inundation of Lisbon downtown by a 1755-like tsunami

In this study, we present 10 m resolution tsunami flooding maps for Lisbon downtown and the Tagus estuary. To compute these maps we use the present bathymetry and topographic maps and a reasonable estimate for the maximum credible tsunami scenario. Tsunami modeling was made with a non-linear shallow water model using four levels of nested grids. The tsunami flood is discussed in terms of flow depth, run-up height and maximum inundation area. The results show that, even today, in spite of the significant morphologic changes in the city river front after the 1755 earthquake, a similar event would cause tsunami flow depths larger than one meter in a large area along the Tagus estuary and Lisbon downtown. Other areas along the estuary with a high population density would also be strongly affected. The impact of the tide on the extent of tsunami inundation is discussed, due to the large amplitude range of the tide in Lisbon, and compared with the historical descriptions of the 1755 event. The results presented here can be used to identify the potential tsunami inundation areas in Lisbon; this identification comprises a key element of the Portuguese tsunami emergency management system.

Fungal contamination of poultry litter: a public health problem

Although numerous studies have been conducted on microbial contaminants associated with various stages related to poultry and meat products processing, only a few reported on fungal contamination of poultry litter. The goals of this study were to (1) characterize litter fungal contamination and (2) report the incidence of keratinophilic and toxigenic fungi presence. Seven fresh and 14 aged litter samples were collected from 7 poultry farms. In addition, 27 air samples of 25 litters were also collected through impaction method, and after laboratory processing and incubation of collected samples, quantitative colony-forming units (CFU/m3) and qualitative results were obtained. Twelve different fungal species were detected in fresh litter and Penicillium was the most frequent genus found (59.9%), followed by Alternaria (17.8%), Cladosporium (7.1%), and Aspergillus (5.7%). With respect to aged litter, 19 different fungal species were detected, with Penicillium sp. the most frequently isolated (42.3%), followed by Scopulariopsis sp. (38.3%), Trichosporon sp. (8.8%), and Aspergillus sp. (5.5%). A significant positive correlation was found between litter fungal contamination (CFU/g) and air fungal contamination (CFU/m3). Litter fungal quantification and species identification have important implications in the evaluation of potential adverse health risks to exposed workers and animals. Spreading of poultry litter in agricultural fields is a potential public health concern, since keratinophilic (Scopulariopsis and Fusarium genus) as well as toxigenic fungi (Aspergillus, Fusarium, and Penicillium genus) were isolated.

Estudo do recife artificial a construir na Leirosa: aplicação de modelação numérica para simulação da propagação da agitação marítima

A temática dos recifes artificiais multifuncionais é relativamente recente, sendo que o primeiro recife artificial multifuncional construído data do ano de 1999 (Perth, Austrália). A palavra multifuncional está associada aos múltiplos propósitos que se podem atingir com a construção de uma estrutura destas, sendo eles, a proteção costeira, o aumento da biodiversidade local, a melhoria da qualidade das ondas para o Surf e a promoção do turismo ligado aos desportos de ondas. Para dar resposta a um caso de proteção costeira, na zona marítima adjacente à praia de Leirosa, Portugal, foi pensada uma construção de um recife artificial que funcione como obra de proteção do sistema dunar local e que, adicionalmente melhore as condições locais para a prática de Surf. Este trabalho descreve a análise de duas soluções de recife (em forma de “V”, formando um ângulo de 45º e 66º, entre si), através dos valores das características das ondas (altura, período e direção) e parâmetros de surfabilidade (linha de rebentação, número de Iribarren e ângulo de rebentação), para uma gama alargada de condições de agitação frequente. Para tal, foi necessário caracterizar a agitação marítima, através do modelo numérico SWAN para determinação dos casos de agitação mais frequentes na zona marítima adjacente ao local de implantação do recife e para, posteriormente, se proceder à sua utilização no modelo numérico DREAMS, que permitiu a simulação da propagação das ondas sobre o recife. A comparação dos resultados do modelo numérico DREAMS para as situações de com e sem recife (para as duas soluções de recife) permitiu avaliar a influência do mesmo em termos de alturas de onda, linha de rebentação e ângulo de rebentação, tendo-se chegado a resultados satisfatórios do ponto de vista do melhoramento das condições locais para a prática do Surf.

Cyanobacteria toxicity: potential public health impact in South Portugal populations

Cyanobacteria are prokaryotic, plantlike organisms present in lakes, recreational waters, and reservoirs, and often dominate phytoplankton communities in warm, nutrient-enriched hard waters. A stable water column rich in certain nutrients, especially nitrogen and phosphorus, is associated with favorable environmental conditions that support development of cyanobacterial population maxima or "blooms." Under specific conditions, cyanobacteria produce toxins that are responsible for acute poisoning and death of animals and humans. The main aim of this study was to correlate the presence of cyanobacteria blooms with potential toxicity to humans as a public health issue. In Portugal, seven reservoirs located in the southern region were selected and studied between 2000 and 2008. Reservoirs were characterized by physical and chemical aspects, and identification of phytoplankton communities. In the case of cyanobacterial blooms, toxins that affected the liver, nervous system, and skin were detected, namely, Microcystis aeruginosa, Aphanizomenon spp., and Oscillatoria. These findings suggest the presence of a potential risk for public health, and indicate the need to implement mitigation measures in all studied reservoirs. These measures may involve (1) water eutrophication control to avoid blooms, (2) appropriate treatment of water for human consumption, and (3) public warnings or information to those individuals that use these reservoirs for several recreational activities.

Fungal contamination in swine: a potential occupational health threat

Poor air quality in a pig-confinement building may potentially place farmers at higher health risk than other workers for exposure to airborne pollutants that may reach infectious levels. The aim of this study was to assess worker exposure to fungi in indoor environments in Portuguese swine buildings. Air samples from 7 swine farms were collected at a flow rate of 140 L/min, at 1 m height, onto malt extract agar supplemented with chloramphenicol (MEA). Surfaces samples of the same indoor sites were obtained by swabbing the surfaces. Samples from the floor covering were also collected from four of seven swine farms. All collected samples were incubated at 27°C for 5-7 days. After lab processing and incubation of obtained samples, quantitative colony-forming units (CFU)/m(3), CFU/cm(2), and CFU/g and qualitative results were determined with identification of isolated fungal species. Aspergillus versicolor was the most frequent species found in air (21%), followed by Scopulariopsis brevicaulis (17%) and Penicillium sp. (14%). Aspergillus versicolor was also the most frequent species noted on surfaces (26.6%), followed by Cladosporium sp. (22.4%) and Scopulariopsis brevicaulis (17.5%). Chrysosporium was the most frequently found genera in the new floor covering (38.5%), while Mucor was the most prevalent genera (25.1%) in used floor covering. Our findings corroborate a potential occupational health threat due to fungi exposure and suggest the need for a preventive strategy.

Modelação e simulação de sistemas fotovoltaicos

Os sistemas fotovoltaicos produzem energia eléctrica limpa, e inesgotável na nossa escala temporal. A Agência Internacional de Energia encara a tecnologia fotovoltaica como uma das mais promissoras, esperando nas suas previsões mais optimistas, que em 2050 possa representar 20% da produção eléctrica mundial, o equivalente a 18000 TWh. No entanto, e apesar do desenvolvimento notável nas últimas décadas, a principal condicionante a uma maior proliferação destes sistemas é o ainda elevado custo, aliado ao seu fraco desempenho global. Apesar do custo e ineficiência dos módulos fotovoltaicos ter vindo a diminuir, o rendimento dos sistemas contínua dependente de factores externos sujeitos a grande variabilidade, como a temperatura e a irradiância, e às limitações tecnológicas e falta de sinergia dos seus equipamentos constituintes. Neste sentido procurou-se como objectivo na elaboração desta dissertação, avaliar o potencial de optimização dos sistemas fotovoltaicos recorrendo a técnicas de modelação e simulação. Para o efeito, em primeiro lugar foram identificados os principais factores que condicionam o desempenho destes sistemas. Em segundo lugar, e como caso prático de estudo, procedeu-se à modelação de algumas configurações de sistemas fotovoltaicos, e respectivos componentes em ambiente MatlabTM/SimulinkTM. Em seguida procedeu-se à análise das principais vantagens e desvantagens da utilização de diversas ferramentas de modelação na optimização destes sistemas, assim como da incorporação de técnicas de inteligência artificial para responder aos novos desafios que esta tecnologia enfrentará no futuro. Através deste estudo, conclui-se que a modelação é não só um instrumento útil para a optimização dos actuais sistemas PV, como será, certamente uma ferramenta imprescindível para responder aos desafios das novas aplicações desta tecnologia. Neste último ponto as técnicas de modelação com recurso a inteligência artificial (IA) terão seguramente um papel preponderante. O caso prático de modelação realizado permitiu concluir que esta é igualmente uma ferramenta útil no apoio ao ensino e investigação. Contudo, convém não esquecer que um modelo é apenas uma aproximação à realidade, devendo recorrer-se sempre ao sentido crítico na interpretação dos seus resultados.

Models with three Higgs doublets in the triplet representations of A(4) or S-4

We consider the quark sector of theories containing three scalar SU(2)(L) doublets in the triplet representation of A(4) (or S-4) and three generations of quarks in arbitrary A(4) (or S-4) representations. We show that for all possible choices of quark field representations and for all possible alignments of the Higgs vacuum expectation values that can constitute global minima of the scalar potential, it is not possible to obtain simultaneously nonvanishing quark masses and a nonvanishing CP-violating phase in the Cabibbo-Kobayashi-Maskawa quark mixing matrix. As a result, in this minimal form, models with three scalar fields in the triplet representation of A(4) or S-4 cannot be extended to the quark sector in a way consistent with experiment. DOI: 10.1103/PhysRevD.87.055010.

Effective isotropic potential for dipolar hard spheres

A new effective isotropic potential is proposed for the dipolar hard-sphere fluid, on the basis of recent results by others for its angle-averaged radial distribution function. The new effective potential is shown to exhibit oscillations even for moderately high densities and moderately strong dipole moments, which are absent from earlier effective isotropic potentials. The validity and significance of this result are briefly discussed.

A similarity measure for music signals

One of the goals in the field of Music Information Retrieval is to obtain a measure of similarity between two musical recordings. Such a measure is at the core of automatic classification, query, and retrieval systems, which have become a necessity due to the ever increasing availability and size of musical databases. This paper proposes a method for calculating a similarity distance between two music signals. The method extracts a set of features from the audio recordings, models the features, and determines the distance between models. While further work is needed, preliminary results show that the proposed method has the potential to be used as a similarity measure for musical signals.