2D PCA-Based localization for mobile robots in unstructured environments

In this paper a new PCA-based positioning sensor and localization system for mobile robots to operate in unstructured environments (e. g. industry, services, domestic ...) is proposed and experimentally validated. The inexpensive positioning system resorts to principal component analysis (PCA) of images acquired by a video camera installed onboard, looking upwards to the ceiling. This solution has the advantage of avoiding the need of selecting and extracting features. The principal components of the acquired images are compared with previously registered images, stored in a reduced onboard image database, and the position measured is fused with odometry data. The optimal estimates of position and slippage are provided by Kalman filters, with global stable error dynamics. The experimental validation reported in this work focuses on the results of a set of experiments carried out in a real environment, where the robot travels along a lawn-mower trajectory. A small position error estimate with bounded co-variance was always observed, for arbitrarily long experiments, and slippage was estimated accurately in real time.

Enhanced PCA-based localization using depth maps with missing data

In this paper a new method for self-localization of mobile robots, based on a PCA positioning sensor to operate in unstructured environments, is proposed and experimentally validated. The proposed PCA extension is able to perform the eigenvectors computation from a set of signals corrupted by missing data. The sensor package considered in this work contains a 2D depth sensor pointed upwards to the ceiling, providing depth images with missing data. The positioning sensor obtained is then integrated in a Linear Parameter Varying mobile robot model to obtain a self-localization system, based on linear Kalman filters, with globally stable position error estimates. A study consisting in adding synthetic random corrupted data to the captured depth images revealed that this extended PCA technique is able to reconstruct the signals, with improved accuracy. The self-localization system obtained is assessed in unstructured environments and the methodologies are validated even in the case of varying illumination conditions.

Projecto de optimização de unidade de secagem de bacalhau por ar forçado

Este Projecto consiste na Concepção de uma Unidade Industrial de Secagem de Bacalhau, no qual serão projectados túneis de secagem, e consequentemente toda a explicação da dinâmica incutida na secagem do bacalhau. Este trabalho começará com uma introdução à secagem artificial do bacalhau, onde se fará referência aos factores envolventes que directa ou indirectamente influenciam a secagem, de onde se realça, de entre outros, as condições termodinâmicas da secagem. De seguida, será feita uma abordagem clara sobre a decomposição do pescado salgado seco, no qual abordaremos a temática relativa às diferentes formas de decomposição que poderão ocorrer nos mesmos, como a muscosidade, bactérias vermelhas ou fungos. Posteriormente, e de um ponto de vista claro e pragmático, apresentar-se-á a memória descritiva do projecto propriamente dito. Neste ponto descreve-se-á todo o projecto, começando-se pelo seu objectivo, pela descrição da Unidade e pela explicação do processo tecnológico. De seguida, faremos uma breve explicação sobre o sistema de segurança do HACCP, no qual fazer-se-á referência às regras higio – sanitárias e técnico-funcionais da Unidade, passando-se depois, ao dimensionamento das câmaras frigorificas e dos túneis de secagem. Após o dimensionamento das instalações serão realizados os balanços térmicos, a partir dos quais, as instalações frigoríficas das câmaras e túneis de secagem serão dimensionadas. No âmbito dos componentes inseridos nas instalações frigoríficas da Unidade Industrial iremos proceder a uma explicação clara e sucinta dos mesmos. Na parte final, mas não menos importante, far-se-á um resumo do funcionamento das instalações das câmaras frigoríficas e túneis de secagem.

Medida de aerossóis recolhidos na cidade de Lisboa e sua relação com as condições meteorológicas

Este trabalho teve como objectivos estudar a relação entre os teores de aerossóis medidos na cidade de Lisboa e as condições meteorológicas registadas. O período de amostragem decorreu entre 20 de Janeiro e 19 de Fevereiro de 2009, a designada “Campanha de Inverno” do Projecto de Investigação “Contaminação da atmosfera urbana de Lisboa por Hidrocarbonetos Aromáticos Policíclico (PAHLis)”. Foram seleccionados dois locais da cidade de Lisboa com diferentes níveis de poluição: Olivais e Avenida da Liberdade. Nestes locais existem também estações da Rede da Qualidade do Ar cujos dados foram usados para completar e validar os dados por nós recolhidos. O étodo usado para a determinação da concentração de PM foi o método de referência (método gravimétrico) referido pelas normas EN 12341:1998 e EN 14907:2005. Em cada local, foram recolhidas partículas em suspensão no ar através de amostradores Gent e High-Vol. O Gent é um amostrador de baixo volume (cerca de 12 L de ar por minuto) que possui duas unidades de filtros de policarbonato de dois tamanhos de poro sendo assim possível a recolha de partículas PM2.5 e PM10-2.5 separadamente. O High-Vol é um equipamento de amostragem de alto volume (cerca de 1 m3 de ar por minuto) e onde foram usados dois filtros de quartzo em cascata para a recolha de partículas PM2.5 e PM10-2.5. Verificou-se que os amostradores não foram totalmente eficazes na separação das partículas, segundo os diâmetros aerodinâmicos pretendidos. Os dados apresentaram alguma discrepância face aos dados obtidos pelos High-Vol e também face aos dados obtidos pelos medidores das estações. Optou-se assim pela utilização dos dados obtidos com o amostrador High-Vol. Verifica-se que a Avenida da Liberdade é dos locais de estudo o mais poluído e que a concentração da fracção fina é mais elevada. Tal facto deve-se provavelmente à intensa circulação automóvel, principal fonte poluidora no local. Para o período em estudo e neste local, foi obtida uma média de 16.5 µg/m3 de PM 10-2.5 e 21.9 µg/m3 de PM 2.5. No mesmo período registou-se nos Olivais uma média de 9.0 µg/m3 para a fracção grosseira e 12.3 µg/m3 para a fracção fina. Os dados meteorológicos foram fornecidos pelas estações meteorológicas localizadas nas imediações dos locais em estudo: estação MeteoPortela e estação do Instituto Dom Luiz. Foram recolhidos e tratados dados de temperatura, precipitação, humidade, velocidade e direcção do vento. Com recurso à análise de componentes principais (PCA) foi possível verificar a relação e influência das condições meteorológicas sobre os teores de partículas. Foi possível a redução das variáveis iniciais tendo-se concluído que a humidade, a percipitação e a velocidade do vento são as condições que maior influência têm sobre as partículas. Um aumento destas variáveis provoca uma diminuição global do teor das partículas. Para uma clara definição de um modelo PCA para estes dados, os estudos deverão se prolongados no tempo.

Low-Carbon Cement with Waste Oil-Cracking Catalyst Incorporation

The present paper shows preliminary results of an ongoing project which one of the goals is to investigate the viability of using waste FCC catalyst (wFCC), originated from Portuguese oil refinery, to produce low carbon blended cements. For this purpose, four blended cements were produced by substituting cement CEM I 42.5R up to 20% (w/w) by waste FCC catalyst. Initial and final setting times, consistency of standard paste, soundness and compressive strengths after 2, 7 and 28 days were measured. It was observed that the wFCC blended cements developed similar strength, at 28 days, compared to the reference cement, CEM I 42.5R. Moreover, cements with waste FCC catalyst incorporation up to 15% w/w meet European Standard EN 197-1 specifications for CEM II/A type cement, in the 42.5R strength class.

Ensino de léxico e texto descritivo

Dissertação apresentada à Escola Superior de Educação de Lisboa para obtenção de grau de mestre em Didáctica da Língua Portuguesa no 1.º e 2.º Ciclos do Ensino Básico

Impact of maritime air mass trajectories on the Western European coast urban aerosol

Lisbon is the largest urban area in the Western European coast. Due to this geographical position the Atlantic Ocean serves as an important source of particles and plays an important role in many atmospheric processes. The main objectives of this study were to (1) perform a chemical characterization of particulate matter (PM2.5) sampled in Lisbon, (2) identify the main sources of particles, (3) determine PM contribution to this urban area, and (4) assess the impact of maritime air mass trajectories on concentration and composition of respirable PM sampled in Lisbon. During 2007, PM2.5 was collected on a daily basis in the center of Lisbon with a Partisol sampler. The exposed Teflon filters were measured by gravimetry and cut into two parts: one for analysis by instrumental neutron activation analysis (INAA) and the other by ion chromatography (IC). Principal component analysis (PCA) and multilinear regression analysis (MLRA) were used to identify possible sources of PM2.5 and determine mass contribution. Five main groups of sources were identified: secondary aerosols, traffic, calcium, soil, and sea. Four-day backtracking trajectories ending in Lisbon at the starting sampling time were calculated using the HYSPLIT model. Results showed that maritime transport scenarios were frequent. These episodes were characterized by a significant decrease of anthropogenic aerosol concentrations and exerted a significant role on air quality in this urban area.

Modelo de data mining para detecção de tumores em exames de rastreio

Dissertação para obtenção do grau de Mestre em Engenharia Informática

Diarreia em crianças menores de cinco anos no Hospital Geral do Bengo

A doença diarreica constitui uma das principais causas de morte em crianças menores de cinco anos em Angola. O presente estudo assume como principal objectivo identificar os agentes patogénicos causadores de diarreia, entre eles vírus, parasitas e bactérias, das crianças admitidas no Hospital Geral do Bengo. Material de estudo - O estudo iniciou-se em Setembro de 2012, tendo sido incluídas crianças menores de 5 anos admitidas no Hospital Geral do Bengo por diarreia (serviço de urgência e consulta externa) até Outubro de 2013, sem história de antibioterapia.

Estudo dos agentes causais de diarreia em crianças menores de 5 anos no Hospital Geral do Bengo

A diarreia pode ser causada por vírus, parasitas e bactérias e constitui uma das principais causas de doença e morte em crianças menores de cinco anos em Angola. O presente estude assume como principal objectivo identificar os agentes patogénicos causadores de diarreia em crianças admitidas no Hospital Geral do Bengo.

Arithmetic-based binary-to-RNS converter modulo {2(n)+/- k} for jn-Bit dynamic range

In this brief, a read-only-memoryless structure for binary-to-residue number system (RNS) conversion modulo {2(n) +/- k} is proposed. This structure is based only on adders and constant multipliers. This brief is motivated by the existing {2(n) +/- k} binary-to-RNS converters, which are particular inefficient for larger values of n. The experimental results obtained for 4n and 8n bits of dynamic range suggest that the proposed conversion structures are able to significantly improve the forward conversion efficiency, with an AT metric improvement above 100%, regarding the related state of the art. Delay improvements of 2.17 times with only 5% area increase can be achieved if a proper selection of the {2(n) +/- k} moduli is performed.

A comprehensive high-throughput FTIR spectroscopy-based method for evaluating the transfection event: estimating the transfection efficiency and extracting associated metabolic responses

Reporter genes are routinely used in every laboratory for molecular and cellular biology for studying heterologous gene expression and general cellular biological mechanisms, such as transfection processes. Although well characterized and broadly implemented, reporter genes present serious limitations, either by involving time-consuming procedures or by presenting possible side effects on the expression of the heterologous gene or even in the general cellular metabolism. Fourier transform mid-infrared (FT-MIR) spectroscopy was evaluated to simultaneously analyze in a rapid (minutes) and high-throughput mode (using 96-wells microplates), the transfection efficiency, and the effect of the transfection process on the host cell biochemical composition and metabolism. Semi-adherent HEK and adherent AGS cell lines, transfected with the plasmid pVAX-GFP using Lipofectamine, were used as model systems. Good partial least squares (PLS) models were built to estimate the transfection efficiency, either considering each cell line independently (R 2 ≥ 0.92; RMSECV ≤ 2 %) or simultaneously considering both cell lines (R 2 = 0.90; RMSECV = 2 %). Additionally, the effect of the transfection process on the HEK cell biochemical and metabolic features could be evaluated directly from the FT-IR spectra. Due to the high sensitivity of the technique, it was also possible to discriminate the effect of the transfection process from the transfection reagent on KEK cells, e.g., by the analysis of spectral biomarkers and biochemical and metabolic features. The present results are far beyond what any reporter gene assay or other specific probe can offer for these purposes.

In Situ Near-Infrared (NIR) Versus High-Throughput Mid- Infrared (MIR) Spectroscopy to Monitor Biopharmaceutical Production

The development of biopharmaceutical manufacturing processes presents critical constraints, with the major constraint being that living cells synthesize these molecules, presenting inherent behavior variability due to their high sensitivity to small fluctuations in the cultivation environment. To speed up the development process and to control this critical manufacturing step, it is relevant to develop high-throughput and in situ monitoring techniques, respectively. Here, high-throughput mid-infrared (MIR) spectral analysis of dehydrated cell pellets and in situ near-infrared (NIR) spectral analysis of the whole culture broth were compared to monitor plasmid production in recombinant Escherichia coil cultures. Good partial least squares (PLS) regression models were built, either based on MIR or NIR spectral data, yielding high coefficients of determination (R-2) and low predictive errors (root mean square error, or RMSE) to estimate host cell growth, plasmid production, carbon source consumption (glucose and glycerol), and by-product acetate production and consumption. The predictive errors for biomass, plasmid, glucose, glycerol, and acetate based on MIR data were 0.7 g/L, 9 mg/L, 0.3 g/L, 0.4 g/L, and 0.4 g/L, respectively, whereas for NIR data the predictive errors obtained were 0.4 g/L, 8 mg/L, 0.3 g/L, 0.2 g/L, and 0.4 g/L, respectively. The models obtained are robust as they are valid for cultivations conducted with different media compositions and with different cultivation strategies (batch and fed-batch). Besides being conducted in situ with a sterilized fiber optic probe, NIR spectroscopy allows building PLS models for estimating plasmid, glucose, and acetate that are as accurate as those obtained from the high-throughput MIR setup, and better models for estimating biomass and glycerol, yielding a decrease in 57 and 50% of the RMSE, respectively, compared to the MIR setup. However, MIR spectroscopy could be a valid alternative in the case of optimization protocols, due to possible space constraints or high costs associated with the use of multi-fiber optic probes for multi-bioreactors. In this case, MIR could be conducted in a high-throughput manner, analyzing hundreds of culture samples in a rapid and automatic mode.

In situ NIR spectroscopy monitoring of plasmid production processes effect of producing strain, medium composition and the cultivation strategy

BACKGROUNDWhile the pharmaceutical industry keeps an eye on plasmid DNA production for new generation gene therapies, real-time monitoring techniques for plasmid bioproduction are as yet unavailable. This work shows the possibility of in situ monitoring of plasmid production in Escherichia coli cultures using a near infrared (NIR) fiber optic probe. RESULTSPartial least squares (PLS) regression models based on the NIR spectra were developed for predicting bioprocess critical variables such as the concentrations of biomass, plasmid, carbon sources (glucose and glycerol) and acetate. In order to achieve robust models able to predict the performance of plasmid production processes, independently of the composition of the cultivation medium, cultivation strategy (batch versus fed-batch) and E. coli strain used, three strategies were adopted, using: (i) E. coliDH5 cultures conducted under different media compositions and culture strategies (batch and fed-batch); (ii) engineered E. coli strains, MG1655endArecApgi and MG1655endArecA, grown on the same medium and culture strategy; (iii) diverse E. coli strains, over batch and fed-batch cultivations and using different media compositions. PLS models showed high accuracy for predicting all variables in the three groups of cultures. CONCLUSIONNIR spectroscopy combined with PLS modeling provides a fast, inexpensive and contamination-free technique to accurately monitoring plasmid bioprocesses in real time, independently of the medium composition, cultivation strategy and the E. coli strain used.

Monitoring the ex-vivo expansion of human mesenchymal stem/stromal cells in xeno-free microcarrier-based reactor systems by MIR spectroscopy

Human mesenchymal stem/stromal cells (MSCs) have received considerable attention in the field of cell-based therapies due to their high differentiation potential and ability to modulate immune responses. However, since these cells can only be isolated in very low quantities, successful realization of these therapies requires MSCs ex-vivo expansion to achieve relevant cell doses. The metabolic activity is one of the parameters often monitored during MSCs cultivation by using expensive multi-analytical methods, some of them time-consuming. The present work evaluates the use of mid-infrared (MIR) spectroscopy, through rapid and economic high-throughput analyses associated to multivariate data analysis, to monitor three different MSCs cultivation runs conducted in spinner flasks, under xeno-free culture conditions, which differ in the type of microcarriers used and the culture feeding strategy applied. After evaluating diverse spectral preprocessing techniques, the optimized partial least square (PLS) regression models based on the MIR spectra to estimate the glucose, lactate and ammonia concentrations yielded high coefficients of determination (R2 ≥ 0.98, ≥0.98, and ≥0.94, respectively) and low prediction errors (RMSECV ≤ 4.7%, ≤4.4% and ≤5.7%, respectively). Besides PLS models valid for specific expansion protocols, a robust model simultaneously valid for the three processes was also built for predicting glucose, lactate and ammonia, yielding a R2 of 0.95, 0.97 and 0.86, and a RMSECV of 0.33, 0.57, and 0.09 mM, respectively. Therefore, MIR spectroscopy combined with multivariate data analysis represents a promising tool for both optimization and control of MSCs expansion processes.