Multilayer Architectures Based on a-SiC:H Material: Tunable Wavelength Filters in Optical Processing Devices

The characteristics of tunable wavelength filters based on a-SiC:H multilayered stacked pin cells are studied both theoretically and experimentally. The optical transducers were produced by PECVD and tested for a proper fine tuning of the cyan and yellow fluorescent proteins emission. The active device consists of a p-i'(a-SiC:H)-n/p-i(a-Si:H)-n heterostructures sandwiched between two transparent contacts. Experimental data on spectral response analysis, current-voltage characteristics and color and transmission rate discrimination are reported. Cyan and yellow fluorescent input channels were transmitted together, each one with a specific transmission rate and different intensities. The multiplexed optical signal was analyzed by reading out, under positive and negative applied voltages, the generated photocurrents. Results show that the optimized optical transducer has the capability of combining the transient fluorescent signals onto a single output signal without losing any specificity (color and intensity). It acts as a voltage controlled optical filter: when the applied voltages are chosen appropriately the transducer can select separately the cyan and yellow channel emissions (wavelength and frequency) and also to quantify their relative intensities. A theoretical analysis supported by a numerical simulation is presented.

Optical processing devices based on a-SiCH multilayer architectures

Red, green and blue optical signals were directed to an a-SiC:H multilayered device, each one with a specific transmission rate. The combined optical signal was analyzed by reading out, under different applied voltages, the generated photocurrent. Results show that when a chromatic time dependent wavelength combination with different transmission rates irradiates the multilayered structure, the device operates as a tunable wavelength filter and can be used in wavelength division multiplexing systems for short range communications. An application to fluorescent proteins detection is presented. (C) 2010 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim

An Evaluation of Local Feature Combiners for Robot Visual Localization

In the last decade, local image features have been widely used in robot visual localization. To assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image to those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, we compare several candidate combiners with respect to their performance in the visual localization task. A deeper insight into the potential of the sum and product combiners is provided by testing two extensions of these algebraic rules: threshold and weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance. The voting method, whilst competitive to the algebraic rules in their standard form, is shown to be outperformed by both their modified versions.

Road lane detection for autonomous robot guidance

Computational Vision stands as the most comprehensive way of knowing the surrounding environment. Accordingly to that, this study aims to present a method to obtain from a common webcam, environment information to guide a mobile differential robot through a path similar to a roadway.

Performance comparison of a VDFLL versus VDLL and scalar GNSS receiver architectures in Harsh scenarios

We analyze the advantages and drawbacks of a vector delay/frequency-locked loop (VDFLL) architecture regarding the conventional scalar and the vector delay-locked loop (VDLL) architectures for GNSS receivers in harsh scenarios that include ionospheric scintillation, multipath, and high dynamics motion. The VDFLL is constituted by a bank of code and frequency discriminators feeding a central extended Kaiman filter (EKF) that estimates the receiver's position, velocity, and clock bias. Both code and frequency loops are closed vectorially through the EKF. The VDLL closes the code loop vectorially and the phase loops through individual PLLs while the scalar receiver closes both loops by means of individual independent PLLs and DLLs.

Road lane detection for autonomous robot guidance

Computational Vision stands as the most comprehensive way of knowing the surrounding environment. Accordingly to that, this study aims to present a method to obtain from a common webcam, environment information to guide a mobile differential robot through a path similar to a roadway.

Algorithm-oriented design of efficient many-core architectures applied to dense matrix multiplication

Recent integrated circuit technologies have opened the possibility to design parallel architectures with hundreds of cores on a single chip. The design space of these parallel architectures is huge with many architectural options. Exploring the design space gets even more difficult if, beyond performance and area, we also consider extra metrics like performance and area efficiency, where the designer tries to design the architecture with the best performance per chip area and the best sustainable performance. In this paper we present an algorithm-oriented approach to design a many-core architecture. Instead of doing the design space exploration of the many core architecture based on the experimental execution results of a particular benchmark of algorithms, our approach is to make a formal analysis of the algorithms considering the main architectural aspects and to determine how each particular architectural aspect is related to the performance of the architecture when running an algorithm or set of algorithms. The architectural aspects considered include the number of cores, the local memory available in each core, the communication bandwidth between the many-core architecture and the external memory and the memory hierarchy. To exemplify the approach we did a theoretical analysis of a dense matrix multiplication algorithm and determined an equation that relates the number of execution cycles with the architectural parameters. Based on this equation a many-core architecture has been designed. The results obtained indicate that a 100 mm(2) integrated circuit design of the proposed architecture, using a 65 nm technology, is able to achieve 464 GFLOPs (double precision floating-point) for a memory bandwidth of 16 GB/s. This corresponds to a performance efficiency of 71 %. Considering a 45 nm technology, a 100 mm(2) chip attains 833 GFLOPs which corresponds to 84 % of peak performance These figures are better than those obtained by previous many-core architectures, except for the area efficiency which is limited by the lower memory bandwidth considered. The results achieved are also better than those of previous state-of-the-art many-cores architectures designed specifically to achieve high performance for matrix multiplication.

Biofunctional composite coating architectures based on polycaprolactone and nanohydroxyapatite for controlled corrosion activity and enhanced biocompatibility of magnesium AZ31 alloy

In this work a biofunctional composite coating architecture for controlled corrosion activity and enhanced cellular adhesion of AZ31 Mg alloys is proposed. The composite coating consists of a polycaprolactone (PCL) matrix modified with nanohydroxyapatite (HA) applied over a nanometric layer of polyetherimide (PEI). The protective properties of the coating were studied by electrochemical impedance spectroscopy (EIS), a non-disturbing technique, and the coating morphology was investigated by field emission scanning electron microscopy (FE-SEM). The results show that the composite coating protects the AZ31 substrate. The barrier properties of the coating can be optimized by changing the PCL concentration. The presence of nanohydroxyapatite particles influences the coating morphology and decreases the corrosion resistance. The biocompatibility was assessed by studying the response of osteoblastic cells on coated samples through resazurin assay, confocal laser scanning microscopy (CLSM) and scanning electron microscopy (SEM). The results show that the polycaprolactone to hydroxyapatite ratio affects the cell behavior and that the presence of hydroxyapatite induces high osteoblastic differentiation. (C) 2014 Elsevier B.V. All rights reserved.

Complementary filter design with three frequency bands: robot attitude estimation

This paper extents the by now classic sensor fusion complementary filter (CF) design, involving two sensors, to the case where three sensors that provide measurements in different bands are available. This paper shows that the use of classical CF techniques to tackle a generic three sensors fusion problem, based solely on their frequency domain characteristics, leads to a minimal realization, stable, sub-optimal solution, denoted as Complementary Filters3 (CF3). Then, a new approach for the estimation problem at hand is used, based on optimal linear Kalman filtering techniques. Moreover, the solution is shown to preserve the complementary property, i.e. the sum of the three transfer functions of the respective sensors add up to one, both in continuous and discrete time domains. This new class of filters are denoted as Complementary Kalman Filters3 (CKF3). The attitude estimation of a mobile robot is addressed, based on data from a rate gyroscope, a digital compass, and odometry. The experimental results obtained are reported.

Robot visual localization through local feature fusion: an evaluation of multiple classifiers combination approaches

In the last decade, local image features have been widely used in robot visual localization. In order to assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image with those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, in this paper we compare several candidate combiners with respect to their performance in the visual localization task. For this evaluation, we selected the most popular methods in the class of non-trained combiners, namely the sum rule and product rule. A deeper insight into the potential of these combiners is provided through a discriminativity analysis involving the algebraic rules and two extensions of these methods: the threshold, as well as the weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. Furthermore, we address the process of constructing a model of the environment by describing how the model granularity impacts upon performance. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance, confirming the general agreement on the robustness of this rule in other classification problems. The voting method, whilst competitive with the product rule in its standard form, is shown to be outperformed by its modified versions.

Dimensionamento de um silo em betão armado para stockagem de cimento com fundações indirectas

O presente trabalho é o corolário do curso de engenharia civil, para a obtenção do grau de Mestre, tendo-se optado pela elaboração do dimensionamento de um Silo em betão armado. O projecto inclui os elementos necessários para uma correcta execução desta estrutura. Os silos são construções, que em função da sua finalidade de utilização estão sujeitos a diversas acções peculiares. No presente trabalho foram consideradas as acções, indicadas nos Eurocódigos para este tipo de estruturas, nomeadamente a acção gerada pela presença do material ensilado, que conduz a um conjunto de pressões horizontais e verticais nas paredes do Silo, bem como a acção causada pelo gradiente de temperatura, devido ao material ensilado (120ºC). O estudo realizado para o dimensionamento do Silo, foi feito considerando a discretização do mesmo através de um programa de elementos finitos, tendo a introdução da estrutura sido realizada em computador com recurso ao “SAP2000”. Foram estudados 2 modelos: O primeiro partindo de uma configuração unifilar em que se consideraram apenas elementos ditos frames (barras), o qual serviu basicamente para o pré dimensionamento da estrutura. O segundo mais completo em que a estrutura foi analisada a partir de um conjunto que incluía a modelação de todos os elementos previamente dimensionados, com recurso a outros softwares (Robot), folhas de cálculo, tabelas e ábacos. Reuniram-se também elementos relativos a estruturas deste tipo tendo-se consultado bibliografia da especialidade, de modo a adquirir um conhecimento mais profundo necessário à realização deste projecto.

Plataforma de controlo e simulação robótica

A robótica tem evoluído no sentido de criar robots e componentes cada vez mais evoluídos a preços acessíveis. Este facto permitiu que o desenvolvimento de aplicações no âmbito da robótica se tenha massificado e que a utilidade dos robots se tenha alargado a diferentes áreas de aplicação. Apesar da evolução dos robots e dos componentes para os mesmos, subsistem limitações que restringem a utilização de robots a certas aplicações, nomeadamente quando a capacidade de processamento e de memória não é suficiente para executar as aplicações. A forma para ultrapassar estas limitações tem residido essencialmente em duas abordagens: limitar as aplicações desenvolvidas à medida dos recursos disponíveis no hardware; ou estender as capacidades do robot usando recursos externos ao robot, quer por extensão do hardware do robot, quer por controlo remoto dos componentes do robot. Atendendo a esta problemática, foi desenvolvida uma plataforma que estende as capacidades dos robots segundo uma abordagem que usa o controlo remoto do robot, para capacitar as aplicações de controlo desenvolvidas de mais recursos, nomeadamente em termos de capacidade de processamento e memória. A plataforma desenvolvida disponibiliza ainda um simulador que virtualiza um campo de simulação e um robot, e simula a forma como estes interagem. O simulador é integrado na plataforma de forma semelhante aos adaptadores para robots, para que as aplicações desenvolvidas possam ser usadas quer em robots reais como no simulador.

Automação e controlo de um sistema de armazenamento de bicicletas

A crescente procura da bicicleta como meio de transporte alternativo torna relevante a criação e desenvolvimento de infra-estruturas de apoio, tais como ciclovias e parques para bicicletas. Os sistemas tradicionais de parqueamento de bicicletas com recurso a correntes e cadeados não fornecem segurança nem comodidade. No entanto, começam a surgir, em várias cidades do mundo, parque automáticos onde é possível guardar uma bicicleta em segurança, protegendo-a quer das intempéries quer de actos de vandalismo. Este trabalho apresenta uma proposta para um parque automático de armazenamento de bicicletas, com recurso a caixas individualizadas que garantem a sua segurança, e também de outros bens que podem ser guardados junto da mesma, como por exemplo um capacete ou uma mochila. O sistema proposto no âmbito deste trabalho é um complemento às alternativas existentes. As vantagens apresentadas pelo sistema proposto são: a sua construção modular e personalizada; e a possibilidade de instalação num terreno plano, sem recurso a obras de construção civil. O objectivo foi criar um projecto de automação e controlo de um protótipo, com base na proposta apresentada. O projecto de automação e controlo engloba a escolha dos sensores e dos actuadores. Para o dimensionamento dos motores foi necessário recorrer a um cálculo simplificado da estrutura do robô manipulador. Foi feita a escolha dos sensores, actuadores e do controlador com base nos requisitos funcionais. A programação foi desenvolvida numa linguagem normalizada. O modelo desenvolvido poderá servir de base para um projecto multidisciplinar entre vários departamentos do Instituto e dessa cooperação poderá surgir um novo projecto optimizado para produção e de menor custo.

Stacked pin Devices for Imaging Applications

In this paper we present results on the optimization of device architectures for colour and imaging applications, using a device with a TCO/pinpi'n/TCO configuration. The effect of the applied voltage on the color selectivity is discussed. Results show that the spectral response curves demonstrate rather good separation between the red, green and blue basic colors. Combining the information obtained under positive and negative applied bias a colour image is acquired without colour filters or pixel architecture. A low level image processing algorithm is used for the colour image reconstruction.

Digital radiology and Picture Archiving and Communication System (PACS)

Plain radiography still accounts for the vast majority of imaging studies that are performed at multiple clinical instances. Digital detectors are now prominent in many imaging facilities and they are the main driving force towards filmless environments. There has been a working paradigm shift due to the functional separation of acquisition, visualization, and storage with deep impact in the imaging workflows. Moreover with direct digital detectors images are made available almost immediately. Digital radiology is now completely integrated in Picture Archiving and Communication System (PACS) environments governed by the Digital Imaging and Communications in Medicine (DICOM) standard. In this chapter a brief overview of PACS architectures and components is presented together with a necessarily brief account of the DICOM standard. Special focus is given to the DICOM digital radiology objects and how specific attributes may now be used to improve and increase the metadata repository associated with image data. Regular scrutiny of the metadata repository may serve as a valuable tool for improved, cost-effective, and multidimensional quality control procedures.