Estrutura a partir do Movimento em Sistemas Autónomos

Mestrado em Engenharia Electrotécnica e de Computadores - Ramo de Sistemas Autónomos

A reconstrução tomográfica em SPECT com utilização dos novos métodos iterativos “WBR”: comparação com métodos analíticos

Os métodos utilizados pela Medicina moderna no âmbito da Imagem Molecular e na sua capacidade de diagnosticar a partir da “Função do Orgão” em vez da “Morfologia do Orgão”, vieram trazer á componente fundamental desta modalidade da Imagiologia Médica – A Medicina Nuclear – uma importância acrescida, que se tem traduzido num aumento significativo no recurso á sua utilização nas diferentes formas das suas aplicações clínicas. Para além dos aspectos meramente clínicos, que só por si seriam suficientes para ocupar várias dissertações como a presente; a própria natureza desta técnica de imagem, com a sua inerente baixa resolução e tempos longos de aquisição, vieram trazer preocupações acrescidas quanto ás questões relacionadas com a produtividade (nº de estudos a realizar por unidade de tempo); com a qualidade (aumento da resolução da imagem obtida) e, com os níveis de actividade radioactiva injectada nos pacientes (dose de radiação efectiva sobre as populações). Conhecidas que são então as limitações tecnológicas associadas ao desenho dos equipamentos destinados á aquisição de dados em Medicina Nuclear, que apesar dos avanços introduzidos, mantêm mais ou menos inalteráveis os conceitos base de funcionamento de uma Câmara Gama, imaginou-se a alteração significativa dos parâmetros de aquisição (tempo, resolução, actividade), actuando não ao nível das condições técnico-mecânicas dessa aquisição, mas essencialmente ao nível do pós-processamento dos dados adquiridos segundo os métodos tradicionais e que ainda constituem o estado da arte desta modalidade. Este trabalho tem então como objectivo explicar por um lado, com algum pormenor, as bases tecnológicas que desde sempre têm suportado o funcionamento dos sistemas destinados á realização de exames de Medicina Nuclear, mas sobretudo, apresentar as diferenças com os inovadores métodos, que aplicando essencialmente conhecimento (software), permitiram responder ás questões acima levantadas.

Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as is the case of road and train tunnels. To achieve that, we combine some state of the art techniques from mobile robotics, and propose a method for 6DOF platform positioning in such scenarios, that is latter used for the environment modelling. A visual monocular Simultaneous Localization and Mapping (MonoSLAM) approach based on the Extended Kalman Filter (EKF), complemented by the introduction of inertial measurements in the prediction step, allows our system to localize himself over long distances, using exclusively sensors carried on board a mobile platform. By feeding the Extended Kalman Filter with inertial data we were able to overcome the major problem related with MonoSLAM implementations, known as scale factor ambiguity. Despite extreme lighting variations, reliable visual features were extracted through the SIFT algorithm, and inserted directly in the EKF mechanism according to the Inverse Depth Parametrization. Through the 1-Point RANSAC (Random Sample Consensus) wrong frame-to-frame feature matches were rejected. The developed method was tested based on a dataset acquired inside a road tunnel and the navigation results compared with a ground truth obtained by post-processing a high grade Inertial Navigation System and L1/L2 RTK-GPS measurements acquired outside the tunnel. Results from the localization strategy are presented and analyzed.

Simulação de Escoamentos Atmosféricos para Estudo de Parques Eólicos: Estudo comparativo dos softwares OpenFOAM e Windie

A presente tese tem como principal objetivo a comparação entre dois software de CFD (Computer Fluid Dynamics) na simulação de escoamentos atmosféricos com vista à sua aplicação ao estudo e caracterização de parques eólicos. O software em causa são o OpenFOAM (Open Field Operation and Manipulation) - freeware open source genérico - e o Windie, ferramenta especializada no estudo de parques eólicos. Para este estudo foi usada a topografia circundante a um parque eólico situado na Grécia, do qual dispúnhamos de resultados de uma campanha de medições efetuada previamente. Para este _m foram usados procedimentos e ferramentas complementares ao Open-FOAM, desenvolvidas por da Silva Azevedo (2013) adequados para a realização do pré-processamento, extração de dados e pós-processamento, aplicados na simulação do caso pratico. As condições de cálculo usadas neste trabalho limitaram-se às usadas na simulação de escoamentos previamente simulados pelo software Windie: condições de escoamento turbulento, estacionário, incompressível e em regime não estratificado, com o recurso ao modelo de turbulência RaNS (Reynolds-averaged Navier-Stokes ) k - E atmosférico. Os resultados de ambas as simulações - OpenFOAM e Windie - foram comparados com resultados de uma campanha de medições, através dos valores de speed-up e intensidade turbulenta nas posições dos anemómetros.

Estágio no Departamento Financeiro do Município de Penafiel

Relatório de estágio para obtenção do grau de mestre em Finanças Empresariais

Activation timing of soleus and tibialis anterior muscles during sit-to-stand and stand to sit in post-stroke vs healthy subjects

O documento em anexo encontra-se na versão post-print (versão corrigida pelo editor).

Soleus activity in post-stroke subjects: movement sequence from standing to sitting

O documento em anexo encontra-se na versão post-print (versão corrigida pelo editor).

The Greatest lover: a post-colonial rewriting of My Fair Lady

INTRODUCTION The popular Hong Kong comedy, The Greatest Lover, re-incarnates one of the most popular western musicals, My Fair Lady. OBJECTIVES 1. To find out in what major ways My Fair Lady was rewritten as the Hong Kong Cantonese movie, Gungzi Docing (The Greatest Lover). 2. To find out the socio-political, socio-linguistic, and gender ideology behind the rewriting. METHODOLOGY 1. To note the similarity of the themes for both works – a creator falling in love with his/her creation, and class prejudice and cross-class romance. 2. To note how the times of The Greatest Lover differ from that of My Fair Lady. 3. To note how the main characters in The Greatest Lover differ from My Fair Lady in terms of profession, gender, etc. 4. To note how the plot of The Greatest Lover differs from that of My Fair Lady. 5. To note how focus on language in The Greatest Lover compares with that in My Fair Lady. 6. To discuss the ideological implications of the differences noted above, e.g. women in Hong Kong today have much higher status than women in Victorian England; the conflict between local Hong Kong people and both legal and illegal immigrants from Mainland China is even more serious than that between the British upper middle class and the lower class during the Victorian period. 7. Andre Lefevere (1992) argues that translation and adaptation are rewriting informed and influenced by the rewriter’s ideology, among other things. 8. Both Aline Remael (1995) and Patrick Cattrysse (1992) think that film adaptation is a kind of translation. 9. Sirkkus Aaltonen (2000) argues that drama translation mirrors the ideologies of the target society. CONCLUSION 1. The Greatest Lover projects local cultural significance onto My Fair Lady by helping us to appreciate an important Western work of art through the Hong Kong Cantonese perspective. 2. Broader issues in translation and intercultural studies are also considered.

Post-surgical wound infections involving Enterobacteriaceae with reduced susceptibility to ß-lactams in two Portuguese hospitals

The post-surgical period is often critical for infection acquisition. The combination of patient injury and environmental exposure through breached skin add risk to pre-existing conditions such as drug or depressed immunity. Several factors such as the period of hospital staying after surgery, base disease, age, immune system condition, hygiene policies, careless prophylactic drug administration and physical conditions of the healthcare centre may contribute to the acquisition of a nosocomial infection. A purulent wound can become complicated whenever antimicrobial therapy becomes compromised. In this pilot study, we analysed Enterobacteriaceae strains, the most significant gram-negative rods that may occur in post-surgical skin and soft tissue infections (SSTI) presenting reduced β-lactam susceptibility and those presenting extended-spectrum β-lactamases (ESBL). There is little information in our country regarding the relationship between β-lactam susceptibility, ESBL and development of resistant strains of microorganisms in SSTI. Our main results indicate Escherichia coli and Klebsiella spp. are among the most frequent enterobacteria (46% and 30% respectively) with ESBL production in 72% of Enterobacteriaceae isolates from SSTI. Moreover, coinfection occurred extensively, mainly with Pseudomonas aeruginosa and Methicillin-resistant Staphylococcus aureus (18% and 13%, respectively). These results suggest future research to explore if and how these associations are involved in the development of antibiotic resistance.

Processing XML with Java – a performance benchmark

Over time, XML markup language has acquired a considerable importance in applications development, standards definition and in the representation of large volumes of data, such as databases. Today, processing XML documents in a short period of time is a critical activity in a large range of applications, which imposes choosing the most appropriate mechanism to parse XML documents quickly and efficiently. When using a programming language for XML processing, such as Java, it becomes necessary to use effective mechanisms, e.g. APIs, which allow reading and processing of large documents in appropriated manners. This paper presents a performance study of the main existing Java APIs that deal with XML documents, in order to identify the most suitable one for processing large XML files

Performance analysis of Java APIS for XML processing

Over time, XML markup language has acquired a considerable importance in applications development, standards definition and in the representation of large volumes of data, such as databases. Today, processing XML documents in a short period of time is a critical activity in a large range of applications, which imposes choosing the most appropriate mechanism to parse XML documents quickly and efficiently. When using a programming language for XML processing, such as Java, it becomes necessary to use effective mechanisms, e.g. APIs, which allow reading and processing of large documents in appropriated manners. This paper presents a performance study of the main existing Java APIs that deal with XML documents, in order to identify the most suitable one for processing large XML files.

ECG denoising based on adaptive signal processing technique

An Electrocardiogram (ECG) monitoring system deals with several challenges related with noise sources. The main goal of this text was the study of Adaptive Signal Processing Algorithms for ECG noise reduction when applied to real signals. This document presents an adaptive ltering technique based on Least Mean Square (LMS) algorithm to remove the artefacts caused by electromyography (EMG) and power line noise into ECG signal. For this experiments it was used real noise signals, mainly to observe the di erence between real noise and simulated noise sources. It was obtained very good results due to the ability of noise removing that can be reached with this technique. A recolha de sinais electrocardiogr a cos (ECG) sofre de diversos problemas relacionados com ru dos. O objectivo deste trabalho foi o estudo de algoritmos adaptativos para processamento digital de sinal, para redu c~ao de ru do em sinais ECG reais. Este texto apresenta uma t ecnica de redu c~ao de ru do baseada no algoritmo Least Mean Square (LMS) para remo c~ao de ru dos causados quer pela actividade muscular (EMG) quer por ru dos causados pela rede de energia el ectrica. Para as experiencias foram utilizados ru dos reais, principalmente para aferir a diferen ca de performance do algoritmo entre os sinais reais e os simulados. Foram conseguidos bons resultados, essencialmente devido as excelentes caracter sticas que esta t ecnica tem para remover ru dos.

Mismatch negativity in childhood temporal lobe epilepsy: a proposed paradigm for testing central auditory processing

Background: Temporal lobe epilepsy (TLE) is a neurological disorder that directly affects cortical areas responsible for auditory processing. The resulting abnormalities can be assessed using event-related potentials (ERP), which have high temporal resolution. However, little is known about TLE in terms of dysfunction of early sensory memory encoding or possible correlations between EEGs, linguistic deficits, and seizures. Mismatch negativity (MMN) is an ERP component – elicited by introducing a deviant stimulus while the subject is attending to a repetitive behavioural task – which reflects pre-attentive sensory memory function and reflects neuronal auditory discrimination and perceptional accuracy. Hypothesis: We propose an MMN protocol for future clinical application and research based on the hypothesis that children with TLE may have abnormal MMN for speech and non-speech stimuli. The MMN can be elicited with a passive auditory oddball paradigm, and the abnormalities might be associated with the location and frequency of epileptic seizures. Significance: The suggested protocol might contribute to a better understanding of the neuropsychophysiological basis of MMN. We suggest that in TLE central sound representation may be decreased for speech and non-speech stimuli. Discussion: MMN arises from a difference to speech and non-speech stimuli across electrode sites. TLE in childhood might be a good model for studying topographic and functional auditory processing and its neurodevelopment, pointing to MMN as a possible clinical tool for prognosis, evaluation, follow-up, and rehabilitation for TLE.

Temporal lobe epilepsy in childhood – a study model of auditory processing

TLE in infancy has been the subject of varied research. Topographical and structural evidence is coincident with the neuronal systems responsible for auditory processing of the highest specialization and complexity. Recent studies have been showing the need of a hemispheric asymmetry for an optimization in central auditory processing (CAP) and acquisition and learning of a language system. A new functional research paradigm is required to study mental processes that require methods of cognitive-sensory information analysis processed in very short periods of time (msec), such as the ERPs. Thus, in this article, we hypothesize that the TLE in infancy could be a good model for topographic and functional study of CAP and its development process, contributing to a better understanding of the learning difficulties that children with this neurological disorder have.

Nutritional value and influence of the thermal processing on a traditional Portuguese fermented sausage (alheira)

Alheiras are a traditional, smoked, fermented meat sausage, produced in Portugal, with an undeniable cultural and gastronomic legacy. In this study, we assessed the nutritional value of this product, as well as the influence of different types of thermal processing. Alheiras from Mirandela were submitted to six different procedures: microwave, skillet, oven, charcoal grill, electric fryer and electric grill. Protein, fat, carbohydrate, minerals, NaCl, and cholesterol contents, as well as fatty acid profile were evaluated. The results show that alheiras are not hypercaloric but an unbalanced foodstuff (high levels of proteins and lipids) and the type of processing has a major impact on their nutritional value. Charcoal grill is the healthiest option: less fat (12.5 g/100 g) and cholesterol (29.3 mg/100 g), corresponding to a lower caloric intake (231.8 kcal, less 13% than the raw ones). Inversely, fried alheiras presented the worst nutritional profile, with the highest levels of fat (18.1 g/100 g) and cholesterol (76.0 g/100 g).