Autonomous behaviors for an unmanned mini-aerial vehicle

This thesis aims at addressing the development of autonomous behaviors, for search and exploration with a mini-UAV (Unmanned Aerial Vehicle), or also called MAV (Mini Aerial Vehicle) prototype, in order to gather information in rescue scenarios. The platform used in this work is a four rotor helicopter, known as quad-rotor from the German company Ascending Technologies GmbH, which is later assembled with a on-board processing unit (i.e. a tiny light weight computer) and a on-board sensor suite (i.e. 2D-LIDAR and Ultrasonic Sonar). This work can be divided into two phases. In the first phase an Indoor Position Tracking system was settled in order to obtain the Cartesian coordinates (i.e. X, Y, Z) and orientation (i.e.heading) which provides the relative position and orientation of the platform. The second phase was the design and implementation of medium/high level controllers on each command input in order to autonomously control the aircraft position, which is the first step towards an autonomous hovering flight, and any autonomous behavior (e.g. Landing, Object avoidance, Follow the wall). The main work is carried out in the Laboratory ”Intelligent Systems for Emergencies and Civil Defense”, in collaboration with ”Dipartimento di Informatica e Sistemistica” of Sapienza Univ. of Rome and ”Istituto Superiore Antincendi” of the Italian Firemen Department.

Estudo conceptual do desenvolvimento de uma célula Mini-UAV

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Mecânica

Functional and structural studies of a mini-ferritin protein

Dissertação para obtenção do Grau de Mestre em Bioquímica

Critical reappraisal of Late Mesozoic-Cenozoic Central and North Atlantic, Caribbean and Mediterranean evolution

(l) The Pacific basin (Pacific area) may be regarded as moving eastwards like a double zip fastener relative to the continents and their respective plates (Pangaea area): opening in the East and closing in the West. This movement is tracked by a continuous mountain belt, the collision ages of which increase westwards. (2) The relative movements between the Pacific area and the Pangaea area in the W-EfE-W direction are generated by tidal forces (principle of hypocycloid gearing), whereby the lower mantle and the Pacific basin or area (Pacific crust = roof of the lower mantle?) rotate somewhat faster eastwards around the Earth's spin axis relative to the upper mantle/crust system with the continents and their respective plates (Pangaea area) (differential rotation). (3) These relative West to East/East to West displacements produce a perpetually existing sequence of distinct styles of opening and closing oeean basins, exemplified by the present East to West arrangement of ocean basins around the globe (Oceanic or Wilson Cycle: Rift/Red Sea style; Atlantic style; Mediterranean/Caribbean style as eastwards propagating tongue of the Pacific basin; Pacific style; Collision/Himalayas style). This sequence of ocean styles, of which the Pacific ocean is a part, moves eastwards with the lower mantle relative to the continents and the upper-mantle/crust of the Pangaea area. (4) Similarly, the collisional mountain belt extending westwards from the equator to the West of the Pacific and representing a chronological sequence of collision zones (sequential collisions) in the wake of the passing of the Pacific basin double zip fastener, may also be described as recording the history of oceans and their continental margins in the form of successive Wilson Cycles. (5) Every 200 to 250 m.y. the Pacific basin double zip fastener, the sequence of ocean styles of the Wilson Cycle and the eastwards growing collisional mountain belt in their wake complete one lap around the Earth. Two East drift lappings of 400 to 500 m.y. produce a two-lap collisional mountain belt spiral around a supercontinent in one hemisphere (North or South Pangaea). The Earth's history is subdivided into alternating North Pangaea growth/South Pangaea breakup eras and South Pangaea growth/North Pangaea breakup eras. Older North and South Pangaeas and their collisional mountain belt spirals may be reconstructed by rotating back the continents and orogenic fragments of a broken spiral (e.g. South Pangaea, Gondwana) to their previous Pangaea growth era orientations. In the resulting collisional mountain belt spiral, pieced together from orogenic segments and fragments, the collision ages have to increase successively towards the West. (6) With its current western margin orientated in a West-East direction North America must have collided during the Late Cretaceous Laramide orogeny with the northern margin of South America (Caribbean Andes) at the equator to the West of the Late Mesozoic Pacific. During post-Laramide times it must have rotated clockwise into its present orientation. The eastern margin of North America has never been attached to the western margin of North Africa but only to the western margin of Europe. (7) Due to migration eastwards of the sequence of ocean styles of the Wilson Cycle, relative to a distinct plate tectonic setting of an ocean, a continent or continental margin, a future or later evolutionary style at the Earth's surface is always depicted in a setting simultaneously developed further to the West and a past or earlier style in a setting simultaneously occurring further to the East. In consequence, ahigh probability exists that up to the Early Tertiary, Greenland (the ArabiaofSouth America?) occupied a plate tectonic setting which is comparable to the current setting of Arabia (the Greenland of Africa?). The Late Cretaceous/Early Tertiary Eureka collision zone (Eureka orogeny) at the northern margin of the Greenland Plate and on some of the Canadian Arctic Islands is comparable with the Middle to Late Tertiary Taurus-Bitlis-Zagros collision zone at the northern margin of the Arabian Plate.

Revista da Faculdade de Ciências Sociais e Humanas

Mais uma revista inicia a sua publicação em Portugal! Seria culturalmente relevante fazer o inventário cronológico e estabelecer a densidade das revistas portuguesas ao longo dos últimos cem anos. Ver-se-ia porventura — ou iludimo-nos com a habitual presunção de querermos um mini-universo diferente ? — que Portugal levou a palma à maioria das nações no lançamento de publicações periódicas ou, pelo menos, que conquistou um lugar cimeiro nesse panorama. Mas ver-se-ia também que essas revistas duraram poucos anos, poucos meses,com raras excepções. Tem sido a regra. Queiramos uma revista, se não diferente, pelo menos duradoura. Que ela espelhe, para já, o dinamismo da jovem escola que vai representar. Há dois anos não éramos nada. Mais — estávamos à beira da extinção. Hoje somos uma das melhores faculdades do País. Não se julgue, porém, que o caminho foi fácil. Os espinhos salpicaram-no desde o começo. Foram-se erigindo barreiras à nossa frente. Mas procurámos derrubá-las uma a uma, sem desfalecimentos, sem hesitações. Assim prosseguiremos. É que temos força, temos iniciativa, temos vontade de construir, e de construir melhor do que jamais se construiu neste Pais no ensino universitário. Sabemos o que queremos. Sabemos para onde vamos. A revista da Faculdade de Ciências Sociais e Humanas começa também por ter de reflectir,, para já, cinco cursos diferentes —Línguas e Literaturas (este com três variantes). História (esta com a variante de História da Arte), Antropologia, Sociologia e Filosofia— todos eles com diferentes métodos, diferentes anseios, diferentes interesses. Talvez seja demais para uma publicação só. E talvez seja em breve necessário fraccioná-la em duas ou três revistas, mais homogéneas na sua estruturação. Por ora, vamos dar ao leitor uma gama variada de literatura, lingüística, história, antropologia e filosofia — sem contar com notas e recensões. A contribuição maior proveio dos docentes de Línguas e Literaturas, em correspondência com o seu peso também maior no conjunto da Faculdade. Mas não rejeitamos a hipótese de outros números serem preferentemente consagrados à História, à Antropologia, à Sociologia ou à Filosofia ou até de se subordinarem a um tema de base, glosado sob prismas diferentes pelas várias secções. A organização da revista coube a uma pequena comissão que, em pouco tempo, a conseguiu dar à luz. Vão para ela os nossos melhores agradecimentos

Critical reappraisal of Late Mesozoic-Cenozoic Central and North Atlantic, Caribbean and Mediterranean evolution

(l) The Pacific basin (Pacific area) may be regarded as moving eastwards like a double zip fastener relative to the continents and their respective plates (Pangaea area): opening in the East and closing in the West. This movement is tracked by a continuous mountain belt, the collision ages of which increase westwards. (2) The relative movements between the Pacific area and the Pangaea area in the W-E/E-W direction are generated by tidal forces (principle of hypocycloid gearing), whereby the lower mantle and the Pacific basin or area (Pacific crust = roof of the lower mantle?) rotate somewhat faster eastwards around the Earth's spin axis relative to the upper mantle/crust system with the continents and their respective plates (Pangaea area) (differential rotation). (3) These relative West to East/East to West displacements produce a perpetually existing sequence of distinct styles of opening and closing ocean basins, exemplified by the present East to West arrangement of ocean basins around the globe (Oceanic or Wilson Cycle: Rift/Red Sea style; Atlantic style; Mediterranean/Caribbean style as eastwards propagating tongue of the Pacific basin; Pacific style; Collision/Himalayas style). This sequence of ocean styles, of which the Pacific ocean is a part, moves eastwards with the lower mantle relative to the continents and the upper-mantle/crust of the Pangaea area. (4) Similarly, the collisional mountain belt extending westwards from the equator to the West of the Pacific and representing a chronological sequence of collision zones (sequential collisions) in the wake of the passing of the Pacific basin double zip fastener, may also be described as recording the history of oceans and their continental margins in the form of successive Wilson Cycles. (5) Every 200 to 250 m.y. the Pacific basin double zip fastener, the sequence of ocean styles of the Wilson Cycle and the eastwards growing collisional mountain belt in their wake complete one lap around the Earth. Two East drift lappings of 400 to 500 m.y. produce a two-lap collisional mountain belt spiral around a supercontinent in one hemisphere (North or South Pangaea). The Earth's history is subdivided into alternating North Pangaea growth/South Pangaea breakup eras and South Pangaea growth/North Pangaea breakup eras. Older North and South Pangaeas and their collisional mountain belt spirals may be reconstructed by rotating back the continents and orogenic fragments of a broken spiral (e.g. South Pangaea, Gondwana) to their previous Pangaea growth era orientations. In the resulting collisional mountain belt spiral, pieced together from orogenic segments and fragments, the collision ages have to increase successively towards the West. (6) With its current western margin orientated in a West-East direction North America must have collided during the Late Cretaceous Laramide orogeny with the northern margin of South America (Caribbean Andes) at the equator to the West of the Late Mesozoic Pacific. During post-Laramide times it must have rotated clockwise into its present orientation. The eastern margin of North America has never been attached to the western margin of North Africa but only to the western margin of Europe. (7) Due to migration eastwards of the sequence of ocean styles of the Wilson Cycle, relative to a distinct plate tectonic setting of an ocean, a continent or continental margin, a future or later evolutionary style at the Earth's surface is always depicted in a setting simultaneously developed further to the West and a past or earlier style in a setting simultaneously occurring further to the East. In consequence, ahigh probability exists that up to the Early Tertiary, Greenland (the ArabiaofSouth America?) occupied a plate tectonic setting which is comparable to the current setting of Arabia (the Greenland of Africa?). The Late Cretaceous/Early Tertiary Eureka collision zone (Eureka orogeny) at the northern margin of the Greenland Plate and on some of the Canadian Arctic Islands is comparable with the Middle to Late Tertiary Taurus-Bitlis-Zagros collision zone at the northern margin of the Arabian Plate.

Evolution of Iberia during the Cenozoic with special emphasis on the formation of the Betic Cordillera and its relation with the western Mediterranean

The extensional process affecting Iberia during the Triassic and Jurassic times change from the end of the Cretaceous and, throughout the Palaeocene, the displacement between the African and European plates was clearly convergent and part of the future Internal Zone of the Betic Cordillera was affected. To the west, the Atlantic continued to open as a passive margin and, to the north, no significant deformation occurred. During the Eocene, the entire Iberian plate was subjected to compression. which caused major deformations in the Pyrenees and also in the Alpujarride and Nevado-Filabride, Internal Betic, complexes. In the Oligocene continued this situation, but in addition, the new extensional process ocurring in the western Mediterranean area, together with the constant eastward drift of Iberia due to Atlantic opening, compressed the eastern sector of Iberia, giving rise to the structuring of the Iberian Cordillera. The Neogene was the time when the Betic Cordillera reached its fundamental features with the westward displacement of the Betic-Rif Internal Zone, expelled by the progressive opening of the Algerian Basin, opening prolonged till the Alboran Sea. From the late Miocene onwards, all Iberia was affected by a N-S to NNW-SSE compression, combined in many points by a near perpendicular extension. Specially in eastern and southern Iberia a radial extension superposed these compression and extension.

Preliminary study on the production of functionally graded materials by friction stir processing

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Mecânica

Avaliação da efectividade de uma intervenção em psiquiatria de ligação na doença coronária aguda

RESUMO: Várias intervenções psiquiátricas e psicossociais têm demonstrado ser eficazes na redução da depressão e da ansiedade em indivíduos que sofreram um acidente coronário agudo. A possiblidade de modificarem a evolução da doença coronária e de reduzirem a mortalidade cardíaca continua, no entanto, por comprovar. Este estudo teve como principal objectivo avaliar a efectividade de uma intervenção de Psiquiatria de Ligação (PL) em doentes com cardiopatia isquémica aguda. Métodos: um grupo inicial de 129 doentes consecutivos, internados por Enfarte Agudo do Miocárdio (EAM) ou Angina Instável, numa unidade de cuidados intensivos foi avaliado com a Hospital Anxiety e Depression Scale (HADS). Os doentes que apresentaram uma pontuação ≥8 nas subescalas da Depressão ou da Ansiedade (n=72) foram aleatoriamente distribuídos por grupo de intervenção (GI) (n=37) e grupo de controlo (GC) (n=35). O GI foi sujeito a uma intervenção de PL, realizada durante o período hospitalar, que se iniciou nos primeiros dias de internamento e consistiu em pelo menos 3 sessões individuais (incluindo avaliação psiquiátrica, psicoterapia de suporte, intervenção psicoeducativa e medicação, quando necessário). A sessão pré-alta envolveu o cônjuge e abordou a modificação de comportamentos de risco, a adesão terapêutica e o regresso ao trabalho. O GC recebeu os cuidados habituais da unidade de internamento. Todos os doentes completaram uma entrevista inicial para avaliação do estado cognitivo (Mini Mental State Examination – MMSE), do ajustamento social (Social Problems Questionnaire – SPQ) e de aspectos sociodemográfi cos e clínicos. Os doentes foram reavaliados antes da alta, aos 45 dias, 3 e 6 meses com a HADS, o SPQ e ainda com o Nottingham Health Profi le (NHP) para avaliação da qualidade de vida. No follow-up de 6 meses foi colhida informação sobre sobrevivência, número e duração de reinternamentos, número de dias de baixa e regresso ao trabalho. Resultados: na amostra de 129 doentes avaliados no início do internamento, 20,9% apresentavam níveis de depressão ≥8 na subescala da Depressão (HADS), 53,5% níveis de ansiedade ≥8 na subescala da Ansiedade (HADS) e 9,3% perturbações cognitivas (MMSE). A avaliação longitudinal desta amostra mostrou que os níveis de depressão, inicialmente baixos, aumentaram nos 45 dias após o internamento, para depois diminuírem até ao fi nal do follow-up. Os níveis de ansiedade, que eram inicialmente altos, aumentaram nos 45 dias seguintes e antiveram- se estáveis, mas altos, até ao fi m do estudo. O GI apresentou uma pontuação média na subescala da depressão signifi cativamente inferior à do GC no follow-up de 6 meses (5,8±4,1 no GI vs. 7,9±4,3 no GC, p=0,04). O número de doentes deprimidos foi signifi cativamente menor no GI nas avaliações realizadas aos 3 meses (11 vs. 18 no GC, p=0,04) e aos 6 meses (12 vs. 18 no GC, p= 0,05). O mesmo aconteceu com o número de doentes ansiosos aos 3 meses (15 no GI vs. 23 no GC, p=0,01). As dimensões do NHP “Isolamento social” aos 45 dias e “Reacção emocional” aos 45 dias e aos 3 meses, bem como a qualidade de vida geral (NHP 2ª parte) aos 3 meses, mostraram melhoria signifi cativa no grupo de intervenção. Embora a intervenção tenha reduzido o nível médio da ansiedade nas várias avaliações após a alta, esta redução não atingiu signifi cância estatística. A intervenção realizada não teve impacto na mortalidade ou nas variáveis relacionadas com a evolução da doença cardíaca no período do follow-up. Conclusões: Os resultados do presente estudo mostram a alta prevalência de depressão e de ansiedade após um acidente coronário agudo e a manutenção de níveis altos de ansiedade nos 6 meses seguintes. Os resultados comprovam também a efectividade de uma intervenção em PL no tratamento da depressão e da ansiedade em doentes que sofreram um acidente coronário agudo. Estes resultados apontam para a necessidade de desenvolvimento de programas de PL para este tipo de doentes, tanto no hospital geral como nos cuidados de saúde primários. Sugerem ainda a necessidade de desenvolvimento de investigação que permita estabelecer o impacto específi co dos diversos tipos de intervenção, assim como compreender os mecanismos subjacentes à associação da depressão e da ansiedade com a doença coronária.----------ABSTRACT:Different types of psychiatric and psychochosocial interventions have proven effi cacy in decreasing anxiety and depression in coronary heart disease. There is, however, an ongoing discussion about the impact these interventions may have on the clinical outcome and on cardiac mortality. The main objective of the current study was to evaluate the effectiveness of a consultation liaison psychiatry (CL) intervention on a group of patients admitted with Myocardial Infarction or Unstable Angina, to a Coronary Care Unit. Methods: The study had a prospective, randomised, controlled design, with a 6-month follow-up. One hundred and twenty-nine consecutive patients were assessed during the first 48 hours of admission with the Hospital Anxiety and Depression Scale (HADS). Those with a score of ≥8 on the Depression or the Anxiety subscales (n=72) were randomly allocated to intervention (n=37) and usual care (n=35). The CL intervention, started during the fi rst days of admission, had a minimum of 3 (60 minutes) sessions, and included a psychiatric evaluation, supportive psychotherapy, a psychoeducational intervention, when necessary, psychotropic drugs. The last session, shortly before discharge, included the spouse and was focused on compliance, modifi cation of behavioral risk factors, and possible diffi culties upon returning to work. Cognitive status (Mini-Mental State Examination - MMSE), social adjustment (Social Problems Questionnaire - SPQ), and demographic and clinical characteristics were also assessed at baseline. Patients were reassessed before discharge, and at 45 days, 3 and 6 months after admission with HADS, SPQ, and with Nottingham Health Profile (NHP) for quality of life. Survival, number of readmissions and days of readmission, number of sickleave days and return to work were assessed at six months. Results: The initial sample of 129 patients, presented a 20.9% prevalence of depressive symptoms, 53.5% of anxiety symptoms, and 9.3% of cognitive disorders. The longitudinal evaluation of this sample showed that the initially low levels of depression were increased 45 days later, and slowlly decreased afterwards till the 6-month follow-up. Initially high anxiety levels, somewhat decreased before discharge, had increased 45 days later, and stayed stable and high till the end of the study. The intervention group showed a signifi cantly lower depression mean score at 6 months (5.8±4.1 vs. 7.9±4.3 in the controls, p=0.04). The number of patients considered depressed was lower in the intervention group at 3(11 vs. 18 controls, p=0.04) and 6 months (12vs. 18 controls, p=0,05). The number of anxious patients was also lower in the intervention.

Percepção do estado de saúde da pessoa idosa institucionalizada

RESUMO: O envelhecimento da população portuguesa é um facto. Esta alteração da estrutura demográfica exige o investimento no conhecimento científico para que se conheçam as consequências a nível, económico, social, cultural, biológico, físico e, principalmente, a nível da saúde. Isto porque, é emergente que a sociedade tenha capacidade para responder às necessidades específicas das pessoas neste estádio de vida, tendo sempre por base o conceito de qualidade de vida. Este estudo teve como objectivo avaliar a percepção do estado de saúde da pessoa idosa institucionalizada. Foram nove as instituições participantes, denominadas por lares de idosos de residência permanente, onde se contou com uma amostra de 75 indivíduos entre os 66 e 100 anos, de ambos os sexos. Foram recolhidos dados através de uma caracterização sócio-demográfica, através do Mini Mental State e através do Questionário de auto-avaliação da saúde e do bem-estar físico (de Fonseca e Paúl, 1999). Os dados obtidos foram trabalhados numa perspectiva de estatística descritiva e estatística inferencial, nomeadamente com a análise do coeficiente de Spearman. A partir desta análise determinou-se que: a grande maioria da amostra designa como “aceitável” ou “fraca” a sua percepção da saúde, em geral; os dados sócio-demográficos, e a instituição a que cada indivíduo pertence não têm relação com a percepção do estado de saúde destas pessoas; existe relação significativa entre a percepção do estado de saúde das pessoas idosas institucionalizadas e a saúde dos seus pares, essencialmente quando se abordam itens relacionados com aspectos físicos; no que concerne aos hábitos de vida, não existe relação entre a percepção do estado de saúde das pessoas idosas e os hábitos tabágicos e os hábitos alcoólicos. Os dados obtidos nem sempre são os dados que se esperavam efectivamente, porém fazem sentido ao serem consolidados com a teoria.--------ABSTRACT: The aging of the Portuguese population is a reality. It is imperative that society has the capacity to face the specific necessities of those who are in this phase of their lives. Therefore, this change in the demographics requires investment in scientific knowledge in order to know the consequences at levels such as: the economic, social cultural, biological and physical, mainly related to health. The main purpose of this study has been to evaluate the perceptions of elderly people concerning their health conditions. There were nine institutions involved, which are referred to as nursing homes, and a sample of 75 people between 66 and 100 years-old, from both genders, cooperated. Data has been collected through social-demographic, Mini Mental State and also through the questionnaire of the self-evaluation of health and physical well-being (from Fonseca and Paúl, 1999). The obtained data was worked within a perspective of descriptive/ inference statistic. From this analysis, it was determined that the great majority of the sample describes their perception of health as “acceptable” or “weak”, in general; the social-demographic information and the institution to where each person belongs do not show a connection with their perception of their health condition; however, there seems to be a significant relation between an institutionalized elderly person´s perception of their health condition and their spouse’s health, mainly when related to physical issues. In as far as life styles are concerned, do not show a connection between elderly people’s perception of health and smoking habits and alcohol habits. The obtained data does not always match expectations; nevertheless they make sense when being complemented by the theory.

Heavy-metal resistance in Marinobacter aquaeolei 617 insights into copper resistance

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Biotecnologia