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Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Intrusion tolerant routing with data consensus in wireless sensor networks

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

2D position system for a mobile robot in unstructured environments

Nowadays, several sensors and mechanisms are available to estimate a mobile robot trajectory and location with respect to its surroundings. Usually absolute positioning mechanisms are the most accurate, but they also are the most expensive ones, and require pre installed equipment in the environment. Therefore, a system capable of measuring its motion and location within the environment (relative positioning) has been a research goal since the beginning of autonomous vehicles. With the increasing of the computational performance, computer vision has become faster and, therefore, became possible to incorporate it in a mobile robot. In visual odometry feature based approaches, the model estimation requires absence of feature association outliers for an accurate motion. Outliers rejection is a delicate process considering there is always a trade-off between speed and reliability of the system. This dissertation proposes an indoor 2D position system using Visual Odometry. The mobile robot has a camera pointed to the ceiling, for image analysis. As requirements, the ceiling and the oor (where the robot moves) must be planes. In the literature, RANSAC is a widely used method for outlier rejection. However, it might be slow in critical circumstances. Therefore, it is proposed a new algorithm that accelerates RANSAC, maintaining its reliability. The algorithm, called FMBF, consists on comparing image texture patterns between pictures, preserving the most similar ones. There are several types of comparisons, with different computational cost and reliability. FMBF manages those comparisons in order to optimize the trade-off between speed and reliability.

Fabrication and characterization of transparent conductive oxide surface sensors for electrocorticography – TrECoG

Understanding how the brain works has been one of the greatest goals of mankind. This desire fuels the scientific community to pursue novel techniques able to acquire the complex information produced by the brain at any given moment. The Electrocorticography (ECoG) is one of those techniques. By placing conductive electrodes over the dura, or directly over the cortex, and measuring the electric potential variation, one can acquire information regarding the activation of those areas. In this work, transparent ECoGs, (TrECoGs) are fabricated through thin film deposition of the Transparent Conductive Oxides (TCOs) Indium-Zinc-Oxide (IZO) and Gallium-Zinc-Oxide (GZO). Five distinct devices have been fabricated via shadow masking and photolithography. The data acquired and presented in this work validates the TrECoGs fabricated as efficient devices for recording brain activity. The best results were obtained for the GZO- based TrECoG, which presented an average impedance of 36 kΩ at 1 kHz for 500 μm diameter electrodes, a transmittance close to 90% for the visible spectrum and a clear capability to detect brain signal variations. The IZO based devices also presented high transmittance levels (90%), but with higher impedances, which ranged from 40 kΩ to 100 kΩ.