Vision based obstacle detection for all-terrain robots

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

Vision based trail detection for all-terrain robots

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

Vision based context categorization for all-terrain robot

Dissertation presented at the Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa to obtain the Master degree in Electrical and Computer Engineering.

Data fusion with computational intelligence techniques: a case study of fuzzy inference for terrain assessment

Dissertação apresentada para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

A volumetric hybrid representation for obstacle detection in all-terrain robots

This dissertation presents an approach aimed at three-dimensional perception’s obstacle detection on all-terrain robots. Given the huge amount of acquired information, the adversities such environments present to an autonomous system and the swiftness, thus required, from each of its navigation decisions, it becomes imperative that the 3-D perceptional system to be able to map obstacles and passageways in the most swift and detailed manner. In this document, a hybrid approach is presented bringing the best of several methods together, combining the lightness of lesser meticulous analyses with the detail brought by more thorough ones. Realizing the former, a terrain’s slope mapping system upon a low resolute volumetric representation of the surrounding occupancy. For the latter’s detailed evaluation, two novel metrics were conceived to discriminate the little depth discrepancies found in between range scanner’s beam distance measurements. The hybrid solution resulting from the conjunction of these two representations provides a reliable answer to traversability mapping and a robust discrimination of penetrable vegetation from that constituting real obstructions. Two distinct robotic platforms offered the possibility to test the hybrid approach on very different applications: a boat, under an European project, the ECHORD Riverwatch, and a terrestrial four-wheeled robot for a national project, the Introsys Robot.

Quand les autres se remettent en question: négociations identitaires et travail de terrain

Aux printemps 1997 et 1998 j’ai accompagné le tournage de deux documentaires du cinéaste João Pedro Rodrigues – « Esta é a minha casa » et « Viagem à Expo » - avec une famille d’émigrants portugais. En faisant une ethnographie multi-située, j’ai voulu comprendre les processus de construction des univers culturels et identitaires des différents membres de la famille. Dans le cadre relationnel spécifique aux tournages, la présence de l’anthropologue a conduit à des actes de production/transformation de culture. Avant la restitution des savoirs (celle qui se fait à la fin de la recherche) nous étions déjà en présence d’un transfert de connaissances. La situation produite par le travail ethnographique est une situation de restitution continue, dans la mesure où les personnes avec lesquelles nous travaillons se transforment en fonction du rapport qu’elles établissent avec nos façons de représenter le monde et nos façons d’y vivre.

Analysis of the interaction of polycyclic aromatic compounds in a model organism: integration of genotoxic and histopathological effects

Due to their toxicity, especially their carcinogenic potential, polycyclic aromatic hydrocarbons (PAHs) became priority pollutants in biomonitoring programmes and environmental policy, such as the European Water Framework Directive. The model substances tested in this study, namely benzo[b]fluoranthene (B[b]F), considered potentially carcinogenic to humans and an effector carcinogenic PAH to wildlife, and phenanthrene (Phe), deemed a non-carcinogenic PAH, are common PAHs in coastal waters, owning distinct properties reflected in different, albeit overlapping, mechanisms of toxicity. Still, as for similar PAHs, their interaction effects remain largely unknown. In order to study the genotoxic effects of caused by the interaction of carcinogenic and non-carcinogenic PAHs, and their relation to histopathological alterations, juvenile sea basses, Dicentrarchus labrax, a highly ecologically- and economically-relevant marine fish, were injected with different doses (5 and 10 μg.g-1 fish ww) of the two PAHs, isolated or in mixture, and incubated for 48 h. Individuals injected with B[b]F and the PAH mixture exhibited higher clastogenic/aneugenic effects and DNA strand breakage in blood cells, determined through the erythrocytic nuclear abnormalities (ENA) and Comet assays, respectively. Also, hepatic histopathological alterations were found in all animals, especially those injected with B[b]F and the PAH mixture, relating especially to inflammation. Still, Phe also exhibited genotoxic effects in sea bass, especially in higher doses, revealing a very significant acute effect that was accordant with the Microtox test performed undergone in parallel. Overall, sea bass was sensitive to B[b]F (a higher molecular weight PAH), likely due to efficient bioactivation of the pollutant (yielding genotoxic metabolites and reactive oxygen species), when compared to Phe, the latter revealing a more significant acute effect. The results indicate no significant additive effect between the substances, under the current experimental conditions. The present study highlights the importance of understanding PAH interactions in aquatic organisms, since they are usually present in the aquatic environment in complex mixtures.

Toxicity of carcinogenic and non-carcinogenic Polycyclic Aromatic Hydrocarbons and their mixtures to aquatic organisms under ecologically-relevant scenarios

Polycyclic aromatic hydrocarbons (PAHs) are ubiquitous priority pollutants that tend to be trapped in aquatic sediments due to their high hydrophobicity. Nonetheless, the differential toxicological effects and mechanisms between the various classes of PAHs and their mixtures, as they invariably occur in the environment, are scarcely known, especially under ecologically-relevant scenarios. This thesis aimed at establishing a bridge between the study of mechanistic pathways and environmental monitoring of carcinogenic and non-carcinogenic PAHs, by introducing ecological-relevance in the research with model PAHs. A first bioassay conducted in situ with the mussel Mytilus edulis demonstrated that, dredging operations in harbours increase PAH bioavailability, eliciting genotoxicity, and showed that established environmental guidelines underestimate risk. Subsequent ex situ bioassays were performed with the carcinogenic benzo[b]fluoranthene (B[b]F) and non-carcinogenic phenantrene (Phe), selected following preceding results, and revealed that low-moderate concentrations of these PAHs in spiked sediments induce genotoxic effects to the clam Ruditapes decussatus, therefore contradicting the general notion that bivalves are less sensitive to PAHs than vertebrates due to inefficient bioactivation. Also, it was demonstrated that passive samplers permit inferring on PAH bioavailability but not on bioaccumulation or toxic effects. On the other hand, sea basses (Dicentrarchus labrax), yielded a complex pattern of effects and responses, relatively to genotoxicity, oxidative stress and production of specific metabolites, especially when exposed to mixtures of the PAHs which led to additive, if not synergistic, effects. It was shown that Phe may elicit significant genotoxicity especially in presence of B[b]F, even though the low, albeit realistic, exposure concentrations diluted dose- and time-independent relationships. The present work demonstrated that environmental quality guidelines underestimate the effects of PAHs in realistic scenarios and showed that the significant genotoxic and histopathological effects caused by mixed PAHs may not be reflected by oxidative stress- or CYP-related biomarkers. Besides important findings on the metabolism of PAH mixtures, the work calls for the need to re-evaluate the criteria for assessing risk and for the disclosure of more efficient indicators of toxicological hazard.

Auxiliary mechanisms for telerobotics

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

Télédetection en milieu périurbain. Détection et localisation du changement de l'occupation du sol par intégration des donnés-satellite SPOT HRV dans un système d'information géographique

Thèse pour obtenir le grade de DOCTEUR DE L' UNIVERSITÉ PARIS XII, Discipline: Urbanisme Aménagement

Zonal distribution of gold and platinium group elements in the Mondunguara deposits Mozambique

The Mondunguara copper mines are situated in mountainous terrain in west-central Mozambique. The mineralization consists of chalcopyrite, pyrrhotite, common pcntlandite, cobaltpentlandite, pyrite and several minor oxides and sulphides in tabular ore bodies deeping steep to the north. Gold was known to occur in small quantities but no systematic sampling and analysis for precious clements was ever done. Mineralogical and geological evidence has shown that the ores are magmatic in origin and were derived from gabbro-peridotitic magma dykes saturated in sulphides when intruded. The ore bodies show a clear zonation. Platinum group elements as well as pure gold are associated with high temperature hexagonal pyrrhotite. This pyrrhotite being of no use is generally discarded to the tailing dumps. Late hydrothermal phases are enriched in native silver, silver tellurides as well as electrum.

Contribution towards understanding the categorisation of landforms.

Dissertation submitted in partial fulfilment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Integration of sediment contamination with multi–biomarker responses in a novel bioindicator candidate (Sepia officinalis) for risk assessment in impacted estuaries

Dissertação para obtenção do Grau de Mestre em Engenharia do Ambiente

Comparative effects of sediments contaminated by carcinogenic and non-carcinogenic PAHs in Dicentrarchus labrax: a semi-quantitative histopathological approach

Dissertação para obtenção do Grau de Mestre em Engenharia do Ambiente

Reinterpretation de l'Histoire Stratigraphique et Tectonique de la Structure de Serra de El-Rei (Portugal)

Les travaux faits sur le terrain et les interprétations cartographiques de ces dernières années, montrant la pertinence des observations de Paul Choffat au siècle dernier, permettent de préciser l'échelle stratigraphique et de mieux distinguer les phases de l'histoire tectonique de la structure de Serra de EI-Rei. En attendant la publication d'une cartographie très détaillée mettant en évidence le détail des déformations tectoniques, il faut souligner la dissymétrie des deux flancs de cette structure ainsi que le rôle de certaines failles transverses. Sur son flanc nord, la série liasique, allant des dolomies du Lias inférieur au Toarcien inférieur ou moyen, est recouverte stratigraphiquement et en légère discordance par le "Lusitanien" qui remanie à sa base des éléments du Toarcien inférieur ou moyen. Sur son flanc sud, dans la partie centrale, la série stratigraphique liasique est comparable à celle de l'autre flanc, mais les dépôts du Toarcien, plus complets, sont affectés au cours de la zone à Meneghinii par des perturbations synsédimentaires avec fossiles brisés et/ou remaniés et des réductions d'épaisseur. Plus à l'Est, le Toarcien est très réduit et (tectoniquement?) en contact avec le Dogger. Au Sud-Ouest en revanche, prés de Bolhos, la série toarcienne est plus complète et couronnée par l'Aalénien inférieur, mais tronquée par un contact oblique N-S, repris par la tectonique récente. Sur ce flanc, le Bajocien inférieur est représenté mais peu épais; il est suivi par le Bajocien supérieur, le Bathonien et le Callovien très développés qui sont recouverts par un "Lusitanien" épais, très différent de celui du flanc nord. Cette série du Jurassique moyen et supérieur a été décrite dans la thèse de Christiane Ruget (1963). La structure de Serra de EI-Rei constitue une sorte de raccord E-W entre les importantes structures (diapiriques ?) méridiennes de Caldas da Rainha au NE et de Bolhos au SW. II s'agit d'une structure de tectonique distensive, en demi-graben, d'âge jurassique, qui est responsable de la dissymétrie des séries lithostratigraphiques sur ses deux flancs; au Miocène, pendant la compression bétique, cette structure a subi une inversion en constriction. Un modèle de l'évolution sédimentaire du secteur est présenté.