Integration of a mobile autonomous robot in a surveillance multi-agent system

This dissertation aims to guarantee the integration of a mobile autonomous robot equipped with many sensors in a multi-agent distributed and georeferenced surveillance system. The integration of a mobile autonomous robot in this system leads to new features that will be available to clients of surveillance system may use. These features may be of two types: using the robot as an agent that will act in the environment or by using the robot as a mobile set of sensors. As an agent in the system, the robot can move to certain locations when alerts are received, in order to acknowledge the underlying events or take to action in order to assist in resolving this event. As a sensor platform in the system, it is possible to access information that is read from the sensors of the robot and access complementary measurements to the ones taken by other sensors in the multi-agent system. To integrate this mobile robot in an effective way it is necessary to extend the current multi-agent system architecture to make the connection between the two systems and to integrate the functionalities provided by the robot into the multi-agent system.

Design and development of a microfluidic platform for use with colorimetric gold nanoprobe assays

Due to the importance and wide applications of the DNA analysis, there is a need to make genetic analysis more available and more affordable. As such, the aim of this PhD thesis is to optimize a colorimetric DNA biosensor based on gold nanoprobes developed in CEMOP by reducing its price and the needed volume of solution without compromising the device sensitivity and reliability, towards the point of care use. Firstly, the price of the biosensor was decreased by replacing the silicon photodetector by a low cost, solution processed TiO2 photodetector. To further reduce the photodetector price, a novel fabrication method was developed: a cost-effective inkjet printing technology that enabled to increase TiO2 surface area. Secondly, the DNA biosensor was optimized by means of microfluidics that offer advantages of miniaturization, much lower sample/reagents consumption, enhanced system performance and functionality by integrating different components. In the developed microfluidic platform, the optical path length was extended by detecting along the channel and the light was transmitted by optical fibres enabling to guide the light very close to the analysed solution. Microfluidic chip of high aspect ratio (~13), smooth and nearly vertical sidewalls was fabricated in PDMS using a SU-8 mould for patterning. The platform coupled to the gold nanoprobe assay enabled detection of Mycobacterium tuberculosis using 3 8l on DNA solution, i.e. 20 times less than in the previous state-of-the-art. Subsequently, the bio-microfluidic platform was optimized in terms of cost, electrical signal processing and sensitivity to colour variation, yielding 160% improvement of colorimetric AuNPs analysis. Planar microlenses were incorporated to converge light into the sample and then to the output fibre core increasing 6 times the signal-to-losses ratio. The optimized platform enabled detection of single nucleotide polymorphism related with obesity risk (FTO) using target DNA concentration below the limit of detection of the conventionally used microplate reader (i.e. 15 ng/μl) with 10 times lower solution volume (3 μl). The combination of the unique optical properties of gold nanoprobes with microfluidic platform resulted in sensitive and accurate sensor for single nucleotide polymorphism detection operating using small volumes of solutions and without the need for substrate functionalization or sophisticated instrumentation. Simultaneously, to enable on chip reagents mixing, a PDMS micromixer was developed and optimized for the highest efficiency, low pressure drop and short mixing length. The optimized device shows 80% of mixing efficiency at Re = 0.1 in 2.5 mm long mixer with the pressure drop of 6 Pa, satisfying requirements for the application in the microfluidic platform for DNA analysis.

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.

Orchestration of heterogeneous middleware services and its application to a comand and control platform

MSC Dissertation in Computer Engineering

Virtual globes as a platform for developing spatial literacy

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

Desenvolvimento e optimização de um sensor de fibra óptica para determinação da concentração de oxigénio

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Instrumentação, Manutenção Industrial e Qualidade

Zinc oxide as an ozone sensor

Journal of Applied Physics, Vol. 96, nº3

Sensor de direcção luminosa para seguimento solar

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

Orbital forcing of stratal patterns in an inner platform carbonate sucession: an example from an Upper Hauterivian series of the Lusitanian Basin, Portugal

With an example taken from a late-Hauterivian series of the Lusitanian Basin (Portugal), we will demonstrate the sedimentary record of orbital pattern variations and, consequently, climate variations in an inner platform environment with patterns and isolation changes, allows us to establish 4 major orders of periodicity related to orbital components:- The large cycles ob bed thickness variation, constituted by 31-32 beds, recording the 400 ky eccentricity cycle component;- The medium cycles, represented by byndles of 8-9 beds, related to the 100 ky eccentricity cycle component; - The small cycles, of 3-5 beds, recording the 41 ky obliquity components;- The very small cycles, of 2 beds, related to the 22 ky and 26 ky precession components. The mean duration of each bed is around 11.8 ky, a number very close to that of the precession hemi-cycle. Climatic control on qualitative production is confirmed by the close relation between the bed thickness variations, the insolation variability and the variation of micritized elements concentrations.

Um sensor de peróxido de hidrogénio numa bacteria anaeróbia: a PerR de Desulfovobrio vulgaris vulgaris Hildenborough

Dissertação apresentada para obtenção do grau de Mestre em Bioquímica Estrutural e Funcional, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Desenvolvimento de um sensor de electroencefalografia localizado

Dissertação apresentada à Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para complementar os requerimentos para a obtenção do grau de Mestre em Engenharia Biomédica

Framework-specific DSL para sensoriamento participado

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Desenvolvimento de um oxímetro de pulso e de um sensor de medição de pressão arterial

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

Uma abordagem a sistemas de crescimento celular apical: síntese de um sensor para iões citosólicos de potássio

Dissertação para obtenção do Grau de Mestre em Bioorgânica

Projecto e construção de um sensor destinado a medir forças/momentos em três direcções ortogonais

Dissertação para obtenção do Grau de Mestre em Engenharia Mecânica