Environmental modeling with precision navigation using ROAZ autonomous surface vehicle

The use of robotic vehicles for environmental modeling is discussed. This paper presents diverse results in autonomous marine missions with the ROAZ autonomous surface vehicle. The vehicle can perform autonomous missions while gathering marine data with high inertial and positioning precision. The underwater world is an, economical and environmental, asset that need new tools to study and preserve it. ROAZ is used in marine environment missions since it can sense and monitor the surface and underwater scenarios. Is equipped with a diverse set of sensors, cameras and underwater sonars that generate 3D environmental models. It is used for study the marine life and possible underwater wrecks that can pollute or be a danger to marine navigation. The 3D model and integration of multibeam and sidescan sonars represent a challenge in nowadays. Adding that it is important that robots can explore an area and make decisions based on their surroundings and goals. Regard that, autonomous robotic systems can relieve human beings of repetitive and dangerous tasks.

Conceção e Execução de Estruturas Metálicas

O presente relatório diz respeito ao trabalho desenvolvido ao longo de seis meses em ambiente de estágio curricular na empresa O FELIZ – Metalomecânica, S.A.. O objetivo principal deste trabalho foi o conhecimento resultante de uma experiência num ambiente industrial no sector das construções metálicas. Pela especificidade do setor, foi desenvolvido um estudo no âmbito da conceção e execução (na componente de fabrico) de estruturas. O relatório que resulta deste trabalho de estágio tem como referência um caso de estudo de uma estrutura metálica. O caso de estudo realizado é referente a um pavilhão industrial standard, e possui dimensões em planta de 60 x 25 metros e cércea total de 9,0 metros, para o qual foi efetuado um breve dimensionamento de toda a estrutura metálica principal. O edifício será constituído por um sistema de pórtico simples formado por perfis laminados a quente normalizados de secção IPE e de aço de classe S275. Posteriormente, e com recurso a software apropriado de detalhamento de estruturas metálicas, foi desenvolvido um modelo 3D de toda a estrutura metálica do edifício. Neste modelo estão presentes todos os elementos constituintes da estrutura, bem como algumas das características físicas e mecânicas de cada peça elementar. Por fim, e com base no modelo anterior foram gerados e editados todos os desenhos 2D para o fabrico da estrutura, incluindo os desenhos de montagem da estrutura.

Taludes rochosos. Metodologias de inspecção e de avalialição de segurança. Caso de estudo das vertentes rochosas de S. Simão

A instabilização de taludes rochosos, com consequências mais ou menos gravosas, repete-se com frequência no território nacional. Os enquadramentos destes incidentes são diversos, sendo mais comum e mais visível a sua ocorrência em taludes adjacentes a vias de comunicação. No entanto, o fenómeno repete-se também em vertentes naturais, geralmente em alturas de pluviosidade mais prolongada e intensa. No presente trabalho reveem-se conceitos associados a maciços rochosos, nomeadamente as principais classificações geotécnicas e as diferentes tipologias de instabilidade em taludes rochosos. Desenvolve-se um caso de estudo de uma vertente localizada em S. Simão, concelho de Amarante. Percorrem-se as sucessivas fases de estudo, incluindo a realização da fotografia aérea com recurso a um veículo não tripulado, a geração de um modelo 3D de elevada precisão da vertente e a caracterização e a classificação dos diferentes afloramentos rochosos. Desenvolve-se uma metodologia de inspeção com a criação de dois conjuntos de fichas e propõe-se o agravamento da classificação das anomalias perante a simultaneidade de ocorrência de anomalias de idêntica gravidade e a hierarquização dos blocos potencialmente instáveis, de acordo com os respetivos níveis de gravidade (NGB). Recorre-se ao programa de modelação da queda de blocos, “Rocfall (4.0”, da “Rocscience”, a partir de trajetórias definidas no modelo 3D gerado e propõem-se soluções de reforço e de proteção da vertente.

Modeling and visualization of medical anesthesiology acts

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Compaction quality control on site of earthworks - A comparative study

The capacity to use geologic materials (soil and rock) that are available in the surrounding environment is inherent to the human civilization and has contributed to the evolution of societies throughout the course of history. The use of these materials in the construction of structures such as houses, roads, railways or dams, stirred the improvement of socioeconomic and environmental conditions. Several reports of structural problems on embankments can be found throughout history. A considerable number of those registers can be linked to inadequate compaction, demonstrating the importance of guaranteeing a suitable quality of soil compaction. Various methodologies and specifications of compaction quality control on site of earthworks, based on the fill moisture content and dry unit weight, were developed during the 20th century. Two widely known methodologies are the conventional and nuclear techniques. The conventional methods are based on the use of the field sand cone test (or similar) and sampling of material for laboratory-based testing to evaluate the fill dry unit weight and water content. The nuclear techniques measure both parameters in the field using a nuclear density gauge. A topic under discussion in the geotechnical community, namely in Portugal, is the comparison between the accuracy of the nuclear gauge and sand cone test results for assessing the compaction and density ratio of earth fills, particularly for dams. The main purpose of this dissertation is to compare both of them. The data used were acquired during the compaction quality control operations at the Coutada/Tamujais dam trial embankment and core construction. This is a 25 m high earth dam located in Vila Velha de Rodão, Portugal. To analyse the spatial distribution of the compaction parameters (water content and compaction ratio), a 3D model was also developed. The main results achieved are discussed and finally some considerations are put forward on the suitability of both techniques to ensure fill compaction quality and on additional research to complement the conclusions obtained.

Structural analysis of the masonry envelope of Ica Cathedral, Peru

Dissertação de mestrado em Structural Analysis of Monuments and Historical Constructions

Estudo, projeto e desenvolvimento de uma máquina para montar e vincar sacos de papel

Dissertação de mestrado integrado em Engenharia Mecânica

Válvula rotativa inovadora para motores a 2 tempos possibilitando sobre-expansão

Dissertação de mestrado integrado em Engenharia Mecânica

Development of advanced cell/tissue culture systems, based on enhanced polymeric scaffolds and sophisticated bioreactors, for tissue engineering applications

Programa Doutoral em Engenharia Biomédica

Estudio sobre la extracción de puntos característicos en imágenes y sus aplicaciones

En aquest treball realitzem un estudi sobre la detecció y la descripció de punts característics, una tecnologia que permet extreure informació continguda en les imatges. Primerament presentem l'estat de l'art juntament amb una avaluació dels mètodes més rellevants. A continuació proposem els nous mètodes que hem creat de detecció i descripció, juntament amb l'algorisme òptim anomenat DART, el qual supera l'estat de l'art. Finalment mostrem algunes aplicacions on s'utilitzen els punts DART. Basant-se en l'aproximació de l'espai d'escales Gaussià, el detector proposat pot extreure punts de distint tamany invariants davant canvis en el punt de vista, la rotació i la iluminació. La reutilització de l'espai d'escales durant el procés de descripció, així com l'ús d'estructures simplificades i optimitzades, permeten realitzar tot el procediment en un temps computacional menor a l'obtingut fins al moment. Així s'aconsegueixen punts invariants i distingibles de forma ràpida, el qual permet la seva utilització en aplicacions com el seguiment d'objectes, la reconstrucció d'escenaris 3D i en motors de cerca visual.

Recovering Euclidean deformable models from stereo-motion

In this paper we present a novel structure from motion (SfM) approach able to infer 3D deformable models from uncalibrated stereo images. Using a stereo setup dramatically improves the 3D model estimation when the observed 3D shape is mostly deforming without undergoing strong rigid motion. Our approach first calibrates the stereo system automatically and then computes a single metric rigid structure for each frame. Afterwards, these 3D shapes are aligned to a reference view using a RANSAC method in order to compute the mean shape of the object and to select the subset of points on the object which have remained rigid throughout the sequence without deforming. The selected rigid points are then used to compute frame-wise shape registration and to extract the motion parameters robustly from frame to frame. Finally, all this information is used in a global optimization stage with bundle adjustment which allows to refine the frame-wise initial solution and also to recover the non-rigid 3D model. We show results on synthetic and real data that prove the performance of the proposed method even when there is no rigid motion in the original sequence

A new training set-up for trans-apical aortic valve replacement.

Trans-apical aortic valve replacement (AVR) is a new and rapidly growing therapy. However, there are only few training opportunities. The objective of our work is to build an appropriate artificial model of the heart that can replace the use of animals for surgical training in trans-apical AVR procedures. To reduce the necessity for fluoroscopy, we pursued the goal of building a translucent model of the heart that has nature-like dimensions. A simplified 3D model of a human heart with its aortic root was created in silico using the SolidWorks Computer-Aided Design (CAD) program. This heart model was printed using a rapid prototyping system developed by the Fab@Home project and dip-coated two times with dispersion silicone. The translucency of the heart model allows the perception of the deployment area of the valved-stent without using heavy imaging support. The final model was then placed in a human manikin for surgical training on trans-apical AVR procedure. Trans-apical AVR with all the necessary steps (puncture, wiring, catheterization, ballooning etc.) can be realized repeatedly in this setting.

Motion capture amb Microsoft Kinect

El proyecto trata de convertirse en una herramienta para animadores 3D, tanto para los que hacen películas como para los que modelan videojuegos, que necesiten de un software para simplificar el trabajo que conlleva animar un modelo 3D. Todo sin necesidad de usar trajes especializados. El proyecto, usando Kinect, convertirá los movimientos captados por la cámara y los agregará al modelo, creando una animación basándose en los movimientos reales de una persona.

Rapid prototyping of compliant human aortic roots for assessment of valved stents.

Adequate in-vitro training in valved stents deployment as well as testing of the latter devices requires compliant real-size models of the human aortic root. The casting methods utilized up to now are multi-step, time consuming and complicated. We pursued a goal of building a flexible 3D model in a single-step procedure. We created a precise 3D CAD model of a human aortic root using previously published anatomical and geometrical data and printed it using a novel rapid prototyping system developed by the Fab@Home project. As a material for 3D fabrication we used common house-hold silicone and afterwards dip-coated several models with dispersion silicone one or two times. To assess the production precision we compared the size of the final product with the CAD model. Compliance of the models was measured and compared with native porcine aortic root. Total fabrication time was 3 h and 20 min. Dip-coating one or two times with dispersion silicone if applied took one or two extra days, respectively. The error in dimensions of non-coated aortic root model compared to the CAD design was <3.0% along X, Y-axes and 4.1% along Z-axis. Compliance of a non-coated model as judged by the changes of radius values in the radial direction by 16.39% is significantly different (P<0.001) from native aortic tissue--23.54% at the pressure of 80-100 mmHg. Rapid prototyping of compliant, life-size anatomical models with the Fab@Home 3D printer is feasible--it is very quick compared to previous casting methods.

Organ volume measurements: comparison between MRI and autopsy findings in infants following sudden unexpected death.

OBJECTIVE: To assess the accuracy of a semiautomated 3D volume reconstruction method for organ volume measurement by postmortem MRI. METHODS: This prospective study was approved by the institutional review board and the infants' parents gave their consent. Postmortem MRI was performed in 16 infants (1 month to 1 year of age) at 1.5 T within 48 h of their sudden death. Virtual organ volumes were estimated using the Myrian software. Real volumes were recorded at autopsy by water displacement. The agreement between virtual and real volumes was quantified following the Bland and Altman's method. RESULTS: There was a good agreement between virtual and real volumes for brain (mean difference: -0.03% (-13.6 to +7.1)), liver (+8.3% (-9.6 to +26.2)) and lungs (+5.5% (-26.6 to +37.6)). For kidneys, spleen and thymus, the MRI/autopsy volume ratio was close to 1 (kidney: 0.87±0.1; spleen: 0.99±0.17; thymus: 0.94±0.25), but with a less good agreement. For heart, the MRI/real volume ratio was 1.29±0.76, possibly due to the presence of residual blood within the heart. The virtual volumes of adrenal glands were significantly underestimated (p=0.04), possibly due to their very small size during the first year of life. The percentage of interobserver and intraobserver variation was lower or equal to 10%, but for thymus (15.9% and 12.6%, respectively) and adrenal glands (69% and 25.9%). CONCLUSIONS: Virtual volumetry may provide significant information concerning the macroscopic features of the main organs and help pathologists in sampling organs that are more likely to yield histological findings.