Sensitive bi-enzymatic biosensor based on polyphenoloxidases–gold nanoparticles–chitosan hybrid film–graphene doped carbon paste electrode for carbamates detection

A bi-enzymatic biosensor (LACC–TYR–AuNPs–CS/GPE) for carbamates was prepared in a single step by electrodeposition of a hybrid film onto a graphene doped carbon paste electrode (GPE). Graphene and the gold nanoparticles (AuNPs) were morphologically characterized by transmission electron microscopy, X-ray photoelectron spectroscopy, dynamic light scattering and laser Doppler velocimetry. The electrodeposited hybrid film was composed of laccase (LACC), tyrosinase (TYR) and AuNPs entrapped in a chitosan (CS) polymeric matrix. Experimental parameters, namely graphene redox state, AuNPs:CS ratio, enzymes concentration, pH and inhibition time were evaluated. LACC–TYR–AuNPs–CS/GPE exhibited an improved Michaelis–Menten kinetic constant (26.9 ± 0.5 M) when compared with LACC–AuNPs–CS/GPE (37.8 ± 0.2 M) and TYR–AuNPs–CS/GPE (52.3 ± 0.4 M). Using 4-aminophenol as substrate at pH 5.5, the device presented wide linear ranges, low detection limits (1.68×10− 9 ± 1.18×10− 10 – 2.15×10− 7 ± 3.41×10− 9 M), high accuracy, sensitivity (1.13×106 ± 8.11×104 – 2.19×108 ± 2.51×107 %inhibition M− 1), repeatability (1.2–5.8% RSD), reproducibility (3.2–6.5% RSD) and stability (ca. twenty days) to determine carbaryl, formetanate hydrochloride, propoxur and ziram in citrus fruits based on their inhibitory capacity on the polyphenoloxidases activity. Recoveries at two fortified levels ranged from 93.8 ± 0.3% (lemon) to 97.8 ± 0.3% (orange). Glucose, citric acid and ascorbic acid do not interfere significantly in the electroanalysis. The proposed electroanalytical procedure can be a promising tool for food safety control.

Is there space for senior civil servants hybrid management models across political- administrative systems?

Comunicação apresentada na 17.ª conferência anual da NISPACee, realizada de 14 a 16 de Maio de 2009.

How are top officials hybrid management models present across political-administrative systems?

Comunicação apresentada na 4th Annual ICPA - International Conference on Public Administration "Building bridges to the future: leadership and collaboration in public administration", na Universidade de Minnesota nos Estados Unidos, de 24 a 26 de setembro de 2008

Complementary filter design with three frequency bands: robot attitude estimation

This paper extents the by now classic sensor fusion complementary filter (CF) design, involving two sensors, to the case where three sensors that provide measurements in different bands are available. This paper shows that the use of classical CF techniques to tackle a generic three sensors fusion problem, based solely on their frequency domain characteristics, leads to a minimal realization, stable, sub-optimal solution, denoted as Complementary Filters3 (CF3). Then, a new approach for the estimation problem at hand is used, based on optimal linear Kalman filtering techniques. Moreover, the solution is shown to preserve the complementary property, i.e. the sum of the three transfer functions of the respective sensors add up to one, both in continuous and discrete time domains. This new class of filters are denoted as Complementary Kalman Filters3 (CKF3). The attitude estimation of a mobile robot is addressed, based on data from a rate gyroscope, a digital compass, and odometry. The experimental results obtained are reported.

Robot visual localization through local feature fusion: an evaluation of multiple classifiers combination approaches

In the last decade, local image features have been widely used in robot visual localization. In order to assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image with those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, in this paper we compare several candidate combiners with respect to their performance in the visual localization task. For this evaluation, we selected the most popular methods in the class of non-trained combiners, namely the sum rule and product rule. A deeper insight into the potential of these combiners is provided through a discriminativity analysis involving the algebraic rules and two extensions of these methods: the threshold, as well as the weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. Furthermore, we address the process of constructing a model of the environment by describing how the model granularity impacts upon performance. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance, confirming the general agreement on the robustness of this rule in other classification problems. The voting method, whilst competitive with the product rule in its standard form, is shown to be outperformed by its modified versions.

A hybrid procedure to identify the optimal stiffness coefficients of elastically restrained beams

The formulation of a bending vibration problem of an elastically restrained Bernoulli-Euler beam carrying a finite number of concentrated elements along its length is presented. In this study, the authors exploit the application of the differential evolution optimization technique to identify the torsional stiffness properties of the elastic supports of a Bernoulli-Euler beam. This hybrid strategy allows the determination of the natural frequencies and mode shapes of continuous beams, taking into account the effect of attached concentrated masses and rotational inertias, followed by a reconciliation step between the theoretical model results and the experimental ones. The proposed optimal identification of the elastic support parameters is computationally demanding if the exact eigenproblem solving is considered. Hence, the use of a Gaussian process regression as a meta-model is addressed. An experimental application is used in order to assess the accuracy of the estimated parameters throughout the comparison of the experimentally obtained natural frequency, from impact tests, and the correspondent computed eigenfrequency.

Decision support tool for Virtual Power Players: Hybrid Particle Swarm Optimization applied to Day-ahead Vehicle-To-Grid Scheduling

This paper presents a decision support tool methodology to help virtual power players (VPPs) in the Smart Grid (SGs) context to solve the day-ahead energy resource scheduling considering the intensive use of Distributed Generation (DG) and Vehicle-To-Grid (V2G). The main focus is the application of a new hybrid method combing a particle swarm approach and a deterministic technique based on mixedinteger linear programming (MILP) to solve the day-ahead scheduling minimizing total operation costs from the aggregator point of view. A realistic mathematical formulation, considering the electric network constraints and V2G charging and discharging efficiencies is presented. Full AC power flow calculation is included in the hybrid method to allow taking into account the network constraints. A case study with a 33-bus distribution network and 1800 V2G resources is used to illustrate the performance of the proposed method.

Distributed Energy Resources Management using Plug-in Hybrid Electric Vehicles as a Fuel-Shifting Demand Response Resource

In the smart grids context, distributed energy resources management plays an important role in the power systems’ operation. Battery electric vehicles and plug-in hybrid electric vehicles should be important resources in the future distribution networks operation. Therefore, it is important to develop adequate methodologies to schedule the electric vehicles’ charge and discharge processes, avoiding network congestions and providing ancillary services. This paper proposes the participation of plug-in hybrid electric vehicles in fuel shifting demand response programs. Two services are proposed, namely the fuel shifting and the fuel discharging. The fuel shifting program consists in replacing the electric energy by fossil fuels in plug-in hybrid electric vehicles daily trips, and the fuel discharge program consists in use of their internal combustion engine to generate electricity injecting into the network. These programs are included in an energy resources management algorithm which integrates the management of other resources. The paper presents a case study considering a 37-bus distribution network with 25 distributed generators, 1908 consumers, and 2430 plug-in vehicles. Two scenarios are tested, namely a scenario with high photovoltaic generation, and a scenario without photovoltaic generation. A sensitivity analyses is performed in order to evaluate when each energy resource is required.

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.

Low cost inertial-based localization system for a service robot

Dissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science Engineering

UMA ABORDAGEM YEAST TWO-HYBRID PARA O ESTUDO DA REPLICAÇÃO E PATOGÉNESE DO VÍRUS DA HEPATITE DELTA

O vírus da hepatite delta (HDV) é o agente etiológico de uma das formas mais graves de hepatite viral e é ainda endémico em diversas regiões do globo, nomeadamente em África, na Amazónia e no Extremo Oriente. O HDV co-infecta ou super-infecta hepatócitos infectados com o vírus da hepatite B (HBV) aumentando em cerca de 10 vezes o risco de cirrose e hepatite fulminante. A associação clínica entre os dois vírus deve-se ao facto do invólucro do HDV ser constituído pelos antigénios de superfície do HBV (HBsAgs) que são necessários para a propagação da infecção. O genoma do HDV é constituído por uma molécula de RNA de cadeia simples, circular, com cerca de 1.7 Kb, que possui cerca de 70% de emparelhamento interno. Foi identificada uma única grelha de leitura aberta (ORF) no RNA viral que codifica para o antigénio delta (HDAg). A ocorrência de um mecanismo de editing do RNA, resulta na expressão de duas formas do HDAg, a pequena (S-HDAg) e a grande (L-HDAg). Várias funções essenciais para a replicação do HDV têm sido atribuídas a ambas as formas do HDAg, sendo a S-HDAg essencial para a acumulação de RNA viral e a L-HDAg responsável pela interacção com os HBsAgs para formar partículas virais. No entanto, dada a simplicidade dos seus componentes, admite-se que a replicação viral depende das interacções estabelecidas entre os HDAgs e factores celulares do hospedeiro. Apesar do número considerável de factores celulares descritos como interactores dos HDAgs ou RNA virais, a importância de muitas destas interacções não foi elucidada e muitas etapas do ciclo de replicação do HDV permanecem pouco claras. Para além disso, dado o número limitado de factores do hospedeiro que estão envolvidos na sua replicação, é muito provável que um número elevado de interactores do HDV permaneça por identificar. Este trabalho teve como objectivo a identificação de proteínas de fígado humano capazes de interagir com os HDAgs, utilizando o sistema yeast Two-Hybrid (YTH). Identificaram-se trinta proteínas com capacidade de interagir com a S-HDAg no sistema YTH, sendo que estas proteínas se encontram envolvidas em diferentes processos celulares. Com base nas características funcionais, foram seleccionadas três destas proteínas e as suas interacções com a S-HDAg foram investigadas com maior detalhe. As três proteínas seleccionadas foram a ribonucleoproteína nuclear heterogénea C (hnRNPC), a embryonic lethal abnormal vision like1 (ELAVL1/HuR) e a proteína 2 de ligação a EBNA1 (EBP2). As duas primeiras são proteínas de ligação a RNA, previamente descritas como envolvidas em processos de replicações de outros vírus com genoma RNA, enquanto a EBP2, é uma proteína de localização preferencialmente nucleolar, tal como por vezes acontece com os HDAgs. As interacções foram analisadas recorrendo a vários ensaios bioquímicos. No caso da hnRNPC e da HuR, após validação no sistema YTH, a capacidade de interacção com a S-HDAg foi confirmada quer in vitro por blot overlay quer in vivo por co-imunoprecipitação em células de hepatoma humano. Nas mesmas células, observou-se uma co-localização considerável entre os HDAgs e os RNAs virais. Finalmente, de modo a investigar a contribuição das proteínas hnRNPC e HuR na replicação do HDV, procedeu-se ao silenciamento destas proteínas pela utilização de short hairpin RNAs (shRNAs) específicos para os mRNAs correspondentes Observou-se que o silenciamento de ambas as proteínas hnRNPC e HuR endógenas, individualmente resultou numa diminuição acentuada nos níveis de expressão dos HDAgs. No que respeita à EBP2, a interacção com a S-HDAg foi confirmada em condições in vitro com recurso a ensaios de blot overlay e de cromatografia de afinidade. A análise por imunofluorescência indirecta e microscopia confocal revelou co-localização elevada entre os HDAgs e a EBP2, principalmente nos nucléolos de células de hepatoma humano. Finalmente, foi ainda utilizado o sistema YTH para estudar os mecanismos de importação dos HDAgs. Assim, este sistema foi utilizado com o propósito de identificar proteínas celulares capazes de interagir com um domínio específico dos HDAgs, o sinal de localização nuclear (NLS). Na pesquisa YTH realizada obtiveram-se 161 clones positivos, sendo que um deles mostrou codificar para a carioferina α4 (KPNA4). A interacção da KPNA4 com a S-HDAg foi reproduzida em condições in vitro através de um ensaio de cromatografia de afinidade tendo sido utilizadas formas recombinantes das duas proteínas. Este trabalho permitiu identificar várias proteínas celulares que interagem com a S-HDAg. Obtiveram-se evidências sugestivas de que algumas das proteínas identificadas podem desempenhar funções importantes no ciclo de replicação do HDV e que abrem novas perspectivas para o estudo do ciclo de replicação do vírus.

Hybrid systems biology: application to Escherichia coli

Dissertation presented to obtain a Master degree in Biotechnology

Design and Implementation of a Biologically Inspired Flying Robot - An EPS@ISEP 2014 Spring Project

The goal of this EPS@ISEP project proposed in the Spring of 2014 was to develop a flapping wing flying robot. The project was embraced by a multinational team composed of four students from different countries and fields of study. The team designed and implemented a robot inspired by a biplane design, constructed from lightweight materials and battery powered. The prototype, called MyBird, was built with a 250 € budget, reuse existing materials as well as low cost solutions. Although the team's initial idea was to build a light radio controlled robot, time limitations along with setbacks involving the required electrical components led to a light but not radio controlled prototype. The team, from the experience gathered, made a number of future improvement suggestions, namely, the addition of radio control and a camera and the adoption of articulated monoplane design instead of the current biplane design for the wings.

Design and Implementation of a Biologically Inspired Swimming Robot - An EPS@ISEP 2014 Spring Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.