Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

Treatment of aqueous effluents contaminated with ionic liquids

Ionic liquids are a class of solvents that, due to their unique properties, have been proposed in the past few years as alternatives to some hazardous volatile organic compounds. They are already used by industry, where it was possible to improve different processes by the incorporation of this kind of non-volatile and often liquid solvents. However, even if ionic liquids cannot contribute to air pollution, due to their negligible vapour pressures, they can be dispersed thorough aquatic streams thus contaminating the environment. Therefore, the main goals of this work are to study the mutual solubilities between water and different ionic liquids in order to infer on their environmental impact, and to propose effective methods to remove and, whenever possible, recover ionic liquids from aqueous media. The liquid-liquid phase behaviour of different ionic liquids and water was evaluated in the temperature range between (288.15 and 318.15) K. For higher melting temperature ionic liquids a narrower temperature range was studied. The gathered data allowed a deep understanding on the structural effects of the ionic liquid, namely the cation core, isomerism, symmetry, cation alkyl chain length and the anion nature through their mutual solubilities (saturation values) with water. The experimental data were also supported by the COnductor-like Screening MOdel for Real Solvents (COSMO-RS), and for some more specific systems, molecular dynamics simulations were also employed for a better comprehension of these systems at a molecular level. On the other hand, in order to remove and recover ionic liquids from aqueous solutions, two different methods were studied: one based on aqueous biphasic systems, that allowed an almost complete recovery of hydrophilic ionic liquids (those completely miscible with water at temperatures close to room temperature) by the addition of strong salting-out agents (Al2(SO4)3 or AlK(SO4)2); and the other based on the adsorption of several ionic liquids onto commercial activated carbon. The first approach, in addition to allowing the removal of ionic liquids from aqueous solutions, also makes possible to recover the ionic liquid and to recycle the remaining solution. In the adsorption process, only the removal of the ionic liquid from aqueous solutions was attempted. Nevertheless, a broad understanding of the structural effects of the ionic liquid on the adsorption process was attained, and a final improvement on the adsorption of hydrophilic ionic liquids by the addition of an inorganic salt (Na2SO4) was also achieved. Yet, the development of a recovery process that allows the reuse of the ionic liquid is still required for the development of sustainable processes.

Monitoring and all-optical signal processing techniques for transparent networks

Optical networks are under constant evolution. The growing demand for dynamism require devices that can accommodate different types of traffic. Thus the study of transparent optical networks arises. This approach makes optical networks more "elegant" , due to a more efficient use of network resources. In this thesis, the author proposes devices that intend to form alternative approaches both in the state of art of these same technologies both in the fitting of this technologies in transparent optical networks. Given that full transparency is difficult to achieve with current technology (perhaps with more developed optical computing this is possible), the author proposes techniques with different levels of transparency. On the topic of performance of optical networks, the author proposes two techniques for monitoring chromatic dispersion with different levels of transparency. In Chapter 3 the proposed technique seems to make more sense for long-haul optical transmission links and high transmission rates, not only due to its moderate complexity but also to its potential moderate/high cost. However it is proposed to several modulation formats, particularly those that have a protruding clock component. In Chapter 4 the transparency level was not tested for various modulation formats, however some transparency is achieved by not adding any electrical device after the receiver (other than an analog-digital converter). This allows that this technique can operate at high transmission rates in excess of 100 Gbit / s, if electro-optical asynchronous sampling is used before the optical receiver. Thus a low cost and low bandwidth photo-detector can be used. In chapter 5 is demonstrated a technique for simultaneously monitoring multiple impairments of the optical network by generating novel performance analysis diagrams and by use of artificial neural networks. In chapter 6 the author demonstrates an all-optical technique for controlling the optical state of polarization and an example of how all-optical signal processing can fully cooperate with optical performance monitoring.

Contributos da educação em Geociências para o desenvolvimento: uma abordagem ao tempo geológico

Perante os desafios do mundo contemporâneo, marcado pela complexidade, pelo ritmo acelerado de mudança e pela incerteza, o desenvolvimento dos alunos como cidadãos cientificamente cultos é um fator crítico. Neste contexto, a educação em Geociências, em geral, e a compreensão do tempo geológico, em particular, podem contribuir para um aprofundamento da cultura científica e da responsabilidade do cidadão promotor do desenvolvimento sustentável, numa matriz Ciência/Tecnologia/Sociedade. Assim, com este estudo, pretende-se alcançar duas grandes finalidades: a) contribuir para o desenvolvimento de um quadro teórico e concetual, no âmbito da educação em geral e das Geociências em particular, visando o desenvolvimento dos alunos como cidadãos cientificamente cultos numa lógica de sustentabilidade; b) conceber, implementar e avaliar estratégias, fundamentadas no corpus de referência, no âmbito da Geologia no ensino secundário. Corresponde a uma investigação-ação desenvolvida pelo professor de Biologia e Geologia com alunos do 11.º ano e organizada em três fases: i) desenvolvimento de um quadro teórico de referência e concetual; ii) conceção, desenvolvimento e avaliação de uma intervenção didática iii) elaboração de uma proposta metodológica fundamentada para o aprofundamento de uma cultura científica que promova o desenvolvimento da sustentabilidade na Terra a partir do ensino do tempo geológico. Os resultados do estudo apontam para a importância de trabalhar de modo articulado os conceitos de tempo geológico e de desenvolvimento sustentável na formação de cidadãos cientificamente cultos, capazes de dar resposta às questões complexas da sociedade atual. Por outro lado, a análise da intervenção didática confirma a importância das atividades exteriores à sala de aula e do trabalho prático para o desenvolvimento da cidadania, em alunos do ensino secundário, e como facilitadoras da compreensão de conceitos complexos como o de tempo geológico.

Oxidation and glycoxidation of phosphatidylserine and their effect in immune response : a lipidomic approach

Phosphatidylserine (PS) is a member of the class of phospholipids, and is distributed among all cells of mammalians, playing important roles in diverse biological processes, including blood clotting and apoptosis. When externalized, PS is a ligand that is recognized on apoptotic cells. It has been considered that before externalization PS is oxidized and oxPS enhance the recognition by macrophages receptors, however the knowledge about oxidation of PS is still limited. PS, like others phospholipids, has two fatty acyl chains and one polar head group, in this case is the amino acid serine. The modifications in PS structure can occur by oxidation of the unsaturated fatty acyl chains and by glycation of the polar head group, due to free amine group, thus increasing the susceptibility to oxidative events. The main goal of this work was to characterize and identify oxidized and glycoxidized PS, contributing to the knowledge of the biological role of oxidation products of PS, as well as of glycated PS, in immune and inflammatory processes. To achieve this goal, PS standards (1-palmitoyl-2-oleoyl-sn-glycero-3-phospho- L-serine (POPS), 1,2-dipalmitoyl-sn-glycero-3-phospho-L-serine (DPPS), 1- palmitoyl-2-linoleoyl-sn-glycero-3-phospho-L-serine (PLPS) and 1-palmitoyl-2- arachidonoyl-sn-glycero-3-phospho-L-serine (PAPS)) and glycated PS (PAPS and POPS) were induced to oxidize in model systems, using different oxidant reagents: HO• and 2,2'-azobis-2-methyl-propanimidamide dihydrochloride (AAPH) . The detailed structural characterization of the oxidative products was performed by ESI-MS and MS/MS coupled to separation techniques such as off line TLC-MS and on line LC-MS, in order to obtained better characterization of the larger number of PS and glycated PS oxidation products. The results obtained in this work allowed to identify several oxidation products of PS and glycated PS with modifications in unsaturated fatty acyl chain. Also, oxidation products formed due to structural changes in the serine polar head with formation of terminal acetamide, terminal hydroperoxyacetaldehyde.and terminal acetic acid (glycerophosphacetic acid, GPAA) were identified. The mass spectrometric specific fragmentation pathway of each type of oxidation product was determined using different mass spectrometry approaches. Based on the identified fragmentation pathways, targeted lipidomic analysis was performed to detect oxidation products modified in serine polar head in HaCaT cell line treated with AAPH. The GPAA was detected in HaCaT cells treated with AAPH to induce oxidative stress, thus confirming that modifications in PS polar head is possible to occur in biological systems. Furthermore, it was found that glycated PS species are more prone to oxidative modifications when compared with non glycated PS. During oxidation of glycated PS, besides the oxidation in acyl chains, new oxidation products due to oxidation of the glucose moiety were identified, including PS advanced glycation end products (PSAGES). To investigate if UVA oxidative stress exerted changes in the lipidome of melanoma cell lines, particularly in PS profile, a lipidomic analysis was performed. The lipid profile was obtained using HILIC-LC-MS and GC-MS analysis of the total lipid extracts obtained from human melanoma cell line (SKMEL- 28) after UVA irradiation at 0, 2 and 24 hours. The results did not showed significant differences in PS content. At molecular level, only PS (18:0:18:1) decreased at the moment of irradiation. The most significant changes in phospholipids content occurred in phosphatidylcholines (PC) and phosphatidylinositol (PI) classes, with an increase of mono-unsaturated fatty acid (MUFA), similarly as observed for the fatty acid analysis. Overall, these data indicate that the observed membrane lipid changes associated with lipogenesis after UVA exposure may be correlated with malignant transformations associated with cancer development and progression. Despite of UVA radiation is associated with oxidative damage, in this work was not possible observe oxidation phospholipids. The anti/pro-inflammatory properties of the oxidized PLPS (oxPLPS) versus non-oxidized PLPS were tested on LPS stimulated RAW 264.7 macrophages. The modulation of intracellular signaling pathways such as NF-kB and MAPK cascades by oxPLPS and PS was also examined in this study. The results obtained from evaluation of anti/pro-inflammatory properties showed that neither PLPS or oxPLPS species activated the macrophages. Moreover only oxidized PLS were found to significantly inhibit NO production and iNOS and il1β gene transcription induced by LPS. The analysis at molecular level showed that this was the result of the attenuation of LPS-induced c-Jun-N-terminal kinase (JNK) and p65 NF-kB nuclear translocation. Overall these data suggest that oxPLPS, but not native PLPS, mitigates pro-inflammatory signaling in macrophages, contributing to containment of inflammation during apoptotic cell engulfment. The results obtained in this work provides new information on the modifications of PS, facilitating the identification of oxidized species in complex samples, namely under physiopathologic conditions and also contributes to a better understanding of the role of oxPS and PS in the inflammatory response, in the apoptotic process and other biological functions.

O sucesso/insucesso escolar na transição do 2º para o 3º Ciclo do Ensino Básico

Dissertação de mest., Psicologia da Educação - Necessidades Educativas Especiais, Faculdade de Ciências Humanas e Sociais, Universidade do Algarve, 2007

Organic-walled dinoflagellate cysts in recent sediments from the Guadiana river estuary, South-East Portugal

Dissertação de Mestrado, Biologia Marinha, Faculdade de Ciências do Mar e do Ambiente, Universidade do Algarve, 2007

The function and future of the LOICS basins approach in promoting integrated coastal zone & watershed management with an emphasis on developing countries

Dissertação de Mestrado, Gestão da Água e da Costa, Faculdade de Ciências e Tecnologia, Universidade do Algarve, 2010

Efeito da proteína anticongelante tipo I (AFP I) na criopreservação de embriões e blastómeros de teleósteos

Dissertação de mest., Biologia Marinha, Faculdade de Ciências do Mar e do Ambiente, Universidade do Algarve, 2007

Seasonal and storm induced morphological variations at praia de Faro, península do Ancão, southern Portugal

Dissertação de Mestrado, Estudos Marinhos e Costeiros, Faculdade de Ciências e Tecnologia, Universidade do Algarve, 2009

Spiny lobster fishery on the southwest coast of Portugal: conciliating fisheries and conservation

Dissertação de mest., Aquacultura e Pescas (Pescas), Faculdade de Ciências e Tecnologia, Univ. do Algarve, 2011

Vivendo e aprendendo: a literacia ao longo da vida

Dissertação de mest., Educação Social, Escola Superior de Educação e Comunicação, Univ. do Algarve, 2013

O mito de Eros e Psique em animação 3d

Dissertação de mest., Produção, Edição e Comunicação de Conteúdos (Comunicação Multimédia), Faculdade de Ciências Humanas e Sociais, Univ. do Algarve, 2012

Avaliação do desempenho dos agrupamentos de centros de saúde portugueses

Os cuidados de saúde primários são a base do serviço de saúde, tanto em Portugal como internacionalmente. Adicionalmente, o interesse na avaliação do desempenho da prestação de cuidados de saúde primários tem aumentado consideravelmente. No entanto, existem poucos estudos que se focam na avaliação do desempenho dos prestadores de cuidados de saúde. Com este estudo discutimos a avaliação do desempenho em cuidados de saúde primários, contribuindo para a avaliação apropriada do mesmo. Tendo em conta a revisão da literatura efetuada, usamos um modelo de avaliação do desempenho que englobou 42 agrupamentos de centros de saúde portugueses, com dados do ano de 2011 e comparou quatro critérios de avaliação do desempenho: equidade de acesso, eficiência, efetividade de serviços e efetividade de recursos, tendo sido usado a técnica data envelopment analysis. Da nossa análise, concluímos que existe evidência de variação nos critérios avaliados entre os ACES. As nossas conclusões sugerem que se podem alcançar mais e melhores cuidados de saúde, através duma mais justa distribuição de recursos humanos e aumento das consultas prestadas, nos ACES. Verificamos ainda que existem correlações entre algumas das taxas calculadas e entre estas e outras variáveis que estão relacionadas com os cuidados de saúde.

Corporate social marketing: um estudo de caso no setor da energia elétrica

Grupos privados que comercializam eletricidade ao setor residencial estão, atualmente, a implementar programas que procuram alcançar Eficiência Energética (EE). Estes programas levam a um menor consumo do produto core destas empresas. A EE é um tema destacado na atualidade, nações de todo o mundo traçam planos para alcançá-la, indo ao encontro do estabelecido no Protocolo de Quioto. Em Portugal, o setor da energia elétrica encontra-se entre os que mais danos acarretam para o ambiente. O presente estudo quis conhecer a orientação destes grupos nestes programas. Ou seja, conhecer a sua motivação para os implementar, bem como conhecer a abordagem disciplinar utilizada para os “desenhar”, procurando saber até que ponto o Corporate Social Marketing (CSM) é aplicado. O CSM utiliza a tecnologia do Marketing mainstream para alcançar mudanças comportamentais desejadas. Visa o bem-estar social e/ou ambiental e mede os resultados que atinge. A sua aplicação em programas que visam a EE no consumo, tratando-a como um produto social, é o foco da presente pesquisa. Para o efeito delineou-se a pesquisa através da metodologia Estudo de Caso, com o objetivo de estudar a orientação do Grupo EDP nestes programas, através do programa A Tua Energia, sabendo que “os projetos de Eficiência Energética são sempre definidos e implementados pela EDP enquanto Grupo” (EDP, 2012). A metodologia de análise de dados utilizada é a Grounded Theory (GT) que procura ir ao encontro de uma teoria substantiva, emersa dos dados, que se enquadre ao contexto da pesquisa. O Estudo da orientação do Grupo EDP levou a pesquisa a conhecer a realidade do setor elétrico em relação a estes programas, não só em Portugal mas noutro mercado onde a empresa EDP atua, o Brasil. Os principais resultados alcançados quanto à motivação dos Grupos privados para implementar estes programas foram Ganhos Empresariais, nos quais se integram Imagem Positiva, Estratégia de Negócio e Relacionamento com Stakeholders. Os dados revelam que o programa A Tua Energia não é um programa de CSM pois ainda que foque a mudança comportamental não a alcança efetivamente. Já a EDP no Brasil implementa um programa de mudança comportamental assente na abordagem do CSM. Concluiu-se que a envolvente influencia a orientação da EDP nestes programas, ainda que estes sejam designados pela EDP enquanto Grupo.