Range of motion measurements based on depth camera for clinical rehabilitation

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

A framework for developing motion-based games

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

UAV - based imagery processing using structure from motion and remote sensing technology

With the recent advances in technology and miniaturization of devices such as GPS or IMU, Unmanned Aerial Vehicles became a feasible platform for a Remote Sensing applications. The use of UAVs compared to the conventional aerial platforms provides a set of advantages such as higher spatial resolution of the derived products. UAV - based imagery obtained by a user grade cameras introduces a set of problems which have to be solved, e. g. rotational or angular differences or unknown or insufficiently precise IO and EO camera parameters. In this work, UAV - based imagery of RGB and CIR type was processed using two different workflows based on PhotoScan and VisualSfM software solutions resulting in the DSM and orthophoto products. Feature detection and matching parameters influence on the result quality as well as a processing time was examined and the optimal parameter setup was presented. Products of the both workflows were compared in terms of a quality and a spatial accuracy. Both workflows were compared by presenting the processing times and quality of the results. Finally, the obtained products were used in order to demonstrate vegetation classification. Contribution of the IHS transformations was examined with respect to the classification accuracy.

Fisiopatologia da microcirculação coronária e perfusão do miorcárdio : ecocardiografia de contraste do miocárdio e doppler transtorácico

RESUMO: Este trabalho tentou contribuir para a caracterização da fisiopatologia da microcirculação coronária em diferentes formas de patologia com o auxílio da ecocardiografia transtorácica. Com a aplicação da ecocardiografia Doppler transtorácica foi efectuado o estudo da reserva coronária da artéria descendente anterior e com a ecocardiografia de contraste do miocárdio foram analisados parâmetros de perfusão do miocárdio como a velocidade da microcirculação coronária, o volume de sangue miocárdico e a reserva de fluxo miocárdico. Estas técnicas foram utilizadas em diferentes situações fisiopatológicas com particular interesse na hipertrofia ventricular esquerda de diferentes etiologias como a hipertensão arterial, estenose aórtica e cardiomiopatia hipertrófica. Também na diabetes mellitus tipo 2 e na doença coronária aterosclerótica, estudámos as alterações da microcirculação coronária. Com a mesma técnica de ecocardiografia de contraste do miocárdio foi analisada a perfusão do miocárdio num modelo experimental animal sujeito a uma dieta aterogénica. Além das conclusões específicas em relação a cada um dos trabalhos efectuados há a referir como conclusões gerais a sua fácil aplicabilidade e exequibilidade em âmbito clínico, a sua reprodutibilidade e precisão. Quando comparadas com técnicas consideradas de referência mostraram resultados com significativa correlação estatística. Em todos os doentes e nos grupos controle foi possível comprovar e quantificar o gradiente de perfusão transmural em repouso e durante a acção de stress vasodilatador, relevando a importância da perfusão sub-endocárdica na função do ventrículo esquerdo. O estudo da microcirculação coronária no grupo de doentes com hipertrofia ventricular esquerda revelou que no grupo com hipertensão arterial existe disfunção da microcirculação coronária ainda antes de se observar aumento de massa do ventrículo esquerdo, e que esta disfunção é diferente em função da geometria ventricular. Nos doentes com estenose aórtica foi demonstrado que além da disfunção da microcirculação coronária, explicada pelo fenómeno de hipertrofia, existe outro componente extrínseco que depois de corrigido através de cirurgia de substituição valvular, conduziu a uma parcial normalização dos valores de reserva coronária. Na cardiomiopatia hipertrófica observou-se uma grande heterogeneidade de perfusão transmural e foi documentado, em imagens de ecocardiografia de contraste do miocárdio e após análise paramétrica, a ausência de perfusão do miocárdio na região sub-endocárdica durante o stress vasodilatador de reserva coronária diminuídos em fases precoces de evolução da doença. Foi demonstrado que a reserva coronária na DM2 em fases mais avançadas estava significativamente diminuída. Descrevemos também em doentes com DM2 e sem doença coronária angiográfica a existência de disfunção da microcirculação coronária. Durante o stress vasodilatador, observámos e documentámos neste grupo de doentes, a existência de defeitos de perfusão transitórios ou de diminuição da velocidade da microcirculação coronária. No grupo de doentes com doença coronária confirmámos o interesse da avaliação da reserva coronária após intervenção percutânea na definição de prognóstico pós EAM, em termos de recuperação funcional do ventrículo esquerdo. Em doentes com BCRE e de difícil estratificação de risco, foi possível calcular o valor de reserva coronária e estratificar o risco de doença coronária. Num modelo experimental animal demonstrámos a exequibilidade da técnica de ECM, e verificámos que nessas condições experimentais, uma sobrecarga aterogénica na dieta, ao fim de 6 semanas, comprometia severamente a reserva coronária. Estes resultados foram parcialmente reversíveis quando à dieta foi adicionada uma estatina. Estas técnicas pela sua não invasibilidade, fácil acesso, repetibilidade e inocuidade perspectivam-se de grande utilidade na caracterização de doentes com disfunção da microcirculação coronária, nas diferentes áreas de diagnóstico, terapêutica e prevenção. A possibilidade de adaptar a técnica em modelos experimentais animais também nos parece poder vir a ter grande utilidade em investigação.----------------ABSTRACT: This work is intended to be a contribution to the study of coronary microcirculation applying new echocardiographic techniques as transthoracic Doppler echocardiography of coronary arteries and myocardial contrast echocardiography. Coronary flow reserve may be assessed by transthoracic Doppler echocardiography, and important functional microcirculation parameters as microcirculation flow velocity, myocardial blood volume and myocardial flow reserve may be evaluated through myocardial contrast echocardiography. Microcirculation was analysed in different pathophysiological settings. We addressed situations with increased left ventricular mass as systemic arterial hypertension, aortic stenosis and hypertrophic cardiomyopathy. Also coronary microcirculation was studied in type 2 Diabetes and in different clinical forms of atherosclerotic coronary artery disease. Specific and detailed conclusions were withdrawn from each experimental work. In the overall it was concluded that these two techniques were important tools to easily assess specific pathophysiological information about coronary microcirculation at bed side which would be difficult to get through other techniques. When compared with gold standard techniques, similar sensibility and specificity was found. Because of their better temporal and spatial resolution it was possible to analyse the importance of transmural perfusion gradients, both in basal and during vasodilatation, and their relation to ischemia, and mechanical wall kinetics, as wall thickening and motion. Coronary microcirculation dysfunction was found in systemic arterial hypertension early evolution stages, also related to different left ventricular geometric patterns. Different etiopathogenical explanations for aortic stenosis coronary microcirculation dysfunction were analysed and compared after aortic valve replacement. Transmural myocardial perfusion heterogeneity pattern was observed in hypertrophic cardiomyopathy which was aggravated during adenosine challenge. Coronary microcirculation dysfunction was diagnosed in type 2 diabetes both with coronary artery disease and with normal angiographic coronary arteries. Dynamic transitory subendocardial perfusion defects with adenosine vasodilatation were visualized in these patients.In patients with left branch block, transthoracic Doppler echocardiography was able to suggest a coronary reserve cut-off value for risk stratification. Also it was possible with this technique to calculate coronary flow reserve and predict restenosis after PTCA Again, in an experimental animal model, applying myocardial contrast echocardiography technique it was possible to study the consequences of an atherogenic diet and statins action on the coronary microcirculation function. Because these techniques are easily performed at bed side, are harmless, use no ionizing radiation and because of their repeatability, reproducibility and accuracythey are promissory tools to assess coronary microcirculation. Both in clinic and research areas these techniques will probably have a role in clinical diagnosis, prevention and therapeutically decision.

Implementação de um modelo de geometric semantic genetic programming para aplicação naval

Recaí sob a responsabilidade da Marinha Portuguesa a gestão da Zona Económica Exclusiva de Portugal, assegurando a sua segurança da mesma face a atividades criminosas. Para auxiliar a tarefa, é utilizado o sistema Oversee, utilizado para monitorizar a posição de todas as embarcações presentes na área afeta, permitindo a rápida intervenção da Marinha Portuguesa quando e onde necessário. No entanto, o sistema necessita de transmissões periódicas constantes originadas nas embarcações para operar corretamente – casos as transmissões sejam interrompidas, deliberada ou acidentalmente, o sistema deixa de conseguir localizar embarcações, dificultando a intervenção da Marinha. A fim de colmatar esta falha, é proposto adicionar ao sistema Oversee a capacidade de prever as posições futuras de uma embarcação com base no seu trajeto até à cessação das transmissões. Tendo em conta os grandes volumes de dados gerados pelo sistema (históricos de posições), a área de Inteligência Artificial apresenta uma possível solução para este problema. Atendendo às necessidades de resposta rápida do problema abordado, o algoritmo de Geometric Semantic Genetic Programming baseado em referências de Vanneschi et al. apresenta-se como uma possível solução, tendo já produzido bons resultados em problemas semelhantes. O presente trabalho de tese pretende integrar o algoritmo de Geometric Semantic Genetic Programming desenvolvido com o sistema Oversee, a fim de lhe conceder capacidades preditivas. Adicionalmente, será realizado um processo de análise de desempenho a fim de determinar qual a ideal parametrização do algoritmo. Pretende-se com esta tese fornecer à Marinha Portuguesa uma ferramenta capaz de auxiliar o controlo da Zona Económica Exclusiva Portuguesa, permitindo a correta intervenção da Marinha em casos onde o atual sistema não conseguiria determinar a correta posição da embarcação em questão.

Integration of geometric consistency contributory factors in three-leg junctions collision prediction models of Portuguese two-lane national highways

This paper aims at developing a collision prediction model for three-leg junctions located in national roads (NR) in Northern Portugal. The focus is to identify factors that contribute for collision type crashes in those locations, mainly factors related to road geometric consistency, since literature is scarce on those, and to research the impact of three modeling methods: generalized estimating equations, random-effects negative binomial models and random-parameters negative binomial models, on the factors of those models. The database used included data published between 2008 and 2010 of 177 three-leg junctions. It was split in three groups of contributing factors which were tested sequentially for each of the adopted models: at first only traffic, then, traffic and the geometric characteristics of the junctions within their area of influence; and, lastly, factors which show the difference between the geometric characteristics of the segments boarding the junctionsâ area of influence and the segment included in that area were added. The choice of the best modeling technique was supported by the result of a cross validation made to ascertain the best model for the three sets of researched contributing factors. The models fitted with random-parameters negative binomial models had the best performance in the process. In the best models obtained for every modeling technique, the characteristics of the road environment, including proxy measures for the geometric consistency, along with traffic volume, contribute significantly to the number of collisions. Both the variables concerning junctions and the various national highway segments in their area of influence, as well as variations from those characteristics concerning roadway segments which border the already mentioned area of influence have proven their relevance and, therefore, there is a rightful need to incorporate the effect of geometric consistency in the three-leg junctions safety studies.

A bio-inspired computational model for motion detection

Tese de Doutoramento (Programa Doutoral em Engenharia Biomédica)

Equations of motion for constrained systems

"Series title: Springerbriefs in applied sciences and technology, ISSN 2191-530X"

Methods to solve the equations of motion

"Series title: Springerbriefs in applied sciences and technology, ISSN 2191-530X"

Echocardiographic assessment of the different left ventricular geometric patterns in hypertensive patients

OBJECTIVE: To identiy left ventricular geometric patterns in hypertensive patients on echocardiography, and to correlate those patterns with casual blood pressure measurements and with the parameters obtained on a 24-hour ambulatory blood pressure monitoring. METHODS: We studied sixty hypertensive patients, grouped according to the Joint National Committee stages of hypertension.. Using the single- and two-dimensional Doppler Echocardiography, we analyzed the left ventricular mass and the geometric patterns through the correlation of left ventricular mass index and relative wall thickness. On ambulatory blood pressure monitoring we assessed the means and pressure loads in the different geometric patterns detected on echocardiography RESULTS: We identified three left ventricular geometric patterns: 1) concentric hypertrophy, in 25% of the patients; 2) concentric remodeling, in 25%; and 3) normal geometry, in 50%. Casual systolic blood pressure was higher in the group with concentric hypertrophy than in the other groups (p=0.001). Mean systolic pressure in the 24h, daytime and nighttime periods was also higher in patients with concentric hypertrophy, as compared to the other groups (p=0.003, p=0.004 and p=0.007). Daytime systolic load and nighttime diastolic load were higher in patients with concentric hypertrophy ( p=0.004 and p=0.01, respectively). CONCLUSIONS: Left ventricular geometric patterns show significant correlation with casual systolic blood pressure, and with means and pressure loads on ambulatory blood pressure monitoring.

Distribution of cardiac geometric patterns on echocardiography in essential hypertension. Impact of two criteria of stratification

PURPOSE: To evaluate 2 left ventricular mass index (LVMI) normality criteria for the prevalence of left ventricular geometric patterns in a hypertensive population ( HT ) . METHODS: 544 essential hypertensive patients, were evaluated by echocardiography, and different left ventricular hypertrophy criteria were applied: 1 - classic : men - 134 g/m² and women - 110 g/m² ; 2- obtained from the 95th percentil of LVMI from a normotensive population (NT). RESULTS: The prevalence of 4 left ventricular geometric patterns, respectively for criteria 1 and 2, were: normal geometry - 47.7% and 39.3%; concentric remodelying - 25.4% and 14.3%; concentric hypertrophy - 18.4% and 27.7% and excentric hypertrophy - 8.8% and 16.7%, which confered abnormal geometry to 52.6% and 60.7% of hypertensive. The comparative analysis between NT and normal geometry hypertensive group according to criteria 1, detected significative stuctural differences,"( *p < 0.05):LVMI- 78.4 ± 1.50 vs 85.9 ±0.95 g/m² *; posterior wall thickness -8.5 ± 0.1 vs 8.9 ± 0.05 mm*; left atrium - 33.3 ± 0.41 vs 34.7 ± 0.30 mm *. With criteria 2, significative structural differences between the 2 groups were not observed. CONCLUSION: The use of a reference population based criteria, increased the abnormal left ventricular geometry prevalence in hypertensive patients and seemed more appropriate for left ventricular hypertrophy detection and risk stratification.

Correction of non-period motion in computed tomography

Magdeburg, Univ., Fak. für Elektrotechnik und Informationstechnik, Diss., 2010

Geometric distortion correction in EPI at ultra high field

Magdeburg, Univ., Fak. für Naturwiss., Diss., 2012

Computer-assisted motion compensation and analysis of perfusion ultrasound data

Magdeburg, Univ., Fak. für Informatik, Diss., 2014