Exploração da Point Cloud Library aplicada à percepção em sistemas autónomos

A navegação e a interpretação do meio envolvente por veículos autónomos em ambientes não estruturados continua a ser um grande desafio na actualidade. Sebastian Thrun, descreve em [Thr02], que o problema do mapeamento em sistemas robóticos é o da aquisição de um modelo espacial do meio envolvente do robô. Neste contexto, a integração de sistemas sensoriais em plataformas robóticas, que permitam a construção de mapas do mundo que as rodeia é de extrema importância. A informação recolhida desses dados pode ser interpretada, tendo aplicabilidade em tarefas de localização, navegação e manipulação de objectos. Até à bem pouco tempo, a generalidade dos sistemas robóticos que realizavam tarefas de mapeamento ou Simultaneous Localization And Mapping (SLAM), utilizavam dispositivos do tipo laser rangefinders e câmaras stereo. Estes equipamentos, para além de serem dispendiosos, fornecem apenas informação bidimensional, recolhidas através de cortes transversais 2D, no caso dos rangefinders. O paradigma deste tipo de tecnologia mudou consideravelmente, com o lançamento no mercado de câmaras RGB-D, como a desenvolvida pela PrimeSense TM e o subsequente lançamento da Kinect, pela Microsoft R para a Xbox 360 no final de 2010. A qualidade do sensor de profundidade, dada a natureza de baixo custo e a sua capacidade de aquisição de dados em tempo real, é incontornável, fazendo com que o sensor se tornasse instantaneamente popular entre pesquisadores e entusiastas. Este avanço tecnológico deu origem a várias ferramentas de desenvolvimento e interacção humana com este tipo de sensor, como por exemplo a Point Cloud Library [RC11] (PCL). Esta ferramenta tem como objectivo fornecer suporte para todos os blocos de construção comuns que uma aplicação 3D necessita, dando especial ênfase ao processamento de nuvens de pontos de n dimensões adquiridas a partir de câmaras RGB-D, bem como scanners laser, câmaras Time-of-Flight ou câmaras stereo. Neste contexto, é realizada nesta dissertação, a avaliação e comparação de alguns dos módulos e métodos constituintes da biblioteca PCL, para a resolução de problemas inerentes à construção e interpretação de mapas, em ambientes indoor não estruturados, utilizando os dados provenientes da Kinect. A partir desta avaliação, é proposta uma arquitectura de sistema que sistematiza o registo de nuvens de pontos, correspondentes a vistas parciais do mundo, num modelo global consistente. Os resultados da avaliação realizada à biblioteca PCL atestam a sua viabilidade, para a resolução dos problemas propostos. Prova da sua viabilidade, são os resultados práticos obtidos, da implementação da arquitectura de sistema proposta, que apresenta resultados de desempenho interessantes, como também boas perspectivas de integração deste tipo de conceitos e tecnologia em plataformas robóticas desenvolvidas no âmbito de projectos do Laboratório de Sistemas Autónomos (LSA).

Centro Artístico Infantil da Fundação Calouste Gulbenkian contributo para a educação artística em portugal

Dissertação apresentada à Escola Superior de Educação de Lisboa para obtenção do grau de Mestre em Educação Artística

Promoção do empreendedorismo nas escolas: impacto da Junior Achievement Portugal, Associação Aprender a Empreender

Dissertação apresentada à Escola Superior de Comunicação Social como parte dos requisitos para obtenção de grau de mestre em Publicidade e Marketing.

Mid-point for open-ended income category and the effect of equivalence scales on the income-health relationship

To estimate the mid-point of an open-ended income category and to assess the impact of two equivalence scales on income-health associations. Data were obtained from the 2010 Brazilian Oral Health Survey ( Pesquisa Nacional de Saúde Bucal – SBBrasil 2010). Income was converted from categorical to two continuous variables ( per capita and equivalized) for each mid-point. The median mid-point was R$ 14,523.50 and the mean, R$ 24,507.10. When per capita income was applied, 53% of the population were below the poverty line, compared with 15% with equivalized income. The magnitude of income-health associations was similar for continuous income, but categorized equivalized income tended to decrease the strength of association.

Cut-off point for WHOQOL-bref as a measure of quality of life of older adults

OBJECTIVE To propose a cut-off for the World Health Organization Quality of Life-Bref (WHOQOL-bref) as a predictor of quality of life in older adults. METHODS Cross-sectional study with 391 older adults registered in the Northwest Health District in Belo Horizonte, MG, Southeastern Brazil, between October 8, 2010 and May 23, 2011. The older adults’ quality of life was measured using the WHOQOL-bref. The analysis was rationalized by outlining two extreme and simultaneous groups according to perceived quality of life and satisfaction with health (quality of life good/satisfactory – good or very good self-reported quality of life and being satisfied or very satisfied with health – G5; and poor/very poor quality of life – poor or very poor self-reported quality of life and feeling dissatisfied or very dissatisfied with health – G6). A Receiver-Operating Characteristic curve (ROC) was created to assess the diagnostic ability of different cut-off points of the WHOQOL-bref. RESULTS ROC curve analysis indicated a critical value 60 as the optimal cut-off point for assessing perceived quality of life and satisfaction with health. The area under the curve was 0.758, with a sensitivity of 76.8% and specificity of 63.8% for a cut-off of ≥ 60 for overall quality of life (G5) and sensitivity 95.0% and specificity of 54.4% for a cut-off of < 60 for overall quality of life (G6). CONCLUSIONS Diagnostic interpretation of the ROC curve revealed that cut-off < 60 for overall quality of life obtained excellent sensitivity and negative predictive value for tracking older adults with probable worse quality of life and dissatisfied with health.

Efficient Implementation Of A Single-Precision Floating-Point Arithmetic Unit on FPGA

This paper presents a single precision floating point arithmetic unit with support for multiplication, addition, fused multiply-add, reciprocal, square-root and inverse squareroot with high-performance and low resource usage. The design uses a piecewise 2nd order polynomial approximation to implement reciprocal, square-root and inverse square-root. The unit can be configured with any number of operations and is capable to calculate any function with a throughput of one operation per cycle. The floatingpoint multiplier of the unit is also used to implement the polynomial approximation and the fused multiply-add operation. We have compared our implementation with other state-of-the-art proposals, including the Xilinx Core-Gen operators, and conclude that the approach has a high relative performance/area efficiency. © 2014 Technical University of Munich (TUM).

Film thickness in a ball-on-disc contact lubricated with greases, bleed oils and base oils

Three different lubricating greases and their bleed and base oils were compared in terms of film thickness in a ball-on-disc test rig through optical interferometry. The theoretical values calculated according to Hamrock's equation are in close agreement with the base oil film thickness measurements, which validates the selected experimental methodology. The grease and bleed oil film thickness under fully flooded lubrication conditions presented quite similar behaviour and levels. Therefore, the grease film thickness under full film conditions might be predicted using their bleed oil properties, namely the viscosity and pressure-viscosity coefficient. The base and bleed oil lubricant parameter LP are proportional to the measured film thickness. A relationship between grease and the corresponding bleed oil film thickness was evidenced.

Matching CO2 large point sources and potential geological storage sites in mainland Portugal

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia do Ambiente, Perfil Gestão e Sistemas Ambientais

Offshore wind turbine simulation: multibody drive train. Bacl-to-back NPC (Neutral Point Clamped) converters: Fractional-order control

This paper is on offshore wind energy conversion systems installed on the deep water and equipped with back-to-back neutral point clamped full-power converter, permanent magnet synchronous generator with an AC link. The model for the drive train is a five-mass model which incorporates the dynamic of the structure and the tower in order to emulate the effect of the moving surface. A three-level converter and a four-level converter are the two options with a fractional-order control strategy considered to equip the conversion system. Simulation studies are carried out to assess the quality of the energy injected into the electric grid. Finally, conclusions are presented. (C) 2014 Elsevier Ltd. All rights reserved.

Logarithmically proportional objective function for planar surfaces recognition in 3D point cloud

3D laser scanning is becoming a standard technology to generate building models of a facility's as-is condition. Since most constructions are constructed upon planar surfaces, recognition of them paves the way for automation of generating building models. This paper introduces a new logarithmically proportional objective function that can be used in both heuristic and metaheuristic (MH) algorithms to discover planar surfaces in a point cloud without exploiting any prior knowledge about those surfaces. It can also adopt itself to the structural density of a scanned construction. In this paper, a metaheuristic method, genetic algorithm (GA), is used to test this introduced objective function on a synthetic point cloud. The results obtained show the proposed method is capable to find all plane configurations of planar surfaces (with a wide variety of sizes) in the point cloud with a minor distance to the actual configurations. © 2014 IEEE.

The extended unsymmetric frontal solution for multiple-point constraints

The purpose of this paper is to discuss the linear solution of equality constrained problems by using the Frontal solution method without explicit assembling. Design/methodology/approach - Re-written frontal solution method with a priori pivot and front sequence. OpenMP parallelization, nearly linear (in elimination and substitution) up to 40 threads. Constraints enforced at the local assembling stage. Findings - When compared with both standard sparse solvers and classical frontal implementations, memory requirements and code size are significantly reduced. Research limitations/implications - Large, non-linear problems with constraints typically make use of the Newton method with Lagrange multipliers. In the context of the solution of problems with large number of constraints, the matrix transformation methods (MTM) are often more cost-effective. The paper presents a complete solution, with topological ordering, for this problem. Practical implications - A complete software package in Fortran 2003 is described. Examples of clique-based problems are shown with large systems solved in core. Social implications - More realistic non-linear problems can be solved with this Frontal code at the core of the Newton method. Originality/value - Use of topological ordering of constraints. A-priori pivot and front sequences. No need for symbolic assembling. Constraints treated at the core of the Frontal solver. Use of OpenMP in the main Frontal loop, now quantified. Availability of Software.

Fixed point transformations in the adaptive control of fractional-order MIMO systems

Though the formal mathematical idea of introducing noninteger order derivatives can be traced from the 17th century in a letter by L’Hospital in which he asked Leibniz what the meaning of D n y if n = 1/2 would be in 1695 [1], it was better outlined only in the 19th century [2, 3, 4]. Due to the lack of clear physical interpretation their first applications in physics appeared only later, in the 20th century, in connection with visco-elastic phenomena [5, 6]. The topic later obtained quite general attention [7, 8, 9], and also found new applications in material science [10], analysis of earth-quake signals [11], control of robots [12], and in the description of diffusion [13], etc.

C3G - A portuguese collaboration for geology, geodesy and geophysics

Portugal joined the effort to create the EPOS infrastructure in 2008, and it became immediately apparent that a national network of Earth Sciences infrastructures was required to participate in the initiative. At that time, FCT was promoting the creation of a national infrastructure called RNG - Rede Nacional de Geofísica (National Geophysics Network). A memorandum of understanding had been agreed upon, and it seemed therefore straightforward to use RNG (enlarged to include relevant participants that were not RNG members) as the Portuguese partner to EPOS-PP. However, at the time of signature of the EPOS-PP contract with the European Commission (November 2010), RNG had not gained formal identity yet, and IST (one of the participants) signed the grant agreement on behalf of the Portuguese consortium. During 2011 no progress was made towards the formal creation of RNG, and the composition of the network – based on proposals submitted to a call issued in 2002 – had by then become obsolete. On February 2012, the EPOS national contact point was mandated by the representatives of the participating national infrastructures to request from FCT the recognition of a new consortium - C3G, Collaboratory for Geology, Geodesy and Geophysics - as the Portuguese partner to EPOS-PP. This request was supported by formal letters from the following institutions: ‐ LNEG. Laboratório Nacional de Energia e Geologia (National Geological Survey); ‐ IGP ‐ Instituto Geográfico Português (National Geographic Institute); ‐ IDL, Instituto Dom Luiz – Laboratório Associado ‐ CGE, Centro de Geofísica de Évora; ‐ FCTUC, Faculdade de Ciências e Tecnologia da Universidade de Coimbra; ‐ Instituto Superior de Engenharia de Lisboa; ‐ Instituto Superior Técnico; ‐ Universidade da Beira Interior. While Instituto de Meteorologia (Meteorological Institute, in charge of the national seismographic network) actively supports the national participation in EPOS, a letter of support was not feasible in view of the organic changes underway at the time. C3G aims at the integration and coordination, at national level, of existing Earth Sciences infrastructures, namely: ‐ seismic and geodetic networks (IM, IST, IDL, CGE); ‐ rock physics laboratories (ISEL); ‐ geophysical laboratories dedicated to natural resources and environmental studies; ‐ geological and geophysical data repositories; ‐ facilities for data storage and computing resources. The C3G - Collaboratory for Geology, Geodesy and Geophysics will be coordinated by Universidade da Beira Interior, whose Department of Informatics will host the C3G infrastructure.

Water-contact patterns and schistosoma mansoni infection in a rural community in northeast Brazil

We evaluated the influence of water-related human activities, contaminative behaviour, house location, education and socio-economic status on endemic Schistosoma mansoni infection. The study was conducted in a hilry non-irrigated area of rural northeast Brazil amongst a defined population of subsistence farmers, of whom 93% were infected by age 20. The area was mapped, water bodies were surveyed, and a detailed questionnaire was performed on each household. Infection was assessed by duplicate stool examinations using the sensitive Bell technique to quantify egg excretion. For each household, and index of intensity of infection was computed by grouping individual log-transformed egg counts as an age-sex adjusted Z score. Few households had a sanitary installation or a domestic water supply. However, neither water-contact nor contaminative behavior were indiscriminate. The people made considerable effort to defaecate far from a water source, to obtain household drinking water from the cleanest source, and to bathe only at certain sites where privacy is assured. Land ownership and literacy correlated poorly with the household index of intensity of infection. The key influence on infection status was the relative location of the house and snail-free or snail colonized water sources. In this area, a safe domestic water supply is the critical input needed to achieve definitive control of endemic Schistosomiasis.

Occupational and domiciliary contact with dogs as factors of risk to human infection with Toxocara larvae

The contact with dogs at home or place of work has been investigated as factors of risk in the occurrence of the visceral larva migrans syndrome caused by Toxocara, in man. Through the E.L.I.S.A. (enzyme-linked immunosorbent assay) technique, the presence of antibodies to Toxocara was searched in the sera of 79 women who have been raising or had raised dogs at home in the last two years and 123 men, who were municipal public employees in charge of the capture and keeping of stray dogs. The control groups were constituted by 205 sera from women who denied domiciliary contact with dogs, at least in the last two years, and 139 sera from men whose occupation did not urge them to contact with dogs. A significant more elevated frequency of antibodies to Toxocara was observed among women with domiciliary contact with dogs; nevertheless, there was not a significant difference in the positive rates in the case of men with occupational contact with dogs.