Sistema de modelização tridimensional de galerias subterrâneas

A presente dissertação apresenta uma solução para o problema de modelização tridimensional de galerias subterrâneas. O trabalho desenvolvido emprega técnicas provenientes da área da robótica móvel para obtenção um sistema autónomo móvel de modelização, capaz de operar em ambientes não estruturados sem acesso a sistemas de posicionamento global, designadamente GPS. Um sistema de modelização móvel e autónomo pode ser bastante vantajoso, pois constitui um método rápido e simples de monitorização das estruturas e criação de representações virtuais das galerias com um elevado nível de detalhe. O sistema de modelização desloca-se no interior dos túneis para recolher informações sensoriais sobre a geometria da estrutura. A tarefa de organização destes dados com vista _a construção de um modelo coerente, exige um conhecimento exacto do percurso praticado pelo sistema, logo o problema de localização da plataforma sensorial tem que ser resolvido. A formulação de um sistema de localização autónoma tem que superar obstáculos que se manifestam vincadamente nos ambientes underground, tais como a monotonia estrutural e a já referida ausência de sistemas de posicionamento global. Neste contexto, foi abordado o conceito de SLAM (Simultaneous Loacalization and Mapping) para determinação da localização da plataforma sensorial em seis graus de liberdade. Seguindo a abordagem tradicional, o núcleo do algoritmo de SLAM consiste no filtro de Kalman estendido (EKF { Extended Kalman Filter ). O sistema proposto incorpora métodos avançados do estado da arte, designadamente a parametrização em profundidade inversa (Inverse Depth Parametrization) e o método de rejeição de outliers 1-Point RANSAC. A contribuição mais importante do método por nós proposto para o avanço do estado da arte foi a fusão da informação visual com a informação inercial. O algoritmo de localização foi testado com base em dados reais, adquiridos no interior de um túnel rodoviário. Os resultados obtidos permitem concluir que, ao fundir medidas inerciais com informações visuais, conseguimos evitar o fenómeno de degeneração do factor de escala, comum nas aplicações de localização através de sistemas puramente monoculares. Provámos simultaneamente que a correcção de um sistema de localização inercial através da consideração de informações visuais é eficaz, pois permite suprimir os desvios de trajectória que caracterizam os sistemas de dead reckoning. O algoritmo de modelização, com base na localização estimada, organiza no espaço tridimensional os dados geométricos adquiridos, resultando deste processo um modelo em nuvem de pontos, que posteriormente _e convertido numa malha triangular, atingindo-se assim uma representação mais realista do cenário original.

Embedded System for ECG Biometrics

Comunication in Internationa Conference with Peer Review First International Congress on Cardiovasular Technologies - CARDIOTECHNIX, Vilamoura, Portugal, 2013

Sistema de Visão Stereo Ativo aplicado aos robôs do ISePorto

A presente dissertação endereça o desenvolvimento de um sistema de visão stereo ativo para os robôs de futebol robótico da equipa ISePorto do ISEP, de modo a que estes tirem o máximo partido das câmaras rotativas neles existentes. Este trabalho surge da necessidade de melhorar a capacidade de perceção do ambiente por parte dos robôs, principalmente da perceção da bola quando não está no plano do campo e dos robôs adversários. Esta necessidade surge devido ao aumento da dinâmica que se tem vindo a veri car ultimamente nas competições. Para tal, foram estudados algumas trabalhos relacionados no que diz respeito a sistemas de visão stereo com baselines variáveis e eixos de rotação em ambas as câmaras, bem como fundamentos de visão stereo. Foi proposta uma arquitetura para o sistema de visão ativo de modo a ser aplicado em qualquer robô da equipa MSL (Middle Size League). Para tornar possível a implementação desta arquitetura foi desenvolvido um procedimento para a calibração e determinação em tempo real dos parâmetros extrínsecos do par stereo em função da posição angular dos eixos rotativos do robô. O sistema de visão foi também dotado de capacidade de sincronismo e foram implementadas funcionalidades ao nível de software que possibilitam a deteção de objetos na imagem, a correspondência de objetos presentes nas imagens de ambas as câmaras e consequentemente a determinação das posições tridimensionais desses objetos relativamente ao robô. O sistema desenvolvido foi testado e validado em cenário MSL ao nível de perceção da bola, robôs adversários e linhas do campo. Os resultados obtidos apresentam uma melhoria signi cativa, face à implementação atual dos robôs, na perceção tridimensional da bola quando não está no plano do campo, e dos robôs adversários.

Dermic diffusion and stratum corneum: a state of the art review of mathematical models

Transdermal biotechnologies are an ever increasing field of interest, due to the medical and pharmaceutical applications that they underlie. There are several mathematical models at use that permit a more inclusive vision of pure experimental data and even allow practical extrapolation for new dermal diffusion methodologies. However, they grasp a complex variety of theories and assumptions that allocate their use for specific situations. Models based on Fick's First Law found better use in contexts where scaled particle theory Models would be extensive in time-span but the reciprocal is also true, as context of transdermal diffusion of particular active compounds changes. This article reviews extensively the various theoretical methodologies for studying dermic diffusion in the rate limiting dermic barrier, the stratum corneum, and systematizes its characteristics, their proper context of application, advantages and limitations, as well as future perspectives.

Development of procedures for the simulation of atmospheric flows over complex terrain, using OpenFOAM

The main purpose of this work was the development of procedures for the simulation of atmospheric ows over complex terrain, using OpenFOAM. For this aim, tools and procedures were developed apart from this code for the preprocessing and data extraction, which were thereafter applied in the simulation of a real case. For the generation of the computational domain, a systematic method able to translate the terrain elevation model to a native OpenFOAM format (blockMeshDict) was developed. The outcome was a structured mesh, in which the user has the ability to de ne the number of control volumes and its dimensions. With this procedure, the di culties of case set up and the high computation computational e ort reported in literature associated to the use of snappyHexMesh, the OpenFOAM resource explored until then for the accomplishment of this task, were considered to be overwhelmed. Developed procedures for the generation of boundary conditions allowed for the automatic creation of idealized inlet vertical pro les, de nition of wall functions boundary conditions and the calculation of internal eld rst guesses for the iterative solution process, having as input experimental data supplied by the user. The applicability of the generated boundary conditions was limited to the simulation of turbulent, steady-state, incompressible and neutrally strati ed atmospheric ows, always recurring to RaNS (Reynolds-averaged Navier-Stokes) models. For the modelling of terrain roughness, the developed procedure allowed to the user the de nition of idealized conditions, like an uniform aerodynamic roughness length or making its value variable as a function of topography characteristic values, or the using of real site data, and it was complemented by the development of techniques for the visual inspection of generated roughness maps. The absence and the non inclusion of a forest canopy model limited the applicability of this procedure to low aerodynamic roughness lengths. The developed tools and procedures were then applied in the simulation of a neutrally strati ed atmospheric ow over the Askervein hill. In the performed simulations was evaluated the solution sensibility to di erent convection schemes, mesh dimensions, ground roughness and formulations of the k - ε and k - ω models. When compared to experimental data, calculated values showed a good agreement of speed-up in hill top and lee side, with a relative error of less than 10% at a height of 10 m above ground level. Turbulent kinetic energy was considered to be well simulated in the hill windward and hill top, and grossly predicted in the lee side, where a zone of ow separation was also identi ed. Despite the need of more work to evaluate the importance of the downstream recirculation zone in the quality of gathered results, the agreement between the calculated and experimental values and the OpenFOAM sensibility to the tested parameters were considered to be generally in line with the simulations presented in the reviewed bibliographic sources.

SDAR: a package for plotting and analyzing stratigraphy data in R

Stratigraphic Columns (SC) are the most useful and common ways to represent the eld descriptions (e.g., grain size, thickness of rock packages, and fossil and lithological components) of rock sequences and well logs. In these representations the width of SC vary according to the grain size (i.e., the wider the strata, the coarser the rocks (Miall 1990; Tucker 2011)), and the thickness of each layer is represented at the vertical axis of the diagram. Typically these representations are drawn 'manually' using vector graphic editors (e.g., Adobe Illustrator®, CorelDRAW®, Inskape). Nowadays there are various software which automatically plot SCs, but there are not versatile open-source tools and it is very di cult to both store and analyse stratigraphic information. This document presents Stratigraphic Data Analysis in R (SDAR), an analytical package1 designed for both plotting and facilitate the analysis of Stratigraphic Data in R (R Core Team 2014). SDAR, uses simple stratigraphic data and takes advantage of the exible plotting tools available in R to produce detailed SCs. The main bene ts of SDAR are: (i) used to generate accurate and complete SC plot including multiple features (e.g., sedimentary structures, samples, fossil content, color, structural data, contacts between beds), (ii) developed in a free software environment for statistical computing and graphics, (iii) run on a wide variety of platforms (i.e., UNIX, Windows, and MacOS), (iv) both plotting and analysing functions can be executed directly on R's command-line interface (CLI), consequently this feature enables users to integrate SDAR's functions with several others add-on packages available for R from The Comprehensive R Archive Network (CRAN).

Consumer satisfaction with water, wastewater and waste services in Portugal

While the concept of consumer satisfaction is a central topic in modern marketing theory and practice, citizens' satisfaction with public services, and especially water and waste services, is a eld that still remains empirically rather unexplored. The following study aims to contribute to this area by analysing the determinants of user satisfaction in the water, wastewater and waste sector in Portugal, using a unique survey of 1070 consumers undertaken by the Portuguese Water and Waste Regulator ERSAR. I perform an analysis of the relation between overall service satisfaction and attributespeci c service satisfaction with an ordered logit model. I then explore if subjective consumer satisfaction can be re ected by ERSAR's technical performance indicators. The results suggest that overall consumer satisfaction is driven by consumer's satisfaction with speci c service aspects but unrelated to socioeconomic and demographic characteristics. Furthermore, I show that there is no monotonic association between ERSAR's technical performance indicators and consumers' levels of satisfaction.

New tools for old organelles

For hundreds of years biologists have studied the naturally occurring diversity in plant and animal species. The invention of the electron microscope in the rst half of the 1900's reveled that cells also can be incredible complex (and often stunningly beautiful). However, despite the fact that the eld of cell biology has existed for over 100 years we still lack a formal understanding of how cells evolve: It is unclear what the extents are in cell and organelle morphology, if and how diversity might be constrained, and how organelles change morphologically over time.(...)

Dielectric relaxation and ferromagnetic resonance in magnetoelectric (Polyvinylidene-fluoride)/ferrite composites

In this work the dielectric properties and ferromagnetic resonance of Polyvinylidene- uoride embedded with 10 wt. % of NiFe2O4 or Ni0.5Zn0.5Fe2O4 nanoparticles are presented. The mechanisms of the dielectric relaxation in these two composites do not differ from each other. For more precise characterization of the dielectric relaxation, a two dimensional distribution of relaxation times was calculated from the temperature dependencies of the complex dielectric permittivity. The results obtained from the 2D distribution and the mean relaxation time are found to be consistent. The dynamics of the dielectric permittivity is described by the Arrhenius law. The energy and attempt time of the dielectric relaxators lie in a narrow energy and time region thus proving that the single type chains of polymer are responsible for a dispersion. The magnetic properties of the composites were investigated using the fer- romagnetic resonance. A single resonance line was observed for both samples. From the temperature dependence (100 K - 310 K) of the resonance eld and linewidth, the origin of the observed line was attributed to the NiFe2O4 and Ni0.5Zn0.5Fe2O4 superparamagnetic nanoparticles. By measuring lms at dif- ferent orientations with respect to the external magnetic eld, the angular dependence of the resonance was observed, indicating the magnetic dipolar in-plane interactions.

Conflito e trauma: XVI Colóquio de Outono

It has been the main concern of CEHUM, as a Research Centre within the Humanities which operates in an inter and transdisciplinary structure to listen attentively to the “noise of the world” and attempt a global interpretation of the signs of the times issuing from the world around us, as vibrant echoes of many social and cultural pressing issues. Every year each new Colóquio de Outono attempts to give evidence of that concern through the topic chosen for debate, ample enough and challenging enough to trigger a lively multidisciplinary dialogue amongst the diff erent research groups that compose this centre, the participants and our invited guest speakers. Throughout the three days of this 16th Colóquio de Outono we had the privilege to debate the propositions of a vast number of national and international specialists in the manifold fi elds of inquiry here represented, engaging keynote speakers, project advisors, members of research teams and external researchers attached to the various research projects currently running in CEHUM, in the fi elds of literature, linguistics, philosophy, ethics, visual arts, cultural studies, music and performance. Each specifi c fi eld of studies was however never seen isolated, but always embodied in a geo-cultural context and within the scope of a wide variety of critical debates and current theories of knowledge, as a signal of our understanding of the Humanities as a rich and plural territory which engages us all, scholars, researchers, students.

Advances in preservation of fruits and vegetables with bioactive coatings

Bioactive compounds are a large group of compounds (antimicrobials, antioxidants, nutrients, etc.), but its use in edible fi lms and coatings for application on fruits and vegetables has been very important because nowadays the consumers demand fruits and vegetables that are fresh, healthy, high quality and easy to prepare. A number of investigations have shown that the use of additives in edible fi lms and coatings improve its functionability and provide compounds for human health. However, it is necessary to continue research that can generate specifi c or tailor-made edible fi lms and coatings for each product with the best characteristics for preservation. In this review we present and analyze the concepts, progress and perspectives in the design and application of edible fi lms and coatings for fruits and vegetables in order to defi ne the challenges and opportunities that this topic of study in the fi eld of science, technology and food engineering.

Partner Selection into Policy Relevant Field Experiments

This study investigates the issue of self-selection of stakeholders into participation and collaboration in policy-relevant experiments. We document and test the implications of self-selection in the context of randomised policy experiment we conducted in primary schools in the UK. The main questions we ask are (1) is there evidence of selection on key observable characteristics likely to matter for the outcome of interest and (2) does selection matter for the estimates of treatment eff ects. The experimental work consists in testing the e ffects of an intervention aimed at encouraging children to make more healthy choices at lunch. We recruited schools through local authorities and randomised schools across two incentive treatments and a control group. We document the selection taking place both at the level of local authorities and at the school level. Overall we nd mild evidence of selection on key observables such as obesity levels and socio-economic characteristics. We find evidence of selection along indicators of involvement in healthy lifestyle programmes at the school level, but the magnitude is small. Moreover, We do not find signifi cant di erences in the treatment e ffects of the experiment between variables which, albeit to a mild degree, are correlated with selection into the experiment. To our knowledge, this is the rst study providing direct evidence on the magnitude of self-selection in fi eld experiments.

Use of stains to detect fingermarks

Detection of fi ngermarks at a crime scene or on related items is of prime interest for forensicinvestigators, mainly for identifi cation purposes. Most of the fi ngermarks are invisible to thenaked eye, however. The application of detection techniques is required to establish visual contrastbetween the secretion residue and the underlying substrate. We give here a review of thefi eld related to the concept of using stains to detect fi ngermarks. A distinction has been madebetween the physically driven classical detection techniques, the chemically driven ones, andthose based on nanostructured materials, an emerging fi eld in forensic science.

Recambios en un solo tiempo de prótesis de cadera y rodilla sobre terreno contaminado: nuestra experiencia

Objective: Evaluate the results obtained in the simultaneous replacement of a septic arthroplasty or a second septic replacement (implanting the prosthesis in a contaminated eld). Material and method: Series of 17 cases, with a mean age of 66.8 years and average follow-up of 49 months. The exclusion criteria were serious immunological depression and unknown germ or not sensitive to at least three antibiotics. After the intervention, the corresponding antibiotics were administered between six weeks and three months. Recovery was established as the normality for infection indicator variables at least nine months after the replacement. Results: 14 patients developed towards total recovery (follow-up at least 9 months and maximum 84 months). 3 cases presented relapse, all three carriers of Staphylococcus epidermidis (at 1, 3 and 7 months of follow-up respectively). The success percentage is 82.41% (average follow-up of 49 months). Conclusions: Simultaneous replacements is an interesting option for patients with plural pathologies as it o"ers a single operation, less morbidity, quicker return to activities to restore normal function and less associated costs

Robust control of structures subject to uncertain disturbances and actuator dynamics

The objective the present research is try to find some control design strategies, which must be effective and closed to the real operation conditions. As a novel contribution to structural control strategies, the theories of Interval Modal Arithmetic, Backstepping Control and QFT (Qualitative Feedback Theory) will be studied. The steps to follow are to develop first new controllers based on the above theories and then to implement the proposed control strategies to different kind of structures. The report is organized as follows. The Chapter 2 presents the state-of-the-art on structural control systems. The chapter 3 presents the most important open problems found in field of structural control. The exploratory work made by the author, research proposal and working plan are given in the Chapter 4