Planeamento de Trajetória para Operações de Busca e Salvamento com UAVs

Os sistemas autónomos trazem como mais valia aos cenários de busca e salvamento a possibilidade de minimizar a presença de Humanos em situações de perigo e a capacidade de aceder a locais de difícil acesso. Na dissertação propõe-se endereçar novos métodos para perceção e navegação de veículos aéreos não tripulados (UAV), tendo como foco principal o planeamento de trajetórias e deteção de obstáculos. No que respeita à perceção foi desenvolvido um método para gerar clusters tendo por base os voxels gerados pelo Octomap. Na área de navegação, foram desenvolvidos dois novos métodos de planeamento de trajetórias, GPRM (Grid Probabilistic Roadmap) e PPRM (Particle Probabilistic Roadmap), que tem como método base para o seu desenvolvimento o PRM. O primeiro método desenvolvido, GPRM, espalha as partículas numa grid pré-definida, construindo posteriormente o roadmap na área determinada pela grid e com isto estima o trajeto mais curto até ao ponto destino. O segundo método desenvolvido, PPRM, espalha as partículas pelo cenário de aplicação, gera o roadmap considerando o mapa total e atribui uma probabilidade que irá permitir definir a trajetória otimizada. Para analisar a performance de cada método em comparação com o PRM, efetua-se a sua avaliação em três cenários distintos com recurso ao simulador MORSE.

COMPARISON OF PERMANENT STAINING METHODS FOR THE LABORATORY DIAGNOSIS OF TRICHOMONIASIS

Trichomonas vaginalis is the etiologic agent of trichomoniasis, the most common non-viral sexually transmitted disease (STD) in the world. The diagnosis is based on wet mount preparation and direct microscopy on fixed and stained clinical specimens. The aim of this study was to compare the performance of different fixing and staining techniques used in the detection of T. vaginalis in urine. The smears were fixed and submitted to different methods of permanent staining and then, the morphological aspects of the parasites were analyzed and compared. The Papanicolaou staining with ethanol as the fixative solution showed to be the best method of permanent staining. Our data suggest that staining techniques in association with wet mount examination of fresh specimens contribute to increase the sensitivity in the diagnosis of trichomoniasis.

Caracterização da actividade física nos idosos e a sua relação com a capacidade física, em pessoas com mais de 75 anos

RESUMO: Objectivo: O presente estudo tem como objectivo caracterizar os níveis de actividade física das pessoas com mais de 75 anos e analisar a sua relação com as diferentes componentes da aptidão física. Enquadramento: A actividade física é indispensável para todos mas, os idosos é quem mais beneficia (Fischer, 2005). Actua na prevenção e na reabilitação, fortalecendo a aptidão física, e a autonomia do idoso, permitindo manter, por mais tempo, a capacidade de execução das actividades de vida diárias (Shephard, 2003). A prática de actividade física contribui por exemplo, para a prevenção de quedas, reforçando a aptidão física e o equilíbrio postural. Por outro lado, o baixo nível de aptidão física repercute-se no aumento da actividade sedentária. Os homens têm uma adesão à actividade física de 45% e as mulheres de 28% (Melo et. al., 2007). Métodos: Este é um estudo observacional, correlacional e transversal. Foram avaliados 66 participantes (média de idade de 80,11 ± 3,83 anos), não institucionalizados. O processo de amostragem foi não probabilístico acidental por conveniência. Todos os idosos deram o seu consentimento informado. A actividade física foi avaliada através do questionário do Yale Physical Activity Survey, e foi desenvolvido um diário, para uma semana-tipo, para averiguar os hábitos de actividades diárias, nas últimas quatro semanas. A aptidão física foi avaliada pela bateria de testes de Rikli e Jones (1999),nomeadamente a força, a flexibilidade, a resistência aeróbia e a agilidade e equilíbrio. Os dados foram analisados através da estatística descritiva e para averiguar as possíveis associações entre a actividade física e a aptidão física, recorreu-se á estatística inferencial. Não tendo sido verificada a normalidade da amostra com o teste kolmogorov-smirnov, foram utilizados testes não paramétricos, nomeadamente o teste U Mann – Whitney e o coeficiente de correlação de Spearman (p≤0,05). Resultados: Constatou-se que os idosos em média praticavam 480, 23 minutos por semana de actividade moderada, cerca 11,04% do seu tempo, superior ao recomendado pela literatura (>150 minutos por semana). A actividade física moderada apresentou relações positivas com a aptidão física, na força dos membros inferiores, na resistência aeróbia e na agilidade e equilíbrio. Os homens têm maior agilidade e equilíbrio (p=0,002) e força dos membros inferiores (p=0,025) que as mulheres. Os homens passam mais tempo em actividade moderada do que as mulheres. Ainda superam no gasto energético em cada actividade que praticam durante a semana. As mulheres passam mais tempo em actividade sedentária e actividade ligeira. Conclusão: Quanto mais tempo de prática de actividade física moderada melhor a força dos membros inferiores, a resistência aeróbia, a agilidade e o equilíbrio dinâmico. Recomenda-se uma reflexão sobre a possível intervenção na estruturação das actividades diárias do idoso e uma intervenção mais direccionada às idosas, na força do membro inferior, na agilidade e na resistência aeróbia.----------------------- ABSTRACT:Purpose: The present study aims to characterize the physical activity levels of people over 75 years and analyze their relationship with the different components of physical fitness. Background: Physical activity is essential for all but the elderly who are more benefit (Fischer, 2005). It works on prevention and rehabilitation, strengthening physical fitness,and independence of older people, maintaining, for longer, the ability to implement the activities of daily living (Shephard, 2003). The physical activity contributes for example, for the prevention of falls by strengthening physical fitness and postural balance. Moreover, the low level of physical fitness level is reflected in the increase of sedentary activity. Men have an adherence to physical activity of 45% and women 28% (Melo et. al, 2007) Methods: This was an observational, cross-sectional and correlational. We evaluated 66 participants (mean age 80.11 ± 3.83 years), not institutionalized. The sampling procedure was non accidental probabilistic convenience. All seniors gave their informed consent. Physical activity was assessed by questionnaire at the Yale Physical Activity Survey was developed and a diary-type for a week, to ascertain the habits of daily activities in the last four weeks. Physical fitness was assessed by the battery of tests Rikli and Jones (1999), including strength, flexibility, endurance and agility and balance. Data were analyzed using descriptive statistics and to investigate possible associations between physical activity and physical fitness, we used will inferential statistics. Not having been verified the sample normality with Kolmogorov-Smirnov test, we used non-parametric tests, including the test U Mann - Whitney and Spearman correlation coefficient (p ≤ 0.05). Results: It was found that older people on average practiced 480, 23 minutes per week of moderate activity, about 11,04% of the time, higher than recommended in the literature (> 150 minutes per week). A moderate physical activity had positive correlations with physical fitness, lower limb strength, endurance and aerobic agility and balance. Men have greater agility and balance (p = 0.002) and lower-limb strength (p = 0.025) than women. Men spend more time in moderate activity than women. Still outweigh the energy expenditure for each activity they practice during the week. Women spend more time in sedentary activity and light activity. Conclusion: The more practice time in moderate physical activity best lower-limb strength,aerobic resistance, agility and dynamic balance. It is recommended that a reflection on the possible intervention in structuring the daily activities of the elderly and a more targeted to the woman elderly, especially lower limb strength, agility and endurance.

Numerical methods and tangible interfaces for pollutant dispersion simulation

Dissertação apresentada para obtenção do Grau de Doutor em Engenharia do Ambiente, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

A Pilot Cost-Effectiveness Analysis of Treatments in Newly Diagnosed High-Grade Gliomas: The Example of 5-Aminolevulinic Acid Compared With White-Light Surgery

BACKGROUND: High-grade gliomas are aggressive, incurable tumors characterized by extensive diffuse invasion of the normal brain parenchyma. Novel therapies at best prolong survival; their costs are formidable and benefit is marginal. Economic restrictions thus require knowledge of the cost-effectiveness of treatments. Here, we show the cost-effectiveness of enhanced resections in malignant glioma surgery using a well-characterized tool for intraoperative tumor visualization, 5-aminolevulinic acid (5-ALA). OBJECTIVE: To evaluate the cost-effectiveness of 5-ALA fluorescence-guided neurosurgery compared with white-light surgery in adult patients with newly diagnosed high-grade glioma, adopting the perspective of the Portuguese National Health Service. METHODS: We used a Markov model (cohort simulation). Transition probabilities were estimated with the use of data from 1 randomized clinical trial and 1 noninterventional prospective study. Utility values and resource use were obtained from published literature and expert opinion. Unit costs were taken from official Portuguese reimbursement lists (2012 values). The health outcomes considered were quality-adjusted life-years, lifeyears, and progression-free life-years. Extensive 1-way and probabilistic sensitivity analyses were performed. RESULTS: The incremental cost-effectiveness ratios are below €10 000 in all evaluated outcomes, being around €9100 per quality-adjusted life-year gained, €6700 per life-year gained, and €8800 per progression-free life-year gained. The probability of 5-ALA fluorescence-guided surgery cost-effectiveness at a threshold of €20000 is 96.0% for quality-adjusted life-year, 99.6% for life-year, and 98.8% for progression-free life-year. CONCLUSION: 5-ALA fluorescence-guided surgery appears to be cost-effective in newly diagnosed high-grade gliomas compared with white-light surgery. This example demonstrates cost-effectiveness analyses for malignant glioma surgery to be feasible on the basis of existing data.

Comparison of vigilance methods in three houses with different Triatoma infestans densities

Através da prova de 7 dias foi estudado o grau de resistência do Plasmodium falciparum à cloroquina, amodiaquina e sulfadoxina-pirimetamina em Porto Velho, Estado de Rondônia, Brasil. Não se observaram diferenças significativas nas médias de parasitas nos dias de seguimento e nas proporções de resistência entre os três medicamentos testados, fazendo com que os autores recomendem a manutenção das 4-aminoquinoleínas como drogas a serem usadas atualmente em infecções não graves por P. falciparum na área de Porto Velho.

Bullwhip effect, in production control: a comparison between traditional methods and LPS

21th Annual Conference of the International Group for Lean Construction (IGLC 21), July 2013, Fortaleza, Brazil

Seroprevalence and sociocultural conditionants of Chagas disease in school aged children of marginal zones of Asunción

Chagas disease is becoming a public health problem in Latin America due to the wide distribution, the high prevalence, the magnitude of the damage caused and the difficulties to control it. In Paraguay, the disease is mainly distributed in the departments of Paraguari, Cordillera and Central. Prevalence in marginal zones, where migrations from rural populations and endemic areas make possible the urbanization of the disease, has no been studied yet. This is a descriptive study with a cross-sectional sampling and a probabilistic system recruitment carried out in school aged children from marginal zones of Asuncion to determine the prevalence of Chagas' disease. Serological methods, parasite isolation and questionnaires were used to achieve the goals. Nine hundred and fifty three children were studied to determine the prevalence of Chagas' disease in marginal zones which was 1.4%.

Comparative analysis of multicriteria decision making methods

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Introduction: digital methods and tools for historical research

As an introduction to a series of articles focused on the exploration of particular tools and/or methods to bring together digital technology and historical research, the aim of this paper is mainly to highlight and discuss in what measure those methodological approaches can contribute to improve analytical and interpretative capabilities available to historians. In a moment when the digital world present us with an ever-increasing variety of tools to perform extraction, analysis and visualization of large amounts of text, we thought it would be relevant to bring the digital closer to the vast historical academic community. More than repeating an idea of digital revolution introduced in the historical research, something recurring in the literature since the 1980s, the aim was to show the validity and usefulness of using digital tools and methods, as another set of highly relevant tools that the historians should consider. For this several case studies were used, combining the exploration of specific themes of historical knowledge and the development or discussion of digital methodologies, in order to highlight some changes and challenges that, in our opinion, are already affecting the historians' work, such as a greater focus given to interdisciplinarity and collaborative work, and a need for the form of communication of historical knowledge to become more interactive.

Internationalization strategies and methods of construction firms – a comparative study between Hong Kong - Chinese and Portuguese – European approaches

Dissertação para obtenção do Grau Mestre em Engenharia Civil – Perfil de Construção

Mathematical and numerical methods for inverse problems using fundamental solutions techniques

Fundação para a Ciência e a Tecnologia - SFRH/BD/27914/2006

Comparison of in vitro activity of five antifungal agents against dermatophytes, using the agar dilution and broth microdilution methods

The purpose of this study was to compare the agar dilution and broth microdilution methods for determining the minimum inhibitory concentration (MIC) of fluconazole, itraconazole, ketoconazole, griseofulvin and terbinafine for 60 dermatophyte samples belonging to the species Trichophyton rubrum, Trichophyton mentagrophytes and Microsporum canis. The percentage agreement between the two methods, for all the isolates with < 2 dilutions that were tested was 91.6% for ketoconazole and griseofulvin, 88.3% for itraconazole, 81.6% for terbinafine and 73.3% for fluconazole. One hundred percent agreement was obtained for Trichophyton mentagrophytes isolates evaluated with ketoconazole and griseofulvin. Thus, until a reference method for testing the in vitro susceptibility of dermatophytes is standardized, the similarity of the results between the two methods means that the agar dilution method may be useful for susceptibility testing on these filamentous fungi.

Probabilistic constraint reasoning with Monte Carlo integration to robot localization

This work studies the combination of safe and probabilistic reasoning through the hybridization of Monte Carlo integration techniques with continuous constraint programming. In continuous constraint programming there are variables ranging over continuous domains (represented as intervals) together with constraints over them (relations between variables) and the goal is to find values for those variables that satisfy all the constraints (consistent scenarios). Constraint programming “branch-and-prune” algorithms produce safe enclosures of all consistent scenarios. Special proposed algorithms for probabilistic constraint reasoning compute the probability of sets of consistent scenarios which imply the calculation of an integral over these sets (quadrature). In this work we propose to extend the “branch-and-prune” algorithms with Monte Carlo integration techniques to compute such probabilities. This approach can be useful in robotics for localization problems. Traditional approaches are based on probabilistic techniques that search the most likely scenario, which may not satisfy the model constraints. We show how to apply our approach in order to cope with this problem and provide functionality in real time.

Analysis, testing and development of safe cleaning methods of rusted stone material

Three different treatments were applied on several specimens of dolomitic and calcitic marble, properly stained with rust to mimic real situations (the stone specimens were exposed to the natural environment for about six months in contact with rusted iron). Thirty six marble specimens, eighteen calcitic and eighteen dolomitic, were characterized before and after treatment and monitored throughout the cleaning tests. The specimens were characterized by SEM-EDS (Scanning Electron Microscopy coupled with Energy Dispersion System), XRD (XRay Diffraction), XRF (X-Ray Fluorescence), FTIR (Fourier Transform Infrared Spectroscopy) and color measurements. It was also made a microscopic and macroscopic analysis of the stone surface along with the tests of short and long term capillary absorption. A series of test trials were conducted in order to understand which concentrations and contact times best suits to this purpose, to confirm what had been written to date in the literature. We sought to develop new methods of treatment application, skipping the usual methods of applying chemical treatments on stone substrates, with the use of cellulose poultice, resorting to the agar, a gel already used in many other areas, being something new in this area, which possesses great applicability in the field of conservation of stone materials. After the application of the best methodology for cleaning, specimens were characterized again in order to understand which treatment was more effective and less harmful, both for the operator and the stone material. Very briefly conclusions were that for a very intense and deep penetration into the stone, a solution of 3.5% of SDT buffered with ammonium carbonate to pH around 7 applied with agar support would be indicated. For rust stains in its initial state, the use of Ammonium citrate at a concentration of 5% buffered with ammonium to pH 7 could be applied more than once until satisfactory results appear.