A process-based control for evolvable production systems

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

Water jet based autonomous surface vehicle for coastal waters operations

This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.

Testing Nelder-Mead Based Repulsion Algorithms for Multiple Roots of Nonlinear Systems via a Two-Level Factorial Design of Experiments

This paper addresses the challenging task of computing multiple roots of a system of nonlinear equations. A repulsion algorithm that invokes the Nelder-Mead (N-M) local search method and uses a penalty-type merit function based on the error function, known as 'erf', is presented. In the N-M algorithm context, different strategies are proposed to enhance the quality of the solutions and improve the overall efficiency. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm.

Effective swimmer’s action during the grab start technique

The external forces applied in swimming starts have been often studied, but using direct analysis and simple interpretation data processes. This study aimed to develop a tool for vertical and horizontal force assessment based on the swimmers' propulsive and structural forces (passive forces due to dead weight) applied during the block phase. Four methodological pathways were followed: the experimented fall of a rigid body, the swimmers' inertia effect, the development of a mathematical model to describe the outcome of the rigid body fall and its generalization to include the effects of the inertia, and the experimental swimmers' starting protocol analysed with the inclusion of the developed mathematical tool. The first three methodological steps resulted in the description and computation of the passive force components. At the fourth step, six well-trained swimmers performed three 15 m maximal grab start trials and three-dimensional (3D) kinetic data were obtained using a six degrees of freedom force plate. The passive force contribution to the start performance obtained from the model was subtracted from the experimental force due to the swimmers resulting in the swimmers' active forces. As expected, the swimmers' vertical and horizontal active forces accounted for the maximum variability contribution of the experimental forces. It was found that the active force profile for the vertical and horizontal components resembled one another. These findings should be considered in clarifying the active swimmers' force variability and the respective geometrical profile as indicators to redefine steering strategies.

Sífilis congénita : caracterização da infecção e avaliação de técnicas laboratoriais para o seu diagnóstico

RESUMO: Um dos maiores problemas da sífilis é a infecção intra-uterina do feto, que pode resultar em morte fetal com aborto espontâneo. Os objectivos desta tese foram comparar os cinco testes serológicos para o diagnóstico de sífilis congénita e optimizar e aplicar a várias amostras clínicas, colhidas de indivíduos com suspeita de infecção por Treponema pallidum, uma técnica de PCR-Multiplex e uma técnica de PCR em tempo real. Na globalidade dos soros estudados obtiveram-se os seguintes resultados: o RPR reactivo em 87/517; TPHA reactivo em 135/517; e EIA reactivo em 127/517. A pesquisa de anticorpos específicos de tipo IgM foi efectuada em 33 soros sendo estudada pelas técnicas de imunofluorescência indirecta e de westernblot. Quanto aos resultados obtidos pelas duas técnicas, o teste FTA-Abs-IgM demonstrou reactividade em 3/33, enquanto que a técnica de westernblot-M, apresentou reactividade em 18/33. Para a avaliação de uma técnica de PCR-TR, foram estudadas 318 amostras de 236 indivíduos classificados, com base em critérios clínicos e laboratoriais, em diferentes estádios de infecção por Treponema pallidum e em indivíduos sem infecção por aquele microrganismo. Relativamente a estas técnicas foi possível observar amplificação de ADN de Treponema pallidum em 133/318 pela técnica de PCR-TR e 90/318 pela técnica de PCR-Multiplex. Mediante os resultados obtidos e de outros estudos efectuados parece poder concluir-se que o teste EIA é o mais indicado para o rastreio da infecção por Treponema pallidum, devendo um resultado reactivo por esta técnica, ser confirmado com a realização de um teste não treponémico (RPR). Relativamente ao diagnóstico de infecção congénita, o teste westernblot para pesquisa de anticorpos específicos de tipo IgM, parece ser o mais apropriado. A técnica PCR-TR, parece ser a mais indicada, pois apresenta uma maior sensibilidade e especificidade que a PCR-Multiplex.----------------- ABSTRACT:The syphilis major problem is the intrauterine infection of the fetus, which may result in fetal death with spontaneous abortion. The objectives of this thesis were to compare the five serological tests for the diagnosis of congenital syphilis and optimize and apply several clinical samples taken from individuals suspected of infection with Treponema pallidum, a PCR-Multiplex and real-time PCR. In all sera studied were obtained the following results: the RPR reactive in 87/517; reactive TPHA in 135/517, and 127/517 in reactive EIA. The search for specific IgM antibodies was performed on 33 sera that were studied by indirect immunofluorescence and westernblot. The results obtained by both techniques, the test FTA-Abs-IgM showed reactivity in 3/33, while the technique westernblot-M, showed reactivity in 18/33. For an RT-PCR evaluation, we studied 318 samples from 236 individuals classified based on clinical and laboratory criteria at different stages of infection by Treponema pallidum and in individuals without infection by that organism. For these techniques it was possible to observe ADN amplification of Treponema pallidum in 133/318 by RT-PCR and 90/318 by PCR-Multiplex. Based on obtained results and in other studies seems that we can conclude that the EIA test is the most suitable for Treponema pallidum screening infection, and a reactive result by this technique, should be confirmed with the realization of a non-treponemal test (RPR). For the congenital infection diagnosis, testing for antibodies westernblot specific IgM appears to be the most appropriate. The RT-PCR seems to be the most suitable, since it has a higher sensitivity and specificity than the PCR-Multiplex.

Adaptive Penalty and Barrier function based on Fuzzy Logic

Optimization methods have been used in many areas of knowledge, such as Engineering, Statistics, Chemistry, among others, to solve optimization problems. In many cases it is not possible to use derivative methods, due to the characteristics of the problem to be solved and/or its constraints, for example if the involved functions are non-smooth and/or their derivatives are not know. To solve this type of problems a Java based API has been implemented, which includes only derivative-free optimization methods, and that can be used to solve both constrained and unconstrained problems. For solving constrained problems, the classic Penalty and Barrier functions were included in the API. In this paper a new approach to Penalty and Barrier functions, based on Fuzzy Logic, is proposed. Two penalty functions, that impose a progressive penalization to solutions that violate the constraints, are discussed. The implemented functions impose a low penalization when the violation of the constraints is low and a heavy penalty when the violation is high. Numerical results, obtained using twenty-eight test problems, comparing the proposed Fuzzy Logic based functions to six of the classic Penalty and Barrier functions are presented. Considering the achieved results, it can be concluded that the proposed penalty functions besides being very robust also have a very good performance.

Adaptive filtering for high quality HMM based speech synthesis

In this work an adaptive filtering scheme based on a dual Discrete Kalman Filtering (DKF) is proposed for Hidden Markov Model (HMM) based speech synthesis quality enhancement. The objective is to improve signal smoothness across HMMs and their related states and to reduce artifacts due to acoustic model's limitations. Both speech and artifacts are modelled by an autoregressive structure which provides an underlying time frame dependency and improves time-frequency resolution. Themodel parameters are arranged to obtain a combined state-space model and are also used to calculate instantaneous power spectral density estimates. The quality enhancement is performed by a dual discrete Kalman filter that simultaneously gives estimates for the models and the signals. The system's performance has been evaluated using mean opinion score tests and the proposed technique has led to improved results.

Genetic variability of Triatoma flavida and Triatoma bruneri (Hemiptera: Reduviidae) by RAPD-PCR technique

The Triatominae (Hemiptera:Reduviidae) contains the principal and potential Chagas disease vectors present in Mexico, Central America and South America. Triatoma flavida and T. bruneri are Cuban species. These species are closely related according to morphology and were considered synonyms until 1981, when they were separated on the grounds of external characters of the body and the morphology of male genitalia. The present study seeks to analyze genetic polymorphism of T. flavida and T. bruneri populations using RAPD techniques, and to assess the genetic relationship between these species. Ten random primers were used to evaluate the genetic variability among species using RAPD-PCR. The genetic flow among them was calculated. The dendrogram based on calculated Jaccard distances showed two clearly distinguishable clusters which coincided with the studied species. Within each species, moderate genetic differentiation (Fst 0.05-0.15) and migration rates (N > 1) were found among populations, that reveal gene flow and genetic homogeneity. Between species, the Fst value showed a high genetic differentiation and the migration rate was insufficient to maintain genetic homogeneity, and confirmed the absence of gene flow between them. Our results confirm the genetic variability among T. flavida and T. bruneri species.

Gesture based interface for image annotation

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

Active search for leprosy cases in Midwestern Brazil: a serological evaluation of asymptomatic household contacts before and after prophylaxis with bacillus Calmette-Guérin

Leprosy is a disease caused by Mycobacterium leprae that carries a high risk of disability, making early diagnosis mandatory. This study aimed to determine the applicability of anti-PGL-1 IgM antibody detection, using the ML FLOW technique, as an assistant tool for the detection of leprosy infection in asymptomatic household contacts (AHHC) of multibacillary leprosy index cases from Midwest Brazil. Serological changes induced by the prophylaxis of these household contacts with Bacillus Calmette-Guérin (BCG) were also verified. A total of 91 AHHC were assessed, among which, 18.68% (n = 17) presented both positive bacilloscopy and positive anti-PGL-1 IgM serology. Positivity concordance between these two laboratorial exams (Kappa Index = 1; p < 0.001) was indicated, however, one case did not demonstrate concordance between the semiquantitative assessment of anti-PGL-1 IgM and the bacilloscopy index (Kappa Index = 0.96; p < 0.001). Among the 17 AHHC with positive bacilloscopy, eight were reassessed after prophylaxis with BCG and two of them presented negative anti-PGL-1 IgM serology, being these patients who had presented a bacilloscopy index of < 2[+] in the initial assessment. This study shows that anti-PGL-1 IgM detection may be used as a tool to determine the bacillary load in AHHC and to detect immune changes related to prophylaxis by nonspecific vaccination.

Host-induced changes in the cell surface N-linked glycoproteins, from Aspergillus fumigatus. Search for specific targets with potential for clinical therapy and/or diagnosis.

This dissertation is presented to obtain a Master degree in Structural and Functional Biochemistry

Automatic Small Bowel Tumor Diagnosis by Using Multi-Scale Wavelet-Based Analysis in Wireless Capsule Endoscopy Images

BACKGROUND: Wireless capsule endoscopy has been introduced as an innovative, non-invasive diagnostic technique for evaluation of the gastrointestinal tract, reaching places where conventional endoscopy is unable to. However, the output of this technique is an 8 hours video, whose analysis by the expert physician is very time consuming. Thus, a computer assisted diagnosis tool to help the physicians to evaluate CE exams faster and more accurately is an important technical challenge and an excellent economical opportunity. METHOD: The set of features proposed in this paper to code textural information is based on statistical modeling of second order textural measures extracted from co-occurrence matrices. To cope with both joint and marginal non-Gaussianity of second order textural measures, higher order moments are used. These statistical moments are taken from the two-dimensional color-scale feature space, where two different scales are considered. Second and higher order moments of textural measures are computed from the co-occurrence matrices computed from images synthesized by the inverse wavelet transform of the wavelet transform containing only the selected scales for the three color channels. The dimensionality of the data is reduced by using Principal Component Analysis. RESULTS: The proposed textural features are then used as the input of a classifier based on artificial neural networks. Classification performances of 93.1% specificity and 93.9% sensitivity are achieved on real data. These promising results open the path towards a deeper study regarding the applicability of this algorithm in computer aided diagnosis systems to assist physicians in their clinical practice.

Hypermedia-based Web Services as System Integrators

As we move more closely to the practical concept of the Internet of Things and, our reliance on public and private APIs increases, web services and their related topics have become utterly crucial to the informatics community. However, the question about which style of web services would best solve a particular problem, can raise signi cant and multifarious debates. There can be found two implementation styles that highlight themselves: the RPC-oriented style represented by the SOAP protocol’s implementations and the hypermedia style, which is represented by the REST architectural style’s implementations. As we search examples of already established web services, we can nd a handful of robust and reliable public and private SOAP APIs, nevertheless, it seems that RESTful services are gaining popularity in the enterprise community. For the current generation of developers that work on informatics solutions, REST seems to represent a fundamental and straightforward alternative and even, a more deep-rooted approach than SOAP. But are they comparable? Do both approaches have each speci c best suitable scenarios? Such study is brie y carried out in the present document’s chapters, starting with the respective background study, following an analysis of the hypermedia approach and an instantiation of its architecture, in a particular case study applied in a BPM context.

Quantification of the TMS-EEG response in epilepsy

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

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.