Um algoritmo PSO híbrido para planejamento de caminhos em navegação de veículos utilizando A*

Utilizar robôs autônomos capazes de planejar o seu caminho é um desafio que atrai vários pesquisadores na área de navegação de robôs. Neste contexto, este trabalho tem como objetivo implementar um algoritmo PSO híbrido para o planejamento de caminhos em ambientes estáticos para veículos holonômicos e não holonômicos. O algoritmo proposto possui duas fases: a primeira utiliza o algoritmo A* para encontrar uma trajetória inicial viável que o algoritmo PSO otimiza na segunda fase. Por fim, uma fase de pós planejamento pode ser aplicada no caminho a fim de adaptá-lo às restrições cinemáticas do veículo não holonômico. O modelo Ackerman foi considerado para os experimentos. O ambiente de simulação de robótica CARMEN (Carnegie Mellon Robot Navigation Toolkit) foi utilizado para realização de todos os experimentos computacionais considerando cinco instâncias de mapas geradas artificialmente com obstáculos. O desempenho do algoritmo desenvolvido, A*PSO, foi comparado com os algoritmos A*, PSO convencional e A* Estado Híbrido. A análise dos resultados indicou que o algoritmo A*PSO híbrido desenvolvido superou em qualidade de solução o PSO convencional. Apesar de ter encontrado melhores soluções em 40% das instâncias quando comparado com o A*, o A*PSO apresentou trajetórias com menos pontos de guinada. Investigando os resultados obtidos para o modelo não holonômico, o A*PSO obteve caminhos maiores entretanto mais suaves e seguros.

Evaluation of intermolecular interactions in thioxanthone derivatives: substituent effect on crystal diversity

A family of 9H-thioxanthen-9-one derivatives and two precursors, 2-[(4-bromophenyl) sulfanyl]-5-nitrobenzoic acid and 2-[(4-aminophenyl) sulfanyl]-5-nitrobenzoic acid, were synthesized and studied in order to assess the role of the different substituent groups in determining the supramolecular motifs. From our results we can conclude that Etter's rules are obeyed: whenever present the -COOH head to head strong hydrogen bonding dimer, R-2(2)(8) synthon, prevails as the dominant interaction. As for -NH2, the best donor when present also follows the expected hierarchy, an NH center dot center dot center dot O(COOH) was formed in the acid precursor (2) and an NH center dot center dot center dot O(C=O) in the thioxanthone (4). The main role played by weaker hydrogen bonds such as CH center dot center dot center dot O, and other intermolecular interactions, pi-pi and Br center dot center dot center dot O, as well as the geometric restraints of packing patterns shows the energetic interplay governing crystal packing. A common feature is the relation between the p-p stacking and the unit cell dimensions. A new synthon notation, R`, introduced in this paper, refers to the possibility of accounting for intra- and intermolecular interactions into recognizable and recurring aggregate patterns.

Self-optimization aspects for dynamic scheduling

Scheduling is a critical function that is present throughout many industries and applications. A great need exists for developing scheduling approaches that can be applied to a number of different scheduling problems with significant impact on performance of business organizations. A challenge is emerging in the design of scheduling support systems for manufacturing environments where dynamic adaptation and optimization become increasingly important. At this scenario, self-optimizing arise as the ability of the agent to monitor its state and performance and proactively tune itself to respond to environmental stimuli.

An insight into dapsone co-crystals: sulfones as participants in supramolecular interactions

Agência Financiadora: Fundação para a Ciência e a Tecnologia - Pest-OE/QUI/UI0100/2013; PTDC/CTM-BPC/122447/2010; RECI/QEQ-QIN/0189/2012; SFRH/BPD/78854/2011

Thermodynamic pathway for the formation of SnSe and SnSe2 polycrystalline thin films by selenization of metal precursors

In this work, tin selenide thin films (SnSex) were grown on soda lime glass substrates by selenization of dc magnetron sputtered Sn metallic precursors. Selenization was performed at maximum temperatures in the range 300 °C to 570 °C. The thickness and the composition of the films were analysed using step profilometry and energy dispersive spectroscopy, respectively. The films were structurally and optically investigated by X-ray diffraction, Raman spectroscopy and optical transmittance and reflectance measurements. X-Ray diffraction patterns suggest that for temperatures between 300 °C and 470 °C, the films are composed of the hexagonal-SnSe2 phase. By increasing the temperature, the films selenized at maximum temperatures of 530 °C and 570 °C show orthorhombic-SnSe as the dominant phase with a preferential crystal orientation along the (400) crystallographic plane. Raman scattering analysis allowed the assignment of peaks at 119 cm−1 and 185 cm−1 to the hexagonal-SnSe2 phase and those at 108 cm−1, 130 cm−1 and 150 cm−1 to the orthorhombic-SnSe phase. All samples presented traces of condensed amorphous Se with a characteristic Raman peak located at 255 cm−1. From optical measurements, the estimated band gap energies for hexagonal-SnSe2 were close to 0.9 eV and 1.7 eV for indirect forbidden and direct transitions, respectively. The samples with the dominant orthorhombic-SnSe phase presented estimated band gap energies of 0.95 eV and 1.15 eV for indirect allowed and direct allowed transitions, respectively.

Orthoptera do ecossistema pinhal

O pinhal constitui o tipo de floresta mais representado em Portugal, ocupando 35.5% da área florestada. Este estudo foi efectuado em pinhais e sistemas circundantes, tendo por objectivo identificar a fauna de Orthoptera, e avaliar quais os impactes ecológicos das espécies encontradas, isto é quais delas poderão constituir pragas, e quais deverão ser protegidas. Recolheram-se 60 espécies de Orthoptera, em pinhais distribuídos por seis regiões de Portugal Continental, das quais 24 pertencem à sub-ordem Ensifera e 36 à sub-ordem Caelifera, representando cerca de 50% das espécies anteriormente encontradas. Foi registado pela primeira vez em Portugal a presença de nove espécies de órtopteros, uma das quais nova para a ciência Uromenus (Steropleurus) anapaulae (G. H. Schmidt, 2002). Procedeu-se à comparação da biodiversidade de Orthoptera nos locais estudados, utilizando-se os índices de Shannon, Brillouin e Simpson. Verificou-se que os valores mais elevados, para a biodiversidade de Orthoptera, foram encontrados nos locais que apresentavam uma considerável diversidade da paisagem e diversidade de habitats, como é o caso do Parque Natural do Alvão, enquanto que os menores valores foram registados na Mata Nacional de Leiria e na Herdade da Ferraria, onde existe grande homogeneidade de habitats, constituídos quase exclusivamente por plantações de Pinus pinaster. Investigou-se qual a importância dos Orthoptera, como predadores da processionária do pinheiro Thaumetopoea pityocampa, um dos fitófagos mais importantes na região Mediterrânica, causador tanto de prejuízos económicos em pinhais como de reacções alérgicas ao Homem e outros mamíferos. Registou-se pela primeira vez, que os gafanhotos da família Tettigonidea predam sobre lagartas e imagos de T. pityocampa, além de consumirem as posturas. Em alguns pinhais verificou-se existir uma relação inversamente proporcional entre o número de tetigonídeos, e o nível de ataque do fitófago. Não se confirmou, no entanto, uma possível utilização da feromona sexual de T. pityocampa como cairomona, pelos tetigonídeos. Entre os ortópteros potencialmente causadores de pragas salienta-se a sub-espécie Locusta migratoria cinerascens, que apresenta uma distribuição circum -mediterrânica. Procedeu-se à criação laboratorial e ao estudo comparativo da bio-ecologia desta subespécie e de L. m. migratorioides, que causa prejuízos devastadores em regiões tropicais. Ambas são morfologicamente semelhantes mas ocorrem em fases diferentes, respectivamente solitária e gregária. Quantificaram-se os parâmetros reprodutivos de fêmeas virgens e copuladas das duas sub-espécies, e de fêmeas híbridas, tendo-se registado taxas de fertilidade superiores para L. m. migratorioides, denotando a sua adaptação a densidades populacionais elevadas. Obteve-se ainda, por reprodução partenogenética, 13 gerações consecutivas de fêmeas, facto que se regista pela primeira vez. Compararam-se as principais componentes das substâncias semioquímicas emitidas por fêmeas, machos e ninfas de último instar para as duas sub-espécies de L. migratoria estudadas, tendo-se verificado que existem algumas diferenças relativamente às fêmeas. Analisaram-se as respostas olfactivas a algumas das principais substâncias, nomeadamente guaiacol, veratrol, anisol, acetofenona, benzaldeído e extracto de folhas verdes, através de testes de electroantenografia, tendo-se concluído que a sub-espécie L. m. migratorioides reagiu mais intensamente às substâncias acetofenona, guaiacol e veratrol do que a sub-espécie L. m.cinerascens.

Dioszegia antarctica sp. nov. and Dioszegia cryoxerica sp. nov., psychrophilic basidiomycetous yeasts from polar desert soils in Antarctica

International Journal of Systematic and Evolutionary Microbiology, 60

Transplant Glomerulopathy: Clinico-Pathologic Features

Transplant glomerulopathy is a sign of chronic kidney allograft damage. It has a distinct morphology and is associated with poor allograft survival. We aimed to assess the prevalence and clinic-pathologic features of transplant glomerulopathy, as well as determine the functional and histological implications of its severity. We performed a single-centre retrospective observational study during an eight-year period. Kidney allograft biopsies were diagnosed and scored according to the Banff classification, coupled with immunofluorescence studies. The epidemiology, clinical presentation, outcomes (patient and graft survival) and anti-HLA alloantibodies were evaluated. Transplant glomerulopathy was diagnosed in 60 kidney transplant biopsies performed for clinical reasons in 49 patients with ABO compatible renal transplant and a negative T-cell complement dependent cytotoxicity crossmatch at transplantation. The estimated prevalence of transplant glomerulopathy was 7.4% and its cumulative prevalence increased over time. C4d staining in peritubular capillaries (27.6%) was lower than the frequency of anti-HLA antibodies (72.5%), the majority against both classes I and II. Transplant glomerulopathy was associated with both acute (mainly glomerulitis and peritubular capillaritis) and chronic histologic abnormalities. At diagnosis, 30% had mild, 23.3% moderate and 46.7% severe transplant glomerulopathy. The severity of transplant glomerulopathy was associated with the severity of interstitial fibrosis. Other histological features, as well as clinical manifestations and graft survival, were unrelated to transplant glomerulopathy severity.

Da «Pobre vida» à congregação da Serra de Ossa: génese institucionalização de uma experiência eremítica (1366-1510)

Tese apresentada para cumprimento dos requisitos necessários à obtenção do grau de Doutor em História, especialidade em História Medieval

Financial stress and sovereign debt composition

"Published online: 19 Oct 2015"

Rhetoric on the economy: have European parties changed their economic messages?

This study analyses the determinants of dispersion of economic issue mentions in European party manifestos. We examined three main economic domains (governmental control of the economy, free market capitalism and support for the welfare state) as consequences of globalization forces, economic conditions, partisanship and electoral turnout. Employing aggregate-level Comparative Manifesto Project (CMP) data from legislative elections in 15 European countries from 1970 to 2010, we confirm that parties hold a common view of the salience of economic control of the state as a consequence of globalization pressure and economic growth levels. Partisanship of the cabinets (regardless of the political orientation) counteracted issue salience concentration in the welfare domain. Government size favoured dispersion in the free market realm. Our results do not indicate clear homogenization of parties’ economic messages in elections over the last 40 years.

A protocol guided by transpulmonary thermodilution and lactate levels for resuscitation of patients with severe burns.

Over-resuscitation is deleterious in many critically ill conditions, including major burns. For more than 15 years, several strategies to reduce fluid administration in burns during the initial resuscitation phase have been proposed, but no single or simple parameter has shown superiority. Fluid administration guided by invasive hemodynamic parameters usually resulted in over-resuscitation. As reported in the previous issue of Critical Care, Sánchez-Sánchez and colleagues analyzed the performance of a 'permissive hypovolemia' protocol guided by invasive hemodynamic parameters (PiCCO, Pulsion Medical Systems, Munich, Germany) and vital signs in a prospective cohort over a 3-year period. The authors' results confirm that resuscitation can be achieved with below-normal levels of preload but at the price of a fluid administration greater than predicted by the Parkland formula (2 to 4 mL/kg per% burn). The classic approach based on an adapted Parkland equation may still be the simplest until further studies identify the optimal bundle of resuscitation goals.

Automatic measurement of key ski jumping phases and temporal events with a wearable system.

We propose a new method, based on inertial sensors, to automatically measure at high frequency the durations of the main phases of ski jumping (i.e. take-off release, take-off, and early flight). The kinematics of the ski jumping movement were recorded by four inertial sensors, attached to the thigh and shank of junior athletes, for 40 jumps performed during indoor conditions and 36 jumps in field conditions. An algorithm was designed to detect temporal events from the recorded signals and to estimate the duration of each phase. These durations were evaluated against a reference camera-based motion capture system and by trainers conducting video observations. The precision for the take-off release and take-off durations (indoor < 39 ms, outdoor = 27 ms) can be considered technically valid for performance assessment. The errors for early flight duration (indoor = 22 ms, outdoor = 119 ms) were comparable to the trainers' variability and should be interpreted with caution. No significant changes in the error were noted between indoor and outdoor conditions, and individual jumping technique did not influence the error of take-off release and take-off. Therefore, the proposed system can provide valuable information for performance evaluation of ski jumpers during training sessions.