Pose Estimation using a C-Arm Fluoroscope

Os métodos clínicos que são realizados com recurso a tecnologias de imagiologia têm registado um aumento de popularidade nas últimas duas décadas. Os procedimentos tradicionais usados em cirurgia têm sido substituídos por métodos minimamente invasivos de forma a conseguir diminuir os custos associados e aperfeiçoar factores relacionados com a produtividade. Procedimentos clínicos modernos como a broncoscopia e a cardiologia são caracterizados por se focarem na minimização de acções invasivas, com os arcos em ‘C’ a adoptarem um papel relevante nesta área. Apesar de o arco em ‘C’ ser uma tecnologia amplamente utilizada no auxílio da navegação em intervenções minimamente invasivas, este falha na qualidade da informação fornecida ao cirurgião. A informação obtida em duas dimensões não é suficiente para proporcionar uma compreensão total da localização tridimensional da região de interesse, revelando-se como uma tarefa essencial o estabelecimento de um método que permita a aquisição de informação tridimensional. O primeiro passo para alcançar este objectivo foi dado ao definir um método que permite a estimativa da posição e orientação de um objecto em relação ao arco em ‘C’. De forma a realizar os testes com o arco em ‘C’, a geometria deste teve que ser inicialmente definida e a calibração do sistema feita. O trabalho desenvolvido e apresentado nesta tese foca-se num método que provou ser suficientemente sustentável e eficiente para se estabelecer como um ponto de partida no caminho para alcançar o objectivo principal: o desenvolvimento de uma técnica que permita o aperfeiçoamento da qualidade da informação adquirida com o arco em ‘C’ durante uma intervenção clínica.

Seasonal patterns of polycyclic aromatic hydrocarbons in digestive gland and arm of octopus (Octopus vulgaris) from the Northwest Atlantic

Among organic pollutants existing in coastal areas, polycyclic aromatic hydrocarbons (PAHs) are of great concern due to their ubiquity and carcinogenic potential. The aim of this study was to evaluate the seasonal patterns of PAHs in the digestive gland and arm of the common octopus (Octopus vulgaris) from the Northwest Atlantic Portuguese coast. In the different seasons, 18 PAHs were determined and the detoxification capacity of the species was evaluated. Ethoxyresorufin O-deethylase (EROD) and ethoxycoumarin O-deethylase (ECOD) activities were measured to assess phase I biotransformation capacity. Individual PAH ratios were used for major source (pyrolytic/petrogenic) analysis. Risks for human consumption were determined by the total toxicity equivalence approach. Generally, low levels of PAHs were detected in the digestive gland and in the arm of octopus, with a predominance of low molecular over high molecular weight compounds. PAHs exhibited seasonality in the concentrations detected and in their main emission sources. In the digestive gland, the highest total PAH levels were observed in autumn possibly related to fat availability in the ecosystem and food intake. The lack of PAH elimination observed in the digestive gland after captivity could be possibly associated to a low biotransformation capacity, consistent with the negligible/undetected levels of EROD and ECOD activity in the different seasons. The emission sources of PAHs found in the digestive gland varied from a petrogenic profile observed in winter to a pyrolytic pattern in spring. In the arm, the highest PAH contents were observed in June; nevertheless, levels were always below the regulatory limits established for food consumption. The carcinogenic potential calculated for all the sampling periods in the arm were markedly lower than the ones found in various aquatic species from different marine environments. The results presented in this study give relevant baseline data for environmental monitoring of organic pollution in coastal areas.

L’instabilité dynamique pendant le Toarcien dans le Moyen Atlas (Maroc): mise en évidence de glissements synsédimentaires dans le synclinal de Bou Angar

During the Toarcian, shelves undergo block-faulting with mechanisms of tilting. It results the break up of the Middle Atlas basin in subsident sectors separated by resistant ridges. This device is highlighted by strong variations of facies, more or less extended lacunar zones, reefs aligned on the ridges and of synsedimentary tectonics structures. Within the framework of mapping survey carried out in the south-west of Middle Atlas, a meticulous prospection of Bou Angar synclinal allowed the description of a new outcrop of Toarcian. This one offers good examples of extensional structures and bio-accumulations. These data, supplemented by other witnesses of the dynamic instability in the rest of the Middle Atlas, permit to propose a paleogeographic map of the Middle Atlas basin during the Toarcian.

Upper Arm Measurements of Healthy Neonates Comparing Ultrasonography and Anthropometric Methods

Objective: To compare measurements of the upper arm cross-sectional areas (total arm area,arm muscle area, and arm fat area of healthy neonates) as calculated using anthropometry with the values obtained by ultrasonography. Materials and methods: This study was performed on 60 consecutively born healthy neonates: gestational age (mean6SD) 39.661.2 weeks, birth weight 3287.16307.7 g, 27 males (45%) and 33 females (55%). Mid-arm circumference and tricipital skinfold thickness measurements were taken on the left upper mid-arm according to the conventional anthropometric method to calculate total arm area, arm muscle area and arm fat area. The ultrasound evaluation was performed at the same arm location using a Toshiba sonolayer SSA-250AÒ, which allows the calculation of the total arm area, arm muscle area and arm fat area by the number of pixels enclosed in the plotted areas. Statistical analysis: whenever appropriate, parametric and non-parametric tests were used in order to compare measurements of paired samples and of groups of samples. Results: No significant differences between males and females were found in any evaluated measurements, estimated either by anthropometry or by ultrasound. Also the median of total arm area did not differ significantly with either method (P50.337). Although there is evidence of concordance of the total arm area measurements (r50.68, 95% CI: 0.55–0.77) the two methods of measurement differed for arm muscle area and arm fat area. The estimated median of measurements by ultrasound for arm muscle area were significantly lower than those estimated by the anthropometric method, which differed by as much as 111% (P,0.001). The estimated median ultrasound measurement of the arm fat was higher than the anthropometric arm fat area by as much as 31% (P,0.001). Conclusion: Compared with ultrasound measurements using skinfold measurements and mid-arm circumference without further correction may lead to overestimation of the cross-sectional area of muscle and underestimation of the cross-sectional fat area. The correlation between the two methods could be interpreted as an indication for further search of correction factors in the equations.

Upper Arm Anthropometry Is Not a Valid Predictor of Regional Body Composition in Preterm Infants

Background: Upper arm anthropometry has been used in the nutritional assessment of small infants, but it has not yet been validated as a predictor of regional body composition in this population. Objective: Validation of measured and derived upper arm anthropometry as a predictor of arm fat and fat-free compartments in preterm infants. Methods: Upper arm anthropometry, including the upper arm cross-sectional areas, was compared individually or in combination with other anthropometric measurements, with the cross-sectional arm areas measured by magnetic resonance imaging, in a cohort of consecutive preterm appropriate-for-gestationalage neonates, just before discharge. Results: Thirty infants born with (mean 8 SD) a gestational age of 30.7 8 1.9 weeks and birth weight of 1,380 8 325 g, were assessed at 35.4 8 1.1 weeks of corrected gestational age, weighing 1,785 8 93 g. None of the anthropometric measurements are reliable predictors (r 2 ! 0.56) of the measurements obtained by magnetic resonance imaging, individually or in combination with other anthropometric measurements. Conclusion: Both measured anthropometry and derived upper arm anthropometry are inaccurate predictors of regional body composition in preterm appropriate-for-gestational-age infants.

Abstract Timers and their Implementation onto the ARM Cor tex-M family of MCUs

Presented at Embed with Linux Workshop (EWiLi 2015). 4 to 9, Oct, 2015. Amsterdam, Netherlands.

L'homme armé no Cancioneiro de Resende

No Cancioneiro Geral de Garcia de Resende, que recolhe muita da poesia surgida ou circulada na corte portuguesa durante a segunda metade do século XV, 1 há um número significativo de trovas que fazem referência à prática musical, ou que utilizam termos técnicos oriundos da teoria da música. Estas trovas mereceram a Mário de Sampayo Ribeiro (na década de 1940) e a João de Freitas Branco (bastante mais tarde) comentários ou referências breves, mas permanecem em geral desconhecidas e inexploradas.2 Uma das secções do Cancioneiro mais ricas, deste ponto de vista, é aquela que transmite, numa seqüência coerente, as trovas endereçadas a Dom Diogo, Duque de Viseu, tendo como tema uma cena de pancadaria ocorrida enfre dois cantores profissionais.

EMM-ARM Retrospective and current developments

FCT PhD grant SFRH/BD/80682/2011; FCT research project VisCoDyn EXPL/ECM-EST/1323/2013

Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.

Voyage de la corvette l'Astrolabe : exécuté par ordre du roi, pendant les années 1826-1827-1828-1829 / sous le commandement de J. Dumont d'Urville.

Botanique pt.1-2 [pt.2 precedes pt.1] (1832-1834)

Voyage de la corvette l'Astrolabe : exécuté par ordre du roi, pendant les années 1826-1827-1828-1829 / sous le commandement de J. Dumont d'Urville.

Botanique Atlas (1833)

Voyage de la corvette l'Astrolabe : exécuté par ordre du roi, pendant les années 1826-1827-1828-1829 / sous le commandement de J. Dumont d'Urville.

Zoologie t.2:pt.1 (1832)

Voyage de la corvette l'Astrolabe : exécuté par ordre du roi, pendant les années 1826-1827-1828-1829 / sous le commandement de J. Dumont d'Urville.

Zoologie t.1 (1830)