Probabilistic Egomotion for Stereo Visual Odometry

We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.

Probabilistic Stereo Egomotion Transform

In this paper we propose a novel fully probabilistic solution to the stereo egomotion estimation problem. We extend the notion of probabilistic correspondence to the stereo case which allow us to compute the whole 6D motion information in a probabilistic way. We compare the developed approach against other known state-of-the-art methods for stereo egomotion estimation, and the obtained results compare favorably both for the linear and angular velocities estimation.

Cross-Layer Admission Control to Enhance the Support of Real-Time Applications in WSN

Real-time monitoring applications may be used in a wireless sensor network (WSN) and may generate packet flows with strict quality of service requirements in terms of delay, jitter, or packet loss. When strict delays are imposed from source to destination, the packets must be delivered at the destination within an end-to-end delay (EED) hard limit in order to be considered useful. Since the WSN nodes are scarce both in processing and energy resources, it is desirable that they only transport useful data, as this contributes to enhance the overall network performance and to improve energy efficiency. In this paper, we propose a novel cross-layer admission control (CLAC) mechanism to enhance the network performance and increase energy efficiency of a WSN, by avoiding the transmission of potentially useless packets. The CLAC mechanism uses an estimation technique to preview packets EED, and decides to forward a packet only if it is expected to meet the EED deadline defined by the application, dropping it otherwise. The results obtained show that CLAC enhances the network performance by increasing the useful packet delivery ratio in high network loads and improves the energy efficiency in every network load.

Contributo das organizações do terceiro setor no desenvolvimento dos países de píngua pficial portuguesa

O empreendedorismo social é um campo que tem vindo a ganhar uma importância crescente nas sociedades atuais, sendo reconhecido como uma ferramenta útil na promoção do desenvolvimento sustentável. Como se trata de um campo emergente, apresenta-se ainda pouco explorado. Em Cabo Verde não existem ainda estudos sobre o tema, embora existam já algumas iniciativas de empreendedorismo social. A investigação foi desenvolvida de forma a responder ao objetivo de se conhecer qual o contributo que as Organizações Não Governamentais para o Desenvolvimento (ONGD) portuguesas têm dado para a sedimentação do empreendedorismo social em Cabo Verde. Assim, procurou-se apurar e analisar as ONGD que desenvolvem projetos em Cabo Verde, as áreas em que estas atuam para promoverem o desenvolvimento economico-social, os meios de financiamentos a que recorrem, as dificuldades encontradas no desenvolvimento das suas atividades, bem como compreender a razão que levou a que Cabo Verde fosse beneficiado com as ações dessas ONGD. Para conseguir atingir estas metas recorreu-se à metodologia qualitativa onde se fez uma análise exploratória e descritiva. A técnica utilizada para a recolha da informação primária foi a entrevista dirigida aos responsáveis de seis ONGD portuguesas que atuam em Cabo Verde, nomeadamente a Associação para a Cooperação Entre os Povos, a Associação de Defesa do Património de Mértola, Instituto Marquês de Valle Flôr, Meninos do Mundo, Terras Dentro e a Associação Raia Histórica. Os resultados deste estudo permitiram identificar que as ONGD portuguesas agem impulsionando o empreendedorismo social em Cabo Verde através da promoção do desenvolvimento integrado e sustentável, apoiado em parcerias estabelecidas com outras organizações locais caboverdeanas. Estes parceiros são atores chave que estão no terreno e possuem o conhecimento da realidade do país. Cabo Verde foi beneficiado pelos projetos por pertencer aos Países Africanos de Língua Oficial Portuguesa e/ou à Comunidade dos Países de Língua Portuguesa. Na obtenção de recursos, a maioria das ONGD portuguesas recorre a recursos em espécie e a voluntários portugueses, desempenhando estes o papel de formadores. A geração de valor social por parte destas entidades é feita muitas vezes de uma forma indireta, através da criação de valor económico que depois se repercute em valor social. Este valor social resulta da sua atuação em várias áreas como a saúde e segurança alimentar, desenvolvimento rural, meio ambiente, educação e formação profissional, emprego, economia alternativa ou microcrédito, pobreza e exclusão social, ambiente, habitação, promoção social e do turismo, capacitação e reforço institucional e coerência das políticas públicas para o desenvolvimento. Sendo Cabo Verde um arquipélago, as principais dificuldades encontradas pelas ONGD na sua atuação prende-se com a acessibilidade às ilhas devido à falta de transportes e meios de comunicação.

Building Smarter Cities through Social Entrepreneurship

The objective of the present study is to examine the extent to which social ventures are able to increase the smartness of the cities. To achieve this goal, we adopt a qualitative approach, based on the case study method to obtain valuable insights about different characteristics and strategies of Cais (a non-profit association dedicated to help disadvantaged people in urban areas). By focusing on the analysis of the Cais activities, we assess whether its social intervention match the dimensions proposed by Giffinger et al. (2007) to rank smart cities’ performance, namely if it has smart: (i) economy; (ii) people; (iii) governance; (iv) mobility; (v) environment; and (vi) living. The research shows that the action pursued comprises elements from all the above mentioned dimensions. Further, the analysis reveals that Cais reinforces the smartness of the city where it acts (attributes such as living, economy, people, and environment).

Género e Media: estereótipos das masculinidades na publicidade das revistas masculinas em Portugal

Tese apresentada para cumprimento dos requisitos necessários à obtenção do grau de Doutor em Ciências da Comunicação

Migration and differentiation of neuronal precursors in the postnatal brain: insights from the subventricular zone and cerebellum

Fundação para a Ciência e a Tecnologia - SFRH/BD/42848/2008, através do Programa MIT_Portugal em Sistemas de Bioengenharia; projectos PTDC/SAUNEU/104415/2008 e Projecto ref. 96542 da Fundação Caloust Gulbenkian

Maritime Security in the Gulf of Guinea: Issues and Solutions for the 21st Century

A producer of 5.4 M bbl/d, totalling almost half of the consumption of the entire European Union, the Gulf of Guinea is a fundamental lifeline and maritime link between Europe, the Americas and Africa. Geographically positioned as a staging post for transit originating in Latin America and coupled with its relatively porous borders, the region is also the perfect stepping stone for contraband heading to European shores. While blessed with an enviable wealth of marine and mineral resources, the region is also plagued by an ever-increasing spectre of maritime piracy; accounting for around 30% of incidents in African waters from 2003 to 2011. It is for these reasons that this research centres around the issues of maritime security in the Gulf of Guinea, with a particular focus on the first two decades of the 21st century. This research looks to examine the overall picture of the present state of play in the area, before going on to provide an analysis of potential regional developments in maritime security. This research begins with the analysis of concepts/phenomena that have played a notable role in the shaping of the field of maritime security, namely Globalisation and security issues in the post-Cold War era. The ensuing chapter then focuses in on the Gulf of Guinea and the issues dominating the field of maritime security in the region. The penultimate chapter presents a SWOT analysis, undertaken as part of this research with the aim of correlating opinions from a variety of sectors/professions regarding maritime security in the Gulf of Guinea. The final chapter builds upon the results obtained from the abovementioned SWOT analysis, presenting a series of potential proposals/strategies that can contribute to the field of maritime security in the region over the coming years. This research draws to a close with the presentation of conclusions taken from this particular investigation, as well as a final overview of the earlier presented proposals applicable to the field of maritime security during the second decade of the 21st century.

The scramble for the seas : the ballad evidence of Sir Andrew Barton

The presence and importance of the sea as a factor that has helped shape the history of England since at least the Roman invasions of 55-54 BC (less successful, incidentally, than most of Caesar’s other military ventures ...) need no particular urging or demonstration. Nonetheless, a bird’s-eye view would necessarily survey the waves of invasions and settlements that, one after the other, came dashing over the centuries upon England’s shores; not to mention the requested invasion of 1688, Angles and Saxons, Scandinavians, Normans, they all crossed the whale’s path and cast anchor in England’s green and pleasant land. In the course of this retrospective voyage through the oceans of History, one would inevitably stop at the so-called ‘Discoveries’ of the 15th-16th centuries, meet their navigators, sailors and pirates extolled by Richard Hakluyt (1553?-1616), face an anonymous crowd of merchants and witness the huge expansion of trade, largely to the benefit of the ‘discovering’ countries as prescribed by the economic Gospel Adam Smith (1723-90) would later baptize as “mercantilism”.

Corruption: Who pays for the bill?

This paper intends to study who pays for corruption in Brazil from 2005 to 2011. Politicians may decide to charge the spillovers of corruption at a municipal level through taxes or to charge it to the entire country through voluntary transfers. The used measure of corruption is based on audit reports conducted on randomly selected municipalities from 2005 to 2011.In order to address this question an IV strategy was computed using as instrument for the number of observed cases of corruption the dummy variable of being audited or not. We evaluated the impact of corruption on taxes and on voluntary transfers and concluded that with an increase in the number of observed cases of corruption the first decreases and the latest registers an increase. Therefore, considering all Brazilian municipalities, mayors prefer to spread the bill all over the country than charging it locally.

Norton de Matos, o improvável republicano: Um olhar sobre Portugal e o império entre Afonso Costa e Salazar

Discutir o papel político de José Norton de Matos (1867-1955) na galáxia republicana portuguesa entre 1910 e 1955 é o objectivo principal desta tese. A alteração do prisma de análise mais habitual quando se fala de Norton, do colonial para o político, foi acompanhada pela opção de privilegiar os seus escritos contemporâneos, em detrimento das muitas análises retrospectivas posteriormente publicadas, e de cotejar a sua voz com múltiplas vozes de Portugal e do império, entre muitas outras com que se cruzou. Tentámos compreender como é que um liberal como Norton, monárquico de tradição embora não de filiação, usa as suas credenciais coloniais para entrar na política republicana à boleia da polémica do cacau escravo e da Sociedade Portuguesa Anti-Esclavagista. Com a aproximação a Bernardino Machado, aos Jovens Turcos, à maçonaria e à facção do PRP dominada por Afonso Costa, insere-se na órbita democrática e afonsista e ganha o cargo de governador-geral de Angola. Aos africanos, cuja definição legislativa como uma categoria distinta da de cidadão (o indígena) antecipa em 1913, leva as luzes da educação laica e a liberdade de trabalho mas paradoxalmente convive com as escolas das missões e o trabalho forçado. A fibra de político que revela na gestão das tensões entre as elites coloniais e metropolitanas irá ser apurada como ministro da Guerra. Discutimos, em especial, o seu papel político num ambicioso projecto: transformar dezenas de milhares de portugueses, pobres, analfabetos e vindos de meios rurais com parcas simpatias republicanas, em cidadãos e soldados da República. A improvisação, que possibilitou que o Corpo Expedicionário Português fosse combater em França ao lado dos britânicos, teve o rasgo de asa e os problemas inerentes à megalomania que o caracterizava. No Verão de 1917, o prestígio com que regressa à capital após difíceis negociações com o governo de Lloyd George torna-o um sério concorrente de Afonso Costa embora com ele partilhe também o ónus da crescente impopularidade da guerra. Reencontrar-se-ão, após o exílio sidonista, na Conferência da Paz em Paris mas, ao contrário de Costa, que não regressará à política activa, Norton tornar-se-á o altocomissário mais marcante e polémico da nova República do pós-guerra. Após a queda do regime e dois novos exílios, será Norton de Matos a fazer os compromissos necessários para permanecer no país e, aí, combater a Ditadura Militar e o Estado Novo de Salazar. Quando, em 1931, consegue unir a oposição em torno da Aliança Republicano-Socialista, começa a impor-se como símbolo da I República. É com esse estatuto que integrará as frentes unidas antifascistas dos anos 40 que culminarão na sua candidatura à Presidência da República em 1948/1949. O modo como consegue fazer a ponte entre os vários ciclos e gerações da oposição e, simultaneamente, resistir às pressões para romper a unidade com os comunistas na fase mais crispada da Guerra Fria será uma última manifestação do seu talento político, cuja análise poderá ajudar a enriquecer o debate sobre essa realidade plural e multipolar que foi a galáxia republicana na primeira metade do século XX.

Vivências do Quotidiano do Hospital Real de Todos-os-Santos (Lisboa) : os contextos do poço SE do claustro NE

As intervenções arqueológicas concretizadas entre 1999-2001 permitiram o reconhecimento de contextos referentes ao Hospital Real de Todos-os-Santos, nomeadamente o claustro NE, bem como uma estrutura hidráulica no seu perímetro interno. A identificação do espólio cerâmico e vítreo aqui descartado permite, numa primeira fase, a aferição cronológica e tipológica destes e, consequentemente, do perfil funcional (utilitário, de cozinha e medicinal), numa tentativa de padronização do conjunto arte factual no edifício hospitalar e na cidade de Lisboa. Num segundo estágio, pretendese obter uma leitura concreta no que concerne ao período de utilização desta estrutura, indo de encontro às distintas áreas a vigorar no espaço claustral.

A mathematical model to describe fat oxidation kinetics during graded exercise.

PURPOSE: The purpose of this study was to develop a mathematical model (sine model, SIN) to describe fat oxidation kinetics as a function of the relative exercise intensity [% of maximal oxygen uptake (%VO2max)] during graded exercise and to determine the exercise intensity (Fatmax) that elicits maximal fat oxidation (MFO) and the intensity at which the fat oxidation becomes negligible (Fatmin). This model included three independent variables (dilatation, symmetry, and translation) that incorporated primary expected modulations of the curve because of training level or body composition. METHODS: Thirty-two healthy volunteers (17 women and 15 men) performed a graded exercise test on a cycle ergometer, with 3-min stages and 20-W increments. Substrate oxidation rates were determined using indirect calorimetry. SIN was compared with measured values (MV) and with other methods currently used [i.e., the RER method (MRER) and third polynomial curves (P3)]. RESULTS: There was no significant difference in the fitting accuracy between SIN and P3 (P = 0.157), whereas MRER was less precise than SIN (P < 0.001). Fatmax (44 +/- 10% VO2max) and MFO (0.37 +/- 0.16 g x min(-1)) determined using SIN were significantly correlated with MV, P3, and MRER (P < 0.001). The variable of dilatation was correlated with Fatmax, Fatmin, and MFO (r = 0.79, r = 0.67, and r = 0.60, respectively, P < 0.001). CONCLUSIONS: The SIN model presents the same precision as other methods currently used in the determination of Fatmax and MFO but in addition allows calculation of Fatmin. Moreover, the three independent variables are directly related to the main expected modulations of the fat oxidation curve. SIN, therefore, seems to be an appropriate tool in analyzing fat oxidation kinetics obtained during graded exercise.

Surviving Sepsis Campaign: international guidelines for management of severe sepsis and septic shock: 2008.

OBJECTIVE: To provide an update to the original Surviving Sepsis Campaign clinical management guidelines, "Surviving Sepsis Campaign Guidelines for Management of Severe Sepsis and Septic Shock," published in 2004. DESIGN: Modified Delphi method with a consensus conference of 55 international experts, several subsequent meetings of subgroups and key individuals, teleconferences, and electronic-based discussion among subgroups and among the entire committee. This process was conducted independently of any industry funding. METHODS: We used the Grades of Recommendation, Assessment, Development and Evaluation (GRADE) system to guide assessment of quality of evidence from high (A) to very low (D) and to determine the strength of recommendations. A strong recommendation (1) indicates that an intervention's desirable effects clearly outweigh its undesirable effects (risk, burden, cost) or clearly do not. Weak recommendations (2) indicate that the tradeoff between desirable and undesirable effects is less clear. The grade of strong or weak is considered of greater clinical importance than a difference in letter level of quality of evidence. In areas without complete agreement, a formal process of resolution was developed and applied. Recommendations are grouped into those directly targeting severe sepsis, recommendations targeting general care of the critically ill patient that are considered high priority in severe sepsis, and pediatric considerations. RESULTS: Key recommendations, listed by category, include early goal-directed resuscitation of the septic patient during the first 6 hrs after recognition (1C); blood cultures before antibiotic therapy (1C); imaging studies performed promptly to confirm potential source of infection (1C); administration of broad-spectrum antibiotic therapy within 1 hr of diagnosis of septic shock (1B) and severe sepsis without septic shock (1D); reassessment of antibiotic therapy with microbiology and clinical data to narrow coverage, when appropriate (1C); a usual 7-10 days of antibiotic therapy guided by clinical response (1D); source control with attention to the balance of risks and benefits of the chosen method (1C); administration of either crystalloid or colloid fluid resuscitation (1B); fluid challenge to restore mean circulating filling pressure (1C); reduction in rate of fluid administration with rising filing pressures and no improvement in tissue perfusion (1D); vasopressor preference for norepinephrine or dopamine to maintain an initial target of mean arterial pressure > or = 65 mm Hg (1C); dobutamine inotropic therapy when cardiac output remains low despite fluid resuscitation and combined inotropic/vasopressor therapy (1C); stress-dose steroid therapy given only in septic shock after blood pressure is identified to be poorly responsive to fluid and vasopressor therapy (2C); recombinant activated protein C in patients with severe sepsis and clinical assessment of high risk for death (2B except 2C for postoperative patients). In the absence of tissue hypoperfusion, coronary artery disease, or acute hemorrhage, target a hemoglobin of 7-9 g/dL (1B); a low tidal volume (1B) and limitation of inspiratory plateau pressure strategy (1C) for acute lung injury (ALI)/acute respiratory distress syndrome (ARDS); application of at least a minimal amount of positive end-expiratory pressure in acute lung injury (1C); head of bed elevation in mechanically ventilated patients unless contraindicated (1B); avoiding routine use of pulmonary artery catheters in ALI/ARDS (1A); to decrease days of mechanical ventilation and ICU length of stay, a conservative fluid strategy for patients with established ALI/ARDS who are not in shock (1C); protocols for weaning and sedation/analgesia (1B); using either intermittent bolus sedation or continuous infusion sedation with daily interruptions or lightening (1B); avoidance of neuromuscular blockers, if at all possible (1B); institution of glycemic control (1B), targeting a blood glucose < 150 mg/dL after initial stabilization (2C); equivalency of continuous veno-veno hemofiltration or intermittent hemodialysis (2B); prophylaxis for deep vein thrombosis (1A); use of stress ulcer prophylaxis to prevent upper gastrointestinal bleeding using H2 blockers (1A) or proton pump inhibitors (1B); and consideration of limitation of support where appropriate (1D). Recommendations specific to pediatric severe sepsis include greater use of physical examination therapeutic end points (2C); dopamine as the first drug of choice for hypotension (2C); steroids only in children with suspected or proven adrenal insufficiency (2C); and a recommendation against the use of recombinant activated protein C in children (1B). CONCLUSIONS: There was strong agreement among a large cohort of international experts regarding many level 1 recommendations for the best current care of patients with severe sepsis. Evidenced-based recommendations regarding the acute management of sepsis and septic shock are the first step toward improved outcomes for this important group of critically ill patients.