Controlo por computador de um sistema de levitação magnética

Ao longo deste projecto são efectuados vários passos para a realização de um sistema de levitação magnética controlado por computador. O objectivo deste projecto é a levitação de um objecto de material ferromagnético. Para a sua realização foi essencialmente necessário um electroíman, que exerce a força electromagnética sobre a bola, um circuito de potência para accionar o electroíman, um circuito sensor constituído por um LDR e por fim, o circuito constituído pelo PIC 18F4550. Para a comunicação entre o sistema e o PC foi estabelecida a comunicação série RS232. No que concerne ao controlo do sistema, foi aplicado um controlador PD e um controlador em avanço, ambos projectados directamente no domínio digital, através do método do Lugar de raízes. Posteriormente foi desenvolvida uma interface gráfica em ambiente MATLAB, para comunicação, via RS232, entre o PC e o sistema.

Controlador Boundary-Scan

A crescente complexidade dos sistemas electrónicos associada a um desenvolvimento nas tecnologias de encapsulamento levou à miniaturização dos circuitos integrados, provocando dificuldades e limitações no diagnóstico e detecção de falhas, diminuindo drasticamente a aplicabilidade dos equipamentos ICT. Como forma de lidar com este problema surgiu a infra-estrutura Boundary Scan descrita na norma IEEE1149.1 “Test Access Port and Boundary-Scan Architecture”, aprovada em 1990. Sendo esta solução tecnicamente viável e interessante economicamente para o diagnóstico de defeitos, efectua também outras aplicações. O SVF surgiu do desejo de incutir e fazer com que os fornecedores independentes incluíssem a norma IEEE 1149.1, é desenvolvido num formato ASCII, com o objectivo de enviar sinais, aguardar pela sua resposta, segundo a máscara de dados baseada na norma IEEE1149.1. Actualmente a incorporação do Boundary Scan nos circuitos integrados está em grande expansão e consequentemente usufrui de uma forte implementação no mercado. Neste contexto o objectivo da dissertação é o desenvolvimento de um controlador boundary scan que implemente uma interface com o PC e possibilite o controlo e monitorização da aplicação de teste ao PCB. A arquitectura do controlador desenvolvido contém um módulo de Memória de entrada, um Controlador TAP e uma Memória de saída. A implementação do controlador foi feita através da utilização de uma FPGA, é um dispositivo lógico reconfiguráveis constituído por blocos lógicos e por uma rede de interligações, ambos configuráveis, que permitem ao utilizador implementar as mais variadas funções digitais. A utilização de uma FPGA tem a vantagem de permitir a versatilidade do controlador, facilidade na alteração do seu código e possibilidade de inserir mais controladores dentro da FPGA. Foi desenvolvido o protocolo de comunicação e sincronização entre os vários módulos, permitindo o controlo e monitorização dos estímulos enviados e recebidos ao PCB, executados automaticamente através do software do Controlador TAP e de acordo com a norma IEEE 1149.1. A solução proposta foi validada por simulação utilizando o simulador da Xilinx. Foram analisados todos os sinais que constituem o controlador e verificado o correcto funcionamento de todos os seus módulos. Esta solução executa todas as sequências pretendidas e necessárias (envio de estímulos) à realização dos testes ao PCB. Recebe e armazena os dados obtidos, enviando-os posteriormente para a memória de saída. A execução do trabalho permitiu concluir que os projectos de componentes electrónicos tenderão a ser descritos num nível de abstracção mais elevado, recorrendo cada vez mais ao uso de linguagens de hardware, no qual o VHDL é uma excelente ferramenta de programação. O controlador desenvolvido será uma ferramenta bastante útil e versátil para o teste de PCBs e outras funcionalidades disponibilizadas pelas infra-estruturas BS.

Unveiling the Biometric Potential of Finger-Based ECG Signals

The ECG signal has been shown to contain relevant information for human identification. Even though results validate the potential of these signals, data acquisition methods and apparatus explored so far compromise user acceptability, requiring the acquisition of ECG at the chest. In this paper, we propose a finger-based ECG biometric system, that uses signals collected at the fingers, through a minimally intrusive 1-lead ECG setup recurring to Ag/AgCl electrodes without gel as interface with the skin. The collected signal is significantly more noisy than the ECG acquired at the chest, motivating the application of feature extraction and signal processing techniques to the problem. Time domain ECG signal processing is performed, which comprises the usual steps of filtering, peak detection, heartbeat waveform segmentation, and amplitude normalization, plus an additional step of time normalization. Through a simple minimum distance criterion between the test patterns and the enrollment database, results have revealed this to be a promising technique for biometric applications.

Avaliação da caracterização de lesões em mamografia com recurso a sistemas CAD (Computer-Aided Diagnosis)

Os sistemas Computer-Aided Diagnosis (CAD) auxiliam a deteção e diferenciação de lesões benignas e malignas, aumentando a performance no diagnóstico do cancro da mama. As lesões da mama estão fortemente correlacionadas com a forma do contorno: lesões benignas apresentam contornos regulares, enquanto as lesões malignas tendem a apresentar contornos irregulares. Desta forma, a utilização de medidas quantitativas, como a dimensão fractal (DF), pode ajudar na caracterização dos contornos regulares ou irregulares de uma lesão. O principal objetivo deste estudo é verificar se a utilização concomitante de 2 (ou mais) medidas de DF – uma tradicionalmente utilizada, a qual foi designada por “DF de contorno”; outra proposta por nós, designada por “DF de área” – e ainda 3 medidas obtidas a partir destas, por operações de dilatação/erosão e por normalização de uma das medidas anteriores, melhoram a capacidade de caracterização de acordo com a escala BIRADS (Breast Imaging Reporting and Data System) e o tipo de lesão. As medidas de DF (DF contorno e DF área) foram calculadas através da aplicação do método box-counting, diretamente em imagens de lesões segmentadas e após a aplicação de um algoritmo de dilatação/erosão. A última medida baseia-se na diferença normalizada entre as duas medidas DF de área antes e após a aplicação do algoritmo de dilatação/erosão. Os resultados demonstram que a medida DF de contorno é uma ferramenta útil na diferenciação de lesões, de acordo com a escala BIRADS e o tipo de lesão; no entanto, em algumas situações, ocorrem alguns erros. O uso combinado desta medida com as quatro medidas propostas pode melhorar a classificação das lesões.

Dominant set approach to ECG biometrics

Electrocardiographic (ECG) signals are emerging as a recent trend in the field of biometrics. In this paper, we propose a novel ECG biometric system that combines clustering and classification methodologies. Our approach is based on dominant-set clustering, and provides a framework for outlier removal and template selection. It enhances the typical workflows, by making them better suited to new ECG acquisition paradigms that use fingers or hand palms, which lead to signals with lower signal to noise ratio, and more prone to noise artifacts. Preliminary results show the potential of the approach, helping to further validate the highly usable setups and ECG signals as a complementary biometric modality.

Exploração vocacional: recorrendo a biossensores cognitivos

Na sociedade actual é imperativo assegurar um emprego competente para que o Ser Humano possa atingir a sua subsistência, e consequentemente a sua própria felicidade. No entanto, devido à pressão da sociedade em que vivemos, promover a sustentabilidade do “emprego” hoje em dia, principalmente nas camadas mais jovens, traduz-se em algo extremamente difícil. Estes deparam-se com uma situação árdua quando escolhem um caminho para o seu futuro. Assim como eu, também os jovens da actualidade prevêem que no futuro essas dúvidas se irão manter, ainda de forma mais agravada devido à complexidade das profissões existentes no mundo do trabalho. O meu objectivo neste momento é facilitar a vida dos jovens que se vêem numa encruzilhada, com pouco tempo de resposta para a tomada de decisão do seu próprio futuro. Pretendo fomentar a descoberta e construção da sua própria vocação, dando uso aos novos avanços tecnológicos, juntamente com técnicas já utilizadas na área da Psicologia. Recorrendo a biossensores cognitivos, através do EPOC da Emotiv, que realiza a leitura de sinais neuronais e de uma aplicação informática criada para o efeito. Apesar de não resolver na totalidade, desejo reduzir substancialmente a dúvida dos Jovens na escolha da sua profissão futura.

Phonological and articulation treatment approaches in Portuguese children with speech and language impairments: a randomized controlled intervention study

Background: In Portugal, the routine clinical practice of speech and language therapists (SLTs) in treating children with all types of speech sound disorder (SSD) continues to be articulation therapy (AT). There is limited use of phonological therapy (PT) or phonological awareness training in Portugal. Additionally, at an international level there is a focus on collecting information on and differentiating between the effectiveness of PT and AT for children with different types of phonologically based SSD, as well as on the role of phonological awareness in remediating SSD. It is important to collect more evidence for the most effective and efficient type of intervention approach for different SSDs and for these data to be collected from diverse linguistic and cultural perspectives. Aims: To evaluate the effectiveness of a PT and AT approach for treatment of 14 Portuguese children, aged 4.0–6.7 years, with a phonologically based SSD. Methods & Procedures: The children were randomly assigned to one of the two treatment approaches (seven children in each group). All children were treated by the same SLT, blind to the aims of the study, over three blocks of a total of 25 weekly sessions of intervention. Outcome measures of phonological ability (percentage of consonants correct (PCC), percentage occurrence of different phonological processes and phonetic inventory) were taken before and after intervention. A qualitative assessment of intervention effectiveness from the perspective of the parents of participants was included. Outcomes & Results: Both treatments were effective in improving the participants’ speech, with the children receiving PT showing a more significant improvement in PCC score than those receiving the AT. Children in the PT group also showed greater generalization to untreated words than those receiving AT. Parents reported both intervention approaches to be as effective in improving their children’s speech. Conclusions & Implications: The PT (combination of expressive phonological tasks, phonological awareness, listening and discrimination activities) proved to be an effective integrated method of improving phonological SSD in children. These findings provide some evidence for Portuguese SLTs to employ PT with children with phonologically based SSD

JamLab: augmenting sensornet testbeds with realistic and controlled interference generation

Radio interference drastically affects the performance of sensor-net communications, leading to packet loss and reduced energy-efficiency. As an increasing number of wireless devices operates on the same ISM frequencies, there is a strong need for understanding and debugging the performance of existing sensornet protocols under interference. Doing so requires a low-cost flexible testbed infrastructure that allows the repeatable generation of a wide range of interference patterns. Unfortunately, to date, existing sensornet testbeds lack such capabilities, and do not permit to study easily the coexistence problems between devices sharing the same frequencies. This paper addresses the current lack of such an infrastructure by using off-the-shelf sensor motes to record and playback interference patterns as well as to generate customizable and repeat-able interference in real-time. We propose and develop JamLab: a low-cost infrastructure to augment existing sensornet testbeds with accurate interference generation while limiting the overhead to a simple upload of the appropriate software. We explain how we tackle the hardware limitations and get an accurate measurement and regeneration of interference, and we experimentally evaluate the accuracy of JamLab with respect to time, space, and intensity. We further use JamLab to characterize the impact of interference on sensornet MAC protocols.

Using a prioritized MAC protocol to execute the database operation join in networked embedded computer systems

Database query languages on relations (for example SQL) make it possible to join two relations. This operation is very common in desktop/server database systems but unfortunately query processing systems in networked embedded computer systems currently do not support this operation; specifically, the query processing systems TAG, TinyDB, Cougar do not support this. We show how a prioritized medium access control (MAC) protocol can be used to efficiently execute the database operation join for networked embedded computer systems where all computer nodes are in a single broadcast domain.

Coordinated transportation of a large object by a team of three robots

Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.

Coordinated transportation of a large object by a team of two robots

In this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

ECG signals for biometric applications: are we there yet?

The potential of the electrocardiographic (ECG) signal as a biometric trait has been ascertained in the literature over the past decade. The inherent characteristics of the ECG make it an interesting biometric modality, given its universality, intrinsic aliveness detection, continuous availability, and inbuilt hidden nature. These properties enable the development of novel applications, where non-intrusive and continuous authentication are critical factors. Examples include, among others, electronic trading platforms, the gaming industry, and the auto industry, in particular for car sharing programs and fleet management solutions. However, there are still some challenges to overcome in order to make the ECG a widely accepted biometric. In particular, the questions of uniqueness (inter-subject variability) and permanence over time (intra-subject variability) are still largely unanswered. In this paper we focus on the uniqueness question, presenting a preliminary study of our biometric recognition system, testing it on a database encompassing 618 subjects. We also performed tests with subsets of this population. The results reinforce that the ECG is a viable trait for biometrics, having obtained an Equal Error Rate of 9.01% and an Error of Identification of 15.64% for the entire test population.

Generation of Nakagami correlated fading in GNSS signals affected by ionospheric scintillation

We propose a low complexity technique to generate amplitude correlated time-series with Nakagami-m distribution and phase correlated Gaussian-distributed time-series, which is useful for the simulation of ionospheric scintillation effects in GNSS signals. To generate a complex scintillation process, the technique requires solely the knowledge of parameters Sa (scintillation index) and σφ (phase standard deviation) besides the definition of models for the amplitude and phase power spectra. The concatenation of two nonlinear memoryless transformations is used to produce a Nakagami-distributed amplitude signal from a Gaussian autoregressive process.

Interference detection in GNSS signals using Gaussianity criterion

We assess the performance of Gaussianity tests, namely the Anscombe-Glynn, Lilliefors, Cramér-von Mises, and Giannakis-Tsatsanis (G-T), with the purpose of detecting narrowband and wideband interference in GNSS signals. Simulations have shown that the G-T test outperforms the others being suitable as a benchmark for comparison with different types of interference detection algorithms. © 2014 EURASIP.