Racionalização do mecanismo de adição de compostos carbonílicos a vinil-mono e di-sulfonas, catalisada por aminas

As sulfonas são conhecidas pelos químicos orgânicos pela sua versatilidade sintética e actividade biológica, nomeadamente os fármacos conhecidos por sulfa drugs, extremamente importantes em química medicinal. As vinil-sulfonas constituem uma sub-família das sulfonas e têm demonstrado ao longo do tempo a sua capacidade de inibir diversos processos enzimáticos, introduzindo propriedades biológicas únicas. Do ponto de vista sintético, o método mais directo para obter estes compostos é via redução dos produtos de adição de Michael a vinil-di-sulfonas, o que não é favorável em termos de economia de átomos. Por outro lado, o mecanismo da reacção de adição de Michael de compostos carbonílicos a vinil-sulfonas tem levantado algumas dúvidas, devido à existência de dois possíveis mecanismos reacionais. O objectivo principal desta dissertação é racionalizar o mecanismo de adição de compostos carbonílicos a vinil-mono e di-sulfonas, recorrendo a estudos teóricos de DFT e experimentais, incluindo RMN. Foram considerados os mecanismos via intermediário enamina e via catálise básica, e através de estudos de RMN foi possível retirar conclusões sobre as velocidades relativas das reacções, bem como meio de comprovar a formação de alguns produtos. Os resultados teóricos obtidos revelam que, para as mono-sulfonas, o mecanismo via enamina é mais favorável energeticamente. No entanto, a existência de reacções competitivas de energia de activação mais baixa não permitem obter o produto desejado. Para eliminar estas reacções, utilizam-se aminas terciárias e a reacção segue um mecanismo via catálise básica. O estudo dos coeficientes da orbital HOMO dos compostos carbonílicos revelou que a localização do enol é um factor determinante para estas reacções. Por outro lado, os resultados obtidos revelaram que as di-sulfonas sendo extremamente reactivas, podem adoptar qualquer um dos caminhos reacionais, em função do catalisador escolhido, e não são sensíveis ao substrato. Neste caso, as reacções competitivas que ocorrem são reversíveis,e o produto de adição conjugada é sempre favorecido. Estudou-se ainda, teoricamente, a reacção de adição a mono-sulfonas de forma intramolecular, que apresenta claramente um mecanismo via enamina, cuja energia de activação é mais baixa que a respectiva adição competitiva.

Wearable monitoring system for assistance dogs

Despite the recent progresses in robotics, autonomous robots still have too many limitations to reliably help people with disabilities. On the other hand, animals, and especially dogs, have already demonstrated great skills in assisting people in many daily situations. However, dogs also have their own set of limitations. For example, they need to rest periodically, to be healthy (physically and psychologically), and it is difficult to control them remotely. This project aims to “augment” the Assistance dog, by developing a system that compensates some of the dog weaknesses through a robotic device mounted on the dog harness. This specific study, involved in the COCHISE project, focuses on the development of a system for the monitoring of dogs activity and physiological parameters.

Probabilistic constraint reasoning with Monte Carlo integration to robot localization

This work studies the combination of safe and probabilistic reasoning through the hybridization of Monte Carlo integration techniques with continuous constraint programming. In continuous constraint programming there are variables ranging over continuous domains (represented as intervals) together with constraints over them (relations between variables) and the goal is to find values for those variables that satisfy all the constraints (consistent scenarios). Constraint programming “branch-and-prune” algorithms produce safe enclosures of all consistent scenarios. Special proposed algorithms for probabilistic constraint reasoning compute the probability of sets of consistent scenarios which imply the calculation of an integral over these sets (quadrature). In this work we propose to extend the “branch-and-prune” algorithms with Monte Carlo integration techniques to compute such probabilities. This approach can be useful in robotics for localization problems. Traditional approaches are based on probabilistic techniques that search the most likely scenario, which may not satisfy the model constraints. We show how to apply our approach in order to cope with this problem and provide functionality in real time.

AGNI: an API for the control of automomous service robots

With the continuum growth of Internet connected devices, the scalability of the protocols used for communication between them is facing a new set of challenges. In robotics these communications protocols are an essential element, and must be able to accomplish with the desired communication. In a context of a multi-­‐‑agent platform, the main types of Internet communication protocols used in robotics, mission planning and task allocation problems will be revised. It will be defined how to represent a message and how to cope with their transport between devices in a distributed environment, reviewing all the layers of the messaging process. A review of the ROS platform is also presented with the intent of integrating the already existing communication protocols with the ServRobot, a mobile autonomous robot, and the DVA, a distributed autonomous surveillance system. This is done with the objective of assigning missions to ServRobot in a security context.

Perylene Diimide acceptors: Fabrication and characterization of electron-only, hole-only devices and solar cells

The thrust towards energy conservation and reduced environmental footprint has fueled intensive research for alternative low cost sources of renewable energy. Organic photovoltaic cells (OPVs), with their low fabrication costs, easy processing and flexibility, represent a possible viable alternative. Perylene diimides (PDIs) are promising electron-acceptor candidates for bulk heterojunction (BHJ) OPVs, as they combine higher absorption and stability with tunable material properties, such as solubility and position of the lowest unoccupied molecular orbital (LUMO) level. A prerequisite for trap free electron transport is for the LUMO to be located at a level deeper than 3.7 eV since electron trapping in organic semiconductors is universal and dominated by a trap level located at 3.6 eV. Although the mostly used fullerene acceptors in polymer:fullerene solar cells feature trap-free electron transport, low optical absorption of fullerene derivatives limits maximum attainable efficiency. In this thesis, we try to get a better understanding of the electronic properties of PDIs, with a focus on charge carrier transport characteristics and the effect of different processing conditions such as annealing temperature and top contact (cathode) material. We report on a commercially available PDI and three PDI derivatives as acceptor materials, and its blends with MEH-PPV (Poly[2-methoxy 5-(2-ethylhexyloxy)-1,4-phenylenevinylene]) and P3HT (Poly(3-hexylthiophene-2,5-diyl)) donor materials in single carrier devices (electron-only and hole-only) and in solar cells. Space-charge limited current measurements and modelling of temperature dependent J-V characteristics confirmed that the electron transport is essentially trap-free in such materials. Different blend ratios of P3HT:PDI-1 (1:1) and (1:3) show increase in the device performance with increasing PDI-1 ratio. Furthermore, thermal annealing of the devices have a significant effect in the solar cells that decreases open-circuit voltage (Voc) and fill factor FF, but increases short-circuit current (Jsc) and overall device performance. Morphological studies show that over-aggregation in traditional donor:PDI blend systems is still a big problem, which hinders charge carrier transport and performance in solar cells.

The human eye as human-machine interface

Eye tracking as an interface to operate a computer is under research for a while and new systems are still being developed nowadays that provide some encouragement to those bound to illnesses that incapacitates them to use any other form of interaction with a computer. Although using computer vision processing and a camera, these systems are usually based on head mount technology being considered a contact type system. This paper describes the implementation of a human-computer interface based on a fully non-contact eye tracking vision system in order to allow people with tetraplegia to interface with a computer. As an assistive technology, a graphical user interface with special features was developed including a virtual keyboard to allow user communication, fast access to pre-stored phrases and multimedia and even internet browsing. This system was developed with the focus on low cost, user friendly functionality and user independency and autonomy.

RoboCup Soccer Leagues

RoboCup was created in 1996 by a group of Japanese, American, and European Artificial Intelligence and Robotics researchers with a formidable, visionary long-term challenge: “By 2050 a team of robot soccer players will beat the human World Cup champion team.” At that time, in the mid 90s, when there were very few effective mobile robots and the Honda P2 humanoid robot was presented to a stunning public for the first time also in 1996, the RoboCup challenge, set as an adversarial game between teams of autonomous robots, was fascinating and exciting. RoboCup enthusiastically and concretely introduced three robot soccer leagues, namely “Simulation,” “Small-Size,” and “Middle-Size,” as we explain below, and organized its first competitions at IJCAI’97 in Nagoya with a surprising number of 100 participants [RC97]. It was the beginning of what became a continously growing research community. RoboCup established itself as a structured organization (the RoboCup Federation www.RoboCup.org). RoboCup fosters annual competition events, where the scientific challenges faced by the researchers are addressed in a setting that is attractive also to the general public. and the RoboCup events are the ones most popular and attended in the research fields of AI and Robotics.RoboCup further includes a technical symposium with contributions relevant to the RoboCup competitions and beyond to the general AI and robotics.

[Preface to] RoboCup 2007: Robot Soccer World Cup XI

[Excerpt] The 11th RoboCup International Symposium was held during July 9–10, 2007 at the Fox Theatre in Atlanta, GA, immediately after the 2007 Soccer, Rescue and Junior Competitions. The RoboCup community has observed an increasing interest from other communities over the past few years, e.g., the robotics community.RoboCupisseenasasignificantapproachtotheevaluationofnewlydeveloped methods to many difficult problems in robotics. Atlanta was also the location of a RoboCup@Space demonstration, which reflected the role of AI and robotics in space exploration. Prior to the symposium, space agencies had expressed an interest in cooperating with RoboCup. A first step in this direction was a successful demonstration at RoboCup 2007, which was accompanied with aninvitedtalkgivenbyaleadingscientistfromtheJapanAerospaceExploration Agency JAXA. [...]

Learning joint representations for order and timing of perceptual-motor sequences: a dynamic neural field approach

Many of our everyday tasks require the control of the serial order and the timing of component actions. Using the dynamic neural field (DNF) framework, we address the learning of representations that support the performance of precisely time action sequences. In continuation of previous modeling work and robotics implementations, we ask specifically the question how feedback about executed actions might be used by the learning system to fine tune a joint memory representation of the ordinal and the temporal structure which has been initially acquired by observation. The perceptual memory is represented by a self-stabilized, multi-bump activity pattern of neurons encoding instances of a sensory event (e.g., color, position or pitch) which guides sequence learning. The strength of the population representation of each event is a function of elapsed time since sequence onset. We propose and test in simulations a simple learning rule that detects a mismatch between the expected and realized timing of events and adapts the activation strengths in order to compensate for the movement time needed to achieve the desired effect. The simulation results show that the effector-specific memory representation can be robustly recalled. We discuss the impact of the fast, activation-based learning that the DNF framework provides for robotics applications.

Off-line simulation inspires insight: a neurodynamics approach to efficient robot task learning

There is currently an increasing demand for robots able to acquire the sequential organization of tasks from social learning interactions with ordinary people. Interactive learning-by-demonstration and communication is a promising research topic in current robotics research. However, the efficient acquisition of generalized task representations that allow the robot to adapt to different users and contexts is a major challenge. In this paper, we present a dynamic neural field (DNF) model that is inspired by the hypothesis that the nervous system uses the off-line re-activation of initial memory traces to incrementally incorporate new information into structured knowledge. To achieve this, the model combines fast activation-based learning to robustly represent sequential information from single task demonstrations with slower, weight-based learning during internal simulations to establish longer-term associations between neural populations representing individual subtasks. The efficiency of the learning process is tested in an assembly paradigm in which the humanoid robot ARoS learns to construct a toy vehicle from its parts. User demonstrations with different serial orders together with the correction of initial prediction errors allow the robot to acquire generalized task knowledge about possible serial orders and the longer term dependencies between subgoals in very few social learning interactions. This success is shown in a joint action scenario in which ARoS uses the newly acquired assembly plan to construct the toy together with a human partner.

Sistema de visão robótico baseado no sensor kinect para orientação no espaço e contorno de obstáculos

Dissertação de mestrado em Engenharia Eletrónica Industrial e Computadores (área de especialização em Robótica)

Interação multimodal de dispositivos robóticos em ambiente simulado

Dissertação de mestrado integrado em Engenharia e Gestão de Sistemas de Informação

Ionic, paramagnetic and photophysical properties of a new biohybrid material incorporating copper perchlorate

The sol-gel method was employed in the synthesis of di-urethane cross-linked poly(-caprolactone) (d-PCL(530)/siloxane biohybrid ormolytes incorporating copper perchlorate, (Cu(ClO4)2). The highest ionic conductivity of the d PCL(530)/siloxanenCu(ClO4)2 system is that with n = 10 (1.4 x 10-7 and 1.4 x 10-5 S cm-1, at 25 and 100 ºC, respectively). In an attempt to understand the ionic conductivity/ionic association relationship, we decide to inspect the chemical environment experienced by the Cu2+ ions in the d-PCL(530)/siloxane medium. The observed EPR spectra are typical of isolated monomeric Cu2+ ions in axially distorted sites. The molecular orbital coefficients obtained from the EPR spin Hamiltonian parameters and the optical absorption band suggests that bonding between the Cu2+ and its ligand in the ormolytes are moderately ionic. Investigation by photoluminescence spectroscopy did not evidence or allow selective excitation of transitions corresponding to complexed Cu2+ species.

Estudio de procesos de transferencia electrónica en sistemas orgánicos

Las reacciones de transferencia de electrones (TE), son importantes en numerosas áreas de la química orgánica. El objetivo de este proyecto es el estudio de los procesos de TE inter e intramolecular a través de la química de los radicales aniones. Estos intermedios pueden formarse por reacción de un nucleófilo con una radical (ec.1) o por TE intermolecular desde un donor a una molécula neutra (ec.2). La TE intramolecular será factible en aquellos casos en los que exista en el radical anión más de un centro aceptor, pudiendo estar ambos centros separados por un espaciador o puente (P) de carácter electrónico rho y pi y de longitud variable. Nuestro interés es estudiar la naturaleza electrónica de los radicales aniones; su presencia como mínimos de la superficie potencial (intermediarios); su isomería orbital; los factores de los que depende su formación de acuerdo a las ecuaciones 1 y 2; los factores de los que depende la TE intramolecular tales como distancia entre ambos centros aceptores, solapamiento entre los mismos, naturaleza electrónica del espaciador o puente y diferencia entre afinidad electrónica y potencial de ionización de ambos aceptores; los mecanismos de la TE intra (a través de los enlaces o del espacio) y los factores de los que depende la reacción de fragmentación de estos intermediarios. Estos temas se estudiarán teóricamente completándose su estudio con los diseños experimentales correspondientes.

Indicadores ópticos de actividad emisiva de radiación X en sistemas binarios Be

El estudio de los fenómenos emisivos en estrellas Be es de importancia porque agrega información que puede conducir a mejorar la interpretación de la actividad que existe en la alta atmósfera de estas estrellas. Los procesos que se desean estudiar se refieren a las interacciones entre la estrella Be y la de neutrones que componen un sistema Be emisor de radiación X. Un procedimiento posible consiste en utilizar la información prevista por las líneas de hidrógeno, especialmente la línea H gamma, cuyas variaciones permiten predecir la sucesiva emisión de la radiación X producida durante el pasaje por el periastro de la estrella de neutrones. Esto es válido, probablemente en todos los sistemas de este tipo y es justamente lo que se desea comprobar. Se trata de fenómenos que requieren, para ser analizados adecuadamente, de un eficaz seguimiento de los objetivos que se estudian; con este objeto se solicitarán turnos de observación en el Complejo Astronómico CASLEO (Complejo Astronómico Leoncito, provincia de San Juan) y en la Estación Astrofísica de Bosque Alegre del Observatorio Astronómico de Córdoba. Objetivos generales Estos hechos son de gran interés para el estudio de la física y la dinámica de la transferencia de materia en el periastro y la subsecuente emisión explosiva de radiación X. En consecuencia, si estas explosiones emisivas X están originadas por el movimiento orbital excéntrico, un seguimiento multifrecuencial de estos sistemas en su pasaje alrededor del periastro dará una respuesta a muchos de los problemas que presentan. En las longitudes de ondas ópticas, el seguimiento de estos sistemas durante un período orbital puede dar prueba definitiva de la existencia de indicadores ópticos de la siguiente actividad emisiva de radiación X. Objetivos específicos En una lista de alrededor de 25 sistemas pulsantes en radiación X, varios son TXTS. El propósito de este programa es el de buscar indicadores ópticos de emisión de radiación X en algunos sistemas como son: i) A 0538-66, sistema HXTS con un período de 0.07s, en la Nube Mayor de Magallanes. (...) ii) A 1118-615: éste es un sistema SXTS con un período de 405s. (...)