Implementación hardware de un robot humanoide.

[ES]Este trabajo describe una serie de mejoras aplicables a un kit comercial de robot humanoide Robonova, con el fin de que este reproduzca el comportamiento cinemático del ser humano con mayor autonomía. Entre ellas destacan la implementación de sensores infrarrojos, sensores de posición, cámaras de visión y conexiones en serie de servomotores. Todo ello controlado desde un ordenador de placa reducida Raspberry Pi.

A hybrid power system for remote areas in Jordan

This paper presents a techno-economic assessment for a unique Isolated Hybrid Power System (IHPS) design for remote areas isolated from the grid which also has the capability of being operated as a smart μ-grid. The share of renewable energy sources in resource poor developing countries is low. In these countries an increase in the share of alternative energy (wind, water and sun) delivered with inexpensive operationally robust generation and delivery systems is seen to the way forward. In our design also incorporates a novel storage system to increase the effectiveness of the Isolated IHPSs previously reported in the literature. The configuration reported is a system consisting of, the wind and sun powered generation complemented with batteries, fuel cell unit and a diesel generator. The modelling design and simulations were based on Simulations conducted using MATLAB/SIMULINK, and HOMER Energy Planning and Design software tools. The design and simulation of a new storage approach incorporating Hydrogen Peroxide (H2O2) fuel cell (increasing the efficiency of the fuel cell from 35% to 65%) and a single board computer (Raspberry Pi) used for the energy management and control the system are the novel features of our design. The novel control strategy implemented also includes a synchronization capability that facilitates IHPS to IHPS or IHPS to Main-Grid connection. In the paper after briefly but comprehensively detailing the design and simulations we will present the results on which we conclude that smart independent systems that can utilize indigenous renewable energy with a capability of being able to synchronize with the grid or each other are the most optimal way of electrifying resource poor developing countries in a sustainable way with minimum impact on the environment and also achieve reductions in Green House Gases.

A Smart Grid Information System for Demand Side Participation: Remote Control of Domestic Appliances to Balance Demand

Due to the intermittent nature of renewable generation it is desirable to consider the potential of controlling the demand-side load to smooth overall system demand. The architecture and control methodologies of such a system on a large scale would require careful consideration. Some of these considerations are discussed in this paper; such as communications infrastructure, systems architecture, control methodologies and security. A domestic fridge is used in this paper as an example of a controllable appliance. A layered approach to smart-grid is introduced and it can be observed how each smart-grid component from physical cables, to the end-devices (or smart-applications) can be mapped to these set layers. It is clear how security plays an integral part in each component of the smart-grid so this is also an integral part of each layer. The controllable fridge is described in detail and as one potential smart-grid application which maps to the layered approach. A demonstration system is presented which involves a Raspberry Pi (a low-power, low-cost device representing the appliance controller).

Sistema de visão inteligente de baixo custo para parque de estacionamento

Dissertação de mestrado, Engenharia Elétrica e Eletrónica, Instituto Superior de Engenharia, Universidade do Algarve, 2015

A biosignal embedded system for physiological computing

Thesis submitted in the fulfilment of the requirements for the Degree of Master in Electronic and Telecomunications Engineering

Estudo e desenvolvimento de sistema de cobrança de portagens baseado em NFC

Tese para obter o grau de Mestre em Engenharia Electrónica e Telecomunicações

Consumo inteligente de energia elétrica

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia de Redes de Comunicação e Multimédia

Sistema localizador interior de baixo custo

Projeto para obtenção do grau de Mestre em Engenharia Informática e de Computadores

The effect of method, standard and sample components on the total antioxidant capacity of commercial waters assessed by optical conventional assays

The total antioxidant capacity (TAC) of 28 flavoured water samples was assessed by ferric reducing antioxidant potential (FRAP), oxygen radical absorbance capacity (ORAC), trolox equivalent antioxidant capacity (TEAC) and total reactive antioxidant potential (TRAP) methods. It was observed that flavoured waters had higher antioxidant activity than the corresponding natural ones. The observed differences were attributed to flavours, juice and vitamins. Generally, higher TAC contents were obtained on lemon waters and lower values on guava and raspberry flavoured waters. Lower and higher TACs were obtained by TRAP and ORAC method, respectively. Statistical analysis suggested that vitamins and flavours increased the antioxidant content of the commercial waters.

The nesting biology of Ceratina (Hymenoptera: Apidae) in the Niagara Region : new species, nest site selection and parasitism

One of the most common bee genera in the Niagara Region, the genus Ceratina (Hymenoptera: Apidae) is composed of four species, C. dupla, C. calcarata, the very rare C. strenua, and a previously unknown species provisionally named C. near dupla. The primary goal of this thesis was to investigate how these closely related species coexist with one another in the Niagara ~ee community. The first necessary step was to describe and compare the nesting biologies and life histories of the three most common species, C. dupla, C. calcarata and the new C. near dupla, which was conducted in 2008 via nest collections and pan trapping. Ceratina dupla and C. calcarata were common, each comprising 49% of the population, while C. near dupla was rare, comprising only 2% of the population. Ceratina dupla and C. near dupla both nested more commonly in teasel (Dipsacus sp.) in the sun, occasionally in raspberry (Rubus sp.) in the shade, and never in shady sumac (Rhus sp.), while C. calcarata nested most commonly in raspberry and sumac (shaded) and occasionally in teasel (sunny). Ceratina near dupla differed from both C. dupla and C. calcarata in that it appeared to be partially bivoltine, with some females founding nests very early and then again very late in the season. To examine the interactions and possible competition for nests that may be taking place between C. dupla and C. calcarata, a nest choice experiment was conducted in 2009. This experiment allowed both species to choose among twigs from all three substrates in the sun and in the shade. I then compared the results from 2008 (where bees chose from what was available), to where they nested when given all options (2009 experiment). Both C. dupla and C. calcarata had the same preferences for microhabitat and nest substrate in 2009, that being raspberry and sumac twigs in the sun. As that microhabitat and nest substrate combination is extremely rare in nature, both species must make a choice. In nature Ceratina dupla nests more often in the preferred microhabitat (sun), while C. calcarata nests in the preferred substrate (raspberry). Nesting in the shade also leads to smaller clutch sizes, higher parasitism and lower numbers of live brood in C. calcarata, suggesting that C. dupla may be outcompeting C. calcarata for the sunny nesting sites. The development and host preferences of Ceratina parasitoids were also examined. Ceratina species in Niagara were parasitized by no less than eight species of arthropod. Six of these were wasps from the superfamily Chalcidoidea (Hymenoptera), one was a wasp from the family Ichneumonidae (Hymenoptera) and one was a physogastric mite from the family Pyemotidae (Acari). Parasites shared a wide range of developmental strategies, from ichneumonid larvae that needed to consume multiple Ceratina immatures to complete development, to the species from the Eulophidae (Baryscapus) and Encyrtidae (Coelopencyrtus), in which multiple individuals completed development inside a single Ceratina host. Biological data on parasitoids is scarce in the scientific literature, and this Chapter documents these interactions for future research.

Radiothérapie asservie à la respiration en combinaison avec l'utilisation d'un faisceau sans filtre égalisateur

La radiothérapie stéréotaxique corporelle (SBRT) est une technique couramment employée pour le traitement de tumeurs aux poumons lorsque la chirurgie n’est pas possible ou refusée par le patient. Une complication de l’utilisation de cette méthode provient du mouvement de la tumeur causé par la respiration. Dans ce contexte, la radiothérapie asservie à la respiration (RGRT) peut être bénéfique. Toutefois, la RGRT augmente le temps de traitement en raison de la plus petite proportion de temps pour laquelle le faisceau est actif. En utilisant un faisceau de photons sans filtre égalisateur (FFF), ce problème peut être compensé par le débit de dose plus élevé d’un faisceau FFF. Ce mémoire traite de la faisabilité d’employer la technique de RGRT en combinaison avec l’utilisation un faisceau FFF sur un accélérateur Synergy S (Elekta, Stockholm, Suède) avec une ceinture pneumatique, le Bellows Belt (Philips, Amsterdam, Pays-Bas), comme dispositif de suivi du signal respiratoire. Un Synergy S a été modifié afin de pouvoir livrer un faisceau 6 MV FFF. Des mesures de profils de dose et de rendements en profondeur ont été acquises en cuve à eau pour différentes tailles de champs. Ces mesures ont été utilisées pour créer un modèle du faisceau 6 MV FFF dans le système de planification de traitement Pinnacle3 de Philips. Les mesures ont été comparées au modèle à l’aide de l’analyse gamma avec un critère de 2%, 2 mm. Par la suite, cinq plans SBRT avec thérapie en arc par modulation volumétrique (VMAT) ont été créés avec le modèle 6 MV du Synergy S, avec et sans filtre. Une comparaison des paramètres dosimétriques a été réalisée entre les plans avec et sans filtre pour évaluer la qualité des plans FFF. Les résultats révèlent qu’il est possible de créer des plans SBRT VMAT avec le faisceau 6 MV FFF du Synergy S qui sont cliniquement acceptables (les crières du Radiation Therapy Oncology Group 0618 sont respectés). Aussi, une interface physique de RGRT a été mise au point pour remplir deux fonctions : lire le signal numérique de la ceinture pneumatique Bellows Belt et envoyer une commande d’irradiation binaire au linac. L’activation/désactivation du faisceau du linac se fait par l’entremise d’un relais électromécanique. L’interface comprend un circuit électronique imprimé fait maison qui fonctionne en tandem avec un Raspberry Pi. Un logiciel de RGRT a été développé pour opérer sur le Raspberry Pi. Celui-ci affiche le signal numérique du Bellows Belt et donne l’option de choisir les limites supérieure et inférieure de la fenêtre d’irradiation, de sorte que lorsque le signal de la ceinture se trouve entre ces limites, le faisceau est actif, et inversement lorsque le signal est hors de ces limites. Le logiciel envoie donc une commande d’irradiation au linac de manière automatique en fonction de l’amplitude du signal respiratoire. Finalement, la comparaison entre la livraison d’un traitement standard sans RGRT avec filtre par rapport à un autre plan standard sans RGRT sans filtre démontre que le temps de traitement en mode FFF est réduit en moyenne de 54.1% pour un arc. De la même manière, la comparaison entre la livraison d’un traitement standard sans RGRT avec filtre par rapport à un plan de RGRT (fenêtre d’irradiation de 75%) sans filtre montre que le temps de traitement de RGRT en mode FFF est réduit en moyenne de 27.3% par arc. Toutefois, il n’a pas été possible de livrer des traitements de RGRT avec une fenêtre de moins de 75%. Le linac ne supporte pas une fréquence d’arrêts élevée.

The regulation of seasonal flowering in the Rosaceae

Molecular mechanisms regulating the flowering process have been extensively studied in model annual plants; in perennials, however, understanding of the molecular mechanisms controlling flowering has just started to emerge. Here we review the current state of flowering research in perennial plants of the rose family (Rosaceae), which is one of the most economically important families of horticultural plants. Strawberry (Fragaria spp.), raspberry (Rubus spp.), rose (Rosa spp.), and apple (Malus spp.) are used to illustrate how photoperiod and temperature control seasonal flowering in rosaceous crops. We highlight recent molecular studies which have revealed homologues of TERMINAL FLOWER1 (TFL1) to be major regulators of both the juvenile to adult, and the vegetative to reproductive transitions in various rosaceous species. Additionally, recent advances in understanding of the regulation of TFL1 are discussed.

Tracking (poly)phenol components from raspberries in ileal fluid

The (poly)phenols in ileal fluid after ingestion of raspberries were analysed by targeted and non-targeted LC-MSn approaches. Targeted approaches identified major anthocyanin and ellagitannin components at varying recoveries and with considerable inter-individual variation. Non-targeted LC-MSn analysis using an Orbitrap mass spectrometer gave exact mass MS data which was sifted using a software program to select peaks that changed significantly after supplementation. This method confirmed the recovery of the targeted components but also identified novel raspberry-specific metabolites. Some components (including ellagitannin and previously unidentified proanthocyanidin derivatives) may have arisen from raspberry seeds that survived intact in ileal samples. Other components include potential breakdown products of anthocyanins, unidentified components and phenolic metabolites formed in either the gut epithelia or after absorption into the circulatory system and efflux back into the gut lumen. The possible physiological roles of the ileal metabolites in the large bowel are discussed.

Sensory profiles and consumer acceptability of a range of sugar-reduced products on the UK market

Current UK intake of non-milk extrinsic sugars (NMES) is above recommendations. Reducing the sugar content of processed high sugar foods through reformulation is one option for reducing consumption of NMES at a population level. However, reformulation can alter the sensory attributes of food products and influence consumer liking. This study evaluated consumer acceptance of a selection of products that are commercially-available in the UK; these included regular and sugar-reduced baked beans, strawberry jam, milk chocolate, cola and cranberry & raspberry juice. Sweeteners were present in the reformulated chocolate (maltitol), cola (aspartame and acesulfame-K) and juice (sucralose) samples. Healthy, non-smoking consumers (n = 116; 55 men, 61 women, age: 33 ± 9 years; BMI: 25.7 ± 4.6 kg/m2) rated the products for overall liking and on liking of appearance, flavor and texture using a nine-point hedonic scale. There were significant differences between standard and reduced sugar products in consumers’ overall liking and on liking of each modality (appearance, flavor and texture; all P < 0.0001). For overall liking, only the regular beans and cola were significantly more liked than their reformulated counterparts (P < 0.0001). Cluster analysis identified three consumer clusters that were representative of different patterns of consumer liking. For the largest cluster (cluster 3: 45%), there was a significant difference in mean liking scores across all products, except jam. Differences in liking were predominantly driven by sweet taste in 2 out of 3 clusters. The current research has demonstrated that a high proportion of consumers prefer conventional products over sugar-reduced products across a wide range of product types (45%) or across selected products (27%), when tasted unbranded, and so there is room for further optimization of commercial reduced sugar products that were evaluated in the current study. Future work should evaluate strategies to facilitate compliance to dietary recommendations on NMES and free sugars, such as the impact of sugar-reduced food exposure on their acceptance.

TESSA - Toolkit for experimentation with multimodal sensory substitution and augmentation

TESSA is a toolkit for experimenting with sensory augmentation. It includes hardware and software to facilitate rapid prototyping of interfaces that can enhance one sense using information gathered from another sense. The toolkit contains a range of sensors (e.g. ultrasonics, temperature sensors) and actuators (e.g. tactors or stereo sound), designed modularly so that inputs and outputs can be easily swapped in and out and customized using TESSA’s graphical user interface (GUI), with “real time” feedback. The system runs on a Raspberry Pi with a built-in touchscreen, providing a compact and portable form that is amenable for field trials. At CHI Interactivity, the audience will have the opportunity to experience sensory augmentation effects using this system, and design their own sensory augmentation interfaces.