RISK-BASED MULTIOBJECTIVE PATH PLANNING AND DESIGN OPTIMIZATION FOR UNMANNED AERIAL VEHICLES

Safe operation of unmanned aerial vehicles (UAVs) over populated areas requires reducing the risk posed by a UAV if it crashed during its operation. We considered several types of UAV risk-based path planning problems and developed techniques for estimating the risk to third parties on the ground. The path planning problem requires making trade-offs between risk and flight time. Four optimization approaches for solving the problem were tested; a network-based approach that used a greedy algorithm to improve the original solution generated the best solutions with the least computational effort. Additionally, an approach for solving a combined design and path planning problems was developed and tested. This approach was extended to solve robust risk-based path planning problem in which uncertainty about wind conditions would affect the risk posed by a UAV.

Application of fuzzy logic for the evaluation of livestock slaughtering

A lógica fuzzy admite infinitos valores lógicos intermediários entre o falso e o verdadeiro. Com esse princípio, foi elaborado neste trabalho um sistema baseado em regras fuzzy, que indicam o índice de massa corporal de animais ruminantes com objetivo de obter o melhor momento para o abate. O sistema fuzzy desenvolvido teve como entradas as variáveis massa e altura, e a saída um novo índice de massa corporal, denominado Índice de Massa Corporal Fuzzy (IMC Fuzzy), que poderá servir como um sistema de detecção do momento de abate de bovinos, comparando-os entre si através das variáveis linguísticas )Muito BaixaM, ,BaixaB, ,MédiaM, ,AltaA e Muito AltaM. Para a demonstração e aplicação da utilização deste sistema fuzzy, foi feita uma análise de 147 vacas da raça Nelore, determinando os valores do IMC Fuzzy para cada animal e indicando a situação de massa corpórea de todo o rebanho. A validação realizada do sistema foi baseado em uma análise estatística, utilizando o coeficiente de correlação de Pearson 0,923, representando alta correlação positiva e indicando que o método proposto está adequado. Desta forma, o presente método possibilita a avaliação do rebanho, comparando cada animal do rebanho com seus pares do grupo, fornecendo desta forma um método quantitativo de tomada de decisão para o pecuarista. Também é possível concluir que o presente trabalho estabeleceu um método computacional baseado na lógica fuzzy capaz de imitar parte do raciocínio humano e interpretar o índice de massa corporal de qualquer tipo de espécie bovina e em qualquer região do País.

Estudio y optimización de las infraestructuras de los carriles para bicicletas

La necesidad cotidiana de los ciudadanos de desplazarse para realizar diferentes actividades, sea cual fuere su naturaleza, se ha visto afectada en gran medida por los cambios producidos. Las ventajas generadas por la inclusión de la bicicleta como modo de transporte y la proliferación de su uso entre la ciudadanía son innumerables y se extienden tanto en el ámbito de la movilidad urbana como del desarrollo sostenible. En la actualidad, hay multitud de programas para la implantación, fomento o aumento de la participación ciudadana relacionado con la bicicleta en las ciudades. Pero en definitiva, todos y cada uno de estas iniciativas tienen la misma finalidad, crear una malla de vías cicladles eficaz y útil. Capaces de permitir el uso de la bicicleta en vías preferentes con unas garantías de seguridad altas, incorporando la bicicleta en el modelo de intermodalidad del transporte urbano. Con la progresiva implantación del carril bici, muchas personas han empezado a utilizarlas para moverse por la ciudad. Pero todo lo nuevo necesita un periodo de adaptación. Y, la realidad es que la red de viales destinados para estos vehículos está repleta de obstáculos para el ciclista. La actual situación ha llevado a cuestionar qué cantidad de kilómetros de carriles bici son necesarios para abastecer la demanda existente de este modo de transporte y, si las obras ejecutadas y proyectadas son las correctas y suficientes. En este trabajo se presenta una herramienta, basada en un modelo de programación matemática, para el diseño óptimo de una red destinada a los ciclistas. En concreto, el sistema determina una infraestructura para la bicicleta adaptada a las características de la red de carreteras existentes, con base en criterios de teoría de grafos ponderados. Como una aplicación del modelo propuesto, se ofrece el resultado de estos experimentos, obteniéndose un número de conclusiones útiles para la planificación y el diseño de redes de carriles bici desde una perspectiva social. Se realiza una aplicación de la metodología desarrollada para el caso real del municipio de Málaga (España). Por último se produce la validación del modelo de optimización presentado y la repercusión que tiene éste sobre el resultado final y la importancia o el peso del total de variables capaces de condicionar el resultado final de la red ciclista. Se obtiene, por tanto, una herramienta destinada a la mejora de la planificación, diseño y gestión de las diferentes infraestructuras para la bicicleta, con capacidad de interactuar con el modelo de red vial actual y con el resto de los modos de transportes existentes en el entramado urbano de las ciudades.

Comunidades energéticas sustentáveis: estudo de Implementação de uma comunidade eólica no Algarve

Tese de Doutoramento, Gestão da Inovação e do Território, Faculdade de Economia, Universidade do Algarve, 2016

Stress-testing centralised model stores

One of the current challenges in model-driven engineering is enabling effective collaborative modelling. Two common approaches are either storing the models in a central repository, or keeping them under a traditional file-based version control system and build a centralized index for model-wide queries. Either way, special attention must be paid to the nature of these repositories and indexes as networked services: they should remain responsive even with an increasing number of concurrent clients. This paper presents an empirical study on the impact of certain key decisions on the scalability of concurrent model queries, using an Eclipse Connected Data Objects model repository and a Hawk model index. The study evaluates the impact of the network protocol, the API design and the internal caching mechanisms and analyzes the reasons for their varying performance.

Analys av NIR hårdvaruuppsättning samt metod för fotografering av individer i fordon

Abstract Purpose – To study the possibility of using a NIR hardware solution to photograph individuals in a private vehicle as well as an analysis of its images. Method – A study of existing theories around the NIR-method’s performance in selected conditions and individual tests were performed to examine if the literature statements were valid for this study. Two empirical tests have been carried out, the first was carried out at Kapsch test track and the other outside the test track in a single stationary test. An interview which formed the basis for the assessment on the quality of empirical data with a focus on computer-based detection of the number of individuals in the vehicle. Findings – The results have demonstrated the potential of the NIR method’s performance in a fully automated detection system for the number of individuals inside the vehicle. Empirical data indicates that the method can depict individuals inside vehicles of sufficiently high quality, but it is greatly affected by reflections, weather and light conditions. Implications – Result supports the assumption that the NIR method using an external light source can be used to image the interior through a varying number of weather and lightning conditions. The study originated until the results suggested that a NIR-based hardware setup can create images with high enough quality for the human eye to be able to detect the number of individuals inside the vehicle.If the overall performance into account, it suggests that the main problem with the use of the hardware set is to maintain the quality of the whole sample and that the crucial variables for the method’s performance is the influence of light and reflection conditions. Limitations – The major limitations have been that we limited ourselves to a subjective analysis of the selection and assessment on the image features for computer-based detection of the number of individuals in the vehicle. We were limited to two tests, one in tough conditions where only the driver was in the vehicle and the second stationary test, where the focus was on the number of people in vehicles and light sources impact on the result.

Drive up electrochemical and electrochemiluminescence signal through biosensing mechanism optimization

Biomarkers are biological indicators of human health conditions. Their ultra-sensitive quantification is of cardinal importance in clinical monitoring and early disease diagnosis. Biosensors are some worldwide simple and easy-to-use analytical devices as a matter of fact, biosensors using electrochemiluminescence (ECL) are one of the most promising biosensors that needs an ever-increasing sensitivity for improving its clinical effectiveness. The principal aspiration of this project is the investigation of the ECL generation mechanisms for enhancing the ECL intensity and the development of an ultrasensitive sensor, the use of metal-oxide materials (Mox) and the substitution of metal-free dyes. Novel dyes such as BODIPY, TADF are used to improve the sensitivity of ECL techniques thanks to their advantageous and tunable properties, enhancing the signal and also the ECL efficiency. Additionally, the use of Mox could be beneficial for the investigation of two different ECL mechanisms, which occur simultaneously. In this thesis, the investigation of size and distance effects on electrochemical (EC) mechanisms was carried out through the innovative combination of a standard detection system using different size of micromagnetic beads (MBs). That allowed the discovery of an unexpected and highly efficient mechanistic path for electrochemical generation at small distances from the electrode’s surface. The smallest MBs (0.1μm) demostrate an enhancement of electrochemical signal than the bigger one (2.8μm) until 4 times of magnitude. Finally, a novel ultrasensitive sensor, based on the coreactant-luminophores mechanism, was developed for the determination of whole viral genome specific for cardiac HBV and COVID-19 virus. In conclusion, the ECL and the use of EC techniques (such as amperometry), improved the understanding of mechanisms responsible for the ECL/EC signal led to a great enhancement in the signal.

Network analysis and machine learning assist drug repurposing and safety assessment in neurological diseases

In recent decades, two prominent trends have influenced the data modeling field, namely network analysis and machine learning. This thesis explores the practical applications of these techniques within the domain of drug research, unveiling their multifaceted potential for advancing our comprehension of complex biological systems. The research undertaken during this PhD program is situated at the intersection of network theory, computational methods, and drug research. Across six projects presented herein, there is a gradual increase in model complexity. These projects traverse a diverse range of topics, with a specific emphasis on drug repurposing and safety in the context of neurological diseases. The aim of these projects is to leverage existing biomedical knowledge to develop innovative approaches that bolster drug research. The investigations have produced practical solutions, not only providing insights into the intricacies of biological systems, but also allowing the creation of valuable tools for their analysis. In short, the achievements are: • A novel computational algorithm to identify adverse events specific to fixed-dose drug combinations. • A web application that tracks the clinical drug research response to SARS-CoV-2. • A Python package for differential gene expression analysis and the identification of key regulatory "switch genes". • The identification of pivotal events causing drug-induced impulse control disorders linked to specific medications. • An automated pipeline for discovering potential drug repurposing opportunities. • The creation of a comprehensive knowledge graph and development of a graph machine learning model for predictions. Collectively, these projects illustrate diverse applications of data science and network-based methodologies, highlighting the profound impact they can have in supporting drug research activities.

New Fefe-hydrogenase Genes Identified In A Metagenomic Fosmid Library From A Municipal Wastewater Treatment Plant As Revealed By High-throughput Sequencing.

A fosmid metagenomic library was constructed with total community DNA obtained from a municipal wastewater treatment plant (MWWTP), with the aim of identifying new FeFe-hydrogenase genes encoding the enzymes most important for hydrogen metabolism. The dataset generated by pyrosequencing of a fosmid library was mined to identify environmental gene tags (EGTs) assigned to FeFe-hydrogenase. The majority of EGTs representing FeFe-hydrogenase genes were affiliated with the class Clostridia, suggesting that this group is the main hydrogen producer in the MWWTP analyzed. Based on assembled sequences, three FeFe-hydrogenase genes were predicted based on detection of the L2 motif (MPCxxKxxE) in the encoded gene product, confirming true FeFe-hydrogenase sequences. These sequences were used to design specific primers to detect fosmids encoding FeFe-hydrogenase genes predicted from the dataset. Three identified fosmids were completely sequenced. The cloned genomic fragments within these fosmids are closely related to members of the Spirochaetaceae, Bacteroidales and Firmicutes, and their FeFe-hydrogenase sequences are characterized by the structure type M3, which is common to clostridial enzymes. FeFe-hydrogenase sequences found in this study represent hitherto undetected sequences, indicating the high genetic diversity regarding these enzymes in MWWTP. Results suggest that MWWTP have to be considered as reservoirs for new FeFe-hydrogenase genes.

Analise de marcha : protocolo experimental a partir de variaveis cinematicas e antropometricas

Universidade Estadual de Campinas . Faculdade de Educação Física

Kinematic analysis and membership status of TWA22 AB

Context. TWA22 was initially regarded as a member of the TW Hydrae association (TWA). In addition to being one of the youngest (approximate to 8 Myr) and nearest (approximate to 20 pc) stars to Earth, TWA22 has proven to be very interesting after being resolved as a tight, very low-mass binary. This binary can serve as a very useful dynamical calibrator for pre-main sequence evolutionary models. However, its membership in the TWA has been recently questioned despite due to the lack of accurate kinematic measurements. Aims. Based on proper motion, radial velocity, and trigonometric parallax measurements, we aim here to re-analyze the membership of TWA22 to young, nearby associations. Methods. Using the ESO NTT/SUSI2 telescope, we observed TWA22 AB during 5 different observing runs over 1.2 years to measure its trigonometric parallax and proper motion. This is a part of a larger project measuring trigonometric parallaxes and proper motions of most known TWA members at a sub-milliarcsec level. HARPS at the ESO 3.6 m telescope was also used to measure the system's radial velocity over 2 years. Results. We report an absolute trigonometric parallax of TWA22 AB, pi = 57.0 +/- 0.7 mas, corresponding to a distance 17.5 +/- 0.2 pc from Earth. Measured proper motions of TWA 22AB are mu(alpha) cos(delta) = -175.8 +/- 0.8 mas/yr and mu delta = -21.3 +/- 0.8 mas/yr. Finally, from HARPS measurements, we obtain a radial velocity V(rad) = 14.8 +/- 2.1 km s(-1). Conclusions. A kinematic analysis of TWA22 AB space motion and position implies that a membership of TWA22 AB to known young, nearby associations can be excluded except for the beta Pictoris and TW Hydrae associations. Membership probabilities based on the system's Galactic space motion and/or the trace-back technique support a higher chance of being a member to the beta Pictoris association. Membership of TWA22 in the TWA cannot be fully excluded because of large uncertainties in parallax measurements and radial velocities and to the uncertain internal velocity dispersion of its members.

Characterization of subgraph relationships and distribution in complex networks

A network can be analyzed at different topological scales, ranging from single nodes to motifs, communities, up to the complete structure. We propose a novel approach which extends from single nodes to the whole network level by considering non-overlapping subgraphs (i.e. connected components) and their interrelationships and distribution through the network. Though such subgraphs can be completely general, our methodology focuses on the cases in which the nodes of these subgraphs share some special feature, such as being critical for the proper operation of the network. The methodology of subgraph characterization involves two main aspects: (i) the generation of histograms of subgraph sizes and distances between subgraphs and (ii) a merging algorithm, developed to assess the relevance of nodes outside subgraphs by progressively merging subgraphs until the whole network is covered. The latter procedure complements the histograms by taking into account the nodes lying between subgraphs, as well as the relevance of these nodes to the overall subgraph interconnectivity. Experiments were carried out using four types of network models and five instances of real-world networks, in order to illustrate how subgraph characterization can help complementing complex network-based studies.

Transmission lines distance protection using artificial neural networks

This work presents the development and implementation of an artificial neural network based algorithm for transmission lines distance protection. This algorithm was developed to be used in any transmission line regardless of its configuration or voltage level. The described ANN-based algorithm does not need any topology adaptation or ANN parameters adjustment when applied to different electrical systems. This feature makes this solution unique since all ANN-based solutions presented until now were developed for particular transmission lines, which means that those solutions cannot be implemented in commercial relays. (c) 2011 Elsevier Ltd. All rights reserved.

Simultaneous Analysis of Tramadol, O-Desmethyltramadol, and N-Desmethyltramadol Enantiomers in Rat Plasma by High-Performance Liquid Chromatography-Tandem Mass Spectrometry: Application to Pharmacokinetics

Tramadol (T) is available as a racemic mixture of (+)-trans-T and (-)-trans-T. The main metabolic pathways are O-demethylation and N-demethylation, producing trans-O-desmethyltramadol (M1) and trans-N-desmethyltramadol (M2) enantiomers, respectively. The analgesic effect of T is related to the opioid activity of (+)-trans-T and (+)-M1 and to the monoaminergic action of (+/-)-trans-T. This is the first study using tandem mass spectrometry as a detection system for the simultaneous analysis of trans-T, M1, and M2 enantiomers. The analytes were resolved on a Chiralpak (R) AD column using hexane: ethanol (95.5:4.5, v/v) plus 0.1% diethylamine as the mobile phase. The quantitation limits were 0.5 ng/ml for trans-T and M1 and 0.1 ng/ml for M2. The method developed and validated here was applied to a pharmacokinetic study in rats. Male Wistar rats (n = 6 at each time point) received a single oral dose of 20 mg/kg racemic trans-T. Blood samples were collected up to 12 h after drug administration. The kinetic disposition of trans-T and M2 was enantioselective (AUC((+)/(-)) ratio = 4.16 and 6.36, respectively). The direction and extent of enantioselectivity in the pharmacokinetics of trans-T and M2 in rats were comparable to data previously reported for healthy volunteers, suggesting that rats are a suitable model for enantioselective studies of trans-T pharmacokinetics. Chirality 23: 287-293, 2011. (C) 2010 Wiley-Liss, Inc.

Relationship between peptide selectivities of human transporters associated with antigen processing and HLA class I molecules

Efficiency of presentation of a peptide epitope by a MHC class I molecule depends on two parameters: its binding to the MHC molecule and its generation by intracellular Ag processing. In contrast to the former parameter, the mechanisms underlying peptide selection in Ag processing are poorly understood. Peptide translocation by the TAP transporter is required for presentation of most epitopes and may modulate peptide supply to MHC class I molecules. To study the role of human TAP for peptide presentation by individual HLA class I molecules, we generated artificial neural networks capable of predicting the affinity of TAP for random sequence 9-mer peptides. Using neural network-based predictions of TAP affinity, we found that peptides eluted from three different HLA class I molecules had higher TAP affinities than control peptides with equal binding affinities for the same HLA class I molecules, suggesting that human TAP may contribute to epitope selection. In simulated TAP binding experiments with 408 HLA class I binding peptides, HLA class I molecules differed significantly with respect to TAP affinities of their ligands, As a result, some class I molecules, especially HLA-B27, may be particularly efficient in presentation of cytosolic peptides with low concentrations, while most class I molecules may predominantly present abundant cytosolic peptides.