Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

Marine Operations with the SWORDFISH Autonomous Surface Vehicle

IEEE Robótica 2007 - 7th Conference on Mobile Robots and Competitions, Paderne, Portugal 2007

Estudo da Distribuição de Factores de Risco para o Desenvolvimento de Doença Ocular Aguda em Portadores de Lentes de Contacto

Objectivo: Estudar os factores de risco (FR) associados a complicações clínicas agudas (CCA) numa amostra de portadores de lentes de contacto (LC). Doentes e Métodos: Análise de todos os doentes com CCA associadas ao uso de LC, que, no período de um ano, recorreram ao SU do Centro Hospitalar de Lisboa Central. O estudo focou-se na análise do perfil demográfico e de risco destes doentes. Resultados: Dos 103 doentes referenciados pelo SU foram estudados os que compareceram para seguimento no Departamento de Contactologia (84). A maioria era do sexo feminino, caucasiana e de educação diferenciada. A mediana das idades foi de 29 anos. 15% dos doentes cumpria as horas de uso diário recomendadas e 5% cumpria todas as regras de higiene; 26% dos doentes apresentavam FR oftalmológicos e 58% FR sistémicos. O prescritor das LC foi o médico em 36% e 26% mantinha vigilância médica oftalmológica regular. Comentários: A maioria dos doentes não cumpria as regras de segurança e de higiene do uso de LC, sendo o desconhecimento destas regras elevado. O papel muito reduzido dos médicos oftalmologistas na prescrição de LC e na vigilância dos portadores pode estar na origem do desconhecimento e incumprimento das regras de utilização das LC por parte de alguns doentes.

Carbon key-properties for microcystin adsorption in drinking water treatment: structure or surface chemistry?

Dissertação para Obtenção de Grau de Mestre em Engenharia Química e Bioquímica

Failure of nitric oxide production by macrophages and decrease in CD4+ T cells in oral paracoccidioidomycosis: possible mechanisms that permit local fungal multiplication

Paracoccidioidomycosis is a chronic granulomatous disease that induces a specific inflammatory and immune response. The participation of nitric oxide (NO), a product of the inducible nitric oxide synthase enzyme (iNOS), as an important fungicidal molecule against Paracoccidioides brasiliensis has been demonstrated. In order to further characterize the Oral Paracoccidioidomycosis (OP), we undertook an immunohistochemical study of iNOS+, CD45RO+, CD3+, CD8+, CD20+, CD68+ cells and mast cells. The samples were distributed in groups according to the number of viable fungi per mm². Our results showed weak immunolabeling for iNOS in the multinucleated giant cells (MNGC) and in most of the mononuclear (MN) cells, and the proportion of iNOS+ MN/MNGC cells in the OP were comparable to Control (clinically healthy oral tissues). Additionally, our analysis revealed a similarity in the number of CD4+ cells between the Control and the OP groups with higher numbers of fungi. These findings suggest that a low expression of iNOS and a decrease in the CD4+ T cells in OP may represent possible mechanisms that permit the local fungal multiplication and maintenance of active oral lesions.

Environmental modeling with precision navigation using ROAZ autonomous surface vehicle

The use of robotic vehicles for environmental modeling is discussed. This paper presents diverse results in autonomous marine missions with the ROAZ autonomous surface vehicle. The vehicle can perform autonomous missions while gathering marine data with high inertial and positioning precision. The underwater world is an, economical and environmental, asset that need new tools to study and preserve it. ROAZ is used in marine environment missions since it can sense and monitor the surface and underwater scenarios. Is equipped with a diverse set of sensors, cameras and underwater sonars that generate 3D environmental models. It is used for study the marine life and possible underwater wrecks that can pollute or be a danger to marine navigation. The 3D model and integration of multibeam and sidescan sonars represent a challenge in nowadays. Adding that it is important that robots can explore an area and make decisions based on their surroundings and goals. Regard that, autonomous robotic systems can relieve human beings of repetitive and dangerous tasks.

Consulta de Diabetes Ocular. Primeiros Resultados do Rastreio da Retinopatia Diabética por Câmara Não Midriática

Introdução: a retinopatia diabética (RD) é, nos países industrializados, uma das principais causas de cegueira. A perda de visão na RD diminui com o diagnóstico precoce e instituição terapêutica2 adequada possibilitados por programas de rastreio sistemático. O rastreio efectuado por fotografias do polo posterior com câmara não midriática é simples e apresenta boa sensibilidade e especificidade3. Material e Métodos: estudo prospectivo, observacional, dos doentes diabéticos sem seguimento oftalmológico regular, seguidos na consulta de Medicina do Centro Hospitalar de Lisboa Central desde Setembro de 2008 a Julho de 2009. Incluíram-se 86 doentes. Um ortoptista fez a aquisição de imagens do polo posterior com uma câmara não midriática e a impressão de fotografias compostas, coloridas, que foram posteriormente analisadas por um oftalmologista da consulta de Diabetes Ocular. Resultados: foram excluídos 7 olhos (4,2%) por não existir qualidade de imagem. Identificou-se a existência de RD em 26% dos 165 olhos incluídos ( 28% dos doentes), apresentando 21% RD não proliferativa e 5% proliferativa. Apurou-se uma relação estatisticamente significativa entre a existência de RD, a idade (p= 0,253 x 10-1) e a duração da diabetes (p= 7,16 x 10-5). Relativamente ao encaminhamento, 57,8% foram referenciados para rastreio anual e 42,2% para a Consulta Geral de Oftalmologia. Todos os excluídos foram igualmente encaminhados para a Consulta Geral de Oftalmologia. Conclusões: a percentagem de doentes rastreados que apresentou RD foi elevada (28%). O rastreio sistemático da população diabética com câmara não midriática pareceu-nos ser um método simples e eficaz no despiste da RD.

Impacto do Diâmetro do Nervo Óptico na Amplitude de Pulso Ocular no Glaucoma Primário de Ângulo Aberto

Introdução: A pressão intra-craniana (PIC) tem sido descrita como estando envolvida no glaucoma primário de ângulo aberto (GPAA). A sua avaliação está contudo limitada pela necessidade de métodos invasivos, como a punção lombar. A ecografia ocular permite uma avaliação indirecta da PIC através da medição do diâmetro da bainha do nervo óptico (NO). Desconhece-se se esta nova variável tem capacidade de modular factores de risco normalmente investigados em doentes com GPAA. Objectivo: Avaliar o impacto do diâmetro da bainha do NO na pressão intra-ocular (PIO) e na amplitude de pulso ocular (OPA) de doentes com GPAA. Métodos: Quinze doentes com GPAA foram submetidos a medição da PIO por tonometria de contorno dinâmico, avaliação topográfica do disco óptico e ecografia ocular modo B com sonda doppler. Apenas o olho com maior dano glaucomatoso foi seleccionado por doente. Resultados: A média do diâmetro da bainha do NO foi de 5,6±0,67mm, a PIO média de 17,8±2,2mmHg e a OPA de 3,1±1,7mmHg. O diâmetro da bainha do NO correlacionou-se negativamente a OPA (r=-0.54, p=0.05), não tendo influenciado a PIO (r=-0,25, p=0,41). Da avaliação hemodinâmica, apenas o índice de resistência da artéria central da retina (CRA) foi influenciado pelo diâmetro da bainha do NO (r=-0.52, p=0.04). Conclusão: O diâmetro da bainha do NO correlaciona-se negativamente com a OPA. Este efeito poderá ser explicado pela alteração da resistência vascular da artéria que atravessa este espaço subaracnoideu, a CRA. O estudo da região retrobulbar e do balanço entre as pressões aí exercidas é assim um campo cuja importância será crescente na avaliação do doente com GPAA.

Field experiments for marine casualty detection with autonomous surface vehicles

In this paper we present a set of field tests for detection of human in the water with an unmanned surface vehicle using infrared and color cameras. These experiments aimed to contribute in the development of victim target tracking and obstacle avoidance for unmanned surface vehicles operating in marine search and rescue missions. This research is integrated in the work conducted in the European FP7 research project Icarus aiming to develop robotic tools for large scale rescue operations. The tests consisted in the use of the ROAZ unmanned surface vehicle equipped with a precision GPS system for localization and both visible spectrum and IR cameras to detect the target. In the experimental setup, the test human target was deployed in the water wearing a life vest and a diver suit (thus having lower temperature signature in the body except hands and head) and was equipped with a GPS logger. Multiple target approaches were performed in order to test the system with different sun incidence relative angles. The experimental setup, detection method and preliminary results from the field trials performed in the summer of 2013 in Sesimbra, Portugal and in La Spezia, Italy are also presented in this work.

High-Accuracy Low-Cost RTK-GPS for an Unmanned Surface Vehicle

This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.

Towards realistic core-failure-resilient scheduling and analysis

Presented at IEEE Real-Time Systems Symposium (RTSS 2015). 1 to 4, Dec, 2015. San Antonio, U.S.A..

Towards realistic core-failure-resilient scheduling and analysis

Presented at IEEE Real-Time Systems Symposium (RTSS 2015). 1 to 4, Dec, 2015. San Antonio, U.S.A..

Water jet based autonomous surface vehicle for coastal waters operations

This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.

Prognostic Value of a New Cardiopulmonary Exercise Testing Parameter in Chronic Heart Failure: Oxygen Uptake Efficiency at Peak Exercise - Comparison with Oxygen Uptake Efficiency Slope

INTRODUCTION: A growing body of evidence shows the prognostic value of oxygen uptake efficiency slope (OUES), a cardiopulmonary exercise test (CPET) parameter derived from the logarithmic relationship between O(2) consumption (VO(2)) and minute ventilation (VE) in patients with chronic heart failure (CHF). OBJECTIVE: To evaluate the prognostic value of a new CPET parameter - peak oxygen uptake efficiency (POUE) - and to compare it with OUES in patients with CHF. METHODS: We prospectively studied 206 consecutive patients with stable CHF due to dilated cardiomyopathy - 153 male, aged 53.3±13.0 years, 35.4% of ischemic etiology, left ventricular ejection fraction 27.7±8.0%, 81.1% in sinus rhythm, 97.1% receiving ACE-Is or ARBs, 78.2% beta-blockers and 60.2% spironolactone - who performed a first maximal symptom-limited treadmill CPET, using the modified Bruce protocol. In 33% of patients an cardioverter-defibrillator (ICD) or cardiac resynchronization therapy device (CRT-D) was implanted during follow-up. Peak VO(2), percentage of predicted peak VO(2), VE/VCO(2) slope, OUES and POUE were analyzed. OUES was calculated using the formula VO(2) (l/min) = OUES (log(10)VE) + b. POUE was calculated as pVO(2) (l/min) / log(10)peakVE (l/min). Correlation coefficients between the studied parameters were obtained. The prognosis of each variable adjusted for age was evaluated through Cox proportional hazard models and R2 percent (R2%) and V index (V6) were used as measures of the predictive accuracy of events of each of these variables. Receiver operating characteristic (ROC) curves from logistic regression models were used to determine the cut-offs for OUES and POUE. RESULTS: pVO(2): 20.5±5.9; percentage of predicted peak VO(2): 68.6±18.2; VE/VCO(2) slope: 30.6±8.3; OUES: 1.85±0.61; POUE: 0.88±0.27. During a mean follow-up of 33.1±14.8 months, 45 (21.8%) patients died, 10 (4.9%) underwent urgent heart transplantation and in three patients (1.5%) a left ventricular assist device was implanted. All variables proved to be independent predictors of this combined event; however, VE/VCO2 slope was most strongly associated with events (HR 11.14). In this population, POUE was associated with a higher risk of events than OUES (HR 9.61 vs. 7.01), and was also a better predictor of events (R2: 28.91 vs. 22.37). CONCLUSION: POUE was more strongly associated with death, urgent heart transplantation and implantation of a left ventricular assist device and proved to be a better predictor of events than OUES. These results suggest that this new parameter can increase the prognostic value of CPET in patients with CHF.