Simulação e controlo de veículos autónomos terrestres

A implementação e venda de robôs autónomos tem sido um sector que nos últimos anos tem adquirido cada vez mais quota no mercado, nomeadamente no sector militar, agrícola e da vigilância. Como tal, tem sido também de grande importância a capacidade de implementar e testar robôs por parte das entidades que os fabricam. Uma das formas que tem garantido o sucesso do desenvolvimento de robôs é a simulação prévia dos mesmos antes que estes passem a fase de produção. Sendo assim, o LSA como entidade de desenvolvimento de robôs autónomos, tem necessidade de adquirir um sistema que simule os robôs em desenvolvimento. O trabalho desta tese consiste na realização de um sistema que simule robôs autónomos terrestres de forma que se possa observar o comportamento da cinemática, dinânica e hardware dos robôs em ambiente 3D. Esta aplicação de simulação pode mais tarde ser utilizada pelo laboratório para testar missões, validar alterações de estrutura, sensores, etc. Para além disso, com recurso ao simulador Player/Stage/Gazebo testar o robô LINCE e implementar algoritmos de controlo para o mesmo. Os algoritmos de controlo implementados baseiam-se em primitivas de controlo básico para serem utilizadas pelo sistema de navegação e gerar trajectórias complexas. Os algoritmos desenvolvidos nesta tese baseiam-se nas equações cinemáticas do veículo estudado. Estes algoritmos depois de testados no simulador, poderão ser colocados no Hardware do robô. Desta forma consegue-se desenvolver algoritmos para determinado robô sem que este esteja operacional.

Construção de um parque eólico industrial

Dissertação de Natureza Científica para obtenção do grau de Mestre em Engenharia Civil na Área de Especialização de Edificações

10 kVp rule – An anthropomorphic pelvis phantom imaging study using a CR system: impact on image quality and effective dose using AEC and manual mode

Purpose - This study aims to investigate the influence of tube potential (kVp) variation in relation to perceptual image quality and effective dose (E) for pelvis using automatic exposure control (AEC) and non-AEC in a Computed Radiography (CR) system. Methods and materials - To determine the effects of using AEC and non-AEC by applying the 10 kVp rule in two experiments using an anthropomorphic pelvis phantom. Images were acquired using 10 kVp increments (60–120 kVp) for both experiments. The first experiment, based on seven AEC combinations, produced 49 images. The mean mAs from each kVp increment were used as a baseline for the second experiment producing 35 images. A total of 84 images were produced and a panel of 5 experienced observers participated for the image scoring using the two alternative forced choice (2AFC) visual grading software. PCXMC software was used to estimate E. Results - A decrease in perceptual image quality as the kVp increases was observed both in non-AEC and AEC experiments, however no significant statistical differences (p > 0.05) were found. Image quality scores from all observers at 10 kVp increments for all mAs values using non-AEC mode demonstrates a better score up to 90 kVp. E results show a statistically significant decrease (p = 0.000) on the 75th quartile from 0.37 mSv at 60 kVp to 0.13 mSv at 120 kVp when applying the 10 kVp rule in non-AEC mode. Conclusion - Using the 10 kVp rule, no significant reduction in perceptual image quality is observed when increasing kVp whilst a marked and significant E reduction is observed.

Formulação de um biofilme para controlo da listéria em queijos

Dissertação de Mestrado, Tecnologia e Segurança Alimentar, 12 Fevereiro de 2016, Universidade dos Açores.

Leptogenesis, CP violation and neutrino data: what can we learn?

A detailed analytic and numerical study of baryogenesis through leptogenesis is performed in the framework of the standard model of electroweak interactions extended by the addition of three right-handed neutrinos, leading to the seesaw mechanism. We analyze the connection between GUT-motivated relations for the quark and lepton mass matrices and the possibility of obtaining a viable leptogenesis scenario. In particular, we analyze whether the constraints imposed by SO(10) GUTs can be compatible with all the available solar, atmospheric and reactor neutrino data and, simultaneously, be capable of producing the required baryon asymmetry via the leptogenesis mechanism. It is found that the Just-So(2) and SMA solar solutions lead to a viable leptogenesis even for the simplest SO(10) GUT, while the LMA, LOW and VO solar solutions would require a different hierarchy for the Dirac neutrino masses in order to generate the observed baryon asymmetry. Some implications on CP violation at low energies and on neutrinoless double beta decay are also considered. (C) 2002 Elsevier Science B.V. All rights reserved.

Análise técnica e económico-financeira de um sistema de abastecimento de veículos zero emissões integrando um sistema fotovoltaico

Com o aumento da população mundial registado nos últimos anos surgiu também uma maior procura energética. Esse aumento foi inicialmente colmatado recorrendo essencialmente a fontes de origem fóssil, pelo facto destas serem mais baratas. No entanto, essa tendência de preços baixos sofreu o primeiro abalo nos anos 70 do século passado, altura em que o preço do petróleo disparou, devido a questões políticas. Nessa altura ficou visível para os países ocidentais o quanto estes eram dependentes dos países produtores de petróleo que, em geral, são instáveis politicamente. Começou então a procura de fontes energéticas alternativas. Além da questão económica do aumento do preço dos combustíveis, existe também o problema ambiental. Os maiores responsáveis pela emissão de gases efeito estufa (GEE) são os combustíveis fósseis. Os GEE contribuem para o aquecimento global, o que origina fenómenos ambientais severos que poderão levar a mudanças climáticas significativas. As energias renováveis apresentam-se como a solução mais viável ao problema energético e ambiental que se verifica actualmente, porque permitem colmatar o aumento da procura energética de uma forma limpa e sustentável. Na sequência destes problemas surgiram nos últimos anos veículos que permitem reduzir ou mesmo eliminar o consumo de combustíveis fósseis, como os veículos híbridos eléctricos, eléctricos e a hidrogénio. Nesta dissertação analisa-se um sistema que foi pensado para ser implementado em áreas de serviço, que permite efectuar o carregamento de electric vehicles (EV) utilizando energia eléctrica de origem fotovoltaica e a produção de hidrogénio para os fuels cell electric vehicles (FCEV). É efectuada uma análise económica do sistema, uma análise ambiental e analisou-se também o impacto na redução da dependência do país em relação ao exterior, sendo ainda efectuada uma pequena análise ao sistema MOBIE. No caso dos veículos a hidrogénio, foi determinada qual seria a melhor opção em termos económicos, para a produção de hidrogénio considerando três regimes de produção: recorrendo apenas à energia eléctrica proveniente do sistema fotovoltaico, apenas à energia eléctrica da rede, ou uma combinação dos dois regimes. O sistema estudado nesta dissertação apresenta um enorme potencial a nível energético e ambiental, surgindo como alternativa para abastecer os veículos que irão permitir, no futuro, eliminar a dependência energética em relação às fontes fósseis e ao mesmo tempo diminuir a quantidade de gases efeito estufa emitidos para a atmosfera.

O cinema como ferramenta andragógica para a terceira idade: o Projeto CINAGE

The demographics of the early 21st century in Europe point to a notorious ageing of the population of most countries. Consequently, elderly people tend to be considered a social burden for the national healthcare and social security systems and their desire to participate actively in the civic and cultural activities of their countries is ignored. The first response to demographic ageing should therefore be a change in mentalities, which is what the area of gerontology is all about. It was in this context that the European Project CINAGE - European Cinema for Active Ageing was created. It is a transnational project, promoted by Portugal, and partnered by UK, Italy and Slovenia, oriented for the creation of a cinema course for elders and directly supported by filmic tools, within an andragogical self-reflexive approach. The modules of this course will be created on the basis of European cinematic examples and the input of focus groups consisting of experts in andragogy, active ageing, cinema and elders. In the end, twelve short films will be produced by senior members of the CINAGE course. We aim to present the project CINAGE in all its characteristics and thus reveal a way in which cinema can positively contribute to a more active ageing and the maintenance of mental health in later stages of life. It is relevant to consider what films Europe has been lately producing on this subject. We will use some of them to explain and corroborate our point of view and the project itself.

Aspergillus flavus contamination in two Portuguese wastewater treatment plants

Filamentous fungi from genus Aspergillus were previously detected in wastewater treatment plants (WWTP) as being Aspergillus flavus (A. flavus), an important toxigenic fungus producing aflatoxins. This study aimed to determine occupational exposure adverse effects due to fungal contamination produced by A. flavus complex in two Portuguese WWTP using conventional and molecular methodologies. Air samples from two WWTP were collected at 1 m height through impaction method. Surface samples were collected by swabbing surfaces of the same indoor sites. After counting A. flavus and identification, detection of aflatoxin production was ensured through inoculation of seven inoculates in coconut-milk agar. Plates were examined under long-wave ultraviolet (UV; 365 nm) illumination to search for the presence of fluorescence in the growing colonies. To apply molecular methods, air samples were also collected using the impinger method. Samples were collected and collection liquid was subsequently used for DNA extraction. Molecular identification of A. flavus was achieved by real-time polymerase chain reaction (RT-PCR) using the Rotor-Gene 6000 qPCR detection system (Corbett). Among the Aspergillus genus, the species that were more abundant in air samples from both WWTP were Aspergillus versicolor (38%), Aspergillus candidus (29.1%), and Aspergillus sydowii (12.7%). However, the most commonly species found on surfaces were A. flavus (47.3%), Aspergillus fumigatus (34.4%), and Aspergillus sydowii (10.8%). Aspergillus flavus isolates that were inoculated in coconut agar medium were not identified as toxigenic strains and were not detected by RT-PCR in any of the analyzed samples from both plants. Data in this study indicate the need for monitoring fungal contamination in this setting. Although toxigenic strains were not detected from A. flavus complex, one cannot disregard the eventual presence and potential toxicity of aflatoxins.

Flow amperometric determination of carbofuran and fenobucarb

A simple, rapid, and precise amperometric method for quantification of N-methylcarbamate pesticides in water samples and phytopharmaceuticals is presented. Carbofuran and fenobucarb are the target analytes. The method is developed in flow conditions providing the anodic oxidation of phenolic-based compounds formed after alkaline hydrolysis. Optimization of instrumental and chemical variables is presented. Under the optimal conditions, the amperometric signal is linear for carbofuran and fenobucarb concentrations over the range of 1.0*10-7 to 1.0*10-5 molL-1, with a detection limit of about 2 ngmL-1. The amperometric method is successfully applied to the analysis of spiked environmental waters and commercial formulations. The proposed method allows 90 samples to be analysed per hour, using 500 mL of sample, and producing wastewaters of low toxicity. The proposed method permits determinations at the mgL 1 level and offers advantages of simplicity, accuracy, precision, and applicability to coloured and turbid samples, and automation feasibility.

Reduced fluoresceinamine as a fluorescent sensor for nitric oxide

A new fluorescent sensor for nitric oxide (NO) is presented that is based on its reaction with a non fluorescent substance, reduced fluoresceinamine, producing the highly fluorescent fluoresceinamine. Using a portable homemade stabilized light source consisting of 450 nm LED and fiber optics to guide the light, the sensor responds linearly within seconds in the NO concentration range between about 10–750 µM with a limit of detection (LOD) of about 1 µM. The system generated precise intensity readings, with a relative standard deviation of less than 1%. The suitability of the sensor was assessed by monitoring the NO generated by either the nitrous acid decomposition reaction or from a NO-releasing compound. Using relatively high incubation times, the sensor also responds quantitatively to hydrogen peroxide and potassium superoxide, however, using transient signal measurements results in no interfering species.

Increasing source to image distance for AP pelvis imaging: impact on radiation dose and image quality

Aim - A quantative primary study to determine whether increasing source to image distance (SID), with and without the use of automatic exposure control (AEC) for antero-posterior (AP) pelvis imaging, reduces dose whilst still producing an image of diagnostic quality. Methods - Using a computed radiography (CR) system, an anthropomorphic pelvic phantom was positioned for an AP examination using the table bucky. SID was initially set at 110 cm, with tube potential set at a constant 75 kVp, with two outer chambers selected and a fine focal spot of 0.6 mm. SID was then varied from 90 cm to 140 cm with two exposures made at each 5 cm interval, one using the AEC and another with a constant 16 mAs derived from the initial exposure. Effective dose (E) and entrance surface dose (ESD) were calculated for each acquisition. Seven experienced observers blindly graded image quality using a 5-point Likert scale and 2 Alternative Forced Choice software. Signal-to-Noise Ratio (SNR) was calculated for comparison. For each acquisition, femoral head diameter was also measured for magnification indication. Results - Results demonstrated that when increasing SID from 110 cm to 140 cm, both E and ESD reduced by 3.7% and 17.3% respectively when using AEC and 50.13% and 41.79% respectively, when the constant mAs was used. No significant statistical (T-test) difference (p = 0.967) between image quality was detected when increasing SID, with an intra-observer correlation of 0.77 (95% confidence level). SNR reduced slightly for both AEC (38%) and no AEC (36%) with increasing SID. Conclusion - For CR, increasing SID significantly reduces both E and ESD for AP pelvis imaging without adversely affecting image quality.

Epigenetic and transcriptional signatures of stable versus plastic differentiation of proinflammatory gd T cell subsets

Two distinct subsets of γδ T cells that produce interleukin 17 (IL-17) (CD27(-) γδ T cells) or interferon-γ (IFN-γ) (CD27(+) γδ T cells) develop in the mouse thymus, but the molecular determinants of their functional potential in the periphery remain unknown. Here we conducted a genome-wide characterization of the methylation patterns of histone H3, along with analysis of mRNA encoding transcription factors, to identify the regulatory networks of peripheral IFN-γ-producing or IL-17-producing γδ T cell subsets in vivo. We found that CD27(+) γδ T cells were committed to the expression of Ifng but not Il17, whereas CD27(-) γδ T cells displayed permissive chromatin configurations at loci encoding both cytokines and their regulatory transcription factors and differentiated into cells that produced both IL-17 and IFN-γ in a tumor microenvironment.

Life cycle analysis of biodiesel production

Biodieselhas attracted considerable attention as a renewable, biodegradable, and nontoxic fuel and can contribute to solving the energy problems, significantly reducing the emission of gases which cause global warming. The first stage of this work was to simulate different alternative processes for producing biodiesel. The method used for the production of biodiesel is the transesterification of vegetable oilswith an alcohol in the presence of a catalyst. The raw materials used were palm oils and waste cooking oil. The second stage was a life cycle analysis for all alternatives under study, followed by an economic analysis for the alternatives that present minor impacts and which are more promising from an economic point of view. Finally,we proceeded to compare the different alternatives fromboth the point of view of life cycle and economic analysis. The feasibility of all processes was proven and the biodiesel obtained had good specifications. From the standpoint of life cycle analysis, the best alternative was the process of alkaline catalysiswith acid pretreatment for waste cooking oil. The economic analysis was done to the previous mentioned process and to the process that uses raw virgin oils, methanol, and sodium hydroxide. This process has lower investment costs but the process of alkaline catalysis with acid pre-treatment, whose main raw material is waste oil, is much more profitable and has less environmental impacts.

Assessment of workers’ exposure to Aflatoxin B1 in a Portuguese waste industry

Aflatoxin B1 (AFB1) is considered by different International Agencies as a genotoxic and potent hepatocarcinogen. However, despite the fact that the fungi producing this compound are detected in some work environments, AFB1 is rarely monitored in occupational settings. The aim of the present investigation was to assess exposure to AFB1 of workers from one Portuguese waste company located in the outskirt of Lisbon. Occupational exposure assessment to AFB1 was done with a biomarker of internal dose that measures AFB1 in the serum by enzyme-linked immunosorbent assay. Forty-one workers from the waste company were enrolled in this study (26 from sorting; 9 from composting; 6 from incineration). A control group (n = 30) was also considered in order to know the AFB1 background levels for the Portuguese population. All the workers showed detectable levels of AFB1 with values ranging from 2.5ng ml−1 to 25.9ng ml−1 with a median value of 9.9±5.4ng ml−1. All of the controls showed values below the method’s detection limit. Results obtained showed much higher (8-fold higher) values when compared with other Portuguese settings already studied, such as poultry and swine production. Besides this mycotoxin, other mycotoxins are probably present in this occupational setting and this aspect should be taken into consideration for the risk assessment process due to possible synergistic reactions. The data obtained suggests that exposure to AFB1 occurs in a waste management setting and claims attention for the need of appliance of preventive and protective safety measures.

Electroanalytical study of the pesticide ethiofencarb

A detailed study of voltammetric behavior of ethiofencarb (ETF) is reported using glassy carbon electrode (GCE) and hanging mercury drop electrode (HMDE). With GCE, it is possible to verify that the oxidative mechanism is irreversible, independent of pH, and the maximum intensity current was observed at +1.20 V vs. AgCl/Ag at pH 1.9. A linear calibration line was obtained from 1.0x10-4 to 8.0x10-4 mol L-1 with SWV method. To complete the electrochemical knowledge of ETF pesticide, the reduction was also explored with HMDE. A well-defined peak was observed at –1.00V vs. AgCl/Ag in a large range of pH with higher signal at pH 7.0. Linearity was obtained in 4.2x10-6 and 9.4x10-6 mol L-1 ETF concentration range. An immediate alkaline hydrolysis of ETF was executed, producing a phenolic compound (2-ethylthiomethylphenol) (EMP), and the electrochemical activity of the product was examined. It was deduced that it is oxidized on GCE at +0.75V vs. AgCl/Ag with a maximum peak intensity current at pH 3.2, but the compound had no reduction activity on HMDE. Using the decrease of potential peak, a flow injection analysis (FIA) system was developed connected to an amperometric detector, enabling the determination of EMP over concentration range of 1.0x10-7 and 1.0x10-5 mol L-1 at a sampling rate of 60 h-1. The results provided by FIA methodology were performed by comparison with results from high-performance liquid chromatography (HPLC) technique and demonstrated good agreement with relative deviations lower than 4%. Recovery trials were performed and the obtained values were between 98 and 104%.