Multi-robot cooperative stereo for outdoor scenarios

13th International Conference on Autonomous Robot Systems (Robotica), 2013

Método de correspondência para sistemas de visão multi-câmara

Os sistemas de perceção visual são das principais fontes de informação sensorial utilizadas pelos robôs autónomos, para localização e navegação em diferentes meios de operação. O objetivo passa por obter uma grande quantidade de informação sobre o ambiente que a câmara está a visualizar, processar e extrair informação que permita realizar as tarefas de uma forma e ciente. Uma informação em particular que os sistemas de visão podem fornecer, e a informação tridimensional acerca do meio envolvente. Esta informação pode ser adquirida recorrendo a sistemas de visão monoculares ou com múltiplas câmaras. Nestes sistemas a informação tridimensional pode ser obtida recorrendo a técnica de triangulação, tirando partido do conhecimento da posição relativa entre as câmaras. No entanto, para calcular as coordenadas de um ponto tridimensional no referencial da câmara e necessário existir correspondência entre pontos comuns às imagens adquiridas pelo sistema. No caso de más correspondências a informação 3D e obtida de forma incorreta. O problema associado à correspondência de pontos pode ser agravado no caso das câmaras do sistema terem características intrínsecas diferentes nomeadamente: resolução, abertura da lente, distorção. Outros fatores como as orientações e posições das câmaras também podem condicionar a correspondência de pontos. Este trabalho incide sobre problemática de correspondência de pontos existente no processo de cálculo da informação tridimensional. A presente dissertação visa o desenvolvimento de uma abordagem de correspondência de pontos para sistemas de visão no qual é conhecida a posição relativa entre câmaras.

Tradução, Videojogos e Racismo

Dissertação apresentada para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Tradução – Área de Especialização em Inglês

Ampliação e Reconstrução de um Edifício Unifamiliar

Pretende-se com este trabalho apresentar os Projectos de estruturas, de Comportamento Térmico e de Abastecimento de Água e Drenagem de Águas Pluviais e Residuais de uma habitação unifamiliar. Trata-se de um edifício situado no concelho de Ponte Lima que será reconstruído e ampliado de forma a se constituir uma habitação de tipologia T3. Uma vez que a realidade da actividade do projecto de estruturas actual é baseada na aplicação de ferramentas de processo automático de dados, foi naturalmente utilizado um programa de cálculo na modelação do edifício. No entanto, foram igualmente aplicados métodos tradicionais, nomeadamente na fase de pré-dimensionamento, na validação do modelo e no dimensionamento do edifício existente. O Estudo do Comportamento Térmico teve como objectivo primordial optar por soluções construtivas que permitissem, aos ocupantes da habitação, um conforto térmico com o mínimo esforço energético possível. Desta forma, analisaram-se as plantas de arquitectura, definiram-se os elementos da envolvente e os equipamentos necessários, e procedeu-a à avaliação térmica segundo o disposto na Legislação Nacional Para culminar o trabalho, desenvolveu-se o Projecto de Abastecimento de Água e Drenagem de Águas Pluviais e Residuais, dispondo os elementos e acessórios das redes segundo as regras de implantação e dimensionamento previstas na regulamentação em vigor.

Recurrence After Operative Management of Intrahepatic Cholangiocarcinoma

INTRODUCTION: Data on recurrence after operation for intrahepatic cholangiocarcinoma (ICC) are limited. We sought to investigate rates and patterns of recurrence in patients after operative intervention for ICC. METHODS: We identified 301 patients who underwent operation for ICC between 1990 and 2011 from an international, multi-institutional database. Clinicopathologic data, recurrence patterns, and recurrence-free survival (RFS) were analyzed. RESULTS: During the median follow up duration of 31 months (range 1-208), 53.5% developed a recurrence. Median RFS was 20.2 months and 5-year actuarial disease-free survival, 32.1%. The most common site for initial recurrence after operation of ICC was intrahepatic (n = 98; 60.9%), followed by simultaneous intra- and extrahepatic disease (n = 30; 18.6%); 33 (21.0%) patients developed extrahepatic recurrence only as the first site of recurrence. Macrovascular invasion (hazard ratio [HR], 2.08; 95% confidence interval [CI], 1.34-3.21; P < .001), nodal metastasis (HR, 1.55; 95% CI, 1.01-2.45; P = .04), unknown nodal status (HR, 1.57; 95% CI, 1.10-2.25; P = .04), and tumor size ≥5 cm (HR, 1.84; 95% CI, 1.28-2.65; P < .001) were independently associated with increased risk of recurrence. Patients were assigned a clinical score from 0 to 3 according to the presence of these risk factors. The 5-year RFS for patients with scores of 0, 1, 2, and 3 was 61.8%, 36.2%, 19.5%, and 9.6%, respectively. CONCLUSION: Recurrence after operative intervention for ICC was common. Disease recurred both at intra- and extrahepatic sites with roughly the same frequency. Factors such as lymph node metastasis, tumor size, and vascular invasion predict highest risk of recurrence.

New mechanisms that regulate the expression of genes implicated in the process of ketogenesis

Dissertação para obtenção do Grau de Mestre em Biotecnologia

A Web based geospatial application for disaster preparedness in Uganda

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Implante Contraceptivo Não Palpável - Estratégias para a sua Localização e Remoção

Overview and Aims: The contraceptive implant is frequently used to provide contraceptive protection over three years. The implant is inserted into the subcutaneous tissue of the upper arm, and should be palpable and easily removed. We evaluated the best imaging strategy for non-palpable implant (Implanon®) localization and removal. Study Design: Retrospective study. Population: A total of 11 women referred to a tertiary care hospital, between October 2009 and January 2012, for localization and removal of their non-palpable implants. Methods: Different localization methods (ultrasound and magnetic resonance imaging) were evaluated for non-palpable rod. Results: Seven of the nonpalpable implants were inserted in a health care center, three in a district hospital and one in a private clinic. In three women, the reasons for requesting removal were the end of the implant validity, two wanted to become pregnant, two had weight gain, one had weight loss, one referred irregular bleeding, one had two implants and one did a hysterectomy. In 81.8% (9) of the women, the implants were identified and localized by ultrasound, and successfully removed. In two patients the implant was not found and therefore not removed. Conclusions: In our study, high resolution ultrasound proved to be a sensitive method in implants localization, being the primary choice for determining the location of nonpalpable implants.

Analysis of the intranuclear life of nonsense transcripts

Dissertação para obtenção do Grau de Doutor em Biologia, Especialidade de Biologia Molecular

Prostate Cancer: The Role of Multiparametric Magnetic Resonance Imaging

Multiparametric Magnetic Resonance Imaging has been increasingly used for detection, localization and staging of prostate cancer over the last years. It combines high-resolution T2 Weighted-Imaging and at least two functional techniques, which include Dynamic Contrast–Enhanced Magnetic Resonance Imaging, Diffusion-Weighted Imaging, and Magnetic Resonance Imaging Spectroscopy. Although the combined use of a pelvic phased-array and an Endorectal Coil is considered the state-of-the-art for Magnetic Resonance Imaging evaluation of prostate cancer, Endorectal Coil is only absolute mandatory for Magnetic Resonance Imaging Spectroscopy at 1.5 T. Sensitivity and specificity levels in cancer detection and localization have been improving with functional technique implementation, compared to T2 Weighted-Imaging alone. It has been particularly useful to evaluate patients with abnormal PSA and negative biopsy. Moreover, the information added by the functional techniques may correlate to cancer aggressiveness and therefore be useful to select patients for focal radiotherapy, prostate sparing surgery, focal ablative therapy and active surveillance. However, more studies are needed to compare the functional techniques and understand the advantages and disadvantages of each one. This article reviews the basic principles of prostatic mp-Magnetic Resonance Imaging, emphasizing its role on detection, staging and active surveillance of prostate cancer.

Continente Choose&Drive

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics

Nanobiophotonics for biomolecular diagnostics

Dissertação para obtenção do Grau de Doutor em Biotecnologia

Image processing for displacement measurements

Since the invention of photography humans have been using images to capture, store and analyse the act that they are interested in. With the developments in this field, assisted by better computers, it is possible to use image processing technology as an accurate method of analysis and measurement. Image processing's principal qualities are flexibility, adaptability and the ability to easily and quickly process a large amount of information. Successful examples of applications can be seen in several areas of human life, such as biomedical, industry, surveillance, military and mapping. This is so true that there are several Nobel prizes related to imaging. The accurate measurement of deformations, displacements, strain fields and surface defects are challenging in many material tests in Civil Engineering because traditionally these measurements require complex and expensive equipment, plus time consuming calibration. Image processing can be an inexpensive and effective tool for load displacement measurements. Using an adequate image acquisition system and taking advantage of the computation power of modern computers it is possible to accurately measure very small displacements with high precision. On the market there are already several commercial software packages. However they are commercialized at high cost. In this work block-matching algorithms will be used in order to compare the results from image processing with the data obtained with physical transducers during laboratory load tests. In order to test the proposed solutions several load tests were carried out in partnership with researchers from the Civil Engineering Department at Universidade Nova de Lisboa (UNL).

Deltamethrin pyrethroid susceptibility characterization of Triatoma sordida Stål, 1859 (Hemiptera: Reduviidae) populations in the Northern Region of Minas Gerais, Brazil

Introduction Triatoma sordida is the most captured Triatomine species in the Brazilian artificial environment. In 2008, the discovery of three Triatomine populations with altered susceptibilities to deltamethrin highlighted the importance of investigating the genetic potential for resistance in triatomines. The purpose of this study was to characterize the susceptibility to deltamethrin of peridomestic T. sordida populations in Minas Gerais, Brazil. Methods A susceptibility reference lineage derived from Uberaba, Minas Gerais, Brazil was used. Serial dilutions of deltamethrin were prepared and applied to the dorsal abdomen of first instar nymphs. The control group received only pure acetone. Mortality was evaluated after 72h. Qualitative tests assessed mortality in response to a diagnostic dose of 1xLD99 of the susceptibility reference lineage. Results Susceptibility profile characterization of T. sordida populations revealed resistance ratios (RR50s) ranging from 0.42 to 3.94. The percentage mortality in response to the diagnostic dose varied from 70% to 100%. A comparison of the results obtained in the quantitative and qualitative assays demonstrated a lack of correspondence for some populations. Conclusions We demonstrated that only T. sordida populations that present a RR50>1.0 have altered susceptibility, and the execution of simultaneous field and laboratory tests is required to understand the actual effect of vector control. A possible cause of the observed resistance ratios might be the continuous use of pyrethroids in Brazil since the 1980s.

Para uma semiótica da luz. Da visão mítica aos regimes escópicos da contemporaneidade

Tese de Doutoramento em Ciências da Comunicação