Desenvolvimento e Controlo de um Veículo Autónomo Aéreo Quadrotor

A crescente necessidade de meios de inspecção e recolha de informação de infraestruturas e do meio ambiente natural, origina o recurso a meios tecnológicos cada vez mais evoluídos. Neste contexto, os robôs móveis autónomos aéreos surgem como uma ferramenta importante. Em particular, os veículos aéreos de asa móvel, pela sua manobrabilidade e controlo podem-se utilizar eficazmente em meios complexos como cenários interiores onde o ambiente é parcialmente controlado. A sua utilização em coordenação com outros veículos robóticos móveis e em particular com a crescente autonomia de decisão, permitem uma eficiência elevada, por exemplo, em tarefas de recolha automática de informação, vigilância, apoio a comunicações, etc. A inexistência de um veículo autónomo de asa móvel no cenário multi-robótico desenvolvido pelo Laboratório de Sistemas Autónomos do Instituto Superior de Engenharia do Porto, aliada às suas aplicações referidas, criou a necessidade do desenvolvimento de um veículo desta gama. Identificou-se, pois, o desenvolvimento de um veículo autónomo aéreo do tipo quadrotor com capacidade de vôo base estabilizado como o problema a resolver. Foi efectuado um levantamento de requisitos do sistema, a caracterização de um veículo autónomo aéreo Vertical Take-off and Landing - VTOL, e efectuado um trabalho de pesquisa a fim de possibilitar o conhecimento das técnicas e tecnologias envolvidas. Tendo em vista o objectivo de controlo e estabilização do veículo, foi efectuada a modelização do sistema que serviu não só para a melhor compreensão da sua dinâmica mas também para o desenvolvimento de um simulador que possibilitou a validação de estratégias de controlo e avaliação de comportamentos do veículo para diferentes cenários. A inexistência de controladores de motores brushless adequada (frequência de controlo), originou o desenvolvimento de um controlador dedicado para motores brushless, motores esses utilizados para a propulsão do veículo. Este controlador permite uma taxa de controlo a uma frequência de 20KHz, possui múltiplas interfaces de comunicação (CAN, RS232, Ethernet, SPI e JTAG), é de reduzido peso e dimensões e modular, visto ter sido implementado em dois módulos, i.e., permite a sua utilização com diferentes interfaces de potência. Projectou-se um veículo autónomo aéreo em termos físicos com a definição da sua arquitectura de hardware e software bem como o sistema de controlo de vôo. O sistema de estabilização de vôo compreende o processamento de informação fornecida por um sistema de navegação inercial, um sonar e o envio de referências de velocidade para cada um dos nós de controlo ligados a um barramento CAN instalado no veículo. A implementação do veículo foi alcançada nas suas vertentes mecânica, de hardware e software. O UAV foi equipado com um sistema computacional dotando-o de capacidades para o desempenho de tarefas previamente analisadas. No presente trabalho, são também tiradas algumas conclusões sobre o desenvolvimento do sistema e sua implementação bem como perspectivada a sua evolução futura no contexto de missões coordenadas de múltiplos veículos robóticos.

SEASONAL DISTRIBUTION OF MALARIA VECTORS (DIPTERA: CULICIDAE) IN RURAL LOCALITIES OF PORTO VELHO, RONDÔNIA, BRAZILIAN AMAZON

We conducted a survey of the malaria vectors in an area where a power line had been constructed, between the municipalities of Porto Velho and Rio Branco, in the states of Rondônia and Acre, respectively. The present paper relates to the results of the survey of Anopheles fauna conducted in the state of Rondônia. Mosquito field collections were performed in six villages along the federal highway BR 364 in the municipality of Porto Velho, namely Porto Velho, Jaci Paraná, Mutum Paraná, Vila Abunã, Vista Alegre do Abunã, and Extrema. Mosquito captures were performed at three distinct sites in each locality during the months of February, July, and October 2011 using a protected human-landing catch method; outdoor and indoor captures were conducted simultaneously at each site for six hours. In the six sampled areas, we captured 2,185 mosquitoes belonging to seven Anopheles species. Of these specimens, 95.1% consisted of Anopheles darlingi, 1.8% An. triannulatus l.s., 1.7% An. deaneorum, 0.8% An. konderi l.s., 0.4 An. braziliensis, 0.1% An. albitarsis l.s., and 0.1% An. benarrochi. An. darlingi was the only species found in all localities; the remaining species occurred in sites with specific characteristics.

Geospatial assessment of pest-induced forest damage through the use of UAV-bases NIR imaging and Gi-technology

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

Data fusion with computational intelligence techniques: a case study of fuzzy inference for terrain assessment

Dissertação apresentada para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Preliminary evidence of association between species of mosquitoes in Atlantic forest of Santa Catarina State, (Diptera: Culicidae)

A positive coefficient of association (affinity) between Runchomyia reversa and Anopheles cruzii and high (0.38) index were observed, probably due to the similar breeding places (bromeliads) and to landing habits. Furthermore, a high (0.92) index of association between Oc. scapularis and Wyeomyia incaudata, with low coefficient of association was observed.

A list of mosquito species of the Brazilian State of Pernambuco, including the first report of Haemagogus janthinomys (Diptera: Culicidae), yellow fever vector and 14 other species (Diptera: Culicidae)

INTRODUCTION: Besides mosquito species adapted to urban environments (Culex quinquefasciatus, Aedes aegypti and Aedes albopictus), only 15 species of Anopheles had been recorded in the State of Pernambuco. METHODS: Human-landing mosquitoes were collected in Dois Irmãos Park, in Recife. RESULTS: The first report for the state of Haemagogus janthinomys, an important vector of yellow fever virus, and 14 other species, including Trichoprosopon lampropus, a first reported for Brazil. CONCLUSIONS: The mosquito fauna in the area is diversified and has potential medical and veterinary importance.

Injuries and envenoming by aquatic animals in fishermen of Coxim and Corumbá municipalities, state of Mato Grosso do Sul, Brazil: identification of the causative agents, clinical aspects and first aid measures

INTRODUCTION: The fishes of continental Brazil have socioeconomic importance due to their potential for sport fishing and commercial and subsistence uses, as seen in the Upper Paraguay River Basin, particularly in the municipalities of the Pantanal region, where it is the second largest economic activity. Injuries caused in professional fishermen are common and poorly studied, as in other regions of the country. METHODS: Data were obtained from questionnaires and interviews with 100 professional fishermen, 50 in each municipality, between December 2008 and October 2009. RESULTS: All the fishermen reported some kind of injury caused by fish stings (78% of injuries) and fish, alligator and snake bites (22%) on the hands (46% of cases) and feet (35% of cases). Most of the patients had mild symptoms. The most severe cases were associated with secondary bacterial infections and required specific treatment and prolonged recovery associated with social and economic losses. CONCLUSIONS: The results of this study indicate that the stressful work conditions, inattention to basic preventive measures and carelessness were factors that contributed to accidents and that the toxicity and ability to inflict mechanical trauma of some aquatic species, plus the ineffective use of first aid and hospital treatment, contributed to the high morbidity and complications in many cases. Data from this study are relevant to the fishing communities of the Pantanal region, since they reveal high rates of accidents, lack of knowledge concerning first aid, initial treatment, injury prevention and lack of medical follow-up of the population.

Comparison of capture methods for the diagnosis of adult anopheline populations from State of Mato Grosso, Brazil

INTRODUCTION: The present study compares human landing catches of primary malaria vectors with two alternative methods of capture: the Shannon trap and the Mosquito magnet. METHODS: This study used regression models to adjust capture data to a negative binominal distribution. RESULTS: Capture numbers and relative percentages obtained from the three methods vary strongly between species. The highest overall captures were obtained for Anopheles triannulatus with captures for the Shannon trap and the Mosquito magnet measuring more than 330% higher than captures obtained by human landings. For Anopheles darlingi, captures by the Shannon trap and the Mosquito magnet were about 14% and 26% of human landing catches, respectively. Another species with malaria transmission potential that was not sampled by human landing captures weascaptured by the Shannon trap and the Mosquito magnet (Anopheles oswaldoi). Both alternative sampling techniques can predict the human landing of Anopheles triannulatus, but without proportionality. Models for Anopheles darlingi counts, after totaling daily captures, are significant and proportional, but prediction models are more reliable when using the Shannon trap compared with the Mosquito magnet captures. CONCLUSIONS: These alternative capture methods can be partially recommended for the substitution of human landing captures or, at least, as complementary forms of monitoring for malarial mosquitoes.

Âncoras ao largo: um contributo arqueológico para o estudo das actividades marítimas em Lagos na idade Moderna

No decurso de actividades marítimas na baía de Lagos, foram descobertas diversas âncoras ao longo dos anos. Um estudo aprofundado desses artefactos foi organizado para este ano, como parte do levantamento do património cultural subaquático da baía de Lagos, um projecto de investigação arqueológica em curso desde 2006, responsável pela descoberta de vários achados e estações arqueológicas. Sendo as âncoras um dos artefactos dissociáveis das embarcações eo primeiro artefacto a ser enquadrado no equipamento dos navios, estas tornaram-se um dos elementos-chave no estudo da navegação. Em Portugal há muitos exemplares destes objectos datados da Antiguidade, que atestam a presença imemorial de navios e embarcações no nosso litoral. Para aprofundar o nosso conhecimento da cidade de Lagos e o seu papel nacional e internacional, a nível marítimo torna-se necessário localizar, registrar e analisar esta tipologia existente na baía, na tentativa de compreender as diacronias espácias e temporais da actividade maritima. Este estudo visa apurar possíveis locais de ancoragem, pesca, estruturas de apoio à navegação e a localização de locais de pesca específicos datados da Idade Moderna. A descoberta de âncoras de pedra e ferro perto de Porto de Mós, uma das baías do conselho Lagos e onde se encontram a grande maioria dos objectos em estudo, foi um grande passo para a compreensão da história local. Este grande grupo de âncoras atesta uma prática de ancoragem previamente desconhecido nesta área de natureza diacrónica. As âncoras de pedra indicam um uso desta área possivelmente até tempos pré-clássicos, enquanto que, as âncoras de ferro, na sua maioria de Idade Moderna, falam da sua continuidade até ao século XIX.

Marine Protected Areas (MPAs): Methodologies for assessment

Marine Protected Areas are an effective way of protecting biodiversity, with potential socio-economic benefits including the enhancement of local fisheries and maintenance of ecosystem services. However, local fishing communities often fear short-term revenue losses and thus may oppose marine protected areas creation. This work includes a review of the need of having management effectiveness evaluation and its importance in providing useful information for stakeholders. Therefore, evaluation methodologies are presented and assessed in order to suggest possible approaches to the Berlengas MPA. In this case, an indicator-based approach can be relevant as a starting point, providing already some insights about the management effectiveness of Berlengas MPA. It also supports the development of a more ambitious approach such as a bio-economic model.

Ocorrência de Alevinos de Piramutaba (Brachyplatystoma vaillantii) na Baía de Marajó

Experimental fishing performed in the estuary of river Pará suggest that the bay of Marajó is a spawning and feeding ground for the Piramutaba, where differente age classes (20-600mm) are present during March-April.

THE EFECTS OF SETTLEMENT ON THE PREVALENCE OF AscarisINFECTION IN TWO AMERINDIAN POPULATIONS OF THE BRAZILIAN AMAZON

Studies were made of the intestinal parasites of Amerindian populations of the Uaupes River basin of Brazil. Three groups were sampled: 1) Tukano fisher-agriculturalists who live in permanent riverine villages; 2) Maku hunter-horticulturalists who live in close contact with the Tukano fishing villages; and 3) Maku who inhabit the forest interior and have little contact with permanent settlements. Fecal samples were collected from 498 individuals of which 220 were from the first group, 135 from de second and 143 from the third. The samples were analyzed by means of microflotation and centrifugal sedimentation. A total of 18 protozoan and helminth species were recorded based on the presence of cysts or eggs. These included five nematode species that could not be identified. The three common pathogenic nematodes were found to be prevalent: the hookworm, Necator americanus(96%); the whipworm, Trichuris trichiura(77%) and the large roundworm, Ascaris lumbricoides(75%). The prevalence of Ascarisamong the villages was found to vary from 56 to 100%. Individuals living in, or associated with, permanent settlements had higher prevalence and intensity rates than those living in the nomadic hunter-gatherer way. This is shown to be directly related to fecal contamination of the environment in and around permanent settlements. The prevalence of Ascarisin a population can be used as an indicator of such environmental contamination.

Social venture move

This study has the purpose of presenting the path of a social microcredit start-up in Mozambique. Its members had just gotten out of college and decided to put in practice what they had learnt. Even though the whole foundation of the project was developed in Mozambique, the team has extended its experience to other countries: São Tomé and Timor. However, the focus of this study will be solely in the Ilha de Mozambique’s project and the difficulties that it is facing right now, in order to try to find answers that would allow the project entrepreneurs to overcome what is keeping them from having a more successful return rate. The main issue of the project and the worse and unexpected default rate is within the fishing sector. This is peculiar, since the mission is in an island where there are plenty of fish and shellfish. By addressing this problem, and presenting the whole structure of the venture, it is its goal to understand better ways to deal with the difficulties. Its format will be as a case study and it will present as well the macroeconomics of Mozambique to justify the choice of the place, align with the team itself, and why it is possible to have a successful project with as many contacts and sponsors as this one does.

Fuel switching

The present Master dissertation is a project whose main objective is to identify value creation opportunities through fuel switching in the Portuguese industry, services, agriculture and fishing sectors. Fuel switching opportunities are characterized by type of fuel transition, type of technology transition, economy subsectors prone to have fuel switching and value created through fuel shift. Results suggest tomato concentrate, dairy, beer manufacturing and sugar refining subsectors is where prevalence of fuel oil steam boilers is high, for such cases conversion to natural gas steam boilers should result in operations having a ratio of NPV over CAPEX larger than ten and a payback period just under one year. Results further suggest food, beverages, textile, chemicals and wood subsectors currently operate between ten and twenty cogeneration Diesel engines that can be either modified to operate with natural gas or replaced by new natural gas cogeneration systems. Financial modeling indicates that both options have great value creation potential. The current analysis aims to be used by natural gas suppliers and energy project promoters to identify new potential deals as well as by heavy energy consumers to mitigate their energy related costs.

A practical approach to execute and test a lean startup

This paper practically applies the “Lean Startup Approach” by identifying, analyzing and executing a newly developed web-based business idea. Hypotheses were designed and tested with the construction of a minimum viable product – i.e. a landing page. In-depth interviews allowed deciding either to pivot or persevere the initial launch strategy. Overall, the aim was to collect as much valuable response as possible from customers and ultimately decide for a superior strategy while devoting the smallest amount of time and money.