CCAAT/enhancer binding protein α predicts poorer prognosis and prevents energy starvation-induced cell death in hepatocellular carcinoma

CCAAT enhancer binding protein α (C/EBPα) plays an essential role in cellular differentiation, growth, and energy metabolism. Here, we investigate the correlation between C/EBPα and hepatocellular carcinoma (HCC) patient outcomes and how C/EBPα protects cells against energy starvation. Expression of C/EBPα protein was increased in the majority of HCCs examined (191 pairs) compared with adjacent nontumor liver tissues in HCC tissue microarrays. Its upregulation was correlated significantly with poorer overall patient survival in both Kaplan-Meier survival (P = 0.017) and multivariate Cox regression (P = 0.028) analyses. Stable C/EBPα-silenced cells failed to establish xenograft tumors in nude mice due to extensive necrosis, consistent with increased necrosis in human C/EBPα-deficient HCC nodules. Expression of C/EBPα protected HCC cells in vitro from glucose and glutamine starvation-induced cell death through autophagy-involved lipid catabolism. Firstly, C/EBPα promoted lipid catabolism during starvation, while inhibition of fatty acid beta-oxidation significantly sensitized cell death. Secondly, autophagy was activated in C/EBPα-expressing cells, and the inhibition of autophagy by ATG7 knockdown or chloroquine treatment attenuated lipid catabolism and subsequently sensitized cell death. Finally, we identified TMEM166 as a key player in C/EBPα-mediated autophagy induction and protection against starvation.

CONCLUSION: The C/EBPα gene is important in that it links HCC carcinogenesis to autophagy-mediated lipid metabolism and resistance to energy starvation; its expression in HCC predicts poorer patient prognosis.

'Regina v John Terry': The Discursive Construction of an Alleged Racist Event

This article explores the conformation in discourse of a verbal exchange and its subsequent mediatised and legal ramifications. The event concerns an allegedly racist insult directed by high profile English professional footballer John Terry towards another player, Anton Ferdinand, during a televised match in October 2011. The substance of Terry’s utterance, which included the noun phrase ‘fucking black cunt’, was found by a Chief Magistrate not to be a racist insult, although the fact that these actual words were framed within the utterance was not in dispute. The upshot of this ruling was that Terry was acquitted of a racially aggravated public order offence. A subsequent investigation by the regulatory commission of the English Football Association (FA) ruled, almost a year after the event, that Terry was guilty of racially abusing Ferdinand. Terry was banned for four matches and fined £220,000.

It is our contention that this event, played out in legal rulings, social media and print and broadcast media, constitutes a complex web of linguistic structures and strategies in discourse, and as such lends itself well to analysis with a broad range of tools from pragmatics, discourse analysis and cognitive linguistics. Amongst other things, such an analysis can help explain the seemingly anomalous - even contradictory - position adopted in the legal ruling with regard to the speech act status of ‘fucking black cunt’; namely, that the racist content of the utterance was not contested but that the speaker was found not to have issued a racist insult. Over its course, the article addresses this broader issue by making reference to the systemic-functional interpersonal function of language, particularly to the concepts of modality, polarity and modalisation. It also draws on models of verbal irony from linguistic pragmatics, notably from the theory of irony as echoic mention (c.f. Sperber and Wilson, 1981; Wilson and Sperber, 1992). Furthermore, the article makes use of the cognitive-linguistic framework, Text World Theory (c.f. Gavins, 2007; Werth, 1999) to examine the discourse positions occupied by key actors and adapts, from cognitive poetics, the theory of mind-modelling (c.f. Stockwell, 2009) to explore the conceptual means through which these actors discursively negotiate the event.

It is argued that the pragmatic and cognitive strategies that frame the entire incident go a long way towards mitigating the impact of so ostensibly stark an act of racial abuse. Moreover, it is suggested here that the reconciliation of Terry’s action was a result of the confluence of strategies of discourse with relations of power as embodied by the media, the law and perceptions of nationhood embraced by contemporary football culture. It is further proposed that the outcome of this episode, where the FA was put in the spotlight, and where both the conflict and its key antagonists were ‘intranational’, was strongly impelled by the institution of English football and its governing body both to reproduce and maintain social, cultural and ethnic cohesion and to avoid any sense that the event featured a discernable ‘out-group’.

Match-fixing and Money-laundering

his essay is premised on the following: a conspiracy to fix or otherwise manipulate the outcome of a sporting event for profitable purpose. That conspiracy is in turn predicated on the conspirators’ capacity to: (a) ensure that the fix takes place as pre-determined; (b) manipulate the betting markets that surround the sporting event in question; and (c) collect their winnings undetected by either the betting industry’s security systems or the attention of any national regulatory body or law enforcement agency.

Unlike many essays on this topic, this contribution does not focus on the “fix”– part (a) of the above equation. It does not seek to explain how or why a participant or sports official might facilitate a betting scam through either on-field behaviour that manipulates the outcome of a game or by presenting others with privileged inside information in advance of a game. Neither does this contribution seek to give any real insight into the second part of the above equation: how such conspirators manipulate a sports betting market by playing or laying the handicap or in-play or other offered betting odds. In fact, this contribution is not really about the mechanics of sports betting or match fixing at all; rather it is about the sometimes under explained reason why match fixing has reportedly become increasingly attractive as of late to international crime syndicates. That reason relates to the fact that given the traditional liquidity of gambling markets, sports betting can, and has long been, an attractively accessible conduit for criminal syndicates to launder the proceeds of crime. Accordingly, the term “winnings”, noted in part (c) of the above equation, takes on an altogether more nefarious meaning.

This essay’s attempt to review the possible links between match fixing in sport, gambling-related “winnings” and money laundering is presented in four parts.

First, some context will be given to what is meant by money laundering, how it is currently policed internationally and, most importantly, how the growth of online gambling presents a unique set of vulnerabilities and opportunities to launder the proceeds of crime. The globalisation of organised crime, sports betting and transnational financial services now means that money laundering opportunities have moved well beyond a flutter on the horses at your local racetrack or at the roulette table of your nearest casino. The growth of online gambling platforms means that at a click it is possible for the proceeds of crime in one jurisdiction to be placed on a betting market in another jurisdiction with the winnings drawn down and laundered in a third jurisdiction and thus the internationalisation of gambling-related money laundering threatens the integrity of sport globally.

Second, and referring back to the infamous hearings of the US Senate Special Committee to Investigate Organised Crime in Interstate Commerce of the early 1950s, (“the Kefauver Committee”), this article will begin by illustrating the long standing interest of organised crime gangs – in this instance, various Mafia families in the United States – in money laundering via sports gambling-related means.

Third, and using the seminal 2009 report “Money Laundering through the Football Sector” by the Financial Action Task Force (FATF, an inter-governmental body established in 1989 to promote effective implementation of legal, regulatory and operational measures for combating money laundering, terrorist financing and other related threats to the integrity of the international financial system), this essay seeks to assess the vulnerabilities of international sport to match fixing, as motivated in part by the associated secondary criminality of tax evasion and transnational economic crime.

The fourth and concluding parts of the essay spin from problems to possible solutions. The underlying premise here is that heretofore there has been an insularity to the way that sports organisations have both conceptualised and sought to address the match fixing threat e.g., if we (in sport) initiate player education programmes; establish integrity units; enforce codes of conduct and sanctions strictly; then our integrity or brand should be protected. This essay argues that, although these initiatives are important, the source and process of match fixing is beyond sport’s current capacity, as are the possible solutions.

Virtual Thrower Versus Real Goalkeeper: The Influence of Different Visual Conditions on Performance

In order to use virtual reality as a sport analysis tool, we need to be sure that an immersed athlete reacts realistically in a virtual environment. This has been validated for a real handball goalkeeper facing a virtual thrower. However, we currently ignore which visual variables induce a realistic motor behavior of the immersed handball goalkeeper. In this study, we used virtual reality to dissociate the visual information related to the movements of the player from the visual information related to the trajectory of the ball. Thus, the aim is to evaluate the relative influence of these different visual information sources on the goalkeeper's motor behavior. We tested 10 handball goalkeepers who had to predict the final position of the virtual ball in the goal when facing the following: only the throwing action of the attacking player (TA condition), only the resulting ball trajectory (BA condition), and both the throwing action of the attacking player and the resulting ball trajectory (TB condition). Here we show that performance was better in the BA and TB conditions, but contrary to expectations, performance was substantially worse in the TA condition. A significant effect of ball landing zone does, however, suggest that the relative importance between visual information from the player and the ball depends on the targeted zone in the goal. In some cases, body-based cues embedded in the throwing actions may have a minor influence on the ball trajectory and vice versa. Kinematics analysis was then combined with these results to determine why such differences occur depending on the ball landing zone and consequently how it can clarify the role of different sources of visual information on the motor behavior of an athlete immersed in a virtual environment.

Designing games for older adults: an affordance based approach

The main purpose of this study is to determine the game principles that need to be adopted in order to create an enjoyable and engaging game experience for older adults, whilst ensuring that the purpose of the game, encouraging upper limb mobility, is respected. The study reported in this paper involved a group of older adults who played and gave feedback on an early game prototype which feed into the design modification process. Each player's action capabilities were measured and taken into account in the design process. This helped ensure that opportunities for action that the game afforded were adapted to players' need.

New methods for studying perception and action coupling

To study perception and action, Gibson advocated that “the laboratory must be like life” (Gibson, 1979, p. 3). In other words, the interactive relationship between an organism and his/her envi- ronment must be maintained so that the behavior observed in an experimental context mirrors, as closely as possible, the behavior observed in a realistic sport setting. The concept of repre- sentative design introduced by Brunswik in 1956 emphasized the need to have experimental tasks that allow the player to pick up perceptual information that specifies a property of the environment-actor system (Araújo et al., 2005; see also Chapter 24). In this chapter we will provide a brief overview of the methodologies used to study perception and action in sport and present, in some detail, the opportunities new methodologies such as immersive, interactive vir- tual reality can offer researchers in sport expertise.

Seed dormancy in Arabidopsis thaliana is controlled by alternative polyadenylation of DOG1

DOG1 is a key regulator of seed dormancy in Arabidopsis and other plants. Interestingly, the C-terminus of DOG1 is either absent or not conserved in many plant species. Here, we show that in Arabidopsis DOG1 transcript is subject to alternative polyadenylation. In line with this, mutants in RNA 3' processing complex display weakened seed dormancy in parallel with defects in DOG1 proximal polyadenylation site selection, suggesting that the short DOG1 transcript, is functional. This is corroborated by the finding that the proximally polyadenylated short DOG1 mRNA is translated in vivo and complements the dog1 mutation. In summary, our findings indicate that the short DOG1 protein isoform produced from the proximally polyadenylated DOG1 mRNA is a key player in the establishment of seed dormancy in Arabidopsis and characterize a set of mutants in RNA 3' processing complex required for production of proximally polyadenylated functional DOG1 transcript.

Retinoid X receptor activation reverses age-related deficiencies in myelin debris phagocytosis and remyelination

The efficiency of central nervous system remyelination declines with age. This is in part due to an age-associated decline in the phagocytic removal of myelin debris, which contains inhibitors of oligodendrocyte progenitor cell differentiation. In this study, we show that expression of genes involved in the retinoid X receptor pathway are decreased with ageing in both myelin-phagocytosing human monocytes and mouse macrophages using a combination of in vivo and in vitro approaches. Disruption of retinoid X receptor function in young macrophages, using the antagonist HX531, mimics ageing by reducing myelin debris uptake. Macrophage-specific RXRα (Rxra) knockout mice revealed that loss of function in young mice caused delayed myelin debris uptake and slowed remyelination after experimentally-induced demyelination. Alternatively, retinoid X receptor agonists partially restored myelin debris phagocytosis in aged macrophages. The agonist bexarotene, when used in concentrations achievable in human subjects, caused a reversion of the gene expression profile in multiple sclerosis patient monocytes to a more youthful profile and enhanced myelin debris phagocytosis by patient cells. These results reveal the retinoid X receptor pathway as a positive regulator of myelin debris clearance and a key player in the age-related decline in remyelination that may be targeted by available or newly-developed therapeutics.

Parameter Optimisation for Woodwind Single-Reed Models

Time-domain modelling of single-reed woodwind instruments usually involves a lumped model of the excitation mechanism. The parameters of this lumped model have to be estimated for use in numerical simulations. Several attempts have been made to estimate these parameters, including observations of the mechanics of isolated reeds, measurements under artificial or real playing conditions and estimations based on numerical simulations. In this study an optimisation routine is presented, that can estimate reed-model parameters, given the pressure and flow signals in the mouthpiece. The method is validated, tested on a series of numerically synthesised data. In order to incorporate the actions of the player in the parameter estimation process, the optimisation routine has to be applied to signals obtained under real playing conditions. The estimated parameters can then be used to resynthesise the pressure and flow signals in the mouthpiece. In the case of measured data, as opposed to numerically synthesised data, special care needs to be taken while modelling the bore of the instrument. In fact, a careful study of various experimental datasets revealed that for resynthesis to work, the bore termination impedance should be known very precisely from theory. An example is given, where the above requirement is satisfied, and the resynthesised signals closely match the original signals generated by the player.

Flexible management of bandwidth and redundancy in fieldbuses

Os sistemas distribuídos embarcados (Distributed Embedded Systems – DES) têm sido usados ao longo dos últimos anos em muitos domínios de aplicação, da robótica, ao controlo de processos industriais passando pela aviónica e pelas aplicações veiculares, esperando-se que esta tendência continue nos próximos anos. A confiança no funcionamento é uma propriedade importante nestes domínios de aplicação, visto que os serviços têm de ser executados em tempo útil e de forma previsível, caso contrário, podem ocorrer danos económicos ou a vida de seres humanos poderá ser posta em causa. Na fase de projecto destes sistemas é impossível prever todos os cenários de falhas devido ao não determinismo do ambiente envolvente, sendo necessária a inclusão de mecanismos de tolerância a falhas. Adicionalmente, algumas destas aplicações requerem muita largura de banda, que também poderá ser usada para a evolução dos sistemas, adicionandolhes novas funcionalidades. A flexibilidade de um sistema é uma propriedade importante, pois permite a sua adaptação às condições e requisitos envolventes, contribuindo também para a simplicidade de manutenção e reparação. Adicionalmente, nos sistemas embarcados, a flexibilidade também é importante por potenciar uma melhor utilização dos, muitas vezes escassos, recursos existentes. Uma forma evidente de aumentar a largura de banda e a tolerância a falhas dos sistemas embarcados distribuídos é a replicação dos barramentos do sistema. Algumas soluções existentes, quer comerciais quer académicas, propõem a replicação dos barramentos para aumento da largura de banda ou para aumento da tolerância a falhas. No entanto e quase invariavelmente, o propósito é apenas um, sendo raras as soluções que disponibilizam uma maior largura de banda e um aumento da tolerância a falhas. Um destes raros exemplos é o FlexRay, com a limitação de apenas ser permitido o uso de dois barramentos. Esta tese apresentada e discute uma proposta para usar a replicação de barramentos de uma forma flexível com o objectivo duplo de aumentar a largura de banda e a tolerância a falhas. A flexibilidade dos protocolos propostos também permite a gestão dinâmica da topologia da rede, sendo o número de barramentos apenas limitado pelo hardware/software. As propostas desta tese foram validadas recorrendo ao barramento de campo CAN – Controller Area Network, escolhido devido à sua grande implantação no mercado. Mais especificamente, as soluções propostas foram implementadas e validadas usando um paradigma que combina flexibilidade com comunicações event-triggered e time-triggered: o FTT – Flexible Time- Triggered. No entanto, uma generalização para CAN nativo é também apresentada e discutida. A inclusão de mecanismos de replicação do barramento impõe a alteração dos antigos protocolos de replicação e substituição do nó mestre, bem como a definição de novos protocolos para esta finalidade. Este trabalho tira partido da arquitectura centralizada e da replicação do nó mestre para suportar de forma eficiente e flexível a replicação de barramentos. Em caso de ocorrência de uma falta num barramento (ou barramentos) que poderia provocar uma falha no sistema, os protocolos e componentes propostos nesta tese fazem com que o sistema reaja, mudando para um modo de funcionamento degradado. As mensagens que estavam a ser transmitidas nos barramentos onde ocorreu a falta são reencaminhadas para os outros barramentos. A replicação do nó mestre baseia-se numa estratégia líder-seguidores (leaderfollowers), onde o líder (leader) controla todo o sistema enquanto os seguidores (followers) servem como nós de reserva. Se um erro ocorrer no nó líder, um dos nós seguidores passará a controlar o sistema de uma forma transparente e mantendo as mesmas funcionalidades. As propostas desta tese foram também generalizadas para CAN nativo, tendo sido para tal propostos dois componentes adicionais. É, desta forma possível ter as mesmas capacidades de tolerância a falhas ao nível dos barramentos juntamente com a gestão dinâmica da topologia de rede. Todas as propostas desta tese foram implementadas e avaliadas. Uma implementação inicial, apenas com um barramento foi avaliada recorrendo a uma aplicação real, uma equipa de futebol robótico onde o protocolo FTT-CAN foi usado no controlo de movimento e da odometria. A avaliação do sistema com múltiplos barramentos foi feita numa plataforma de teste em laboratório. Para tal foi desenvolvido um sistema de injecção de faltas que permite impor faltas nos barramentos e nos nós mestre, e um sistema de medida de atrasos destinado a medir o tempo de resposta após a ocorrência de uma falta.

Modelo de valorização do direito desportivo resultante da formação

Nas empresas desportivas o principal ativo é o direito desportivo sobre o jogador profissional. O nosso estudo debruça-se no resultante da formação. Começámos por verificar que o direito desportivo preenche os requisitos para ser reconhecido como ativo intangível. Posteriormente analisámos os relatórios e contas de clubes europeus e de clubes brasileiros de modo a identificarmos semelhanças e diferenças ao nível contabilístico dos ativos intangíveis resultantes da formação, um dos nossos objetivos. Verificámos que a principal diferença reside no não reconhecimento do direito desportivo resultante da formação pelos primeiros, contrariamente à prática verificada nos clubes brasileiros. No cenário atual, pelo menos, os clubes europeus não proporcionam informação plena e a comparabilidade entre clubes encontra-se comprometida. Por conseguinte, outro dos nossos objetivos é propor um modelo que permita valorizar com fiabilidade o direito desportivo resultante da formação. A conceção do modelo teve o auxílio dos clubes portugueses e brasileiros, através da resposta a um inquérito dirigido a clubes europeus e brasileiros. Esta metodologia possibilitou, igualmente, confirmar conclusões resultantes da análise da informação contabilística elaborada pelos clubes e identificar outros pontos de contacto e de afastamento entre os clubes relativamente a jogadores formados internamente e ao reconhecimento inicial do direito desportivo. Concluímos que em Portugal existe informação contabilística incompleta sobre os jogadores formados internamente, dado os clubes portugueses considerarem não existir um critério de valorização fiável, e sobre os jogadores que chegam em fim de contrato. Por outro lado, todos os clubes brasileiros respondentes valorizam e reconhecem o direito desportivo resultante da formação como ativo intangível com base nos encargos com a formação do jogador. Por fim, apresentamos a nossa proposta de modelo assente no custo de formação, com a aplicação do método dos centros de gastos. Os componentes incluídos tiveram em conta a opinião dos clubes, tendo posteriormente sido efetuada a análise de clusters e a seleção final de acordo com a IAS 38 da UE. A nossa proposta foi validada junto de agentes com conhecimento e experiência sobre o fenómeno em estudo através de entrevista.

Células solares de Cu2ZnSnS4 por sulfurização de camadas metálicas

As energias renováveis têm estado em destaque desde o fi nal do século XX. São vários os motivos para que isto esteja a acontecer. As previsões apontam para problemas de depleção das reservas de combustíveis fósseis, nomeadamente o petróleo e gás natural, durante o presente século. O carvão, ainda abundante, apresenta problemas ambientais signi cativos. Os perigos associados à energia nuclear estão fazer com que os governos de vários países repensem as suas políticas energéticas . Todas estas tecnologias têm fortes impactos ambientais. Considerando o conjunto das energias renováveis, a energia solar fotovoltaica tem ainda um peso menor no panorama da produção energética actual. A explicação para este facto deve-se ao custo, ainda elevado, dos sistemas fotovoltaicos. Várias iniciativas governamentais estão em curso, a SET for 2020 (UE) e a Sunshot (EUA), para o desenvolvimento de tecnologias que façam frente a este problema. A fatia de mercado que a tecnologia de filmes fi nos representa ainda é pequena, mas tem vindo a aumentar nos últimos anos. As vantagens relativamente à tecnologia tradicional baseada em Si são várias, como por ex. os custos energéticos e materiais para a fabricação das células. Esta dissertação apresenta um processo de fabricação de células solares em fi lmes finos usando como camada absorvente um novo composto semicondutor, o Cu2ZnSnS4, que apresenta como grande argumento, relativamente aos seus predecessores, o facto de ser constituído por elementos abundantes e de toxicidade reduzidas. Foi realizado um estudo sobre as condições termodinâmicas de crescimento deste composto, bem como a sua caracterização e das células solares finais. Este trabalho inclui um estudo dos compostos ternários, CuxSnSx+1 e compostos binários SnxSy, justi cado pelo facto de surgirem como fases secundárias no crescimento do Cu2ZnSnS4. Em seguida são descritos resumidamente os vários capítulos que constituem esta tese. No capítulo 1 é abordada de forma resumida a motivação e o enquadramento da tecnologia no panorama energético global. A estrutura da célula solar adoptada neste trabalho é também descrita. O capítulo 2 é reservado para uma descrição mais detalhada do composto Cu2ZnSnS4, nomeadamente as propriedades estruturais e opto-electrónicas. Estas últimas são usadas para explicar as composições não estequiométricas aplicadas no crescimento deste composto. São também descritas as várias técnicas de crescimento apresentadas na literatura. A última secção deste capítulo apresenta os resultados da caracterização publicados pelos vários grupos que estudam este composto. O método que foi implementado para crescer a camada absorvente, bem como os efeitos que a variação dos vários parâmetros têm neste processo são abordados no capítulo 3. Neste é também incluída uma descrição detalhada dos equipamentos usados na caraterização da camada absorvente e das células solares finais. As fases calcogêneas binária e ternárias são estudadas no capítulo 4. É apresentada uma descrição do método de crescimento, quer para as fases do tipo CuxSnSx+1, quer para as fases do tipo SnxSy e a sua caracterização básica, nomeadamente a sua composição e as propriedades estruturais, ópticas e eléctricas. No caso dos compostos binários são também apresentados os resultados de uma célula solar. No capítulo 5 são reportados os resultados da caracterização dos fi lmes de Cu2ZnSnS4. Técnicas como a dispersão Raman, a fotoluminescência, a efi ciência quântica externa e a espectroscopia de admitância são usadas para analisar as propriedades quer da camada absorvente quer da célula solar. No capítulo 6 é apresentada uma conclusão geral do trabalho desenvolvido e são referidas sugestões para melhorar e complementar os estudos feitos.

As escolas de saxofone clássico como narrativas da identidade

A presente tese tem como objectivo propor uma nova abordagem à problemática das escolas de interpretação musical. Centrando essa abordagem no universo do saxofone clássico e tendo em conta as especificidades históricas deste instrumento, é levantada uma série de questões que parecem ausentes da investigação previamente existente nesta área. Trata-se de saber em que medida as escolas de interpretação correspondem a uma realidade histórica, discursiva e performativa efectivamente observável no universo do saxofone clássico. Partindo do enquadramento histórico do percurso do saxofone, são realizadas análises ao discurso de saxofonistas significativos naquele universo e a gravações seleccionadas de obras e de saxofonistas representativos. O ponto de partida teórico é o de que as escolas de interpretação fazem parte dos processos de construção das narrativas identitárias dos intérpretes e definem-se através de narrativas identitárias assentes nas realidades histórica, discursiva e performativa.

Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.