LADAR based mapping and obstacle detection system for service robots

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

RFID-based wireless passive sensors utilizing cork materials

This paper presents the design of low-cost, conformal UHF antennas and RFID tags on two types of cork substrates: 1) natural cork and 2) agglomerate cork. Such RFID tags find an application in wine bottle and barrel identification, and in addition, they are suitable for numerous antenna-based sensing applications. This paper includes the high-frequency characterization of the selected cork substrates considering the anisotropic behavior of such materials. In addition, the variation of their permittivity values as a function of the humidity is also verified. As a proof-of-concept demonstration, three conformal RFID tags have been implemented on cork, and their performance has been evaluated using both a commercial Alien ALR8800 reader and an in-house measurement setup. The reading of all tags has been checked, and a satisfactory performance has been verified, with reading ranges spanning from 0.3 to 6 m. In addition, this paper discusses how inkjet printing can be applied to cork surfaces, and an RFID tag printed on cork is used as a humidity sensor. Its performance is tested under different humidity conditions, and a good range in excess of 3 m has been achieved, allied to a good sensitivity obtained with a shift of >5 dB in threshold power of the tag for different humid conditions.

Silver coordination polymers with tri- and hexacyanoethyl-functionalized macrocyclic ligands

Tri-and hexa-cyanoethyl functionalized 17-(L-1) and 42-membered (L-2) macrocyclic compounds were obtained by [1 + 1] (for L-1) or [2 + 2] (for L-2) cyclocondensation of the corresponding dialdehyde and diethylenetriamine, followed by hydrogenation by KBH4 and subsequent cyano-functionalization with acrylonitrile. They react with silver nitrate, leading to the formation of [AgL1](NO3) (1) and of the metalorganic coordination polymers [Ag-2(NO3)(2)L-1](n) (2) and {[Ag2L2](NO3)(2)}(n) (3). The complexes were characterized by elemental analysis, H-1 NMR, C-13 NMR, IR spectroscopies, and ESI-MS; moreover, L-2, 1, 2 and 3 were also characterized by single crystal X-ray diffraction. The metal cation in 1 is pentacoordinated with a N3O2 coordination environment; in 2, the metal cations display N4O2 octahedral and N2O3 square-pyramid coordination and in 3 they are in square-planar N-4 sites. In 1, the ligand acts as a pentadentate chelator, and in the other two cases, the ligands behave as octadentate chelators in a 1 kappa N-3:kappa O-2,2 kappa N,3 kappa N,4 kappa N (in 2) or 1 kappa N-3,2 kappa N-3,3 kappa N,4 kappa N fashion (in 3). The cyanoethyl strands of the ligands are directly involved in the formation of the 2D frameworks of 2 and 3, which in the former polymer can be viewed as a net composed of hexametallic 36-membered macrocyclic rings and in the latter generates extra hexametallic 58-membered cyclic sets that form zig-zag layers. The thermal analytical and electrochemical properties of these silver complexes were also studied.

Algoritmos de estimação da direção de chegada de sinal

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia de Eletrónica e Telecomunicações

Velocity estimation of moving ships using C-band SLC SAR data

A new algorithm for the velocity vector estimation of moving ships using Single Look Complex (SLC) SAR data in strip map acquisition mode is proposed. The algorithm exploits both amplitude and phase information of the Doppler decompressed data spectrum, with the aim to estimate both the azimuth antenna pattern and the backscattering coefficient as function of the look angle. The antenna pattern estimation provides information about the target velocity; the backscattering coefficient can be used for vessel classification. The range velocity is retrieved in the slow time frequency domain by estimating the antenna pattern effects induced by the target motion, while the azimuth velocity is calculated by the estimated range velocity and the ship orientation. Finally, the algorithm is tested on simulated SAR SLC data.

Energy evaporation: the new concept of indoor systems for WPT and EH embedded into the floor

This work introduces a novel idea for wireless energy transfer, proposing for the first time the unit-cell of an indoor localization and RF harvesting system embedded into the floor. The unit-cell is composed by a 5.8 GHz patch antenna surrounded by a 13.56 MHz coil. The coil locates a device and activate the patch which, connected to a power grid, radiates to wirelessly charge the localized device. The HF and RF circuits co-existence and functionality are demonstrated in this paper, the novelty of which is also in the adoption of low cost and most of all ecofriendly materials, such as wood and cork, as substrates for electronics.

Humidity passive sensors based on UHF RFID using cork dielectric slabs

In this paper we show the design of passive UHF RFID tag antenna on cork substrate. Due to the cork sensitivity to humidity changes, we can use the developed sensor to sense changes in the relative humidity of the environment, without the need for batteries. The antenna is built using inkjet printing technology, which allows a good accuracy of the design manufacturing. The sensor proved usable for humidity changes detection with a variation of threshold power from 11 to 15 dB between 60 and near 100% humidity levels. Presenting, therefore, reading ranges between 3 to 5 meters. © 2015 EurAAP.

Calibração automática para sistema de localização Multi-câmara

Mestrado em Engenharia Electrotécnica e de Computadores - Sistemas Autónomos

Magma flow pattern in dykes of the Azores revealed by ansiotropy of magnetic susceptibility

The localization of magma melting areas at the lithosphere bottom in extensional volcanic domains is poorly understood. Large polygenetic volcanoes of long duration and their associated magma chambers suggest that melting at depth may be focused at specific points within the mantle. To validate the hypothesis that the magma feeding a mafic crust, comes from permanent localized crustal reservoirs, it is necessary to map the fossilized magma flow within the crustal planar intrusions. Using the AMS, we obtain magmatic flow vectors from 34 alkaline basaltic dykes from São Jorge, São Miguel and Santa Maria islands in the Azores Archipelago, a hot-spot related triple junction. The dykes contain titanomagnetite showing a wide spectrum of solid solution ranging from Ti-rich to Ti-poor compositions with vestiges of maghemitization. Most of the dykes exhibit a normal magnetic fabric. The orientation of the magnetic lineation k1 axis is more variable than that of the k3 axis, which is generally well grouped. The dykes of São Jorge and São Miguel show a predominance of subhorizontal magmatic flows. In Santa Maria the deduced flow pattern is less systematic changing from subhorizontal in the southern part of the island to oblique in north. These results suggest that the ascent of magma beneath the islands of Azores is predominantly over localized melting sources and then collected within shallow magma chambers. According to this concept, dykes in the upper levels of the crust propagate laterally away from these magma chambers thus feeding the lava flows observed at the surface.

NMR studies of tetrahaem cytochomes from D. desulfuricans and S. frigidimarina

Dissertation Presented to obtain the Ph.D. in Biochemistry

Performance Model for MRC Receivers with Adaptive Modulation and Coding in Rayleigh Fading Correlated Channels with Imperfect CSIT

RTUWO Advances in Wireless and Optical Communications 2015 (RTUWO 2015). 5-6 Nov Riga, Latvia.

A Real-Time Optimization for 2R Manipulators

This work proposes a real-time algorithm to generate a trajectory for a 2 link planar robotic manipulator. The objective is to minimize the space/time ripple and the energy requirements or the time duration in the robot trajectories. The proposed method uses an off line genetic algorithm to calculate every possible trajectory between all cells of the workspace grid. The resultant trajectories are saved in several trees. Then any trajectory requested is constructed in real-time, from these trees. The article presents the results for several experiments.

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Aquisição e Processamento de Imagens de Microscopia em Balística Forense

As novas tecnologias aplicadas ao processamento de imagem e reconhecimento de padrões têm sido alvo de um grande progresso nas últimas décadas. A sua aplicação é transversal a diversas áreas da ciência, nomeadamente a área da balística forense. O estudo de evidências (invólucros e projeteis) encontradas numa cena de crime, recorrendo a técnicas de processamento e análise de imagem, é pertinente pelo facto de, aquando do disparo, as armas de fogo imprimirem marcas únicas nos invólucros e projéteis deflagrados, permitindo relacionar evidências deflagradas pela mesma arma. A comparação manual de evidências encontradas numa cena de crime com evidências presentes numa base de dados, em termos de parâmetros visuais, constitui uma abordagem demorada. No âmbito deste trabalho pretendeu-se desenvolver técnicas automáticas de processamento e análise de imagens de evidências, obtidas através do microscópio ótico de comparação, tendo por base algoritmos computacionais. Estes foram desenvolvidos com recurso a pacotes de bibliotecas e a ferramentas open-source. Para a aquisição das imagens de evidências balísticas foram definidas quatro modalidades de aquisição: modalidade Planar, Multifocus, Microscan e Multiscan. As imagens obtidas foram aplicados algoritmos de processamento especialmente desenvolvidos para o efeito. A aplicação dos algoritmos de processamento permite a segmentação de imagem, a extração de características e o alinhamento de imagem. Este último tem como finalidade correlacionar as evidências e obter um valor quantitativo (métrica), indicando o quão similar essas evidências são. Com base no trabalho desenvolvido e nos resultados obtidos, foram definidos protocolos de aquisição de imagens de microscopia, que possibilitam a aquisição de imagens das regiões passiveis de serem estudadas, assim como algoritmos que permitem automatizar o posterior processo de alinhamento de imagens de evidências, constituindo uma vantagem em relação ao processo de comparação manual.

Prototipagem de um sistema de gestão de armazém com recurso à identificação por radiofrequência

A evolução tecnológica atingiu um ritmo que muitas empresas têm dificuldade de acompanhar, existem diversas opções no mercado, para um mesmo objectivo, e tornasse determinante o processo de tomada de decisão sobre qual tecnologia adoptar para determinado objectivo. O alvo de estudo desta dissertação de mestrado, é uma das tecnologias, que últimamente tem ganho especial relevo, quando aplicada ao ambiente industrial, o RFID (Radio Frequency Identification Devices). Na presente dissertação, foi efectuado um levantamento do estado da arte, na área da identificação automática, com especial foco no RFID. Esta revisão bibliográfica teve como principal objectivo perceber quais as tecnologias concorrentes do RFID, e explorar quais as suas principais características tecnológicas e funcionais, bem como as vantagens no uso desta tecnologia de forma a sustentar a implementação de um sistema protótipo de gestão de armazém. O contributo final da dissertação, consiste numa aplicação que tem como principal objectvo simular os fluxos de infomação resultantes dos fluxos fisícos de materiais em ambiente de armazém. Foi também tido em conta no desenvolvimento da aplicação, a demonstração de algumas das mais valias que esta tecnologia pode trazer para a gestão de armazéns. Para implementação da aplicação destaca-se a utilização da arquitectura MVC (Model-view-controlador), em ambiente web, para permitir uma descentalização do software no ambiente indoor do armazém.