Search protocols for hidden forensic objects beneath floors and within walls

The burial of objects (human remains, explosives, weapons) below or behind concrete, brick, plaster or tiling may be associated with serious crime and are difficult locations to search. These are quite common forensic search scenarios but little has been published on them to-date. Most documented discoveries are accidental or from suspect/witness testimony. The problem in locating such hidden objects means a random or chance-based approach is not advisable. A preliminary strategy is presented here, based on previous studies, augmented by primary research where new technology or applications are required. This blend allows a rudimentary search workflow, from remote desktop study, to non-destructive investigation through to recommendations as to how the above may inform excavation, demonstrated here with a case study from a homicide investigation. Published case studies on the search for human remains demonstrate the problems encountered when trying to find and recover sealed-in and sealed over locations. Established methods include desktop study, photography, geophysics and search dogs:these are integrated with new technology (LiDAR and laser scanning; photographic rectification; close quarter aerial imagery; ground-penetrating radar on walls and gamma-ray/neutron activation radiography) to propose this possible search strategy.

Coupling ground and airborne geophysical data with upscaling techniques for regional groundwater modeling of heterogeneous aquifers: Case study of a sedimentary aquifer intruded by volcanic dykes in Northern Ireland

In highly heterogeneous aquifer systems, conceptualization of regional groundwater flow models frequently results in the generalization or negligence of aquifer heterogeneities, both of which may result in erroneous model outputs. The calculation of equivalence related to hydrogeological parameters and applied to upscaling provides a means of accounting for measurement scale information but at regional scale. In this study, the Permo-Triassic Lagan Valley strategic aquifer in Northern Ireland is observed to be heterogeneous, if not discontinuous, due to subvertical trending low-permeability Tertiary dolerite dykes. Interpretation of ground and aerial magnetic surveys produces a deterministic solution to dyke locations. By measuring relative permeabilities of both the dykes and the sedimentary host rock, equivalent directional permeabilities, that determine anisotropy calculated as a function of dyke density, are obtained. This provides parameters for larger scale equivalent blocks, which can be directly imported to numerical groundwater flow models. Different conceptual models with different degrees of upscaling are numerically tested and results compared to regional flow observations. Simulation results show that the upscaled permeabilities from geophysical data allow one to properly account for the observed spatial variations of groundwater flow, without requiring artificial distribution of aquifer properties. It is also found that an intermediate degree of upscaling, between accounting for mapped field-scale dykes and accounting for one regional anisotropy value (maximum upscaling) provides results the closest to the observations at the regional scale.

The effects of transportation stress and barnacle fouling on predation rates of starfish (Asterias rubens) on mussels (Mytilus edulis).

The starfish, Asterias rubens, is widely distributed throughout the northern hemisphere and is an important predator on benthic mussel (Mytilus edulis) beds. Whilst several studies have examined how the size of individuals determines this predator–prey relationship, less is known about how the physiological condition of the prey (mussels) and the extent of their fouling may alter these relationships. Such issues are of particular interest to those working within the benthic mussel cultivation industry to inform best management practice and to help minimise losses during the aquaculture process. The potential role of starfish in the removal of epibiotic barnacles from mussels, the presence of which increases processing costs within the industry, is also of interest. We tested whether stressing mussels by aerial exposure for 48 h and whether the extent of barnacle fouling on mussels affected the feeding rates of three different size classes of starfish feeding on two different size classes of mussels. Feeding rates on stressed and unstressed mussels were similar for each starfish–mussel size combination. Barnacle fouling reduced the feeding rate of medium-sized starfish on larger-sized mussels. We also observed starfish, of all size classes, preying directly on the epibiotic barnacles on mussels, however, feeding rates were low and considered unlikely to reduce the extent of fouling on mussels. Our findings show that the predator–prey relationship between starfish and mussels does not differ between unstressed mussels and those experimentally stressed by aerial exposure for 48 h so that this level of stress is unlikely to affect predation rates by A. rubens following relaying in commercial operations. Whilst barnacle fouling suppressed predation rates in one of our experimental treatments, it does not appear that fouling by barnacles would provide a significant refuge from predation for the majority of mussels in benthic aquaculture stocks. Instead we found the size relationship between starfish and mussels was more important in determining predation rates. Starfish are also unlikely to help reduce barnacle fouling on cultured mussels by preying solely on fouling barnacles and the need to control starfish predation during culture remains.

Multi-UAVs formation autopilot design and performance analysis under interconnection topologies

This paper employs a unique extension-decomposition-aggregation (EDA) scheme to solve the formation flight control problem for multiple unmanned aerial vehicles (UAVs). The corresponding decentralised longitudinal and lateral formation autopilots are novelly designed to maintain the overall formation stability when encountering changes of the formation error and topologies. The concept of propagation layer number (PLN) is also proposed to provide an intuitive criterion to judge which type of formation topology is more suitable to minimise formation error propagation (FEP). The criterion states that the smaller the PLN of the formation is, the quicker the response to the formation error is. A smaller PLN also means that the resulting topology provides better prevention to the FEP. Simulation studies of formation flight of multiple Aerosonde UAVs demonstrate that the designed formation controller based on the EDA strategy performs satisfactorily in maintaining the overall formation stable, and the bidirectional partial-mesh topology is found to provide the best overall response to the formation error propagation based on the PLN criterion.

Reparations for ‘guilty victims’: Navigating Complex Identities of Victim-Perpetrators in Reparation Mechanisms

Reparations are often declared victim-centred, but in transitional societies defining who is a victim and eligible for reparations can be a politically charged and controversial process. Added to this, the messy reality of conflict means that perpetrators and victims do not always fall in two separate categories. Instead in certain circumstances perpetrators can be victimised and victims can be responsible for victimising others. This article explores complex victims, who are responsible for victimising others, but have themselves been unlawfully victimised. Looking in particular at the 1993 Shankill bombing in Northern Ireland, as well as Colombia and Peru, such complex victims are often seen as ‘guilty’ or ‘bad’ victims undeserving of reparations. This article argues that complex victims need to be included in reparation mechanisms to ensure accountability and to prevent their exclusion becoming a source of victimisation and future violence. It considers alternative avenues of human rights courts, development aid, services and community reparations to navigate complex identities of victim-perpetrators. In concluding the author finds that complex identities can be accommodated in transitional societies reparation programmes through nuanced rules of eligibility and forms of reparations.

Using geotechnical and LIDAR spatial monitoring to determine key environmental slope instability thresholds of a Jurassic coastal landslide: Straidkilly Point, Northern Ireland, UK.

The Antrim Coast Road stretching from the seaport of Larne in the East of Northern Ireland to the famous Giant’s Causeway in the North has a well-deserved reputation for being one of the most spectacular roads in Europe (Day, 2006). At various locations along the route, fluid interactions between the problematic geology, Jurassic Lias Clay and Triassic Mudstone overlain by Cretaceous Limestone and Tertiary Basalt, and environmental variables result in frequent instances of slope instability within the vadose zone. During such instances of instability, debris flows and composite mudflows encroach on the carriageway posing a hazard to road users. This paper examines the site investigative, geotechnical and spatial analysis techniques currently being implemented to monitor slope stability for one site at Straidkilly Point, Glenarm, Northern Ireland. An in-depth understanding of the geology was obtained via boreholes, resistivity surveys and laboratory testing. Environmental variables recorded by an on-site weather station were correlated with measured pore water pressure and soil moisture infiltration dynamic data.
Terrestrial LiDAR (TLS) was applied to the slope for the monitoring of failures, with surveys carried out on a bi-monthly basis. TLS monitoring allowed for the generation of Digital Elevation Models (DEMs) of difference, highlighting areas of recent movement, erosion and deposition. Morphology parameters were generated from the DEMs and include slope, curvature and multiple measures of roughness. Changes in the structure of the slope coupled with morphological parameters are characterised and linked to progressive failures from the temporal monitoring. In addition to TLS monitoring, Aerial LiDARi datasets were used for the spatio-morphological characterisation of the slope on a macro scale. Results from the geotechnical and environmental monitoring were compared with spatial data obtained through Terrestrial and Airborne LiDAR, providing a multi-faceted approach to slope stability characterization, which facilitates more informed management of geotechnical risk by the Northern Ireland Roads Service.

Evolving techniques for characterising and monitoring the stability of infrastructure slopes

Landslides and debris flows, commonly triggered by rainfall, pose a geotechnical risk causing disruption to transport routes and incur significant financial expenditure. With infrastructure maintenance budgets becoming ever more constrained, this paper provides an overview of some of the developing methods being implemented by Queen’s University, Belfast in collaboration with the Department for Regional Development to monitor the stability of two distinctly different infrastructure slopes in Northern Ireland. In addition to the traditional, intrusive ground investigative and laboratory testing methods, aerial LiDAR, terrestrial LiDAR, geophysical techniques and differential Global Positioning Systems have been used to monitor slope stability. Finally, a comparison between terrestrial LiDAR, pore water pressure and soil moisture deficit (SMD) is presented to outline the processes for a more informed management regime and to highlight the season relationship between landslide activity and the aforementioned parameters.

Geotechnical monitoring using a combination of LIDAR, real-time dGPS, and electrical tomography to assess geotechnical risk of a coastal landslide.

The Antrim Coast Road stretching from the seaport of Larne in the East of Northern Ireland has a well-deserved reputation for being one of the most spectacular roads in Europe (Day, 2006). However the problematic geology; Jurassic Lias Clay and Triassic Mudstone overlain by Cretaceous Limestone and Tertiary Basalt, and environmental variables result in frequent instances of slope instability manifested in both shallow debris flows and occasional massive rotational movements, creating a geotechnical risk to this highway. This paper describes how a variety of techniques are being used to both assess instability and monitor movement of these active slopes near one site at Straidkilly Point, Glenarm. An in-depth understanding of the geology was obtained via boreholes, resistivity surveys and laboratory testing. Environmental variables recorded by an on-site weather station were correlated with measured pore water pressure and soil moisture infiltration data. Terrestrial LiDAR (TLS), with surveys carried out on a bi-monthly basis allowed for the generation of Digital Elevation Models (DEMs) of difference, highlighting areas of recent movement, accumulation and depletion. Morphology parameters were generated from the DEMs and include slope, curvature and multiple measures of roughness. Changes in the structure of the slope coupled with morphological parameters were characterised and linked to progressive failures from the temporal monitoring. In addition to TLS monitoring, Aerial LiDAR datasets were used for the spatio-morphological characterisation of the slope on a macro scale. A Differential Global Positioning System (dGPS) was also deployed on site to provide a real-time warning system for gross movements, which were also correlated with environmental conditions. Frequent electrical resistivity tomography (ERT) surveys were also implemented to provide a better understanding of long-term changes in soil moisture and help to define the complex geology. The paper describes how the data obtained via a diverse range of methods has been combined to facilitate a more informed management regime of geotechnical risk by the Northern Ireland Roads Service.

Why is Russia flexing its muscles in the Middle East?

Syria’s bloody civil war suddenly became even more tangled in September with the start of a massive Russian bombing campaign on targets in the country. Two historians offer their personal takes on why Vladimir Putin ordered airstrikes

Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

This paper presents a tensegrity-based co-operative control algorithm for an aircraft formation. The 6 degrees-of-freedom model of the well-known Aerosonde unmanned aerial vehicle (UAV), is integrated with the model of the tensegrity structure and a decentralised control scheme is proposed. The strategy is shown to be scalable for 2n number of UAVs and is able to maintain a firm geometry whilst allowing flexible shape transformations. Simulation results demonstrate the effectiveness and stability of the proposed tensegrity-based formation control algorithm in 3D.

Pine wilt disease and the pinewood nematode

Pine wilt disease (PWD) is one of the most damaging events affecting conifer forests (in particular Pinus spp.), in the Far East (Japan, China and Korea), North America (USA and Canada) and, more recently, in the European Union (Portugal). In Japan it became catastrophic, damaging native pine species (Pinus thunbergii and P. densiflora), and becoming the main forest problem, forcing some areas to be totally replaced by other tree species. The pine wilt nematode (PWN) Bursaphelenchus xylophilus, endemic, with minor damage, to North America, was introduced in Japan in the early XX century and then spread to Asia (China and Korea) in the 1980s. In 1999 it was detected for the first time in Portugal, where, due to timely detection and immediate government action, it was initially (1999-2008) contained to a small area 30 km SE of Lisbon. In 2008, the PWN spread again to central Portugal, the entire country now being classified as “affected area”. Being an A1 quarantine pest, the EU acted to avoid further PWN spreading and to eradicate it, by actions including financial support for surveyes and eradication, annual inspections and research programs. Experience from control actions in Japan included aerial spraying of insecticides to control the insect vector (the Cerambycid beetle Monochamus alternatus), injection of nematicides to the trunk of infected trees, slashing and burning of large areas out of control, beetle traps, biological control and tree breeding programs. These actions allowed some positive results, but also unsuccessful cases due to the PWN spread and virulence. Other Asian countries also followed similar strategies, but the nematode is still spreading in many regions. In Portugal, despite lower damage than Asia, PWD is still significant with high losses to the forestry industry. New ways of containing PWD include preventing movement of contaminated wood, cutting symptomatic trees and monitoring. Despite a national and EU legislative body, no successful strategy to control and eventually eradicate the nematode and the disease will prevail without sound scientific studies regarding the nematode and vector(s) bioecology and genetics, the ecology and ecophysiology of the pine tree species, P. pinaster and P. pinea , as well as the genomics and proteomics of pathogenicity (resistance/ susceptibility).

Upper palaeozoic stratigraphy and palynology of OMZ, NW and SW Portugal

Neste trabalho descreve-se e interpreta-se a estratigrafia e palinologia de rochas sedimentares e metassedimentos de idade devónica e carbónica aflorantes ao longo da zona de cisalhamento Porto-Tomar, a Sul na Bacia de Santa Susana e em vários locais onde afloram os Calcários de Odivelas. Existe um registo de sedimentação descontínuo possivelmente associado a esta zona de cisalhamento desde o Devónico Superior até ao Pennsylvaniano. Desde o Devónico Superior até ao Mississippiano esta sedimentação é marinha, de carácter essencialmente turbiditico com uma tendência geral para se tornar mais proximal. A maturação térmica atingida por estas rochas (Unidade de Albergaria-a-Velha) é alta e a unidade é considerada pós-madura em termos de potencial gerador de hidrocarbonetos. O metamorfismo incipiente é acompanhado por intensa deformação. A bacia do Buçaco é inteiramente terrestre e tem a sua idade restrita ao Gjeliano (Pennsylvaniano superior). O controlo da sedimentação pela actividade da zona de cisalhamento Porto-Tomar é evidente. A sua maturação térmica é relativamente baixa (dentro da catagénese) e a deformação menos intensa, contrastando com a Unidade de Albergaria-a-Velha com a qual parece ter uma relação geométrica complexa, de origem tectónica. As relações de campo e dados da maturação térmica permitem inferir um evento térmico e de deformação à escala regional entre o Serpukoviano e o Gjeliano e outro, essencialmente de deformação, entre o Gjeliano e o Carniano (Triássico Superior). A bacia de Santa Susana tem características semelhantes à do Buçaco, visto estar enquadrada também numa zona de cisalhamento importante que neste caso separa a Zona de Ossa-Morena da Zona Sul Portuguesa. A sua idade é kasimoviana, possivelmente também moscoviana (Pennsylvaniano médio). A evolução térmica da bacia e a relação estrutural com as unidades circundantes permite inferir um evento térmico e de deformação regionalmente importante entre o Viseano e o (?)Moscoviano-Kasimoviano. O estudo detalhado de vários locais onde afloram os Calcários de Odivelas permite desenhar uma paleogeografia regional durante o intervalo Emsiano terminal-Givetiano (fim do Devónico Inferior – Devónico Médio) para o sector Oeste da Zona de Ossa-Morena: Actividade vulcânica em regime marinho (e talvez subaéreo), formando edifícios vulcânicos no topo dos quais (e possivelmente também em altos fundos estruturais) se instalaram recifes, tendo a comunidade recifal, em termos de diversidade, persistido durante todo ou grande parte deste intervalo de tempo. O evento Choteč basal é observável num destes locais.

Genotoxic risk of herbicides to Anguilla anguilla L.

No contexto dos contaminantes aquáticos, os herbicidas são considerados como um dos grupos mais perigosos. Uma vez aplicados, estes são facilmente transportados para cursos de água, quer devido a uma pulverização pouco cuidada ou devido a fenómenos de escorrência superficial e/ou subterrânea. A presença destes agroquímicos no ambiente tem vindo a ser associada a efeitos nefastos em organismos não-alvo, como é o caso dos peixes. Contudo, existe ainda uma grande lacuna no que diz respeito à informação científica relacionada com o seu impacto genotóxico. Deste modo, a presente tese foi delineada com o intuito de avaliar o risco genotóxico em peixes de duas formulações de herbicidas: o Roundup®, que tem como princípio activo o glifosato, e o Garlon®, que apresenta o triclopir na base da sua constituição, produtos estes largamente utilizados na limpeza de campos agrícolas, assim como em florestas. Foi ainda planeado desenvolver uma base de conhecimento no que diz respeito aos mecanismos de dano do ADN. Como último objectivo, pretendeu-se contribuir para a mitigação dos efeitos dos agroquímicos no biota aquático, nomeadamente em peixes, fornecendo dados científicos no sentido de melhorar as práticas agrícolas e florestais. Este estudo foi realizado adoptando a enguia europeia (Anguilla anguilla L.) como organismo-teste, e submetendo-a a exposições de curta duração (1 e 3 dias) dos produtos comerciais mencionados, em concentrações consideradas ambientalmente realistas. Para a avaliação da genotoxicidade foram aplicadas duas metodologias: o ensaio do cometa e o teste das anomalias nucleares eritrocíticas (ANE). Enquanto o ensaio do cometa detecta quebras na cadeia do ADN, um dano passível de ser reparado, o aparecimento das ANE revela lesões cromossomais, sinalizando um tipo de dano de difícil reparação. O ensaio do cometa foi ainda melhorado com uma nova etapa que incluiu a incubação com enzimas de reparação (FPG e EndoIII), permitindo perceber a ocorrência de dano oxidativo no ADN. No que diz respeito ao Roundup®, o envolvimento do sistema antioxidante como indicador de um estado próoxidante foi também alvo de estudo. Uma vez que as referidas formulações se apresentam sob a forma de misturas, o potencial genotóxico dos seus princípios activos foi também avaliado individualmente. No caso particular do Roundup®, também foram estudados o seu surfactante (amina polietoxilada; POEA) e o principal metabolito ambiental (ácido aminometilfosfórico; AMPA). Os resultados obtidos mostraram a capacidade do Roundup® em induzir tanto dano no ADN (em células de sangue, guelras e fígado) como dano cromossómico (em células de sangue). A investigação sobre o possível envolvimento do stresse oxidativo demonstrou que o tipo de dano no ADN varia com as concentrações testadas e com a duração da exposição. Deste modo, com o aumento do tempo de exposição, os processos relacionados com o envolvimento de espécies reactivas de oxigénio (ERO) ganharam preponderância como mecanismo de dano no ADN, facto que é corroborado pela activação do sistema antioxidante observado nas guelras, assim como pelo aumento dos sítios sensíveis a FPG em hepatócitos. O glifosato e o POEA foram também considerados genotóxicos. O POEA mostrou induzir uma maior extensão de dano no ADN, tanto comparado com o glifosato como com a mistura comercial. Apesar de ambos os componentes contribuirem para a genotoxicidade da formulação, a soma dos seus efeitos individuais nunca foi observada, apontando para um antagonismo entre eles e indicando que o POEA não aumenta o risco associado ao princípio activo. Deste modo, realça-se a necessidade de regulamentar limiares de segurança para todos os componentes da formulação, recomendando, em particular, a revisão da classificação do risco do POEA (actualmente classificado com “inerte”). Uma vez confirmada a capacidade do principal metabolito do glifosato – AMPA – em exercer dano no ADN assim como dano cromossómico, os produtos da degradação ambiental dos princípios activos assumem-se como um problema silencioso, realçando assim a importância de incluir o AMPA na avaliação do risco relacionado com herbicidas com base no glifosato. A formulação Garlon® e o seu princípio activo triclopir mostraram um claro potencial genotóxico. Adicionalmente, o Garlon® mostrou possuir um potencial genotóxico mais elevado do que o seu princípio activo. No entanto, a capacidade de infligir dano oxidativo no ADN não foi demonstrada para nenhum dos agentes. No que concerne à avaliação da progressão do dano após a remoção da fonte de contaminação, nem os peixes expostos a Roundup® nem os expostos a Garlon® conseguiram restaurar completamente a integridade do seu ADN ao fim de 14 dias. No que concerne ao Roundup®, o uso de enzimas de reparação de lesões específicas do ADN associado ao teste do cometa permitiu detectar um aparecimento tardio de dano oxidativo, indicando deste modo um decaimento progressivo da protecção antioxidante e ainda uma incapacidade de reparar este tipo de dano. O período de pós-exposição correspondente ao Garlon® revelou uma tendência de diminuição dos níveis de dano, apesar de nunca se observar uma completa recuperação. Ainda assim, foi evidente uma intervenção eficiente das enzimas de reparação do ADN, mais concretamente as direccionadas às purinas oxidadas. A avaliação das metodologias adoptadas tornou evidente que o procedimento base do ensaio do cometa, que detecta apenas o dano nãoespecífico no ADN, possui algumas limitações quando comparado com a metodologia que incluiu a incubação com as enzimas de reparação, uma vez que a última mostrou reduzir a possibilidade de ocorrência de resultados falsos negativos. Os dois parâmetros adoptados (ensaio do cometa e teste das ANE) demonstraram possuir aptidões complementares, sendo assim recomendado a sua utilização conjunta com vista a efectuar uma avaliação mais adequada do risco genotóxico. Globalmente, os resultados obtidos forneceram indicações de grande utilidade para as entidades reguladoras, contribuindo ainda para a (re)formulação de medidas de conservação do ambiente aquático. Neste sentido, os dados obtidos apontam para a importância da avaliação de risco dos herbicidas incluir testes de genotoxicidade. A magnitude de risco detectada para ambas as formulações adverte para a necessidade de adopção de medidas restritivas em relação à sua aplicação na proximidade de cursos de água. Como medidas mitigadoras de impactos ambientais, aponta-se o desenvolvimento de formulações que incorporem adjuvantes selecionados com base na sua baixa toxicidade.

Brazilian savanna forest : conservation, medicinal reservoir and bioprospecting

This study aimed to analyse the Brazilian savanna forest from a Legal Reserve (LR) area from a perspective of conservation, reservoir of organic carbon and medicinal biomass for a prospective use of native medicinal plants. An ethnobotanical and ethnopharmacological survey was carried out close to a community settled in the rural area in the south of Tocantins, being selected 9 of the most cited species (cajuí- Anacardium othonianum; inharé-Brosimum gaudichaudii; jatobá-Hymenaeae courbaril; jenipapo-Genipa americana, aroeira-Myracrodruon urundeuva; negramina-Siparuna guianensis; barbatimão- Stryphnodendron obovatum; assa peixe-Vernonia brasiliana, embaúba-Cecropia pachystachya). Crude foliar extracts were subjected to a preliminary phytochemical prospection and triage of secondary metabolites with antimicrobial activity of potential interest in health and familiar agriculture. Phenolic compounds, terpenes and flavonoids were detected in the extracts of most species, which suggests the presence of antimicrobial, antioxidant and anti-insect activities. It was evident the need to better know the LR as a reservoir of medicinal biomass in an area under ecological tension where 35% (610ha) of the property is LR and should be protected by law. Therefore, a forest inventory of live woody species was performed using the allometric or indirect method. This identified a rare remnant of Semidecidual Seasonal Forest amidst the largest world savannah, the Cerrado biome. An analysis of the forest average productivity per basal area (m².ha), aerial live biomass (ton.ha-1) and carbon stock was carried out. The forest fragment was considered relatively rich in species and diversity, although showing signs of disturbance and dominance by a few species. Its horizontal structure suggests biotic regeneration conditions. It is an important reservoir of medicinal plants. Of the families (57.5%) presenting medicinal species, 19 from a total of 33 are represented in the area and contain 44% (27) of the total species (61) and 63% (432) of the total individuals catalogued. Medicinal species have ecological importance for the equilibrium of the local flora and represent 80% of the 10 species with higher Importance Value Index (IVI): Tetragastris altissima, Chrysophyllum marginatum, Oenocarpus distichus, Sclerolobium paniculatum, Simarouba versicolor, Alibertia macrophylla, Siparuna guianensis, Maprounea guianensis, Licania parvifolia e Physocalymma scaberrimum. Medicinal productivity was high for this type of phytophysionomy: 183,2 ton. ha-1 of biomass and 91,51 ton. ha-1 of carbon representing 66% of the total biomass and carbon of this Cerrado forest. From this stage S. guianensis (Siparunaceae) was selected for performing bioassays in order to verify its biological activity against microorganisms of health and agricultural relevance. This is a native aromatic medicinal plant recommended as priority for conservation, with local popular medicinal validation and availability of medicinal feedstock (3300 Kg.ha-1), with the foliar fraction giving 38Kg/ha of crude extract and 5L/ha of essential oil. Foliar crude extracts and essential oil were obtained and tested in vitro using a disk diffusion bioassay. Different concentrations of these natural products were tested against gram-positive bacteria (Staphylococcus aureus ATCC 29213), gram-negative bacteria (Escherichia coli ATCC 25922 and ATCC 35218; Pseudomonas aeruginosa ATCC 10145) and fungi (Candida albicans ATCC 6258 e Fusarium oxysporum). The essential oil inhibited the growth of S. aureus in its crude concentration (380μg.mL-1), as well as diluted to half (190μg.mL-1) and a quarter strength (95μg.mL-1). It’s likely that such action is due to sesquiterpenes major components, such as bisabolol and bisabolene (10.35%), measured by gas chromatography (GC-MS, GC-FID). Extracts did not exhibit any antimicrobial activity against the microorganisms tested. The native medicinal plants prospective market is an alternative that favours the conservation of biodiversity while generating benefits for the development of sustainable family productive activities within local ecosystems instead of the current inappropriate uses. This strengthens conservation policies of Legal Reserve in rural settlements and is in agreement with public policy on global warming and climate changes.

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.