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.

Structured Light System Calibration for Perception in Underwater Tanks

The process of visually exploring underwater environments is still a complex problem. Underwater vision systems require complementary means of sensor information to help overcome water disturbances. This work proposes the development of calibration methods for a structured light based system consisting on a camera and a laser with a line beam. Two different calibration procedures that require only two images from different viewpoints were developed and tested in dry and underwater environments. Results obtained show, an accurate calibration for the camera/projector pair with errors close to 1 mm even in the presence of a small stereos baseline.

Structured Light System for Underwater Inspection Operations

In this work we propose the development of a stereo SLS system for underwater inspection operations. We demonstrate how to perform a SLS calibration both in dry and underwater environments using two different methods. The proposed methodology is able to achieve quite accurate results, lower than 1 mm in dry environments. We also display a 3D underwater scan of a known object size, a sea scallop, where the system is able to perform a scan with a global error lower than 2% of the object size.

Myoelectric Signal Monitoring System

The Electromyography (EMG) is an important tool for gait analyzes and disorders diagnoses. Traditional methods involve equipment that can disturb the analyses, being gradually substituted by different approaches, like wearable and wireless systems. The cable replacement for autonomous systems demands for technologies capable of meeting the power constraints. This work presents the development of an EMG and kinematic data capture wireless module, designed taking into account power consumption issues. This module captures and converts the analog myoeletric signal to digital, synchronously with the capture of kinetic information. Both data are time multiplexed and sent to a PC via Bluetooth link. The work carried out comprised the development of the hardware, the firmware and a graphical interface running in an external PC. The hardware was developed using the PIC18F14K22, a low power family of microcontrollers. The link was established via Bluetooth, a protocol designed for low power communication. An application was also developed to recover and trace the signal to a Graphic User Interface (GUI), coordinating the message exchange with the firmware. Results were obtained which allowed validating the conceived system in static and with the subject performing short movements. Although it was not possible to perform the tests within more dynamic movements, it is shown that it is possible to capture, transmit and display the captured data as expected. Some suggestions to improve the system performance also were made.

In vitro and in situ activation of the complement system by the fungus Lacazia loboi

Since there are no studies evaluating the participation of the complement system (CS) in Jorge Lobo's disease and its activity on the fungus Lacazia loboi, we carried out the present investigation. Fungal cells with a viability index of 48% were obtained from the footpads of BALB/c mice and incubated with a pool of inactivated serum from patients with the mycosis or with sterile saline for 30 min at 37 ºC. Next, the tubes were incubated for 2 h with a pool of noninactivated AB+ serum, inactivated serum, serum diluted in EGTA-MgCl2, and serum diluted in EDTA. The viability of L. loboi was evaluated and the fungal suspension was cytocentrifuged. The slides were submitted to immunofluorescence staining using human anti-C3 antibody. The results revealed that 98% of the fungi activated the CS by the alternative pathway and no significant difference in L. loboi viability was observed after CS activation. In parallel, frozen histological sections from 11 patients were analyzed regarding the presence of C3 and IgG by immunofluorescence staining. C3 and IgG deposits were observed in the fungal wall of 100% and 91% of the lesions evaluated, respectively. The results suggest that the CS and immunoglobulins may contribute to the defense mechanisms of the host against L. loboi.

Developing an aquaponics system to learn sustainability and social compromise skills

The goal of this project, one of the proposals of the EPS@ISEP Spring 2014, was to develop an Aquaponics System. Over recent years Aquaponics systems have received increased attention since they contribute to reduce the strain on resources within 1st and 3rd world countries. Aquaponics is the combination of Hydroponics and Aquaculture, mimicking a natural environment in order to successfully apply and enhance the understanding of natural cycles within an indoor process. Using this knowledge of natural cycles, it was possible to create a system with capabilities similar to that of a natural environment with the support of electronics, enhancing the overall efficiency of the system. The multinational team involved in the development of this system was composed of five students from five countries and fields of study. This paper describes their solution, including the overall design, the technology involved and the benefits it can bring to the current market. The team was able to design and render the Computer Aided Design (CAD) drawings of the prototype, assemble all components, successfully test the electronics and comply with the budget. Furthermore, the designed solution was supported by a product sustainability study and included a specific marketing plan. Last but not least, the students enrolled in this project obtained new multidisciplinary knowledge and increased their team work and cross-cultural communication skills.

Cutaneous infection caused by Corynebacterium pseudodiphtheriticum: a microbiological report

We report here a rare case of cutaneous infection due to Corynebacterium pseudodiphtheriticum. The patient presented to the clinical laboratory with a skin ulcer on his left leg. Gram-stained preparation of the purulent secretion revealed the presence of numerous rod-shaped Gram-positive organisms in the absence of any other species. The organism was grown in pure culture on sheep blood agar and was further identified as C. pseudodiphtheriticum using a commercial identification system (API-Coryne, BioMérieux, France). The infection was successfully treated with ciprofloxacin. This case emphasizes the importance of the clinical microbiology laboratory in correctly identifying Gram-positive organisms obtained in pure culture from skin ulcers.

A Clinical Support System Based on Quality of Life Estimation

Quality of life is a concept influenced by social, economic, psychological, spiritual or medical state factors. More specifically, the perceived quality of an individual's daily life is an assessment of their well-being or lack of it. In this context, information technologies may help on the management of services for healthcare of chronic patients such as estimating the patient quality of life and helping the medical staff to take appropriate measures to increase each patient quality of life. This paper describes a Quality of Life estimation system developed using information technologies and the application of data mining algorithms to access the information of clinical data of patients with cancer from Otorhinolaryngology and Head and Neck services of an oncology institution. The system was evaluated with a sample composed of 3013 patients. The results achieved show that there are variables that may be significant predictors for the Quality of Life of the patient: years of smoking (p value 0.049) and size of the tumor (p value < 0.001). In order to assign the variables to the classification of the quality of life the best accuracy was obtained by applying the John Platt's sequential minimal optimization algorithm for training a support vector classifier. In conclusion data mining techniques allow having access to patients additional information helping the physicians to be able to know the quality of life and produce a well-informed clinical decision.

Municipal solid waste management system: decision support through systems analysis

Thesis submitted to the Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia for the degree of Doctor of Philosophy in Environmental Engineering

Microbiological contamination of a hemodialysis center water distribution system

The microbiological monitoring of the water used for hemodialysis is extremely important, especially because of the debilitated immune system of patients suffering from chronic renal insufficiency. To investigate the occurrence and species diversity of bacteria in waters, water samples were collected monthly from a hemodialysis center in upstate São Paulo and tap water samples at the terminal sites of the distribution system was sampled repeatedly (22 times) at each of five points in the distribution system; a further 36 samples were taken from cannulae in 19 hemodialysis machines that were ready for the next patient, four samples from the reuse system and 13 from the water storage system. To identify bacteria, samples were filtered through 0.22 µm-pore membranes; for mycobacteria, 0.45 µm pores were used. Conventional microbiological and molecular methods were used in the analysis. Bacteria were isolated from the distribution system (128 isolates), kidney machine water (43) and reuse system (3). Among these isolates, 32 were Gram-positive rods, 120 Gram-negative rods, 20 Gram-positive cocci and 11 mycobacteria. We propose the continual monitoring of the water supplies in hemodialysis centers and the adoption of effective prophylactic measures that minimize the exposure of these immunodeficient patients to contaminated sources of water.

Avaliação dos serviços de saúde mental em Moçambique

RESUMO: O instrumento de avaliação de sistemas de saúde mental da organização mundial de saúde (WHO-AIMS)foi usado para a recolha de informações sobre o Programa Nacional de Saúde Mental de Moçambique. O presente estudo tem como objectivo melhorar o Programa Nacional de Saúde Mental e fornecer um ponto de partida para a monitorização das mudanças. Os resultados do estudo permitirão a Moçambique fortalecer a sua capacidade para desenvolver planos de saúde mental baseados em informações com pontos de partida e metas bem definidos. O relatório será também útil para a monitorização do progresso da implementação de reformas nas políticas de saúde mental, na disponibilização de serviços de base comunitária, e no envolvimento dos utentes, seus familiares e outros actores na promoção, prevenção,cuidados e reabilitação em saúde mental. Tendo em conta os antecedentes históricos da saúde mental em Moçambique, a realidade actual clama por reformas profundas voltadas para uma intervenção mais humanizada e com enfoque nos cuidados primários. É nesse contexto que o estudo realizado apresenta resultados relacionados com as políticas, legislação, estratégias e planos de acção e financiamento para a saúde mental; serviços de saúde mental;cuidados primários; recursos humanos e ligação com outros sectores chave. A saúde mental foi avaliada desde o sistema de gestão até ao nível comunitário. Relativamente aos órgãos de gestão, a principal constatação é que existem instrumentos legais para sustentar as iniciativas desta área e influenciar os meios políticos em prol da saúde mental. Todavia, o caminho a percorrer ainda é longo uma vez que não está ainda aprovada nenhuma lei de saúde mental e os financiamentos para a área não permitem a implementação das reformas necessárias. Os serviços ao nível clínico debatem-se com a problemática dos recursos humanos (constituídos principalmente por técnicos de psiquiatria) e disponibilidade de psicofármacos. O modelo biopsicossocial ainda não é implementado integralmente uma vez que são poucos os serviços que oferecem apoio psicossocial (que inclui a reabilitação e reintegração) para além da intervenção farmacológica. Esta pode ser considerada uma das principais causas de recaídas identificadas em todas as províncias. Há uma necessidade urgente de se realizarem pesquisas e levantamentos epidemiológicos que possam servir de suporte para a advocacia em saúde mental com vista a melhoria dos cuidados a prestar aos pacientes e comunidade. Os instrumentos de recolha de informação de rotina não são adequados limitando a fidelidade dos dados recolhidos e a possibilidade de uma gestão dos serviços de saúde mental que responda as reais necessidades da população. Em suma, os resultados aqui apresentados mostram que Moçambique tem uma base que pode ser considerada uma mais valia para a reforma do sistema de saúde mental. Existem, ainda que escassos, recursos como humanos, infra-estruturas e legislação para a prestação dos serviços clínicos. É preciso investir na saúde mental para que os recursos existentes sejam melhorados e expandidos, apostando na criação de equipas multidisciplinares e qualificação das equipas de gestão e equipas clínicas. --------ABSTRACT: The World Health Organization Assessment Instrument for Mental Health Services (WHO-AIMS) was used to collect information about the National Mental Health Program of Mozambique. The present study aims to improve the National Mental Health Program and provide a starting point for monitoring change. The study results will allow Mozambique to strengthen its capacity to develop mental health plans based on information with starting points and well-defined goals. The report will also be useful for monitoring the progress of implementation of reforms in mental health policies, the provision of community-based services, and involvement of users, their families and other stakeholders in the promotion, prevention, care and rehabilitation in mental health. Given the historical background of mental health in Mozambique, the current situation calls for reforms aimed at a more humane intervention focused on primary care. In this context, the study presents results related to policies, legislation, strategies and action plans and funding for mental health; mental health services; primary care; human resources and liaison with other key sectors. Mental health was assessed from the management system to the community level. With regard to the management, the main observation is that there are legal instruments to support the initiatives in this area and to influence the political means on behalf of mental health. However, the pathway is still long as it is not yet approved any Mental Health Law and the funding for the area do not allow the implementation of necessary reforms. Services at the clinical level are struggling with the issue of human resources (consisting primarily of psychiatrist technicians) and availability of psychotropic drugs. The biopsychosocial model is not yet fully implemented since there are few services providing psychosocial support (including rehabilitation and reintegration) in addition to pharmacological intervention. This can be considered a major cause of relapse identified in all provinces. There is an urgent need to conduct research and epidemiological surveys which could provide support for advocacy in mental health in order to improve the mental health car for the patients and community. The routine data collection instruments are not appropriate limiting the fidelity of the data collected and the possibility of a management of mental health services that meets the real needs of the population. In summary, the results presented here show that Mozambique has a groundwork that can be considered an asset for the reform of mental health system. There are, though scarce, human resources, infrastructure and legislation for the provision of clinical services. It’s necessary to invest in mental health so that existing resources are improved and expanded, and to invest on the creation of multidisciplinary teams and qualification of management teams and clinical teams.

An automatic voice pleasantness classification system based on prosodic and acoustic patterns of voice preference

In the last few years the number of systems and devices that use voice based interaction has grown significantly. For a continued use of these systems the interface must be reliable and pleasant in order to provide an optimal user experience. However there are currently very few studies that try to evaluate how good is a voice when the application is a speech based interface. In this paper we present a new automatic voice pleasantness classification system based on prosodic and acoustic patterns of voice preference. Our study is based on a multi-language database composed by female voices. In the objective performance evaluation the system achieved a 7.3% error rate.

Visualization and interaction in a simulation system for flood emergencies

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

Mortality after Discharge from Intensive Care: the Impact of Organ System Failure and Nursing Workload Use at Discharge

OBJECTIVES: Mortality after ICU discharge accounts for approx. 20-30% of deaths. We examined whether post-ICU discharge mortality is associated with the presence and severity of organ dysfunction/failure just before ICU discharge. PATIENTS AND METHODS: The study used the database of the EURICUS-II study, with a total of 4,621 patients, including 2,958 discharged alive to the general wards (post-ICU mortality 8.6%). Over a 4-month period we collected clinical and demographic characteristics, including the Simplified Acute Physiology Score (SAPS II), Nine Equivalents of Nursing Manpower Use Score, and Sequential Organ Failure Assessment (SOFA) score. RESULTS: Those who died in the hospital after ICU discharge had a higher SAPS II score, were more frequently nonoperative, admitted from the ward, and had stayed longer in the ICU. Their degree of organ dysfunction/failure was higher (admission, maximum, and delta SOFA scores). They required more nursing workload resources while in the ICU. Both the amount of organ dysfunction/failure (especially cardiovascular, neurological, renal, and respiratory) and the amount of nursing workload that they required on the day before discharge were higher. The presence of residual CNS and renal dysfunction/failure were especially prognostic factors at ICU discharge. Multivariate analysis showed only predischarge organ dysfunction/failure to be important; thus the increased use of nursing workload resources before discharge probably reflects only the underlying organ dysfunction/failure. CONCLUSIONS: It is better to delay the discharge of a patient with organ dysfunction/failure from the ICU, unless adequate monitoring and therapeutic resources are available in the ward.