Montagem e avaliação de um sistema de varredura a LASER embarcado em VANT

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Introdução aos sistemas aviônicos de rádio navegação

This work is focused on the subject of air radio navigation systems embedded on aircraft and in the ground stations. Initially is presented a historical context and motivation of the chosen theme. In the following chapters the basics avionics systems are presented, ADF, VOR, DME and ILS such that there is a deepening of electronics theory behind the operation of each system. In this graduate work were presented theories involved in systems such as the definition and creation of radio waves, the frequency spectrum used by each system, the modulation and demodulation of waves, the operating block diagrams of embedded receiver in the aircraft and the terrestrial source station, and the errors involved in the use of each system

Biomechanics of sprint running: a methodological contribution

Sports biomechanics describes human movement from a performance enhancement and an injury reduction perspective. In this respect, the purpose of sports scientists is to support coaches and physicians with reliable information about athletes’ technique. The lack of methods allowing for in-field athlete evaluation as well as for accurate joint force estimates represents, to date, the main limitation to this purpose. The investigations illustrated in the present thesis aimed at providing a contribution towards the development of the above mentioned methods. Two complementary approaches were adopted: a Low Resolution Approach – related to performance assessment – where the use of wearable inertial measurement units is exploited during different phases of sprint running, and a High Resolution Approach – related to joint kinetics estimate for injury prevention – where subject-specific, non-rigid constraints for knee joint kinematic modelling used in multi-body optimization techniques are defined. Results obtained using the Low Resolution Approach indicated that, due to their portability and inexpensiveness, inertial measurement systems are a valid alternative to laboratory-based instrumentation for in-field performance evaluation of sprint running. Using acceleration and angular velocity data, the following quantities were estimated: trunk inclination and angular velocity, instantaneous horizontal velocity and displacement of a point approximating the centre of mass, and stride and support phase durations. As concerns the High Resolution Approach, results indicated that the length of the anterior cruciate and lateral collateral ligaments decreased, while that of the deep bundle of the medial collateral ligament increased significantly during flexion. Variations of the posterior cruciate and the superficial bundle of the medial collateral ligament lengths were concealed by the experimental indeterminacy. A mathematical model was provided that allowed the estimate of subject-specific ligament lengths as a function of knee flexion and that can be integrated in a multi-body optimization procedure.

Algorithms for UAS insertion in civil air space

One of the most interesting challenge of the next years will be the Air Space Systems automation. This process will involve different aspects as the Air Traffic Management, the Aircrafts and Airport Operations and the Guidance and Navigation Systems. The use of UAS (Uninhabited Aerial System) for civil mission will be one of the most important steps in this automation process. In civil air space, Air Traffic Controllers (ATC) manage the air traffic ensuring that a minimum separation between the controlled aircrafts is always provided. For this purpose ATCs use several operative avoidance techniques like holding patterns or rerouting. The use of UAS in these context will require the definition of strategies for a common management of piloted and piloted air traffic that allow the UAS to self separate. As a first employment in civil air space we consider a UAS surveillance mission that consists in departing from a ground base, taking pictures over a set of mission targets and coming back to the same ground base. During all mission a set of piloted aircrafts fly in the same airspace and thus the UAS has to self separate using the ATC avoidance as anticipated. We consider two objective, the first consists in the minimization of the air traffic impact over the mission, the second consists in the minimization of the impact of the mission over the air traffic. A particular version of the well known Travelling Salesman Problem (TSP) called Time-Dependant-TSP has been studied to deal with traffic problems in big urban areas. Its basic idea consists in a cost of the route between two clients depending on the period of the day in which it is crossed. Our thesis supports that such idea can be applied to the air traffic too using a convenient time horizon compatible with aircrafts operations. The cost of a UAS sub-route will depend on the air traffic that it will meet starting such route in a specific moment and consequently on the avoidance maneuver that it will use to avoid that conflict. The conflict avoidance is a topic that has been hardly developed in past years using different approaches. In this thesis we purpose a new approach based on the use of ATC operative techniques that makes it possible both to model the UAS problem using a TDTSP framework both to use an Air Traffic Management perspective. Starting from this kind of mission, the problem of the UAS insertion in civil air space is formalized as the UAS Routing Problem (URP). For this reason we introduce a new structure called Conflict Graph that makes it possible to model the avoidance maneuvers and to define the arc cost function of the departing time. Two Integer Linear Programming formulations of the problem are proposed. The first is based on a TDTSP formulation that, unfortunately, is weaker then the TSP formulation. Thus a new formulation based on a TSP variation that uses specific penalty to model the holdings is proposed. Different algorithms are presented: exact algorithms, simple heuristics used as Upper Bounds on the number of time steps used, and metaheuristic algorithms as Genetic Algorithm and Simulated Annealing. Finally an air traffic scenario has been simulated using real air traffic data in order to test our algorithms. Graphic Tools have been used to represent the Milano Linate air space and its air traffic during different days. Such data have been provided by ENAV S.p.A (Italian Agency for Air Navigation Services).

GNSS interference management techniques against malicious attacks

This thesis collects the outcomes of a Ph.D. course in Telecommunications Engineering and it is focused on the study and design of possible techniques able to counteract interference signal in Global Navigation Satellite System (GNSS) systems. The subject is the jamming threat in navigation systems, that has become a very increasingly important topic in recent years, due to the wide diffusion of GNSS-based civil applications. Detection and mitigation techniques are developed in order to fight out jamming signals, tested in different scenarios and including sophisticated signals. The thesis is organized in two main parts, which deal with management of GNSS intentional counterfeit signals. The first part deals with the interference management, focusing on the intentional interfering signal. In particular, a technique for the detection and localization of the interfering signal level in the GNSS bands in frequency domain has been proposed. In addition, an effective mitigation technique which exploits the periodic characteristics of the common jamming signals reducing interfering effects at the receiver side has been introduced. Moreover, this technique has been also tested in a different and more complicated scenario resulting still effective in mitigation and cancellation of the interfering signal, without high complexity. The second part still deals with the problem of interference management, but regarding with more sophisticated signal. The attention is focused on the detection of spoofing signal, which is the most complex among the jamming signal types. Due to this highly difficulty in detect and mitigate this kind of signal, spoofing threat is considered the most dangerous. In this work, a possible techniques able to detect this sophisticated signal has been proposed, observing and exploiting jointly the outputs of several operational block measurements of the GNSS receiver operating chain.

High-accuracy patient-to-image registration for the facilitation of image-guided robotic microsurgery on the head

Image-guided microsurgery requires accuracies an order of magnitude higher than today's navigation systems provide. A critical step toward the achievement of such low-error requirements is a highly accurate and verified patient-to-image registration. With the aim of reducing target registration error to a level that would facilitate the use of image-guided robotic microsurgery on the rigid anatomy of the head, we have developed a semiautomatic fiducial detection technique. Automatic force-controlled localization of fiducials on the patient is achieved through the implementation of a robotic-controlled tactile search within the head of a standard surgical screw. Precise detection of the corresponding fiducials in the image data is realized using an automated model-based matching algorithm on high-resolution, isometric cone beam CT images. Verification of the registration technique on phantoms demonstrated that through the elimination of user variability, clinically relevant target registration errors of approximately 0.1 mm could be achieved.

The foundations of computer assisted surgery

Using navigation systems in general orthopaedic surgery and, in particular, knee replacement is becoming more and more accepted. This paper describes the basic technological concepts of modern computer assisted surgical systems. It explains the variation in currently available systems and outlines research activities that will potentially influence future products. In general, each navigation system is defined by three components: (1) the therapeutic object is the anatomical structure that is operated on using the navigation system, (2) the virtual object represents an image of the therapeutic object, with radiological images or computer generated models potentially being used, and (3) last but not least, the navigator acquires the spatial position and orientation of instruments and anatomy thus providing the necessary data to replay surgical action in real-time on the navigation system's screen.

Non-photorealistic rendering of virtual implant models for computer-assisted fluoroscopy-based surgical procedures

Surgical navigation systems visualize the positions and orientations of surgical instruments and implants as graphical overlays onto a medical image of the operated anatomy on a computer monitor. The orthopaedic surgical navigation systems could be categorized according to the image modalities that are used for the visualization of surgical action. In the so-called CT-based systems or 'surgeon-defined anatomy' based systems, where a 3D volume or surface representation of the operated anatomy could be constructed from the preoperatively acquired tomographic data or through intraoperatively digitized anatomy landmarks, a photorealistic rendering of the surgical action has been identified to greatly improve usability of these navigation systems. However, this may not hold true when the virtual representation of surgical instruments and implants is superimposed onto 2D projection images in a fluoroscopy-based navigation system due to the so-called image occlusion problem. Image occlusion occurs when the field of view of the fluoroscopic image is occupied by the virtual representation of surgical implants or instruments. In these situations, the surgeon may miss part of the image details, even if transparency and/or wire-frame rendering is used. In this paper, we propose to use non-photorealistic rendering to overcome this difficulty. Laboratory testing results on foamed plastic bones during various computer-assisted fluoroscopybased surgical procedures including total hip arthroplasty and long bone fracture reduction and osteosynthesis are shown.

Cone-beam computed tomography-guided stereotactic liver punctures: a phantom study

PURPOSE Images from computed tomography (CT), combined with navigation systems, improve the outcomes of local thermal therapies that are dependent on accurate probe placement. Although the usage of CT is desired, its availability for time-consuming radiological interventions is limited. Alternatively, three-dimensional images from C-arm cone-beam CT (CBCT) can be used. The goal of this study was to evaluate the accuracy of navigated CBCT-guided needle punctures, controlled with CT scans. METHODS Five series of five navigated punctures were performed on a nonrigid phantom using a liver specific navigation system and CBCT volumetric dataset for planning and navigation. To mimic targets, five titanium screws were fixed to the phantom. Target positioning accuracy (TPECBCT) was computed from control CT scans and divided into lateral and longitudinal components. Additionally, CBCT-CT guidance accuracy was deducted by performing CBCT-to-CT image coregistration and measuring TPECBCT-CT from fused datasets. Image coregistration was evaluated using fiducial registration error (FRECBCT-CT) and target registration error (TRECBCT-CT). RESULTS Positioning accuracies in lateral directions pertaining to CBCT (TPECBCT = 2.1 ± 1.0 mm) were found to be better to those achieved from previous study using CT (TPECT = 2.3 ± 1.3 mm). Image coregistration error was 0.3 ± 0.1 mm, resulting in an average TRE of 2.1 ± 0.7 mm (N = 5 targets) and average Euclidean TPECBCT-CT of 3.1 ± 1.3 mm. CONCLUSIONS Stereotactic needle punctures might be planned and performed on volumetric CBCT images and controlled with multidetector CT with positioning accuracy higher or similar to those performed using CT scanners.

Computer planned, image-guided combined resection and ablation for bilobar colorectal liver metastases

For patients with extensive bilobar colorectal liver metastases (CRLM), initial surgery may not be feasible and a multimodal approach including microwave ablation (MWA) provides the only chance for prolonged survival. Intraoperative navigation systems may improve the accuracy of ablation and surgical resection of so-called "vanishing lesions", ultimately improving patient outcome. Clinical application of intraoperative navigated liver surgery is illustrated in a patient undergoing combined resection/MWA for multiple, synchronous, bilobar CRLM. Regular follow-up with computed tomography (CT) allowed for temporal development of the ablation zones. Of the ten lesions detected in a preoperative CT scan, the largest lesion was resected and the others were ablated using an intraoperative navigation system. Twelve months post-surgery a new lesion (Seg IVa) was detected and treated by trans-arterial embolization. Nineteen months post-surgery new liver and lung metastases were detected and a palliative chemotherapy started. The patient passed away four years after initial diagnosis. For patients with extensive CRLM not treatable by standard surgery, navigated MWA/resection may provide excellent tumor control, improving longer-term survival. Intraoperative navigation systems provide precise, real-time information to the surgeon, aiding the decision-making process and substantially improving the accuracy of both ablation and resection. Regular follow-ups including 3D modeling allow for early discrimination between ablation zones and recurrent tumor lesions.

Galileo Orbit and Clock Quality of the IGS Multi-GNSS Experiment

The Multi-GNSS Experiment (MGEX) of the International GNSS Service (IGS) aims at the data collection and analysis of all available satellite navigation systems. In particular the new global and regional satellite navigation systems are of interest, i.e., the European Galileo, the Chinese BeiDou, the Japanese QZSS as well as satellite based augmentation systems. This article analyzes the orbit and clock quality of the Galileo products of four MGEX analysis centers for a common time period of 20 weeks. Orbit comparisons of the individual analysis centers have a consistency at the 5–30 cm level. Day boundary discontinuities range from 4 to 28 cm whereas 2-day orbit fit RMS values vary between 1 and 7 cm. The accuracy evaluated by satellite laser ranging residuals is on the one decimeter level with a systematic bias of about −5 cm for all analysis centers. In addition, systematic errors on the decimeter level related to solar radiation pressure mismodeling are present in all orbit products. Due to the correlation of radial orbit errors with the clock parameters, these errors are also visible as a bump in the Allan deviation of the Galileo satellite clocks at the orbital frequency.

Image-Guided Orthopaedic Surgery

Image-guided surgery systems are increasingly being used during orthopaedic interventions. The aim of this chapter is to present the basic elements of these image-guided orthopaedic surgery (IGOS) devices and to review examples of preoperative or intra-operative imaging modalities, of trackers for navigation systems, of different surgical robots, and of methods for registration as well as referencing. IGOS modules that have been realised for different surgical procedures will be presented.

Computer-Assisted Orthopedic Surgery: Current State and Future Perspective

Introduced about two decades ago, computer-assisted orthopedic surgery (CAOS) has emerged as a new and independent area, due to the importance of treatment of musculoskeletal diseases in orthopedics and traumatology, increasing availability of different imaging modalities, and advances in analytics and navigation tools. The aim of this paper is to present the basic elements of CAOS devices and to review state-of-the-art examples of different imaging modalities used to create the virtual representations, of different position tracking devices for navigation systems, of different surgical robots, of different methods for registration and referencing, and of CAOS modules that have been realized for different surgical procedures. Future perspectives will also be outlined.

Arquitectura de sitios Web de bibliotecas universitarias : El sistema de bibliotecas de la Universidad Nacional de La Plata, Argentina

Este trabajo descriptivo exploratorio se propone analizar la arquitectura de información (AI) de sitios Web de bibliotecas de la Universidad Nacional de La Plata (UNLP), Argentina. Se analizaron 17 bibliotecas y se aplicó una grilla para recabar 10 aspectos relevantes. Los resultados fueron: 1. Ubicación del sitio Web de la biblioteca: 9 sitios incluidos en la página principal de la facultad. 2. Etiquetado de contenidos: terminología simple, sin jergas; no hay homogeneidad entre las bibliotecas. 3. Capacidad de búsqueda: 62 por ciento positiva, 38 por ciento negativa. 4. Sistema de búsqueda: simple 43 por ciento, compleja 10 por ciento, con ayudas 10 por ciento, ninguno 38 por ciento. 5. Sistemas de navegación: globales 5 por ciento, jerárquicos 79 por ciento, locales 5 por ciento, ninguno 11 por ciento. 6. Herramientas de navegación: barras 16 por ciento, frames o marcos 30 por ciento, índices 2 por ciento, mapas de sitio 7 por ciento, menús horizontales 9 por ciento, menús verticales 35 por ciento. 7. Sindicación de contenidos RSS: 3 sitios. 8. Otros servicios: chat 7 por ciento, descarga de documentos 16 por ciento, envío de formularios 14 por ciento, instructivos 21 por ciento, links a otras páginas 23 por ciento, tutoriales 5 por ciento, otros 14 por ciento. 9. Accesibilidad Web: 1 sitio. 10. Otras observaciones: ninguna. Se concluye que el desarrollo de los sitios es dispar y se recomienda considerar pautas de AI como parte de la cooperación en la red de bibliotecas de la UNLP

Arquitectura de sitios Web de bibliotecas universitarias : El sistema de bibliotecas de la Universidad Nacional de La Plata, Argentina

Este trabajo descriptivo exploratorio se propone analizar la arquitectura de información (AI) de sitios Web de bibliotecas de la Universidad Nacional de La Plata (UNLP), Argentina. Se analizaron 17 bibliotecas y se aplicó una grilla para recabar 10 aspectos relevantes. Los resultados fueron: 1. Ubicación del sitio Web de la biblioteca: 9 sitios incluidos en la página principal de la facultad. 2. Etiquetado de contenidos: terminología simple, sin jergas; no hay homogeneidad entre las bibliotecas. 3. Capacidad de búsqueda: 62 por ciento positiva, 38 por ciento negativa. 4. Sistema de búsqueda: simple 43 por ciento, compleja 10 por ciento, con ayudas 10 por ciento, ninguno 38 por ciento. 5. Sistemas de navegación: globales 5 por ciento, jerárquicos 79 por ciento, locales 5 por ciento, ninguno 11 por ciento. 6. Herramientas de navegación: barras 16 por ciento, frames o marcos 30 por ciento, índices 2 por ciento, mapas de sitio 7 por ciento, menús horizontales 9 por ciento, menús verticales 35 por ciento. 7. Sindicación de contenidos RSS: 3 sitios. 8. Otros servicios: chat 7 por ciento, descarga de documentos 16 por ciento, envío de formularios 14 por ciento, instructivos 21 por ciento, links a otras páginas 23 por ciento, tutoriales 5 por ciento, otros 14 por ciento. 9. Accesibilidad Web: 1 sitio. 10. Otras observaciones: ninguna. Se concluye que el desarrollo de los sitios es dispar y se recomienda considerar pautas de AI como parte de la cooperación en la red de bibliotecas de la UNLP