A laparoscopic surgery training interface

Laparoscopy is a surgical procedure on which operations in the abdomen are performed through small incisions using several specialized instruments. The laparoscopic surgery success greatly depends on surgeon skills and training. To achieve these technical high-standards, different apprenticeship methods have been developed, many based on in vivo training, an approach that involves high costs and complex setup procedures. This paper explores Virtual Reality (VR) simulation as an alternative for novice surgeons training. Even though several simulators are available on the market claiming successful training experiences, their use is extremely limited due to the economic costs involved. In this work, we present a low-cost laparoscopy simulator able to monitor and assist the trainee’s surgical movements. The developed prototype consists of a set of inexpensive sensors, namely an accelerometer, a gyroscope, a magnetometer and a flex sensor, attached to specific laparoscopic instruments. Our approach allows repeated assisted training of an exercise, without time constraints or additional costs, since no human artificial model is needed. A case study of our simulator applied to instrument manipulation practice (hand-eye coordination) is also presented.

Sistema de contagem de tráfego e classificação automática de veículos, em tempo real e sem fios

Esta tese tem por objectivo o desenho e avaliação de um sistema de contagem e classificação de veículos automóveis em tempo-real e sem fios. Pretende, também, ser uma alternativa aos actuais equipamentos, muito intrusivos nas vias rodoviárias. Esta tese inclui um estudo sobre as comunicações sem fios adequadas a uma rede de equipamentos sensores rodoviários, um estudo sobre a utilização do campo magnético como meio físico de detecção e contagem de veículos e um estudo sobre a autonomia energética dos equipamentos inseridos na via, com recurso, entre outros, à energia solar. O projecto realizado no âmbito desta tese incorpora, entre outros, a digitalização em tempo real da assinatura magnética deixada pela passagem de um veículo, no campo magnético da Terra, o respectivo envio para servidor via rádio e WAN, Wide Area Network, e o desenvolvimento de software tendo por base a pilha de protocolos ZigBee. Foram desenvolvidas aplicações para o equipamento sensor, para o coordenador, para o painel de controlo e para a biblioteca de Interface de um futuro servidor aplicacional. O software desenvolvido para o equipamento sensor incorpora ciclos de detecção e digitalização, com pausas de adormecimento de baixo consumo, e a activação das comunicações rádio durante a fase de envio, assegurando assim uma estratégia de poupança energética. Os resultados obtidos confirmam a viabilidade desta tecnologia para a detecção e contagem de veículos, assim como para a captura de assinatura usando magnetoresistências. Permitiram ainda verificar o alcance das comunicações sem fios com equipamento sensor embebido no asfalto e confirmar o modelo de cálculo da superfície do painel solar bem como o modelo de consumo energético do equipamento sensor.

Evidence for non-coaxiality of ferrimagnetic and paramagnetic fabrics, developed during magma flow and cooling in a thick mafic dyke

A detailed analysis of fabrics of the chilled margin of a thick dolerite dyke (Foum Zguid dyke, Southern Morocco) was performed in order to better understand the development of sub-fabrics during dyke emplacement and cooling. AMS data were complemented with measurements of paramagnetic and ferrimagnetic fabrics (measured with high field torque magnetometer), neutron texture and microstructural analyses. The ferrimagnetic and AMS fabrics are similar, indicating that the ferrimagnetic minerals dominate the AMS signal. The paramagnetic fabric is different from the previous ones. Based on the crystallization timing of the different mineralogical phases, the paramagnetic fabric appears related to the upward flow, while the ferrimagnetic fabric rather reflects the late-stage of dyke emplacement and cooling stresses. (C) 2014 Elsevier B.V. All rights reserved.

Sistema móvel de telemetria para automóveis

Este trabalho compreende uma análise crítica e reflexiva sobre o que atualmente existe no âmbito dos sistemas de navegação integrados (e.g. sistemas de posicionamento global com sistemas de navegação por inércia). O objetivo deste estudo vai também no sentido de desenvolver para um dispositivo móvel, um sistema de telemetria para automóveis baseado na plataforma Android fazendo uso de conceitos estudados e tecnologias existentes. Pretende-se demonstrar a potencialidade da integração de um sistema de posicionamento por satélite, com um sistema de navegação por inércia, em dispositivos cada vez mais acessíveis ao utilizador comum, tais como tablets, smartphones e outros equipamentos dotados de dispositivos MEMS (sistemas microelectromecânicos) de baixo custo usando a plataforma Android. Este trabalho pretende explorar a forma como podemos fundir os registos dos vários sensores, tais como o acelerómetro, magnetómetro e giroscópio, para determinar a orientação do dispositivo e assim integrar esta informação de maior frequência, com a informação disponibilizada pelo GNSS de menor frequência, tendo como objetivo final a determinação em tempo real do posicionamento do dispositivo, destacando as forças e fraquezas de cada um dos sistemas de navegação.

XtranX passenger: navegação inercial

Trabalho de Projecto para obtenção do grau de Mestre em Engenharia Informática e de Computadores

Исследование профиля лиси-чопорты протонным магнитометром G-856 AX

სტატიაში გამოკვლეულია ლისი-ჭოპორტი პროფილის მაგნიტური ველი თანამედროვე, მაღალი სიზუსტის პროტონული მაგნიტომეტრით G-856 AX. დადგენილია, რომ ანომალური მაგნიტური ველის წყაროს აქვს ანტიკლინის ფორმა, ხოლო მისი დამაგნიტება შეესაბამება შუა ეოცენის ვულკანოგენურ ქანებს.

Magnetization versus heat treatment in rapidly solidified NdFeB alloys

NdFeB melt-spun amorphous or partially amorphous alloys of four compositions were prepared. Their crystallization kinetics induced by thermal treatment was studied by differential scanning calorimetry and scanning and transmission electron microscopy. Scanning electron microscopy demonstrated that heterogeneous nucleation occurs preferentially at the ribbon surface which was in contact with the wheel. The explicit form of the kinetic equation that best describes the first stage of crystallization under high undercooling conditions was obtained for each alloy. From the crystallization results, the lower part of the experimental time-temperature-transformation curves was deduced for each alloy and extrapolated up to the high-temperature limit of their validity. Microstructural observations showed a typical size of the microcrystals obtained by heat treatment of ~100 nm. From the magnetic properties measured with a vibrating sample magnetometer, the same magnetic behavior of partially crystallized alloys is observed regardless of the temperature of annealing provided the same crystallization fraction, x, is achieved, at least for small values of x (typically ~10%).

Magnetic properties of Fe-Cu-Nb-Si-B nanocrystaliine magnetic alloys

Several ribbons of composition Fe73.5Cu1Nb 3Si16.5B6 and Fe73.5Cu1 Nb3Si13.5B9 were prepared by annealing the as-quenched samples between 525°C and 700°C; which induced nucleation of nanocrystallites of Fe bcc-type composition. Mean grain sizes were obtained from X-ray diffraction. Static magnetic properties were measured with both a Magnet Physik Hysteresis-Graph (up to 200 Oe) and a SHE SQUID magnetometer (up to 50 kOe). Soft magnetic parameters (coercive field and initial permeability) were very sensitive to grain size. The ZFC magnetization at low field showed a broad peak at a temperature TM, thus signalling a certain distribution of nanocrystalline sizes, and TM strongly decreased when the mean grain size decreased. Isothermal magnetization curves at low temperature showed the expected asymptotic behavior of a random magnet material at low and high fields.

Magnetic properties and giant magnetoresistance in melt-spun CoCu alloys

Magnetic, structural, and transport properties of as quenched and annealed Co10Cu90 samples have been investigated using x¿ray diffraction and a SQUID magnetometer. The largest value of MR change was observed for the as¿quenched sample annealed at 450°C for 30 min. The magnetic and transport properties closely correlate with the microstructure, mainly with Co magnetic particle size and its distribution. For thermal annealing the as quenched samples below 600°C, the Co particle diameters increase from 4.0 to 6.0 nm with a magnetoresistance (MR) drop from 33.0% to 5.0% at 10 K. Comparison with the theory indicates that the interfacial electron spin¿dependent scattering mechanism correlates with GMR for Co particle diameters up to about 6.0 nm.

Mossbauer and magnetization studies of amorphous NdFeB compositionally modulated thin films

Several NdFeB compositionally modulated thin films are studied by using both conversion electron Mossbauer spectra and SQUID (superconducting quantum-interference-device) magnetometry. Both the hyperfine fields and the easy magnetization magnitude are not correlated with the modulation characteristic length (lambda) while the magnetization perpendicular to the thin-film plane decreases as lambda increases. The spectra were recorded at room temperature being the gamma rays perpendicular to the substrate plane. The magnetization measurements were recorded by using a SHE SQUID magnetometer in applied magnetic fields up to 5.5 T and in the temperature range between 1.8 and 30 K.

Avalanche-like vortex penetration driven by pulsed microwave fields in an epitaxial LaSrCuO thin film

Different vortex penetration regimes have been registered in the output voltage signal of a magnetometer when single microwave pulses are applied to an epitaxial overdoped La2− x Sr x CuO4 thin film in a perpendicular dc magnetic field. The onset of a significant variation in the sample magnetization which exists below threshold values of temperature, dc magnetic field, and pulse duration is interpreted as an avalanche-type flux penetration. The microwave contribution to the background electric field suggests that the nucleation of this fast vortex motion is of electric origin, which also guarantees the occurrence of vortex instabilities under adiabatic conditions via the enhancement of the flux flow resistivity. Flux creep phenomena and heat transfer effects act as stabilizing factors against the microwave-pulse-induced fast flux diffusion.

Systematic study of the temperature dependence of the saturation magnetization in Fe, Fe-Ni and Co-based amorphous alloys

Magnetization versus temperature in the temperature interval 2-200 K was measured for amorphous alloys of three different compositions: Fe 81.5B14.5Si4, Fe40Ni38 Mo4B18, and Co70Fe5Ni 2Mo3B5Si15. The measurements were performed by means of a SQUID (superconducting quantum interference device) magnetometer. The aim was to extract information about the different mechanisms contributing to thermal demagnetization. A powerful data analysis technique based on successive minimization procedures has demonstrated that Stoner excitations of the strong ferromagnetic type play a significant role in the Fe-Ni alloy studied. The Fe-rich and Co-rich alloys do not show a measurable contribution from single-particle excitations.

Vaihtokenttämagnetometrin suunnittelu ja rakentaminen

Tämän työn tavoitteena oli suunnitella ja rakentaa vaihtokenttämagnetometri, jolla voidaan tutkia näytteen magneettisia ominaisuuksia eri lämpötiloissa ja eri taajuuksilla. Menetelmänä käytettiin keskinäisinduktiotekniikkaa, joka on hyvin yleinen tapa tutkia aineen magneettista suskeptibiliteettiä. Magnetometriä ohjataan LabVIEW:lla tehdyllä käyttöliittymällä, joka suunniteltiin yksinkertaiseksi ja helpoksi käyttää. Ohjelma sisältää ohjeet, jotka auttavat parametrien ja toimintojen valinnoissa. LabVIEW:lla ohjataan askelmoottoria, näytteen lämmitintä, lämpötilan mittausta ja lukitusvahvistinta, jolta mittaustulokset saadaan. Laitteen testauksessa käytettiin korkean lämpötilan suprajohdetta YBa2Cu3O6+x, koska sillä saadaan aikaan suurisignaali. Mittaukset tehtiin nestemäisen typen lämpötilassa kahdella eri taajuuden arvolla. Laite antoi oikeanlaisen signaalin ulos eli todettiin laitteen toimivan. Laite toimii hyvin korkeammilla taajuuksilla. Mentäessä hyvin matalille taajuuksille, lukitusvahvistin ei pystynyt lukittumaan, eikä siis siten antanut oikeanlaisia tuloksia.

Magnetic properties of ZnGeP2:Mn

In this work magnetic properties of ZnGeP2:Mn were investigated in DC magnetic field with SQUID magnetometer in the temperature range from 3 K up to 400 K and in AC magnetic field with AC magnetometer in the temperature range from 77 K up to 350 K in frequency range from 500 Hz up to 18 KHz. Three ZnGeP2:Mn samples were studied with Mn concentration c = 1.5 % mass, 3 % mass and 3.5 % mass.