Coordenação de veículo de inspecção subaquática com veículo de superfície autónomo

O LSA/ISEP(Laboratório de sistemas Autónomos do Instituto Superior de Engenharia do Porto) tem vindo nos últimos anos a desenvolver sistemas robóticos inovadores para operação em ambiente marinho sendo o veículo de superfície autónomo ROAZ II um exemplo de renome internacional. Neste contexto, e tendo em vista a satisfação dos requisitos parciais conducentes à obtenção do grau de Mestre em Eng. Electrotécnica e de Computadores - Ramo de Sistemas Autónomos do ISEP, o presente trabalho visou a integração de um robô submarino operado remotamente (ROV) com o robô de superfície ROAZ II. Esta solução inovadora de operação coordenada e integrada de um ASV/ROV permite dotar o ASV de mobilidade e visão subaquática. Após a caracterização e análise de requisitos de diversos cenários operacionais foi apresentada uma arquitectura de controlo coordenado dos dois veículos baseada em manobras de controlo descritas por autómatos híbridos. Os dois veículos foram modelados e as manobras coordenadas projectadas foram validadas com um simulador em ambiente Matlab/Simulink. Foi desenvolvido um sistema de localização relativa do ROV através da fusão sensorial de um sistema INS com um sistema acústico USBL utilizando um filtro EKF. O veículo ROV (VideoRay) do LSA foi instrumentado com os sensores necessários e efectuada a integração de hardware e software com o ASV ROAZ II permitindo a operação remota. Foi realizada uma missão demonstrativa de inspecção de pilares subaquáticos em cenário real com a operação conjunta dos dois robôs.

Implementação de um sistema seguro, robusto e redundante

Um dos temas mais debatidos na sociedade actual é a segurança. Os níveis de segurança e as ferramentas para os alcançar entram em contraponto com os métodos usados para os quebrar. Como no passado, a razão qualidade/serviço mantém-se hoje, e manter-se-á no futuro, assegurando maior segurança àqueles que melhor se protejam. Problemas simples da vida real como furtos ou uso de falsa identidade assumem no meio informático uma forma rápida e por vezes indetectável de crime organizado. Neste estudo são investigados métodos sociais e aplicações informáticas comuns para quebrar a segurança de um sistema informático genérico. Desta forma, e havendo um entendimento sobre o Modus Operandi das entidades mal-intencionadas, poderá comprovar-se a instabilidade e insegurança de um sistema informático, e, posteriormente, actuar sobre o mesmo de tal forma que fique colocado numa posição da segurança que, podendo não ser infalível, poderá estar muito melhorada. Um dos objectivos fulcrais deste trabalho é conseguir implementar e configurar um sistema completo através de um estudo de soluções de mercado, gratuitas ou comerciais, a nível da implementação de um sistema em rede com todos os serviços comuns instalados, i.e., um pacote “chave na mão” com serviços de máquinas, sistema operativo, aplicações, funcionamento em rede com serviços de correio electrónico, gestão empresarial, anti-vírus, firewall, entre outros. Será possível então evidenciar uma instância de um sistema funcional, seguro e com os serviços necessários a um sistema actual, sem recurso a terceiros, e sujeito a um conjunto de testes que contribuem para o reforço da segurança.

Robótica móvel: sistema de condução autónoma

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo Automação e Electrónica Industrial

An Evaluation of Local Feature Combiners for Robot Visual Localization

In the last decade, local image features have been widely used in robot visual localization. To assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image to those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, we compare several candidate combiners with respect to their performance in the visual localization task. A deeper insight into the potential of the sum and product combiners is provided by testing two extensions of these algebraic rules: threshold and weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance. The voting method, whilst competitive to the algebraic rules in their standard form, is shown to be outperformed by both their modified versions.

Blistering of W-Ta composites at different irradiation energies

Pure tungsten and tantalum plates and tungsten-tantalum composites produced via mechanical alloying and spark plasma sintering were bombarded with He+ and D+ energetic ion beams and deuterium plasmas. The aim of this experiment is to study the effects caused by individual helium and deuterium exposures and to evidence that the modifications induced in the composites at different irradiation energies could be followed by irradiating the pristine constituent elements under the same experimental conditions, which is relevant considering the development of tailored composites for fusion applications. Higher D retentions, especially in tungsten, and superficial blistering are observed in both components after helium exposure. The blistering is magnified in the tantalum phase of composites due to its higher ductility and to water vapour production under deuterium irradiation. At lower irradiation energies the induced effects are minor. After plasma exposure, the presence of tantalum does not increase the D content in the composites. (C) 2013 Elsevier B.V. All rights reserved.

Cytostatics occupational exposure: genotoxic effects assessment

The use of cytostatics drugs in anticancer therapy is increasing. Health care workers can be occupationally exposed to these drugs classified as carcinogenic, mutagenic or teratogenic. Workers may be exposed to this drug, being in the hospital settings the main focus dwelled upon the pharmacy, and nursing personnel. Although the potential therapeutic benefits of hazardous drugs outweigh the risks of side effects for ill patients, exposed health care workers can have the same side effects with no therapeutic benefit. The exposure to these substances is epidemiologically linked to cancer and nuclear changes detected by the cytokinesis-block micronucleus test (CBMN). This method is extensively used in molecular epidemiology, since it determines several biomarkers of genotoxicity, such as micronuclei (MN), which are biomarkers of chromosomes breakage or loss, nucleoplasmic bridges (NPB), common biomarkers of chromosome rearrangement, poor repair and/or telomeres fusion, and nuclear buds (NBUD), biomarkers of elimination of amplified DNA.

Biomonitorization in hospital settings with cytostatics occupational exposure

Exposure in a hospital setting is normally due to the use of several antineoplastic drugs simultaneously. Nevertheless, the effects of such mixtures at the cell level and on human health in general are unpredictable and unique due to differences in practice of hospital oncology departments, in the number of patients, protection devices available, and the experience and safety procedures of medical staff. Health care workers who prepare or administer hazardous drugs or who work in areas where these drugs are used may be exposed to these agents in the air, on work surfaces, contaminated clothing, medical equipment, patient excreta, and other surfaces. These workers include specially pharmacists, pharmacy technicians, and nursing personnel. Exposures may occur through inhalation resulting from aerosolization of powder or liquid during reconstitution and spillage taking place while preparing or administering to patients, through Cytokinesis-block micronucleus test (CBMN) is extensively used in biomonitoring, since it determines several biomarkers of genotoxicity, such as micronuclei (MN), which are biomarkers of chromosomes breakage or loss, nucleoplasmic bridges (NPB), common biomarkers of chromosome rearrangement, poor repair and/or telomeres fusion, and nuclear buds (NBUD), biomarkers of elimination of amplified DNA.

Use of negative information in positioning and tracking algorithms

To avoid additional hardware deployment, indoor localization systems have to be designed in such a way that they rely on existing infrastructure only. Besides the processing of measurements between nodes, localization procedure can include the information of all available environment information. In order to enhance the performance of Wi-Fi based localization systems, the innovative solution presented in this paper considers also the negative information. An indoor tracking method inspired by Kalman filtering is also proposed.

Intérêts du travail isolé du pouce dans le jeu de la harpe: rapport de stage

Résumé I (Pratiques Pédagogiques)- Ce compte-rendu du stage réalisé pour ma deuxième année de master rapporte le résultat de l’observation des cours donnés à trois élèves de niveaux différents par le professeur de harpe de l’Ecole de Musique « Nossa Senhora do Cabo » à Linda-a-Velha, commune de Oeiras, située près de Lisbonne. Grâce à l’activité du professeur, et par le suivi de l’évolution de ses élèves tout au long de l’année scolaire 2012-2013, tant sur le plan technique que sur le plan musical, j’ai pu participer à toutes les étapes de leur apprentissage et retrouver quelques principes pédagogiques fondamentaux. Ainsi, j’ai constaté la nécessité d’une organisation didactique solide dans la définition d’objectifs, la planification du travail, le choix des méthodes d’étude, mais souple par la régulation des rythmes d’apprentissage et des techniques d’acquisition. La métacognition est aussi une notion composante essentielle de la pratique du professeur, dont un des grands objectifs est de développer chez ses élèves la capacité de se prendre en charge seul. J’ai également apprécié l’importance de l’aspect relationnel intrinsèque à toute situation d’apprentissage, ainsi que celle de la connaissance des théories de la motivation, atout important permettant d’agir au niveau psychologique sur les élèves et d’obtenir à plus ou moins long terme des changements comportementaux influents sur la qualité de ces apprentissages. J’ai enfin essayé de dégager différents types d’approches pédagogiques possibles, parmi les stratégies observées chez le professeur, ainsi que d’après quelques éléments de réflexion personnelle.

Fazer, dançar, de dentro : a fusão entre os processos do fazer e do sentir na prática diária da Técnica de Dança Clássica

Relatório Final de Estágio apresentado à Escola Superior de Dança com vista à obtenção do Grau de Mestre em Ensino de Dança.

ECG Biometrics: A Template Selection Approach

Electrocardiography (ECG) biometrics is emerging as a viable biometric trait. Recent developments at the sensor level have shown the feasibility of performing signal acquisition at the fingers and hand palms, using one-lead sensor technology and dry electrodes. These new locations lead to ECG signals with lower signal to noise ratio and more prone to noise artifacts; the heart rate variability is another of the major challenges of this biometric trait. In this paper we propose a novel approach to ECG biometrics, with the purpose of reducing the computational complexity and increasing the robustness of the recognition process enabling the fusion of information across sessions. Our approach is based on clustering, grouping individual heartbeats based on their morphology. We study several methods to perform automatic template selection and account for variations observed in a person's biometric data. This approach allows the identification of different template groupings, taking into account the heart rate variability, and the removal of outliers due to noise artifacts. Experimental evaluation on real world data demonstrates the advantages of our approach.

Enhancing Multimodal Silent Speech Interfaces With Feature Selection

In research on Silent Speech Interfaces (SSI), different sources of information (modalities) have been combined, aiming at obtaining better performance than the individual modalities. However, when combining these modalities, the dimensionality of the feature space rapidly increases, yielding the well-known "curse of dimensionality". As a consequence, in order to extract useful information from this data, one has to resort to feature selection (FS) techniques to lower the dimensionality of the learning space. In this paper, we assess the impact of FS techniques for silent speech data, in a dataset with 4 non-invasive and promising modalities, namely: video, depth, ultrasonic Doppler sensing, and surface electromyography. We consider two supervised (mutual information and Fisher's ratio) and two unsupervised (meanmedian and arithmetic mean geometric mean) FS filters. The evaluation was made by assessing the classification accuracy (word recognition error) of three well-known classifiers (knearest neighbors, support vector machines, and dynamic time warping). The key results of this study show that both unsupervised and supervised FS techniques improve on the classification accuracy on both individual and combined modalities. For instance, on the video component, we attain relative performance gains of 36.2% in error rates. FS is also useful as pre-processing for feature fusion. Copyright © 2014 ISCA.

Auxiliary mechanisms for telerobotics

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

A sensor classification strategy for robotic manipulators

In practice the robotic manipulators present some degree of unwanted vibrations. The advent of lightweight arm manipulators, mainly in the aerospace industry, where weight is an important issue, leads to the problem of intense vibrations. On the other hand, robots interacting with the environment often generate impacts that propagate through the mechanical structure and produce also vibrations. In order to analyze these phenomena a robot signal acquisition system was developed. The manipulator motion produces vibrations, either from the structural modes or from endeffector impacts. The instrumentation system acquires signals from several sensors that capture the joint positions, mass accelerations, forces and moments, and electrical currents in the motors. Afterwards, an analysis package, running off-line, reads the data recorded by the acquisition system and extracts the signal characteristics. Due to the multiplicity of sensors, the data obtained can be redundant because the same type of information may be seen by two or more sensors. Because of the price of the sensors, this aspect can be considered in order to reduce the cost of the system. On the other hand, the placement of the sensors is an important issue in order to obtain the suitable signals of the vibration phenomenon. Moreover, the study of these issues can help in the design optimization of the acquisition system. In this line of thought a sensor classification scheme is presented. Several authors have addressed the subject of the sensor classification scheme. White (White, 1987) presents a flexible and comprehensive categorizing scheme that is useful for describing and comparing sensors. The author organizes the sensors according to several aspects: measurands, technological aspects, detection means, conversion phenomena, sensor materials and fields of application. Michahelles and Schiele (Michahelles & Schiele, 2003) systematize the use of sensor technology. They identified several dimensions of sensing that represent the sensing goals for physical interaction. A conceptual framework is introduced that allows categorizing existing sensors and evaluates their utility in various applications. This framework not only guides application designers for choosing meaningful sensor subsets, but also can inspire new systems and leads to the evaluation of existing applications. Today’s technology offers a wide variety of sensors. In order to use all the data from the diversity of sensors a framework of integration is needed. Sensor fusion, fuzzy logic, and neural networks are often mentioned when dealing with problem of combing information from several sensors to get a more general picture of a given situation. The study of data fusion has been receiving considerable attention (Esteban et al., 2005; Luo & Kay, 1990). A survey of the state of the art in sensor fusion for robotics can be found in (Hackett & Shah, 1990). Henderson and Shilcrat (Henderson & Shilcrat, 1984) introduced the concept of logic sensor that defines an abstract specification of the sensors to integrate in a multisensor system. The recent developments of micro electro mechanical sensors (MEMS) with unwired communication capabilities allow a sensor network with interesting capacity. This technology was applied in several applications (Arampatzis & Manesis, 2005), including robotics. Cheekiralla and Engels (Cheekiralla & Engels, 2005) propose a classification of the unwired sensor networks according to its functionalities and properties. This paper presents a development of a sensor classification scheme based on the frequency spectrum of the signals and on a statistical metrics. Bearing these ideas in mind, this paper is organized as follows. Section 2 describes briefly the robotic system enhanced with the instrumentation setup. Section 3 presents the experimental results. Finally, section 4 draws the main conclusions and points out future work.

Emissions of nanoparticles during friction stir welding (FSW) of aluminium alloys

Friction stir welding (FSW) is now well established as a welding process capable of joining some different types of metallic materials, as it was (1) found to be a reliable and economical way of producing high quality welds, and (2) considered a "clean" welding process that does not involve fusion of metal, as is the case with other traditional welding processes. The aim of this study was to determine whether the emission of particles during FSW in the nanorange of the most commonly used aluminum (Al) alloys, AA 5083 and AA 6082, originated from the Al alloy itself due to friction of the welding tool against the item that was being welded. Another goal was to measure Al alloys in the alveolar deposited surface area during FSW. Nanoparticles dimensions were predominantly in the 40- and 70-nm range. This study demonstrated that microparticles were also emitted during FSW but due to tool wear. However, the biological relevance and toxic manifestations of these microparticles remain to be determined.