Enhanced PCA-based localization using depth maps with missing data

In this paper a new method for self-localization of mobile robots, based on a PCA positioning sensor to operate in unstructured environments, is proposed and experimentally validated. The proposed PCA extension is able to perform the eigenvectors computation from a set of signals corrupted by missing data. The sensor package considered in this work contains a 2D depth sensor pointed upwards to the ceiling, providing depth images with missing data. The positioning sensor obtained is then integrated in a Linear Parameter Varying mobile robot model to obtain a self-localization system, based on linear Kalman filters, with globally stable position error estimates. A study consisting in adding synthetic random corrupted data to the captured depth images revealed that this extended PCA technique is able to reconstruct the signals, with improved accuracy. The self-localization system obtained is assessed in unstructured environments and the methodologies are validated even in the case of varying illumination conditions.

Embryology of Triatoma infestans (KLUG), (Hemiptera, Reduviidae), a Chagas' disease vector

This study reports the embryogenesis of T. infestans (Hemiptera, Reduviidae). Morphological parameters of growth sequences from oviposition until hatching (12-14 d 28ºC) were established. Five periods, as percent of time of development (TD), were characterized from oviposition until hatching. The most important morphological features were: 1) formation of blastoderm within 7% of TD; 2) germ band and gastrulation within 30% of TD; 3) nerve cord, limb budding, thoracic and abdominal segmentation and formation of body cavity within 50% of TD; 4) nervous system and blastokinesis end, and development of embryonic cuticle within 65% of TD; 5) differentiation of the mouth parts, fat body, and Malphigian tubules during final stage and completion of embryo at day 12 to day 14 around hatching. These signals were chosen as appropriate morphological parameters which should enable the evaluation of embryologic modifications due to the action/s of different insecticides

Characterization of the [NiFe] Hydrogenase from the sulfate reducer Desulfovibrio vulgaris Hildenborough

The [NiFe] hydrogenase from Desulfovibrio vulgaris Hildenborough was isolated from the cytoplasmic membranes and characterized by EPR spectroscopy. It has a total molecular mass of 98.7 kDa (subunits of 66.4 and 32.3 kDa), and contains 1 nickel and 12 Fe atoms per heterodimer. The catalytic activities for hydrogen consumption and production were determined to be 174 and 89 umol H2 min-1 mg -1, respectively. As isolated, under aerobic conditions, this hydrogenase exhibits EPR signals characteristic of the nickel centers in [NiFe] hydrogenases (Ni-A signal at gx,y,z=2.32, 2.23 and ~2.0 and Ni-B signal at gx,y,z=2.33, 2.16 and ~2.0) as well as an intense quasi-isotropic signal centered at g=2.02 due to the oxidized [3Fe-4S] center. The redox profile under hydrogen atmosphere is remarkably similar to that of other [NiFe] hydrogenases. The signals observed for the oxidized state disappear, first being substituted by the Ni-C type signal (gx,y,z=2.19, 2.14, ~2.01), which upon long incubation under hydrogen yields the split Ni-C signal due to interaction with the reduced [4Fe-4S] centers.

25 kV bipolar solid-state Marx generator for industrial food applications

The preliminary results from a bipolar industrial solidstate based Marx generator, developed for the food industry, capable of delivering 25 kV/250 A positive and negative pulses with 12 kW average power, are presented and discussed. This modular topology uses only four controlled switches per cell, 27 cells in total that can be charged up to 1000V each, the two extra cells are used for droop compensation. The triggering signals for all the switches are generated by a FPGA. Considering that biomaterials are similar to resistive type loads, experimental results from this new bipolar 25 kV modulator into resistive loads are presented and discussed.

Vigilância activa de eventos após vacinação

A vigilância de efeitos indesejáveis após a vacinação é complexa. Existem vários actores de confundimento que podem dar origem a associações espúrias, meramente temporais mas que podem provocar uma percepção do risco alterada e uma consequente desconfiança generalizada acerca do uso das vacinas. Com efeito as vacinas são medicamentos complexos com características únicas cuja vigilância necessita de abordagens metodológicas desenvolvidas para esse propósito. Do exposto se entende que, desde o desenvolvimento da farmacovigilância se tem procurado desenvolver novas metodologias que sejam concomitantes aos Sistemas de Notificação Espontânea que já existem. Neste trabalho propusemo-nos a desenvolver e testar um modelo de vigilância de reacções adversas a vacinas, baseado na auto-declaração pelo utente de eventos ocorridos após a vacinação e testar a capacidade de gerar sinais aplicando cálculos de desproporção a datamining. Para esse efeito foi constituída uma coorte não controlada de utentes vacinados em Centros de Saúde que foram seguidos durante quinze dias. A recolha de eventos adversos a vacinas foi efectuada pelos próprios utentes através de um diário de registo. Os dados recolhidos foram objecto de análise descritiva e análise de data-mining utilizando os cálculos Proportional Reporting Ratio e o Information Component. A metodologia utilizada permitiu gerar um corpo de evidência suficiente para a geração de sinais. Tendo sido gerados quatro sinais. No âmbito do data-mining a utilização do Information Component como método de geração de sinais parece aumentar a eficiência científica ao permitir reduzir o número de ocorrências até detecção de sinal. A informação reportada pelos utentes parece válida como indicador de sinais de reacções adversas não graves, o que permitiu o registo de eventos sem incluir o viés da avaliação da relação causal pelo notificador. Os principais eventos reportados foram eventos adversos locais (62,7%) e febre (31,4%).------------------------------------------ABSTRACT: The monitoring of undesirable effects following vaccination is complex. There are several confounding factors that can lead to merely temporal but spurious associations that can cause a change in the risk perception and a consequent generalized distrust about the safe use of vaccines. Indeed, vaccines are complex drugs with unique characteristics so that its monitoring requires specifically designed methodological approaches. From the above-cited it is understandable that since the development of Pharmacovigilance there has been a drive for the development of new methodologies that are concomitant with Spontaneous Reporting Systems already in place. We proposed to develop and test a new model for vaccine adverse reaction monitoring, based on self-report by users of events following vaccination and to test its capability to generate disproportionality signals applying quantitative methods of signal generation to data-mining. For that effect we set up an uncontrolled cohort of users vaccinated in Healthcare Centers,with a follow-up period of fifteen days. Adverse vaccine events we registered by the users themselves in a paper diary The data was analyzed using descriptive statistics and two quantitative methods of signal generation: Proportional Reporting Ratio and Information Component. themselves in a paper diary The data was analyzed using descriptive statistics and two quantitative methods of signal generation: Proportional Reporting Ratio and Information Component. The methodology we used allowed for the generation of a sufficient body of evidence for signal generation. Four signals were generated. Regarding the data-mining, the use of Information Component as a method for generating disproportionality signals seems to increase scientific efficiency by reducing the number of events needed to signal detection. The information reported by users seems valid as an indicator of non serious adverse vaccine reactions, allowing for the registry of events without the bias of the evaluation of the casual relation by the reporter. The main adverse events reported were injection site reactions (62,7%) and fever (31,4%).

Controlo de conversores de potência genéricos por FPGA

Dissertação para obtenção do grau de Mestre em Engenharia Eletrotécnica Ramo de Automação e Eletrónica Industrial

ECG biometrics using a dissimilarity space representation

Electrocardiogram (ECG) biometrics are a relatively recent trend in biometric recognition, with at least 13 years of development in peer-reviewed literature. Most of the proposed biometric techniques perform classifi-cation on features extracted from either heartbeats or from ECG based transformed signals. The best representation is yet to be decided. This paper studies an alternative representation, a dissimilarity space, based on the pairwise dissimilarity between templates and subjects' signals. Additionally, this representation can make use of ECG signals sourced from multiple leads. Configurations of three leads will be tested and contrasted with single-lead experiments. Using the same k-NN classifier the results proved superior to those obtained through a similar algorithm which does not employ a dissimilarity representation. The best Authentication EER went as low as 1:53% for a database employing 503 subjects. However, the employment of extra leads did not prove itself advantageous.

Fonte comutada de baixa tensão para utilização em supercondensadores como fonte primária de energia

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo Energia

Nonlinear dynamics of the patient’s response to drug effect during general anesthesia

In today’s healthcare paradigm, optimal sedation during anesthesia plays an important role both in patient welfare and in the socio-economic context. For the closed-loop control of general anesthesia, two drugs have proven to have stable, rapid onset times: propofol and remifentanil. These drugs are related to their effect in the bispectral index, a measure of EEG signal. In this paper wavelet time–frequency analysis is used to extract useful information from the clinical signals, since they are time-varying and mark important changes in patient’s response to drug dose. Model based predictive control algorithms are employed to regulate the depth of sedation by manipulating these two drugs. The results of identification from real data and the simulation of the closed loop control performance suggest that the proposed approach can bring an improvement of 9% in overall robustness and may be suitable for clinical practice.

Off-the-person electrocardiography: performance assessment and clinical correlation

Previous work by our group introduced a novel concept and sensor design for “off-the-person” ECG, for which evidence on how it compares against standard clinical-grade equipment has been largely missing. Our objectives with this work are to characterise the off-the-person approach in light of the current ECG systems landscape, and assess how the signals acquired using this simplified setup compare with clinical-grade recordings. Empirical tests have been performed with real-world data collected from a population of 38 control subjects, to analyze the correlation between both approaches. Results show off-the-person data to be correlated with clinical-grade data, demonstrating the viability of this approach to potentially extend preventive medicine practices by enabling the integration of ECG monitoring into multiple dimensions of people’s everyday lives. © 2015, IUPESM and Springer-Verlag Berlin Heidelberg.

Embedded system for individual recognition based on ECG biometrics

Biometric recognition is emerging has an alternative solution for applications where the privacy of the information is crucial. This paper presents an embedded biometric recognition system based on the Electrocardiographic signals (ECG) for individual identification and authentication. The proposed system implements a real-time state-of-the-art recognition algorithm, which extracts information from the frequency domain. The system is based on a ARM Cortex 4. Preliminary results show that embedded platforms are a promising path for the implementation of ECG-based applications in real-world scenario.

The ubiquitin editing enzyme A20 maintains immune homeostasis and prevents autoimmunity

Dissertation presented to obtain the Doctorate degree (Ph.D.) in Biology at Instituto de Tecnologia Química e Biológica da Universidade Nova de Lisboa

Análise do sinal cardíaco ECG através da técnica SVD

Este trabalho surge no âmbito da área Electromedicina, uma componente da Engenharia Electrotécnica cada vez mais influente e em permanente desenvolvimento, existindo nela uma constante inovação e tentativa de desenvolvimento e aplicação de novas tecnologias. Este projecto possui como principal objectivo o estudo aprofundado das aplicações da técnica SVD (Singular Value Decomposition), uma poderosa ferramenta matemática que permite a manipulação de sinais através da decomposição de matrizes, ao caso específico do sinal eléctrico obtido através de um electrocardiograma (ECG). Serão discriminados os princípios da operação do sistema eléctrico cardíaco, as principais componentes do sinal ECG (a onda P, o complexo QRS e a onda T) e os fundamentos da técnica SVD. A última fase deste trabalho consistirá na aplicação, em ambiente Matlab, da técnica SVD a sinais ECG concretos, com enfase na sua filtragem, para efeitos de remoção de ruído. De modo verificar as suas vantagens e desvantagens face a outras técnicas, os resultados da filtragem por SVD serão comparados com aqueles obtidos, em condições similares, através da aplicação de um filtro FIR de coeficientes estáticos e de um filtro adaptativo iterativo.

Projecto e implementação de osciloscópio digital baseado na norma IEEE1451.0

Os osciloscópios digitais são utilizados em diversas áreas do conhecimento, assumindo-se no âmbito da engenharia electrónica, como instrumentos indispensáveis. Graças ao advento das Field Programmable Gate Arrays (FPGAs), os instrumentos de medição reconfiguráveis, dadas as suas vantagens, i.e., altos desempenhos, baixos custos e elevada flexibilidade, são cada vez mais uma alternativa aos instrumentos tradicionalmente usados nos laboratórios. Tendo como objectivo a normalização no acesso e no controlo deste tipo de instrumentos, esta tese descreve o projecto e implementação de um osciloscópio digital reconfigurável baseado na norma IEEE 1451.0. Definido de acordo com uma arquitectura baseada nesta norma, as características do osciloscópio são descritas numa estrutura de dados denominada Transducer Electronic Data Sheet (TEDS), e o seu controlo é efectuado utilizando um conjunto de comandos normalizados. O osciloscópio implementa um conjunto de características e funcionalidades básicas, todas verificadas experimentalmente. Destas, destaca-se uma largura de banda de 575kHz, um intervalo de medição de 0.4V a 2.9V, a possibilidade de se definir um conjunto de escalas horizontais, o nível e declive de sincronismo e o modo de acoplamento com o circuito sob análise. Arquitecturalmente, o osciloscópio é constituído por um módulo especificado com a linguagem de descrição de hardware (HDL, Hardware Description Language) Verilog e por uma interface desenvolvida na linguagem de programação Java®. O módulo é embutido numa FPGA, definindo todo o processamento do osciloscópio. A interface permite o seu controlo e a representação do sinal medido. Durante o projecto foi utilizado um conversor Analógico/Digital (A/D) com uma frequência máxima de amostragem de 1.5MHz e 14 bits de resolução que, devido às suas limitações, obrigaram à implementação de um sistema de interpolação multi-estágio com filtros digitais.

O cinema nativo americano contemporâneo : expressão da identidade postindian

Dissertação apresentada para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Ciências da Comunicação