The International Multilateral System: Imperatives of Change, Potential Scenarios and Suggestions for the Future

Thesis presented to satisfy the necessary requirements for obtaining a PhD degree in International Relation with specialization in Globalization and the Environment,

Groundtruth system for underwater benchmarking

Oceans - San Diego, 2013

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

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.

Monitorização e Avaliação Dinâmica do Potencial para a Eficiência Energética de Lares de Idosos

Atualmente a situação económica do país é delicada, como tal, a redução dos consumos energéticos é uma mais-valia tanto para os consumidores como para o meio ambiente. A evolução tecnológica nos últimos anos possibilita a realização de soluções para resolver esse problema. A monitorização constante dos consumos de energia elétrica pode fazer com que esta redução seja concretizada. Relativamente ao caso concreto do edificado, o consumo de energia nos edifícios Europeus é muito significativo, quer ao nível das soluções construtivas, dos sistemas e dos equipamentos. Como tal, podem ser tomadas medidas que podem ter um impacto significativo para a redução dos consumos. O presente trabalho passa pelo estudo do potencial para a eficiência energética de três lares de idosos situados no Porto. A auditoria efetuada revelou um enorme potencial de poupança energética, nomeadamente de energia elétrica e gás natural. As medidas a adotar para reduzir os consumos energéticos do edifício passam pela substituição da iluminação existente por uma mais eficiente e de menor potência, a instalação de painéis solares para reduzir o consumo destinado às águas quentes sanitárias (nos dois lares que ainda não possuem este tipo de sistema), a substituição das caldeiras a gás natural por biomassa, a instalação de equipamentos para monitorização de consumos, entre outros. Através da recolha e tratamento de dados com um analisador de energia foi possível verificar que a implementação de uma solução de monitorização de consumos energéticos nos lares poderá permitir baixar os custos da fatura energética.

Implementação do Sistema de Gestão Ambiental na Unidade Industrial de Gouveia, da Sumol+Compal

Esta dissertação descreve o levantamento da gestão de uma unidade fabril no âmbito do engarrafamento de águas, para a implementação de um Sistema de Gestão Ambiental (SGA) recorrendo á Norma NP EN ISO 14001:2012 tendo como objetivo proporcionar a melhoria contínua dos processos implementados na empresa bem como todos os benefícios que este referencial pressupõe. Foi realizada, numa primeira fase, uma auditoria diagnóstico com uma visita á fabrica no âmbito da implementação da ISO 14001, e posteriormente realizado todo o trabalho de aplicação ao referencial. Este trabalho consistiu a abordagem a todos os requisitos da norma ISO 14001 com principal foco na fase de Planeamento de um SGA, procurando-se responder essencialmente ao requisito 4.3 da referida norma. Procedeu-se á identificação das atividades da empresa (entradas e saídas), dos aspetos ambientais associados (respetiva significância) e levantamento dos requisitos legais aplicáveis (obrigações). Os restantes requisitos foram abordados e fez-se uma sugestão para o seu cumprimento, para além de que muitos já se encontram em cumprimento por compatibilidade com a norma ISO 9001 da qual a empresa já se encontra certificada. Esta dissertação pretende discutir e apresentar propostas para a implementação do SGA, possíveis vantagens daí decorrentes e as barreiras a ultrapassar (aspetos ambientais significativos) de maneiras a por em prática os requisitos do referencial normativo que venha a ser adotado. Foi realizada uma revisão bibliográfica destas temáticas e, ainda que estas medidas propostas não tenham sido implementadas, assim que implementadas esperam-se ganhos na economia de recursos como também outros benefícios descritos ao longo da dissertação que permita, com implementação do SGA não só enquanto estratégia, ser inovadora e competitiva.

Auditoria Energética a Instalação Comercial

O setor da indústria destaca-se como um dos maiores consumidores de energia final em Portugal, representando cerca de 30% do consumo. Para fazer face a esta situação e no âmbito da Estratégia Nacional para a Energia foi criado, pelo Decreto-Lei n.º 71/2008, o Sistema de Gestão dos Consumos Intensivos de Energia (SGCIE), regulamento que classifica como Consumidoras Intensivas de Energia (CIE) as indústrias com um consumo anual superior aos 500 tep. Prevendo a elaboração de Planos de Racionalização dos Consumos de Energia (PREn), estabelecendo-se acordos de racionalização dos consumos com a Direção Geral de Energia e Geologia (DGEG) [1]. Atuando ao nível da eficiência energética o consumo de energia na indústria pode diminuir significativamente, para tal é necessário proceder-se à execução de auditorias energéticas e determinar as soluções mais adequadas de forma a reduzir os desperdícios e custos associados ao consumo de energia. Nesta dissertação apresenta-se a realização de uma auditoria energética a uma instalação comercial, que assenta essencialmente em quatro etapas, nomeadamente: planeamento da intervenção, trabalho de campo, tratamento e análise da informação recolhida, elaboração do relatório da auditoria. A aplicação desta metodologia constitui uma grande ajuda na realização de auditorias energéticas conferindo uma maior qualidade à sua execução. De forma a validar a metodologia utilizada nas auditorias energéticas foi realizado o estudo a uma instalação comercial que registou no ano 2013, um consumo energético inferior a 500 tep, contudo aderiu de forma voluntária ao Sistema de Gestão dos Consumos Intensivos de Energia (SGCIE), sendo obrigado a racionalizar o seu consumo de energia de acordo com as metas estabelecidas no SGCIE.

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.

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.