Simulation and evaluation of deep learning autoencoders for image compression in multi-UAV network systems

Mobile multi-robot systems are versatile alternatives for improving single-robot capacities in many applications, such as logistics, environmental monitoring, search and rescue, photogrammetry, etc. In this sense, this kind of system must have a reliable communication network between the vehicles, ensuring that information exchanged within the nodes has little losses. This work simulates and evaluates the use of autoencoders for image compression in a multi-UAV simulation with ROS and Gazebo for a generic surveillance application. The autoencoder model was developed with the Keras library, presenting good training and validation results, with training and validation accuracy of 70%, and a Peak Signal Noise Ratio (PSNR) of 40dB. The use of the CPU for the simulated UAVs for processing and sending compressed images through the network is 25% faster. The results showed that this compression methodology is a good choice for improving the system’s performance without losing too much information.The authors thank CEFET/RJ, UFF, UFRJ, and the Brazilian research agencies CAPES, CNPq, and FAPERJ. Besides, the authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021).info:eu-repo/semantics/publishedVersio

Data fusion using ultra wideband time-of-flight positioning for mobile robot applications

Self-localization of a robot is one of the most important requirements in mobile robotics. There are several approaches to providing localization data. The Ultra Wide Band Time of Flight provides position information but lacks the angle. Odometry data can be combined by using a data fusion algorithm. This paper addresses the application of data fusion algorithms based on odometry and Ultra Wide Band Time of Flight positioning using a Kalman filter that allows performing the data fusion task which outputs the position and orientation of the robot. The proposed solution, validated in a real developed platform can be applied in service and industrial robots.he authors are grateful to the Foundation for Sci- ence and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021). This work has been supported by NORTE- 01-0247-FEDER-072598 iSafety: Intelligent system for occu- pational safety and well-being in the retail sector. The authors also want to thank CEFET-RJ and FAPERJ.info:eu-repo/semantics/publishedVersio

Avaliação de basidiomicetos do gênero ganoderma para degradação de lignina e celulose.

EVINCI. Resumo

Transvesical natural orifice transluminal endoscopic surgery (NOTES) nephrectomy with kidney morcellation: a proof of concept study

Study Type - Therapy (case series) Level of Evidence 4. What's known on the subject? and What does the study add? Until now, the transvaginal approach has been the only method of removing larger specimens from the abdominal cavity using natural orifice transluminal endoscopic surgery. There has been no means of extracting larger specimens in men and the means are restricted even in women, particularly in young women. The present study shows that the difficulty of large specimen retrieval can be overcome, irrespective of the diameter of the chosen port, through natural orifices using morcellation. OBJECTIVE: To show, in a porcine model, the feasibility of a complete transvesical natural orifice transluminal endoscopic surgery (NOTES) nephrectomy with kidney extraction after morcellation through the same port. MATERIALS AND METHODS: Transvesical nephrectomy and morcellation were performed in six pigs at Minho University, Braga, Portugal after institutional review board approval. The transvesical port and the cystotomy were created under the guidance of a ureteroscope, while the remaining steps were done under the guidance of an operating telescope. Dissection of the renal vessels and kidney was performed using dissection grasping forceps and a vessel sealing system (LigaSure(™) ; Covidien, Mansfield, MA, USA) and morcellation was done using a Piranha(™) morcellator (Richard Wolf, Knittlingen, Germany). RESULTS: There were no complications related to the creation of transvesical access. The image provided by the telescope was superior to that of the ureteroscope, especially underwater. Morcellation was quick and effective, with the support of a fixing needle through the abdominal wall, designed to fix the kidney, after laceration of a bowel loop occurred in the first experiment.  It was found that technical improvements are needed to ensure safety of NOTES morcellation. CONCLUSIONS: Kidney morcellation after nephrectomy, using a natural orifice exclusively, is feasible.  Despite technical limitations, this proof of concept study can be regarded as a potential step towards the application of NOTES in urology

COW´S MILK PROTEIN ALLERGY WITH GASTROINTESTINAL MANIFESTATIONS

A alergia as proteínas do leite de vaca (APLV) constituiu a alergia alimentar mais frequente em crianças com idade inferior a tres anos, podendo as suas manifestações gastrointestinais ocorrer em qualquer idade. Na suspeita clínica de APLV baseada na anamnese e exame físico, deve instituir-se dieta de eliminação durante um período variável consoante o quadro clínico, seguida de uma prova de provocação oral (PPO) que ira confirmar ou excluir o diagnostico. Exames complementares como testes cutâneos e IgEs séricas especificas poderão ser necessários. O tratamento baseia-se na dieta de eliminação e pressupõe aconselhamento nutricional e vigilância do crescimento. Habitualmente repete-se a PPO após tres a 12 meses de dieta de eliminação, verificando-se aquisição de tolerância em mais de 80% das crianças aos três anos de idade. O objetivo deste artigo e fazer uma breve revisão e atualizacao sobre as manifestações gastrointestinais da APLV em idade pediátrica, apresentando uma proposta de abordagem fundamentada em recomendações internacionais recentes.Cow’s milk protein allergy (CMPA) is the leading cause of food allergy in children under three years of age, although its gastrointestinal manifestations may occur in all age groups. In the suspicion of CMPA based on the anamnesis and physical examination, an elimination diet should be initiated for a variable length of time according to the clinical picture, followed by an oral food challenge (OFC) confirming or excluding the diagnosis. Complementary exams such as skin prick tests and specific IgE may be necessary. Treatment is based on an elimination diet and demands nutritional counselling and growth monitoring. Usually an OFC is repeated after three to 12 months of elimination diet. Tolerance is achieved at three years of age in more than 80% of the children. The aim of this work is to make a brief review and update on CMPA in pediatric age, proposing a management approach based on recent international recommendations

Estratégias do melhoramento genético da manga a visando atender a dinâmica de mercado.

O Brasil é um dos seis maiores produtores de manga do mundo com 1,3 milhão de toneladas e uma área de 75,2 mil hectares. No entanto, a exportação de manga, em 2010, foi de cerca de 140 mil toneladas, o que representou apenas 10,3% dessa produção. A diversificação na oferta da manga para os mercados interno e externo tem sido feita desde o fruto fresco de produção convencional, à manga orgânica de manejo bastante específico e, mais recentemente, há uma tendência no aumento da demanda pela manga processada. Para atender a essa demanda, deve-se não somente melhorar o parque industrial, mas também o desenvolvimento genético, as estratégias e a seleção de cultivares e técnicas de manejo que atendam às diversas exigências do mercado para frutos frescos, orgânicos e processados. Este trabalho tem como objetivo sugerir aos melhoristas de manga, estratégias eficientes na obtenção e seleção da chamada ?cultivar ideal?, e aos produtores e exportadores discutir técnicas mais eficientes que atendam às exigências de maior produção e qualidade da manga como resposta à dinâmica de demanda dos mercados internos e externos.Número especial

Polarization scattering property of cascaded polarization controllers

The relation between the allowed range of variation of polarization controller wave-plates angles and the respective polarization scattering properties is investigated It is demonstrated that a nearly uniform polarization scattering over the Poincare sphere is obtained using a concatenation of three polarization controllers with angles randomly changed between -pi/4 and pi/4. It is also shown that an improvement of the scattering properties is obtained if the configuration angles are allowed to change between -pi/2 and pi/2

Monitorização óptica da evolução de deformações em edifícios históricos

As estruturas de património arquitectónico apresentam, pela sua natureza e história, um elevado desafio no campo da conservação. Para vencer esse desafio é indispensável combinar o conhecimento e experiência científico e cultural para o estudo exaustivo das melhores soluções a aplicar, quer no âmbito da análise e diagnóstico, quer no âmbito da intervenção e conservação. Com o objectivo de facultar meios de análise e diagnóstico adequados ao património arquitectónico, foram desenvolvidos e implementados sistemas ópticos para monitorização estrutural. Um dos sistemas tem por base o uso de sensores de fibra óptica baseados em redes de Bragg. Um outro sistema tem por base a medição laser de distâncias por diferença de fase

Enhancing motivation and learning in engineering courses: a challenge-based approach to teaching embedded systems

This paper addresses an approach to teaching embedded systems programming through a challenge-based competition involving robots. This pedagogical project distinguishes itself by incorporating international students from three international institutions through the Blended Intensive Program (BIP). The research findings indicate that this approach yields excellent results regarding student engagement and learning outcomes. The challenge-based program effectively promotes students’ creative problem-solving abilities by combining theoretical instruction with hands-on experience in a competitive setting.The authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020), SusTEC (LA/P/0007/2021) and project LA/P/0063/2020. This work was supported by Blended Intensive Programme ID: 2021- 1-PT01-KA131-HED-000004268-2, Embedded Systems Applications. The authors thank CEFET/RJ, the Institute of Engineering and the Research Centre on Bio-based Economy of Hanze University of Applied Sciences, the ERASMUS program, and the Brazilian research agencies CAPES, CNPq, and FAPERJ.info:eu-repo/semantics/publishedVersio

Configured distribution of the celiac artery in blue-fronted amazon (Amazona aestiva)

Foram descritas a origem e a distribuição da artéria celíaca em 20 papagaios-verdadeiros (Amazona aestiva), por meio do preenchimento do sistema arterial com solução de látex corado, fixado em solução de formol, para posterior dissecação de seus ramos colaterais. Como primeiro ramo, a artéria célica emitiu a artéria proventricular dorsal, que seguiu para o ventrículo como artéria gástrica dorsal e, em seguida, enviou a artéria proventricular ventral, que em 85% dos exemplares se originou diretamente da artéria celíaca, ou do seu ramo esquerdo em 15%. Em 25% dos casos, a artéria esplênica foi emitida antes da bifurcação em ramo esquerdo e direito. O ramo esquerdo foi responsável pela origem de ramos proventriculares, ramos pilóricos, artéria esplênica e artéria proventricular ventral, a qual emitiu ramos ao proventrículo e ao esôfago. A artéria celíaca também originou as artérias gástrica ventral e gástrica esquerda, que foram responsáveis pela emissão da artéria hepática esquerda. O ramo direito emitiu artérias esplênicas − que variaram de uma a sete −, duodenal − destinada ao segmento mais caudal da alça ascendente do duodeno, hepática direita − para o lobo direito do fígado. Em seu segmento terminal, o ramo direito dividiu-se em artérias gástrica direita − para o ventrículo −, pancreaticoduodenal − para o pâncreas, alças ascendente e descendente do duodeno e segmentos cranial do íleo e caudal do jejuno. A irrigação determinada pela artéria celíaca nos papagaios segue o que é proposto para aves de outros gêneros, apresentando divergências como ausência das artérias vesicular e ileocecal, bem como da vesícula biliar e ceco. _________________________________________________________________________________ ABSTRACTThis research was performed aiming to describe the origin and the distribution of the celiac artery in 20 blue fronted amazon (Amazona aestiva), through the completion of their circulatory system with an aqueous solution of colored latex, followed by fixation in formol for later dissection of the collateral branches. The first branch emitted the proventricular dorsal artery that headed to the ventricle as gastric dorsal artery and next emitted the proventricular ventral artery which originated on the celiac artery in 85% of the cases and in 15% had its origin on the left branch of the celiac artery. In 25% of the cases the splenic artery was emitted before the bifurcation on left and right branches. The left branch was responsible for the origin of the proventricular branches, piloric branches, splenic artery and proventricular artery, which emitted branches to the proventricle and esophagus. The celiac artery also emitted the gastric ventral artery and left gastric. The right branch emitted splenic arteries (that varied from a number of seven); duodenal bound for the more caudal segment of the ascendant segment of the duodenum and the right hepatica to the right liver lobe. On its terminal segment the right branch was divided into right gastric arteries to the ventricle and pancreaticduodenal to the pancreas, ascendant and descendant braces of the duodenum and to the cranial segments of the ileum and caudal of the jejune. The irrigation provided by the celiac artery in parrots remains the same as described for other bird genders showing as divergences: the lack of vesicular arteries and ileocecal as well the gall bladder and the cecos