Single-Crystal Organic Charge-Transfer Interfaces probed using Schottky-Gated Heterostructures

Organic semiconductors based on small conjugated molecules generally behave as insulators when undoped, but the hetero-interfaces of two such materials can show electrical conductivity as large as in a metal. Although charge transfer is commonly invoked to explain the phenomenon, the details of the process and the nature of the interfacial charge carriers remain largely unexplored. Here we use Schottky-gated heterostructures to probe the conducting layer at the interface between rubrene and PDIF-CN2 single crystals. Gate-modulated conductivity measurements demonstrate that interfacial transport is due to electrons, whose mobility exhibits band-like behavior from room temperature to ~ 150 K, and remains as high as ~ 1 cm2V-1s-1 at 30 K for the best devices. The electron density decreases linearly with decreasing temperature, an observation that can be explained quantitatively based on the heterostructure band diagram. These results elucidate the electronic structure of rubrene-PDIF-CN2 interfaces and show the potential of Schottky-gated organic heterostructures for the investigation of transport in molecular semiconductors.Comment: 37 pages, 9 Figures (including supplementary information

A comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robots

There is an increasing number of mobile robot applications. The demanding of the Industry 4.0 pushes the robotic areas in the direction of the decision. The autonomous robots should actually decide the path according to the dynamic environment. In some cases, time requirements must also be attended and require fast path planning methods. This paper addresses a comparison between well-known path planning methods using a realistic simulator that handles the dynamic properties of robot models including sensors. The methodology is implemented in SimTwo that allows to compare the A* and RRT* algorithms in different scenarios with dynamic and real time constraint scenarios.This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundac¸ao para ˜ a Ciencia e a Tecnologia (Portuguese Foundation ˆ for Science and Technology) as part of project UID/EEA/50014/2013.info:eu-repo/semantics/publishedVersio

Standard surgical treatment for benign prostatic hyperplasia is safe for patients over 75 years: analysis of 100 cases from a high-volume urologic center

OBJECTIVES: In this study, we aimed to determine the complications of standard surgical treatments among patients over 75 years in a high-volume urologic center. METHODS: We analyzed 100 consecutive patients older than 75 years who had undergone transurethral prostatic resection of the prostate or open prostatectomy for treatment of benign prostatic hyperplasia from January 2008 to March 2010. We analyzed patient age, prostate volume, prostate-specific antigen level, international prostatic symptom score, quality of life score, urinary retention, co-morbidities, surgical technique and satisfaction with treatment. RESULTS: Median age was 79 years. Forty-eight patients had undergone transurethral prostatic resection of the prostate, and 52 had undergone open prostatectomy. The median International Prostatic Symptom Score was 20, the median prostate volume was 83 g, 51% were using an indwelling bladder catheter, and the median prostatespecific antigen level was 5.0 ng/ml. The most common comorbidities were hypertension, diabetes and coronary disease. After a median follow-up period of 17 months, most patients were satisfied. Complications were present in 20% of cases. The most common urological complication was urethral stenosis, followed by bladder neck sclerosis, urinary fistula, late macroscopic hematuria and persistent urinary incontinence. The most common clinical complication was myocardial infarction, followed by acute renal failure requiring dialysis. Incidental carcinoma of the prostate was present in 6% of cases. One case had urothelial bladder cancer. CONCLUSIONS: Standard surgical treatments for benign prostatic hyperplasia are safe and satisfactory among the elderly. Complications are infrequent, and urethral stenosis is the most common. No clinical variable is associated with the occurrence of complications

Testing allele homogeneity: the problem of nested hypotheses

Background: The evaluation of associations between genotypes and diseases in a case-control framework plays an important role in genetic epidemiology. This paper focuses on the evaluation of the homogeneity of both genotypic and allelic frequencies. The traditional test that is used to check allelic homogeneity is known to be valid only under Hardy-Weinberg equilibrium, a property that may not hold in practice. Results: We first describe the flaws of the traditional (chi-squared) tests for both allelic and genotypic homogeneity. Besides the known problem of the allelic procedure, we show that whenever these tests are used, an incoherence may arise: sometimes the genotypic homogeneity hypothesis is not rejected, but the allelic hypothesis is. As we argue, this is logically impossible. Some methods that were recently proposed implicitly rely on the idea that this does not happen. In an attempt to correct this incoherence, we describe an alternative frequentist approach that is appropriate even when Hardy-Weinberg equilibrium does not hold. It is then shown that the problem remains and is intrinsic of frequentist procedures. Finally, we introduce the Full Bayesian Significance Test to test both hypotheses and prove that the incoherence cannot happen with these new tests. To illustrate this, all five tests are applied to real and simulated datasets. Using the celebrated power analysis, we show that the Bayesian method is comparable to the frequentist one and has the advantage of being coherent. Conclusions: Contrary to more traditional approaches, the Full Bayesian Significance Test for association studies provides a simple, coherent and powerful tool for detecting associations

3D Simulator with hardware-in-the-loop capability for the micromouse competition

Robotics competitions are a way to challenge researchers, roboticists and enthusiastic to address robot applications. One of the well-known international competition is the Micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics, path planning, optimization, among others while keeping the size of the robot as small as possible. A simulation can be used to speed-up the development and testing algorithms but faces the gap between a simulation and reality, specially in the dynamics behaviour. There are some simulation environments that allow to simulate the Micromouse competition, but in this paper, an Hardware-in-the-loop simulator tool is presented where the simulated robot is controlled by the same microcontroller used by the robot. By this way, the developed algorithms are tested and validated with the limitations and constraints presented in the real hardware, such as memory and processing capabilities. The robot dynamics, the slippage of the wheels, the friction and the 3D visualization are present in the simulator. The presented results show that the same code and hardware controlling the simulated and the real robot identically.info:eu-repo/semantics/publishedVersio

Seleção de espécies de Passiflora inoculadas com o vírus do mosaico do caupi revela a imunidade de uma espécie selvagem

Cowpea aphid-borne mosaic virus (CABMV) is a potyvirus that causes the most serious virus disease of passion fruit crops in Brazil. It is transmitted by several species of aphids in a non-persistent, non-circulative manner. The reaction of 16 species of Passiflora to infection by mechanical inoculation with four Brazilian isolates of CABMV was evaluated under greenhouse conditions. Only P. suberosa, a wild species, was resistant to infection by all virus isolates, in two independent assays. P. suberosa grafted onto infected P. edulis f. flavicarpa did not develop symptoms; neither was the virus detected by RT-PCR in the upper leaves, suggesting that this species is immune to CABMV.O vírus do mosaico do caupi (Cowpea aphid-borne mosaic virus - CABMV) é um potyvirus que causa uma das mais importantes doenças do maracujazeiro no Brasil. O vírus é transmitido por diversas espécies de afídeos de maneira não persistente, não circulativa. A reação de 16 espécies de Passiflora à infecção com quatro isolados brasileiros do CABMV, por meio de inoculação mecânica foi avaliada em condições de casa-de-vegetação. Somente a espécie selvagem P. suberosa foi resistente à infecção com todos os isolados do CABMV, em dois ensaios independentes. Plantas de P. suberosa enxertadas em plantas de P. edulis f. flavicarpa infectadas com o CABMV também não desenvolveram sintomas da doença. O vírus também não foi detectado por RT-PCR nas folhas superiores das plantas, sugerindo que essa espécie é imune ao CABMV.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP

Indoor environment monitoring in search of gas leakage by mobile robot

Inspection based on mobile autonomous robots can assume an important role in many industries. Instead of having fixed sensors, the concept of assembling the sensors on a mobile robot that performs the scanning and inspection through a defined path is cheaper, configurable and adaptable. This paper describes a mobile robot, equipped with several gas sensors and a LIDAR device, that scans an established area by following a trajectory based on way-points searching for gas leakage and simultaneously avoid obstacles in the map. In other words, the robot follows the trajectory while the gas concentration is under a defined value and surrounding the obstacles. Otherwise, the autonomous robot starts the leakage search based on a search algorithm that allows to find the leakage position. The proposed methodology is verified in simulation based on a model of the real robot. The search test performed in a simulation environment allows to validate the proposed methodology.This work is financed by the ERDF - European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation- COMPETE 2020 Programme within project (POCI-01-0145-FEDER- 006961), and by National Funds through the FCT - Funda~ao para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.info:eu-repo/semantics/publishedVersio

An AI-based object detection approach for robotic competitions

Artificial Intelligence has been introduced in many applications, namely in artificial vision-based systems with object detection tasks. This paper presents an object localization system with a motivation to use it in autonomous mobile robots at robotics competitions. The system aims to allow robots to accomplish their tasks more efficiently. Object detection is performed using a camera and artificial intelligence based on the YOLOv4 Tiny detection model. An algorithm was developed that uses the data from the system to estimate the parameters of location, distance, and orientation based on the pinhole camera model and trigonometric modelling. It can be used in smart identification procedures of objects. Practical tests and results are presented, constantly locating the objects and with errors between 0.16 and 3.8 cm, concluding that the object localization system is adequate for autonomous mobile robots.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). The project that gave rise to these results received the support of a fellowship from ”la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028. João Braun is a PhD Student at the Faculty of Engineering, University of Porto (FEUP) supervised by Prof. Paulo Costa.info:eu-repo/semantics/publishedVersio