Counterexample Guided Inductive Optimization Applied to Mobile Robots Path Planning (Extended Version)

We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper marks the first application of CEGIO for planning mobile robot path. In particular, CEGIO has been successfully applied to obtain optimal two-dimensional paths for autonomous mobile robots using off-the-shelf SAT and SMT solvers.Comment: 7 pages, 14rd Latin American Robotics Symposium (LARS'2017

Hydrodynamic signatures and spectral properties of the quantum vortex

We characterize the low-lying excitations of a quantum vortex in a quasi-two-dimensional Bose-Einstein condensate (BEC) using the standard definition of the density of states (DOS) and a modified version that is sensitive to complementary aspects of the excitation's spectrum. The latter proves to be particularly relevant to studying the polaronic state realized when an impurity is embedded in a quantum vortex. We establish that the impurity becomes sensitive to the transversal fluctuations of the vortex, via its remnant kelvon mode, and to the phase fluctuations of the BEC Nambu-Goldstone mode. The presence of the vortex yields an anomalous excitation spectrum with a finite energy gap and non-linear DOS at low energies. We find that the high sensitivity of the kelvon mode to external potentials provides a channel of quantum-level control over impurities trapped in a vortex. This extra control channel may be of practical use for the proposal of using vortex-trapped impurities as qubit units for quantum information processing.Comment: (v. 2) Changes in the language and structure of the abstract, introduction and conclusion; minimal change in the title. Typos corrected; slight change in nomenclature (incl. figures) in the main body of the text. References adde

Impacts of IoT in the information systems project management

A Internet of Things (IoT) representa um novo paradigma de integração de várias tecnologias e soluções de comunicação, encontrando aplicações em muitos domínios diferentes, tais como a agricultura, a saúde, os edifícios e cidades inteligentes, a segurança e a vigilância, e em muitas outras áreas. Uma área a estudar no âmbito da IoT é a de gestão de projetos de tecnologias e sistemas de informação. A gestão de projetos aplica conhecimentos, competências e técnicas na realização de atividades relacionadas com um conjunto de objetivos pré-definidos, num certo prazo, com um certo custo e qualidade, através da mobilização de recursos técnicos e humanos. A IoT pode ter um papel importante ao possibilitar a criação de novas ferramentas para melhoria dos processos e técnicas da gestão de projetos. A questão que este trabalho procura responder é: Quais os impactos potenciais da IoT na melhoria da gestão de projetos?The Internet of Things (IoT) represents a new paradigm of integration of various communication technologies and solutions, having applications in many domains, such as agriculture, health, smart buildings and cities, security and surveillance, and in many other areas. One area of application that should be studied in the scope of IoT is the management of information systems projects. Project management applies knowledge, skills and techniques for carrying out activities related to a set of predefined objectives, in a certain period, with a certain cost and quality, through the mobilization of technical and human resources. IoT can play an important role by enabling the creation of new tools for improving the processes and techniques of project management. Our research question is: What are the potential impacts of IoT for project management improvement?This work has been supported by COMPETE: POCI-01-0145-FEDER-007043 and FCT – Fundação para a Ciência e Tecnologia within the Project Scope: UID/CEC/00319/2013.info:eu-repo/semantics/publishedVersio

Le magmatisme terminal de la chaîne hercynienne : signification géodynamique d'une association magmatique identifiée dans le Carbonifère terminal du Massif Hercynien Central Marocain

Na parte oriental do Maciço Hercínico Central de Marrocos afloram alguns filões intercalados em formações do Carbónico superior do Sudeste da bacia de Azrou-Kénifra. Estes filões instalaram-se paralelamente à estratificação e foram deformados por dobramentos associados aos cavalgamentos que controlaram a sedimentação, o que demonstra o seu carácter sintectónico. A sua composição química permitiu distinguir dois tipos de sequências magmáticas sobrepostas nas séries de Tariwalt e Talgarat, respectivamente de idades V3b e Namuriano-V3c, provável. A primeira inclui rochas básicas de carácter transicional e afinidade alcalina, enquanto a segunda possui uma assinatura calco-alcalina. Estas sequências magmáticas apresentam estreitas semelhanças petrográficas e geoquímicas com as que ocorrem em ambientes de margem activa. As assinaturas geoquímicas e a evolução magmática destas rochas são compatíveis com os dados tectono-sedimentares que caracterizam a bacia de Azrou-Kénifra como uma bacia desenvolvida em regime compressivo, integrada num sistema de "avant pays" determinado por sequências de cavalgamentos propagando-se para NW

Editorial for the special issue on micro/nanofluidic and lab-on-a-chip devices for biomedical applications

Micro/Nanofluidic and lab-on-a-chip devices have been increasingly used in biomedical research [...

Sodium butyrate in growing and fattening diets for early-weaned rabbits

[EN] To study the effect of adding coated sodium butyrate (SB) to growing-fattening rabbit diets, 2 trials were conducted. In trial 1, 180 rabbits were housed in pairs and fattened from 23 (weaning) to 63 d of age to evaluate their zootechnical performance. Trial 2 involved 30 rabbits, from 23 to 37 d of age and housed individually in digestibility cages, to evaluate digestibility, caecal fermentative activity and morphology of the intestinal mucosa. In both trials rabbits were randomly divided into 2 groups, each receiving one of the following diets: control diet [CTR, 360 g neutral detergent fibre (NDF) and 170 g crude protein (CP)/kg dry matter (DM)] and SB diet. The SB diet, similar to CTR diet, included coated SB at 5 g/kg by replacement of an identical quantity of wheat. In trial 1, after the first 2 wk, the SB content was reduced from 5 to 3 g/kg. In trial 2, faeces were collected over the last 6 d (32-37 d of age), with rabbits being slaughtered at 37 d of age. Gastric and caecal pH were measured and fermentative activity was determined in caecal contents. Three sections of the small intestine were excised from 20 rabbits (10 per treatment) for microscopic examination of intestinal villi and crypts in the proximal region, central region and distal region. In the first 2 wk after weaning, SB rabbits grew 8% less than their counterparts (P=0.002), but had a better feed conversion ratio (1.58 vs. 1.61; P=0.036). During the whole trial 1 period, SB improved feed conversion (P=0.005) and decreased feed intake (104.1 CTR vs. 98.8 g/d SB; P=0.017). No difference was recorded in daily weight gain (42.7 vs. 42.9 g/d). In both diets, the digestibility of DM, organic matter, energy, CP and NDF were similar. In the 3 intestinal regions of rabbits fed SB diet, crypts were deeper (P<0.05). There were no significant differences in villus height and width between treatments. Pectinase activity was higher (P=0.054) with SB diet, but cellulase and xylanase activity remained unaffected by diet. In our experimental conditions, the addition of SB allowed an improvement in feed conversion.Ribeiro, J.; Gaspar, S.; Pinho, M.; Freire, JPB.; Falcão-E-Cunha, L. (2012). Sodium butyrate in growing and fattening diets for early-weaned rabbits. World Rabbit Science. 20(4):199-207. doi:10.4995/wrs.2012.1233SWORD19920720

Sondagem de Belverde (Cenozóico, Península de Setúbal, Portugal). Diagrafias

In the aim of the project "Recognition of the Miocene of the distal region of the Lower Tagus Basin through a borehole with continuous sampling", Temperature, Natural Gamma Ray, Neutron (almost in all the borehole), Sonic, SP and SPR (in two small sections in upper and lower parts of the Miocene Series) geophysical logs were carried on. Interpretation of those logs and comparison with chronological, lithostratigraphical, micropaleontological and clay mineraIs data; helped in the definition of depositional sequences and to obtain paleoenvironmental reconstructions that could lead to a better understanding of the evolution of the Setúbal Península and Lisboa regions Miocene gulf. Log data agree with the lithologic succession observed in the Belverde borehole, essentially silty sandstones/sandy siltstones (with variable clay content) to clays, often with marly intercalations. Sonic logs (and Neutron logs, in general) reflect the sediments porosity. The higher acoustic velocities are often related to compact/massive layers as claystones and/or limestones and rather fossiliferous marly layers. Lower values are obtained for porous, silty sandstones (fossiliferous and with scarce clay content) and bio-calcareous sandstones. As indicative, we obtained the mean values of 2500-3000m/s for the higher velocities and 1300-1600m/s for the lowest ones. ln Natural Gamma Ray log, the radiation peaks can be correlated to often fossiliferous marly micaceous layers. Radioactive micas are present. It seems that the gamma peaks and the depositional sequences previously defined for the Lower Tagus Basin (see Antunes et al., 1999, 2000; Pais et al., 2002) can be correlated, taking also into account the whole available micropaleontological, palynological and isotopic evidence

Luz e sombra na galáxia dos sólidos - Didática da Geometria Descritiva A

Relatório da Prática de Ensino Supervisionada, Mestrado em Ensino de Artes Visuais no 3º Ciclo e no Ensino Secundário, 2022, Universidade de Lisboa, Instituto de Educação“Luz e Sombra na Galáxia dos Sólidos” é o título do relatório da prática de ensino supervisionada, que decorreu na Escola Secundária Vergílio Ferreira, Carnide, com uma turma do Curso Científico-Humanístico de Ciências e Tecnologias, através de uma UD subordinada à temática da determinação de sombras, própria e projetada, de sólidos, no âmbito da disciplina de Geometria Descritiva A. A investigação partiu da metodologia investigação-ação e da seguinte questão da investigação – De que forma os recursos didáticos tridimensionais influenciam a capacidade de visualização espacial abstrata dos alunos de Geometria Descritiva A, através de uma didática sobre o estudo das sombras de sólidos? Os objetivos a alcançar relacionam-se diretamente com aprendizagem significante, enriquecimento do meio escolar e desenvolvimento profissional do professor. A planificação das diversas atividades partiu do estudo prévio do contexto escolar e da observação de aulas, iniciada no ano letivo anterior. E teve como suporte, a pesquisa teórica sobre práticas educativas e a análise dos materiais didáticos e orientações curriculares disponíveis para a disciplina e para o ensino secundário. Esta implementação decorreu entre 18 de janeiro e 8 de fevereiro de 2022, num total de nove aulas de dois tempos cada e abrangeu vinte e oito alunos do 11.º ano. Quanto à avaliação esta foi maioritariamente formativa. Dos resultados obtidos conclui-se que esta UD foi impactante, em particular para aqueles que apresentavam maiores dificuldades na disciplina, geradora de motivação, contribuindo para uma reflexão do processo ensino-aprendizagem e para novos caminhos educativos.The title of this supervised teaching practicum report is “Light and Shadow in the Solids Galaxy.” The supervised teaching took place at the Escola Secundária Vergílio Ferreira, Carnide. The course was “Geometria Descritiva A”, a part of the “Curso Científico-Humanístico de Ciências e Tecnologias”. The teaching unit focused on how to determine the self and cast shadows of solids. Within the framework of the Research-Action Methodology, the research question was: In what way do tridimensional teaching resources influence students’ capacity for abstract spatial visualization? The objectives were: significant learning, enrichment of the school environment, and the professional development of the instructor. The various class activities were based on the study of the school context and inclass observations begun a year earlier. They were also informed by theoretical research on educational practices and by an analysis of the available teaching materials and curricular guidelines for the discipline and for high school education The implementation took place between the 18th of January and the 8th of February of 2022, totalling 9 two-period classes, and involving twenty-eight eleventhgrade students. Evaluation was mostly formative The results show that the teaching unit was impactful, especially for students who struggle the most with the subject matter. It generated motivation, and it contributed to a reflection on the teaching-learning process and to new educational paths

Risco de Recidiva a 5 Anos Após Excisão Convencional de um Carcinoma Basocelular

Introduction: Basal cell carcinomas are mostly treated surgically, mostly by surgery with postoperative histopathologic margin evaluation (“conventional surgery”), but large long-term data regarding recurrence by completeness of excisions is limited. Methods: Retrospective cohort study of basal cell carcinomas treated by conventional surgery at different medical specialties in a large tertiary centre, between 2008 and 2014. Survival analysis with a Cox proportional-hazards was performed, stratified by completeness of excision (complete excision/incomplete excision) and adjusted to several potentially confounding covariates. Results: A total of 2876 basal cell carcinomas were identified, of which 2306 (2100 primary, 206 recurrent) were considered eligible for analysis. During the 5-years of follow-up, there were 80 (4%) recurrences among 1980 complete excisions (16/1000 cases-year) and 83 (23.9%) recurrences among 348 incomplete excisions (100/1000 cases-year). Survival analysis was performed with multivariable adjustment. In the final adjusted model, we identified an association between relapse and re-intervention on recurrent tumors [adjusted Hazard Ratio (HR) 2.20 (95% Confidence interval (IC), 1.26-3.84), p=0.006], a wrong preoperative clinical diagnosis/surgery devoid of preoperative biopsy [adjusted HR 2.75 (95% CI, 1.68-4.5), p&lt;0.001], treatment prior to 2012 [adjusted HR 1.47 (95% IC, 1.06-2.05), p&lt;0.021] and surgery on a high-risk location, accordingly to the NCCN stratification [adjusted HR 2.18 (95% CI, 1.08-4.40), p&lt;0.030]. By specific anatomic location, the likelihood of recurrence was especially high in the nose [adjusted HR 3.18 (95% CI 1.71-5.87), p&lt;0.001] and eyelids [adjusted HR 3.08 (95% CI, 1.32-7.17), p=0.009]. There was also a trend towards higher recurrence in aggressive histological subtypes [adjusted HR 1.43 (95% CI 0.99-2.07), p&lt;0.058]. Conclusion: Recurrent basal cell carcinomas, regardless of location, and primary basal cell carcinomas on high-risk locations of the face, especially on the eyelids and nose, should be considered to have a higher and independent likelihood of recurrence, even on “complete excisions” evaluated by histopathology. On the other hand, wait-andsee approaches in incompletely excised BCCs should be considered against a significant 5-year risk of relapse (1 in 10 lesions).Introdução: O tratamento dos carcinomas basocelulares é maioritariamente cirúrgico, sobretudo por cirurgia com avaliação histopatológica pós-operatória da margem (cirurgia convencional), mas os dados a longo-prazo relativos a recidiva de acordo com o resultado histológico da margem (excisão completa versus excisão incompleta, mantida em follow-up) são limitados. Métodos: Estudo coorte retrospetivo dos carcinomas basocelulares tratados por cirurgia convencional e por diferentes especialidades médico-cirúrgicas num centro terciário, entre 2008 e 2014. Realizou-se uma análise multivariada com uma regressão de Cox, estratificada pelo resultado da avaliação histológica da margem (excisão completa/incompleta) e ajustada a várias variáveis recolhidas. Resultados: Um total de 2876 carcinomas basocelulares foram identificados, dos quais 2306 [2100 primários, 206 recidivantes (primeira recidiva)] foram considerados elegíveis para análise. Nos 5 anos de follow-up, verificaram-se 80 (4%) recidivas entre os 1959 tumores completamente excisados (16/1000 casos-ano), contrastando com 83 (23,9%) recidivas em 347 excisões incompletas (100/1000 casos-ano). Foi realizada uma análise de sobrevida ajustada. No modelo final, ajustado, multivariado, foi identificada associação entre recidiva e intervenção cirúrgica a tumores recorrentes [hazard ratio (HR) ajustado 2,20 (Intervalo confiança (IC) 95%, 1,26-3,84), p=0,006], cirurgia com diagnóstico pré-operatório errado/ausência de realização de biópsia prévia [HR ajustado 2,75 (IC 95%, 1,68-4,5), p&lt;0,001], tratamento prévio a 2012 [HR ajustado 1,47 (CI 95%, 1,06- 2,05), p&lt;0,021] e cirurgia em localização de alto-risco, de acordo com a classificação NCCN [HR ajustado 2,18 (IC 95%, 1,08- 4,40), p&lt;0,030]. Por localização anatómica específica, a probabilidade de recidiva a longo-prazo é especialmente elevada se a cirurgia for na pirâmide nasal [HR ajustado 3,18 (IC 95%, 1,71-5,87), p&lt;0,001] ou nas pálpebras [HR ajustado 3,08 (CI 95%, 1,32-7,17), p=0,009]. Verificou-se também uma tendência para maior recidiva nos subtipos histológicos agressivos [HR ajustado 1,43 (IC 95%, 0,99-2,07), p&lt;0,058]. Conclusão: Os carcinomas basocelulares recorrentes, independentemente da localização, e os carcinomas basocelulares primários em localizações de alto-risco da face, particularmente na pirâmide nasal e nas pálpebras, determinam um risco de recidiva superior e independente a longo-prazo, mesmo nas excisões “completas”. Por outro lado, as estratégias wait-and-see nos carcinomas basocelulares incompletamente excisados devem ponderar o risco de recidiva aos 5 anos (1 in 10 lesões)

Impairment of the erythrocyte membrane fluidity in survivors of acute myocardial infarction : a prospective study

© 1999 – IOS Press. All rights reservedErythrocytes have to constantly adapt themselves to the varying circulatory system shear stress forces and capillaries diameter. Membrane lipid and protein content have an important role in determining the erythrocyte shape and are main determinants of the membrane solid and fluid behavior which enables the erythrocyte to respond to the outer environment modifications. Membrane fluidity is an inverse index of membrane microviscosity. The aim of the present work is to evaluate prospectively in three periods of time (discharge, after 6 months and one year later) in survivors of an acute myocardial infarction (AMI) the erythrocyte membrane fluidity (outer and inner bilayer) and establish a relation with the cardiovascular events or need of coronary revascularization during a two year clinical follow up. Sixty survivors of acute myocardial infarction were recruited during 1994–96 and were prospectively studied in three periods (discharge, 6 months and after one year), and were compared with a control group (n = 36). Membrane lipid fluidity was determined by means of fluorescence polarization with two probes: 1,6-diphenyl-1,2,5-hexatriene (DPH) and 1,4-trimethylamine 6-phenyl hexa-1,3,5-triene (TMA-DPH), for the characterisation of the hydrophobic and external polar region, respectively. The hydrophobic region was more rigidified (p < 0:01) in the erythrocytes from AMI patients, in relation to the control group. During the time of the study there was a progressive erythrocyte membrane rigidification (DPH p < 0:001; TMA-DPH p < 0:001). We found no relation between erythrocyte membrane fluidity and the coronary risk factors, cardiovascular events or the need of coronary revascularization during the clinical follow-up. In conclusion, after the myocardial infarction erythrocyte membrane of AMI survivors becomes more rigid with time, which could contribute to the decreased erythrocyte deformability and the increased blood viscosity previously described in this group of patients