210 research outputs found

    Deteção dos limites navegáveis da estrada por análise da densidade de nuvens de pontos acumulados

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    As part of the Atlas project, this dissertation aims to identify the navigable limits of the road by analyzing the density of accumulated point clouds, obtained through laser readings from a SICK LD-MRS sensor. This sensor, installed in front of the AtlasCar2, has the purpose of identifying obstacles at road level and from it the creation of occupation grids that delimit the navigable space of the vehicle is proposed. First, the point cloud density is converted into an occupancy density grid, normalized in each frame in relation to the maximum density. Edge detection algorithms and gradient filters are subsequently applied to the density grid, in order to detect patterns that match sudden changes in density, both positive and negative. To these grids are applied thresholds in order to remove irrelevant information. Finally, a methodology for quantitative evaluation of algorithms was also developed, using KML files to define road boundaries and, relying on the accuracy of the GPS data obtained, comparing the actual navigable space with the one obtained by the methodology for detection of road boundaries and thus evaluating the performance of the work developed. In this work, the results of the different algorithms are presented, as well as several tests taking into account the influence of grid resolution, car speed, among others. In general, the work developed meets the initially proposed objectives, being able to detect both positive and negative obstacles and being minimally robust to speed and road conditions.No √Ęmbito do projeto Atlas, esta disserta√ß√£o prev√™ a identifica√ß√£o dos limites naveg√°veis da estrada atrav√©s da an√°lise da densidade da acumula√ßao de nuvens de pontos, obtidas atrav√©s de leituras laser provenientes de um sensor SICK LD-MRS. Este sensor, instalado na frente do AtlasCar2, tem como prop√≥sito a identifica√ß√£o de obst√°culos ao n√≠vel da estrada e a partir dos seus dados prev√™-se a cria√ß√£o de grelhas de ocupa√ß√£o que delimitem o espa√ßo naveg√°vel do ve√≠culo. Em primeiro lugar, a densidade da nuvem de pontos √© transformada numa grelha de densidade normalizada em cada frame em rela√ß√£o √† densidade m√°xima, √† qual posteriormente s√£o aplicados algoritmos de dete√ß√£o de arestas e filtros de gradiente com o objetivo de detetar padr√Ķes que correspondam a mudan√ßas s√ļbitas de densidade, tanto positivas como negativas. A estas grelhas s√£o aplicados limiares de forma a eliminar informa√ß√£o irrelevante. Por fim, foi desenvolvida tamb√©m uma metodologia de avalia√ß√£o quantitativa dos algoritmos, usando ficheiros KML para deliniar limites da estrada e, contanto com a precis√£o dos dados de GPS obtidos, comparar o espa√ßo naveg√°vel real com o obtido pela metodologia de dete√ß√£o de limites de estrada e assim avaliar o desempenho dos algoritmos desenvolvidos. Neste trabalho s√£o apresentados resultados dos diferentes algoritmos, bem como diversos testes tendo em conta a influ√™ncia da resolu√ß√£o de grelha, velocidade do carro, entre outros. O trabalho desenvovido cumpre os objetivos propostos inicialmente, sendo capaz de detetar ambos obst√°culos positivos e negativos e sendo minimamente robusto a velocidade e condi√ß√Ķes de estrada.Mestrado em Engenharia Mec√Ęnic

    Poesia para crianças e natureza: contributo para uma reflexão sobre a transversalidade da literatura infantil

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    Relat√≥rio de Est√°gio apresentado √† Escola Superior de Educa√ß√£o do Instituto Polit√©cnico de Castelo Branco para cumprimento dos requisitos necess√°rios √† obten√ß√£o do grau de Mestre em Educa√ß√£o Pr√©-Escolar e Ensino do 1¬ļ Ciclo do Ensino B√°sico.O presente relat√≥rio de Est√°gio foi elaborado para a conclus√£o do Mestrado em Educa√ß√£o Pr√©-Escolar e Ensino do 1¬ļ Ciclo do Ensino B√°sico, da Escola Superior de Educa√ß√£o de Castelo Branco. Apresenta as atividades desenvolvidas na Pr√°tica Supervisionada do Mestrado, em particular no 1¬ļ Ciclo, com destaque para o tema de investiga√ß√£o ‚ÄúPoesia para crian√ßas e Natureza ‚Äď contributo para uma reflex√£o sobre a transversalidade da literatura infantil‚ÄĚ. Com o presente estudo pretendemos relacionar a Literatura Infantil, mais especificamente a poesia para crian√ßas, com a tem√°tica da natureza, e a √°rea do Estudo do Meio. Assim, tent√°mos promover o processo de ensino-aprendizagem utilizando como elemento transversal a poesia para crian√ßas como forma de transmiss√£o de conhecimento. A partir da leitura de poesia para crian√ßas e natureza pretendemos desenvolver a constru√ß√£o do conhecimento dos alunos acerca de outras tem√°ticas, como a qualidade do ambiente e do ar, os tipos de polui√ß√£o e as medidas para proteger o ambiente. Do ponto de vista metodol√≥gico, esta investiga√ß√£o tratou-se de um estudo de caso e decorrer numa turma de dezoito alunos.Abstract: This internship report was prepared as part of the conclusion of the Master in Preschool Education and Elementary Teaching from Castelo Branco‚Äôs Superior School of Education. The activities developed in the Supervised Practice Master are presented, particularly in the 1st cycle, with emphasis on the research topic "Poetry for Children and Nature - contribution to a reflection on the mainstreaming of children's literature." With this study we intend to approach children's literature, specifically poetry for children, connected with nature, within the area of environmental studies. This way we tried to promote the process of teaching and learning using poetry for children as a means of transmitting knowledge. From the reading of poetry for children and nature we intend to develop the construction of students' knowledge about other issues, such as the quality of the environment and air, the types of pollution and measures to protect the environment. From a methodological point of view, this research consisted of a case study in progress in a class of eighteen students

    Racism and identity: a critical discourse analysis of Chimamanda Ngozi Adichie’s Americanah

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    This paper aims to analyze racist discourses and identity aspects in the novel Americanah (2013), written by Chimamanda Ngozi Adichie. The main objectives of this research are to identify the impacts immigration brought to the protagonist’s social and personal life and to determine how her identity construction was affected by stereotypes and social structure. The methodology used in this study was a bibliographical research. The work is divided into two sections: firstly, a literature review, explaining theories on Critical Discourse Analysis, identity and racism, developed by authors such as Beale (1970), Smit (1996), Fairclough (2009) and Feagin (2014); afterwards, a critical analysis of excerpts and dialogues extracted from the book.This paper aims to analyze racist discourses and identity aspects in the novel Americanah (2013), written by Chimamanda Ngozi Adichie. The main objectives of this research are to identify the impacts immigration brought to the protagonist’s social and personal life and to determine how her identity construction was affected by stereotypes and social structure. The methodology used in this study was a bibliographical research. The work is divided into two sections: firstly, a literature review, explaining theories on Critical Discourse Analysis, identity and racism, developed by authors such as Beale (1970), Smit (1996), Fairclough (2009) and Feagin (2014); afterwards, a critical analysis of excerpts and dialogues extracted from the book

    Manifestação de sintomatologia depressiva e características personalísticas em estudantes universitários de primeiro ano da Universidade da Beira Interior

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    O presente estudo investigou a presen√ßa de sintomatologia depressiva e caracter√≠sticas cl√≠nico-personal√≠sticas em estudantes que frequentam o primeiro ano do ensino superior. Participaram 254 sujeitos da Universidade da Beira Interior (123 do sexo feminino e 131 do sexo masculino), com idades compreendidas entre os 18 e 45 anos, pertencentes a cursos das √°reas das Ci√™ncias Sociais e Humanas e Ci√™ncias F√≠sicas e Exactas. Por recurso a instrumentos de auto-relato, a sintomatologia depressiva foi avaliada a partir do Invent√°rio de Avalia√ß√£o Cl√≠nica de Depress√£o ‚Äď IACLIDE, e a Personalidade atrav√©s do Invent√°rio Multif√°sico de Personalidade de Minesota ‚Äď MMPI-2. Os resultados obtidos sugerem uma preval√™ncia de sintomas depressivos em 28,4% da amostra. Estudantes universit√°rios leccionados na √°rea das Ci√™ncias F√≠sicas e Exactas pontuam em n√≠veis patol√≥gicos na escala cl√≠nica Paran√≥ia (Pa) e Esquizofrenia (Sc), com ind√≠cios de pior ajustamento, por compara√ß√£o com aqueles da √°rea das Ci√™ncias Sociais e Humanas

    Preputial Reconstruction Combined with Graft in Dogs

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    Background: Preputial injuries are significant in the clinical routine. Traumas, conditions, and mass excision result in extensive and full-thickness defects that lead to chronic penile exposure and consequential injuries. Severe injuries may require preputial reconstructive surgery to restore function and aesthetics. The objective is to report the use of the preputial reconstruction technique using the caudal superficial epigastric axial standard flap associated with a single-stage, full-thickness oral mucosa graft in 3 dogs where the loss of the prepuce was significant. Cases: Three dogs were admitted to the Veterinary Teaching Hospital of UFMT with preputial lesions of different etiologies. All cases were referred for preventive reconstruction using a flap in the caudal axial epigastric pattern associated with a single-stage oral mucosa graft. In the 3 reported cases, changes that compromised surgical success, such as suture dehiscence, necrosis, or infection, were not observed during hospitalization. Cutaneous stitch dehiscence, however, was observed in all 3 cases. Dog 1. A small point of dehiscence and tissue necrosis was found and treated with chemical debridement and healed by second intention, which proved to be sufficient on the 30th day. Dog 2. ¬†A half-moon rotation flap was performed, which closed the defect. Dog 3. ¬†A new procedure using the reporting theme technique was necessary in order to cover the cranial portion of the foreskin. The dehiscence present in dogs 2 and 3 was significant. Flap retraction was observed in all 3 cases. In dogs 1 and 3, the retraction was slight, and the exposure of a small portion of the penile glans were observed, showing no changes that required intervention. In dog 2, retraction was important, leading to partial stenosis of the preputial ostium. A larger ostium was obtained by suturing the mucosa to the edge of the wedge. Considering the possibility of adhesion formation, ‚Äúcaptons‚ÄĚ were made in sterile silicone tubes, and sutures were placed in the dorsal and ventral aspects to prevent adherence of the oral mucosa graft located on the inside of the new foreskin. The captons were removed on the tenth post-operative day, revealing a good opening of the preputial orifice and adequate penile exposure. Discussion: The absence of a foreskin caused by trauma or surgical excision leads to chronic penile exposure, dryness, and ulcerations. The simple covering of the skin with an axial-type flap of the caudal superficial epigastric region tends to fail since only the graft edges are sutured into the abdominal skin. In these circumstances, the subcutaneous region on the penis is exposed and comes in direct contact with urine and the penile mucosa, causing the flap skin to grow to exacerbated retraction. The transplantation of a free-lip mucosa graft allows the subcutaneous region of the transposed skin flap to create adhesions in the fenestrated regions of the lip tissue through the formation of granulation tissue buds, which is performed in a single stage. The permanence of the penis protects the lower urinary system from the occurrence of infections relative to what is normally observed in cases where partial or total penile amputation is practiced in combination with adjunctive scrotal urethrostomy. Given the observations of the 3 cases described here, the technique of pre-facial reconstruction with an axial skin flap of the caudal superficial epigastric region, combined with free-labial mucosa graft, was found to be feasible for the single-stage foreskin technique, but that paraphimosis remanagement may be necessary when cutaneous portions of the penile skin caudal to the glans are removed. Keywords: prepuce, reconstruction, oral mucosa. T√≠tulo: Reconstru√ß√£o prepucial com uso de enxerto combinado em c√£es. Descritores: prep√ļcio, reconstru√ß√£o, mucosa oral

    Halochromic properties of a 5-aminoimidazole-4-carboxamidrazone and its application to wool

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    This work was funded by European Regional Development Fund through the Operational Competitiveness Program and the National Foundation for Science and Technology of Portugal (FCT) under the projects UID/CTM/00264/2021, UID/QUI/00686/2020, MEDCOR PTDC/CTM-TEX/1213/2020 and Ph.D. scholarship SFRH/BD/137668/201

    Halochromic properties of a 5-aminoimidazole-4-carboxamidrazone and its application to wool

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    The application of stimuli-responsive molecules in textiles is an important field due to its potential in various areas of flexible sensing technology. In particular, pH plays an important role in nature, humans, and several processes. The pH of body fluids is one of the best indicators of disturbed health conditions. Thus, the development of textiles with halochromic properties has been increasingly attractive to display in real-time pH variations. Wool is one of the most important natural fibres because of its warmth and comfort. However, the dyeing process is costly and high energy-consuming. In this work, the halochromic properties under different buffers (acetate, phosphate, Britton-Robinson, artificial sweat, and artificial wound exudate) of a previously synthesized 5-aminoimidazole-4-carboxamidrazone were studied. Moreover, the first attempt to dye a wool knitted fabric with this molecule at a low temperature was performed. The developed material showed interesting halochromic properties (colourless in acidic pH and blue colour in the alkaline pH), even using artificial body fluids.This work was funded by European Regional Development Fund through the Operational Competitiveness Program and the National Foundation for Science and Technology of Portugal (FCT) under the projects UID/CTM/00264/2021, UID/QUI/00686/2020, MEDCOR PTDC/CTMTEX/1213/2020 and Ph.D. scholarship SFRH/BD/137668/2018
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