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Cooperative Localization and Tracking in Distributed Robot-sensor Networks

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Tsinghua science and Technology 2005年第1期10卷 91-101页

作者：张帆 Guilherme s.pereira Vijay Kumar General Robotics Automation sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with het- erogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach.

关键词： cooperative localization multi-robot formation distributed sensor network sensor data fusion

The effect of salinity on Fucus ceranoides (Ochrophyta,Phaeophyceae) in the Mondego River(Portugal)

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Journal of Oceanology and Limnology 2019年第3期37卷 881-891页

作者： COTAs joao FIGUEIRINHA Artur pereira Leonel BATIsTA Teresa Department of Life sciences University of CoimbraCoimbra 3001-456Portugal MARE-Marine and Environmental sciences Centre Faculty of Science and TechnologyUniversity of CoimbraCoimbra 3000-548Portugal Laboratory of Pharmacognosy Faculty of PharmacyUniversity of CoimbraCoimbra 3000-548Portugal LAQV REQUIMTEFaculty of PharmacyUniversity of CoimbraCoimbra 3000-548Portugal CIEPQPF Department of Chemical EngineeringFaculty of Science and TechnologyUniversity of CoimbraCoimbra 3030-790Portugal

Algae(and their extracts)are increasingly important for pharmaceutical applications due to the diversity of useful compounds they *** genus Fucus contains one of the most studied species,Fucus *** species *** differs from the others of the genus by presenting longitudinal air-vesicles and a capacity to survive at low *** is an alga that inhabits the Mondego River estuary(Portugal),at the southern limit of its distribution,and can serve as a role model to understand the effect of a salt gradient on the production of bioactive *** assessed the phenolic content and antioxidant activity of different *** extracts(***,aqueous and polysaccharide)prepared from samples harvested from two different zones to evaluate if the adaptation of *** to different salinity levels influenced its chemical *** antioxidant activity of the extracts was determined using 1,2-diphenyl-picrylhydrazyl(DPPH)and 2.2-azino-bis(3-ethylbenzothiazoline-6-sulfonic acid)(ABTs)*** assays demonstrated that the methanolic extract of lyophilized *** that grew at low salinities was the most bioactive,***(IC 50=50.39μg/mL)and ABTs(TEAC=2.42).The total phenolic content(Folin-Ciocalteu method)and the methanolic extract of the lyophilized *** collected from a low salinity habitat exhibited the highest phenolic content(PGE=49.48μg/mg of lyophilized extract)amongst those *** layer chromatography(TLC)and Fourier transform infrared spectroscopy(FTIR)were used for the identification of compounds in the *** characterization allowed confirmation that the various extracts contained almost the same compounds but with notable quantitative *** on these results,we conclude that there were differences in the quantity of the compounds due to the effect of *** drying methods used were also found to have influenced the quality of the extracted compounds.

关键词： Fucus ceranoides salinity gradient sequential extractions phenolic content dependent bioactivities spectroscopic analysis

Analysis of Radium Isotopes in surface Waters nearby a Phosphate Mining with NORM at santa Quiteria,Brazil

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Journal of Environmental Protection 2014年第3期5卷 193-199页

作者： Wagner de s.pereira Alphonse Kelecom Juliana R.de s.pereira Multidisciplinary Group of Radioprotection(GMR) Servico de RadioprotecaoUnidade de Tratamento de MinerioIndustrias Nucleares do BrasilCaldasBrazil Laboratory of Radiobiology and Radiometry Pedro Lopes dos santos(LARARA-PLs) Group of Environmental Themes Assessment(GETA)Universidade Federal Fluminense(UFF)NiteroiBrazil Interdisciplinary Under-Graduation in science and Technology Universidade Federal de AlfenasPocos de CaldasBrazil

The radium isotopes 226Ra and 228Ra were analyzed in surface water at six points in the neighborhood of a mine of phosphate, associated with uranium, in the region of santa Quitéria, state of Ceará, Brazil. Water samples were collected during twenty months, filtered and the concentrations of activity determined in the soluble and particulate phases. The results were analyzed using the Principal Component Analysis (PCA) for ordination of environmental data, and also by ANOVA, Tukey and Z tests to compare sets of data considering the radionuclides, the two analyzed phases and the six collecting points. The PCA identified four groups that included all collecting points, using aggregation features such as radionuclide and analyzed phase. The first group is composed by the samples of 226Ra in the soluble phase;the second group by samples of 226Ra in the particulate phase;the third one by 228Ra in the soluble phase, and finally, the fourth group by 228Ra in the particulate phase. This last group has two discrepant points (01 and 06). statistical analysis identified differences between the concentrations of activity of radionuclides (228Ra higher than 226Ra) and in analyzed phases (soluble phase higher than the particulate one) but showed no differences between sampled points.

关键词： Radioecology Environmental Radioprotection NORM Mining Radium Isotopes PCA

International Recommendations on Calculation of Absorbed Dose in Biota:A Comprehensive Revue

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Journal of Environmental Protection 2014年第9期5卷 751-759页

作者： Wagner de s.pereira Alphonse Kelecom Multidisciplinary Group of Radio Protection(GMR) Servico de RadioprotecaoUnidade de Tratamento de MinerioIndustrias Nucleares do BrasilCaldasBrazil Laboratory of Radiobiology and Radiometry Pedro Lopes dos santos(LARARA-PLs) Group of Environmental Themes Assessment(GETA)Universidade Federal Fluminense(UFF)NiteroiBrazil

since the early times, radioprotection has been focused on the human being. Currently this approach has changed, being now also necessary to take care of the protection of the environment from unwanted effects of ionizing radiation. To this end, several institutions (UNsCEAR, ICRP, IAEA, DOE, ACRP) and consortia of institutions (FAssET, ERICA) have established procedures in order to protect the biota of such effects. Developed procedures are based on the calculation of the absorbed dose in biota (ICRP, DOE, IAEA), or on environmental risk assessment―ERA (DOE, ACRP, FAssET, ERICA);but even in this latter approach the parameters used are related to the absorbed doses in biota. The calculation of dose is the standard procedure in human radioprotection, and this points such an approach as the most interesting for providing a convergence between human and nonhuman (= biota) radioprotections. On the other hand, the ERA approach is easier to apply, because this methodology is used in several countries for non-radioactive contamination assessments. since the world radioprotection system follows a number of institutions (UNsCEAR, ICRP, IAEA and regulatory institutions of member countries) that use dose calculation, this appears to be the way for biota radioprotection. We here review and comment the evolution of the concepts and approaches of the recommendations for radioprotection of non-human biota.

关键词： Biota Absorbed Dose Radioprotection International Recommendations

Indirect printing of hierarchical patient-specific scaffolds for meniscus tissue engineering

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Bio-Design and Manufacturing 2019年第4期2卷 225-241页

作者： joao BCosta Joana silva-Correia sandra Pina Alain da silva Morais sílvia Vieira Hélder pereira joao Espregueira-Mendes Rui LReis Joaquim M.Oliveira B′s Research Group I3Bs-Research Institute on BiomaterialsBiodegradables and BiomimeticsUniversity of MinhoHeadquarters of the European Institute of Excellence on Tissue Engineering and Regenerative MedicineAveParkZona Industrial da Gandra4805-017 Barco GmrPortugal ICVs/3B’s-PT Government Associate Laboratory Braga/GuimaraesPortugal The Discoveries Centre for Regenerative and Precision Medicine Headquarters at University of MinhoAvepark4805-017 BarcoGuimar'sPortugal Ripoll y De Prado sports Clinic:Murcia-Madrid FIFA Medical Centre of Excellence MurciaSpain Orthopedic Department Centro Hospitalar Póvoa de Varzim Vila do CondePortugal Clínica do Dragao Espregueira-Mendes Sports CentreFIFA Medical Centre of ExcellencePortoPortugal Dom Henrique Research Centre PortoPortugal Orthopedic Department University of MinhoBragaPortugal

The complex meniscus tissue plays a critical role in the knee. The high susceptibility to injury has led to an intense pursuit for better tissue engineering regenerative strategies, where scaffolds play a major role. In this study, indirect printed hierarchical multilayered sca ffolds composed by a silk fibroin (sF) upper layer and an 80/20 (w/w) ratio of sF/ionic-doped β-tricalcium phosphate (TCP) bottom layer were developed. Furthermore, a comparative analysis between two types of sca ffolds pro- duced using di fferent sF concentrations, i.e., 8% (w/v) (Hi8) and 16% (w/v) (Hi16) was performed. In terms of architecture and morphology, the produced sca ffolds presented homogeneous porosity in both layers and no di fferences were observed when comparing both sca ffolds. A decrease in terms of mechanical performance of the sca ffolds was observed when sF concentration decreased from 16 to 8% (w/v). Hi16 revealed a static compressive modulus of 0.66 ± 0.05 MPa and dynamical mechanical properties ranging from 2.17 ± 0.25 to 3.19 ± 0.38 MPa. By its turn, Hi8 presented a compressive modulus of 0.27 ± 0.08 MPa and dynamical mechanical properties ranging from 1.03 ± 0.08 MPa to 1.56 ± 0.13 MPa. In vitro bioactivity studies showed formation of apatite crystals onto the surface of Hi8 and Hi16 bottom layers. Human meniscus cells (hMCs) and human primary osteoblasts were cultured separately onto the top layer (sF8 and sF16) and bottom layer (sF8/TCP and sF16/TCP) of the hierarchical sca ffolds Hi8 and Hi16, respectively. Both cell types showed good adhesion and proliferation as denoted by the live/dead staining, Alamar Blue assay and DNA quanti fication analysis. subcutaneous implantation in mice revealed weak in flammation and sca ffold’s integrity. The hierarchical indirect printed sF sca ffolds can be promising candidate for meniscus TE sca ffolding applications due their suitable mechanical properties, good biological performance and possibility of being applied in a patie

关键词： Patient-specific Indirect printing Hierarchical silk fibroin Enzymatic-cross-linking Meniscus

Effects of natural mineral-rich water consumption on the expression of sirtuin 1 and angiogenic factors in the erectile tissue of rats with fructose-induced metabolic syndrome

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Asian Journal of Andrology 2014年第4期16卷 631-638页

作者： Cidalia D pereira Milton severo Luisa Rafael Maria joao Martins Delminda Neves Department of Biochemistry Faculty of Medicine University of Porto Department of Clinical Epidemiology Predictive Medicine and Public Health Faculty of Medicine University of Porto Department of Clinical Pathology Sao Joao Hospital Centre EPE Department of Experimental Biology Faculty of Medicine and Institute for Molecular and Cell Biology (IBMC) University of Porto Portugal.

Consuming a high-fructose diet induces metabolic syndrome （Ms）-Iike features, including endothelial dysfunction. Erectile dysfunction is an early manifestation of endothelial dysfunction and systemic vascular disease. Because mineral deficiency intensifies the deleterious effects of fructose consumption and mineral ingestion is protective against Ms, we aimed to characterize the effects of 8weeks of natural mineral-rich water consumption on the structural organization and expression of vascular growth factors and receptors on the corpus cavernosum （CC） in 10% fructose-fed sprague-Dawley rats （FRUCT）. Differences were not observed in the organization of the CC either on the expression of vascular endothelial growth factor （VEGF） or the components of the angiopoietins/Tie2 system. However, opposing expression patterns were observed for VEGF receptors （an increase and a decrease for VEGFR1 and VEGFR2, respectively） in FRUCT animals, with these patterns being strengthened by mineral-rich water ingestion. Mineral-rich water ingestion （FRUCTMIN） increased the proportion of smooth muscle cells compared with FRUCT rats and induced an upregulatory tendency of sirtuin I expression compared with the control and FRUCT groups. Western blot results were consistent with the dual immunofluorescence evaluation. Plasma oxidized low-density lipoprotein and plasma testosterone levels were similar among the experimental groups, although a tendency for an increase in the former was observed in the FRUCTMIN group. The mineral-rich water-treated rats presented changes similar to those observed in rats treated with Ms-protective polyphenol-rich beverages or subjected to energy restriction, which led us to hypothesize that the effects of mineral-rich water consumption may be more vast than those directly observed in this study.

关键词： angiopoietins erectile tissue hypersaline sodium-rich naturally sparkling mineral water receptors sirtuin 1 vascularendothelial growth factor

Appropriateness of the study of iron deficiency anemia prior to referral for small bowel evaluation at a tertiary center

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World Journal of Gastroenterology 2017年第24期23卷 4444-4453页

作者： Jaime pereira Rodrigues Rolando Pinho Joana silva Ana Ponte Mafalda sousa joao Carlos silva joao Carvalho Department of Gastroenterology Centro Hospitalar Vila Nova de Gaia/EspinhoRua Conceicao FernandesVila Nova de Gaia

To evaluate the adequacy of the study of iron deficiency anemia (IDA) in real life practice prior to referral to a gastroenterology department for small bowel evaluation. METHODsAll consecutive patients referred to a gastroenterology department for small bowel investigation due to iron deficiency anemia, between January 2013 and December 2015 were included. Both patients referred from general practitioners or directly from different hospital departments were selected. Relevant clinical information regarding prior anemia workup was retrospectively collected from medical records. An appropriate pre-referral study was considered the execution of esophagogastroduodenoscopy (EGD) with Helicobacter pylori (H. pylori) investigation, colonoscopy with quality standards (recent, total and with adequate preparation) and celiac disease (CD) screening (through serologic testing and/or histopathological investigation). REsULTsA total of 77 patients (58.4% female, mean age 67.1 ± 16.7 years) were included. Most (53.2%) patients were referred from general practitioners, 41.6% from other hospital specialties and 5.2% directly from the emergency department. The mean pre-referral hemoglobin concentration was 8.8 ± 2.0 g/dL and the majority of anemias had microcytic (71.4%) and hypochromic (72.7%) characteristics. 77.9% of patients presented with an incomplete pre-referral study: EGD in 97.4%, with H. pylori investigation in 58.3%, colonoscopy with quality criteria in 63.6%, and CD screening in 24.7%. Patients with an appropriate study at the time of referral were younger (48.7 ± 17.7 vs 72.3 ± 12.3 years, P small bowel evaluation was ultimately undertaken in 72.7% of patients, with a more frequent evaluation in patients with a quality colonoscopy at referral (78.6% vs 23.8%); P st common diagnosis regarded as the likely cause of IDA was small bowel angioectasia (18.2%) but additional causes were also found in the upper and lower ga

关键词： Iron deficiency anemia Colonoscopy Celiac disease Esophagogastroduodenoscopy Helicobacter pylori small bowel

Organizational ambidexterity, open innovation and innovation outputs: How do followers and low-flyer EU countries innovate?

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International Journal of Innovation studies 2024年第2期8卷 186-235页

作者： joao Leitao sonia de Brito Dina pereira Faculty of social and Human sciences NECE-Research Unit in Business SciencesUniversity of Beira Interior6200-001CovilhaPortugal Research Unit in Business sciences(NECE) University of Beira InteriorCovilhaPortugal Centre for Management studies of Instituto superior Tecnico(CEG-IsT) University of Lisbon1649-004LisboaPortugal Instituto de Ciencias sociais ICsUniversity of Lisbon1649-004LisboaPortugal

This study analyses the role played by organizational ambidexterity and open innovation in innovation outputs,considering business units with different levels of technological intensity(medium-high and high tech,and medium-low and low tech)for countries with different inno-vation *** countries considered in this paper are i)Estonia and slovenia as innovation followers;i)slovakia,Hungary,spain,Czech Republic,Italy,Portugal,Norway,and Croatia as moderate innovators;and ii)Bulgaria,Lithuania and Romania as modest *** the empirical approach,the research hypotheses arise from the literature review and are tested using secondary data collected from the Community Innovation survey(CIs)*** conceptual model is tested using the logistic regression method,which indicates suitable accuracy and reliability for empirical testing *** evidence reveals that for innovation followers,ambidexterity has a greater influence on the practice of eco-innovation,marketing innovation,and product *** moderate innovators,ambidexterity has a greater influence on the practice of product innovation,process innovation,and *** modest in-novators,ambidexterity has a greater influence on the practice of product innovation,process innovation,and *** regard to open innovation,for innovation followers,this has a negative influence on product innovation in medium-high and high-tech *** moderate innovators,open innovation has a greater influence in process,organizational,and *** the case of modest innovators,open innovation is more significant for innovation outputs in product,organizational,and marketing *** is not always positively related to innovation outputs.

关键词： Organizational ambidexterity CIs Cooperation Open innovation Public innovation policies

Release of Uranium by an Ore Treatment Unit at Caldas,MG,Brazil

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Journal of Environmental Protection 2013年第6期4卷 570-574页

作者： Wagner de s.pereira Alphonse Kelecom Juliana R.de s.pereira Delcy de A.Py Junior Multidisciplinary Group of Radioprotection(GMR) Servico de RadioprotecaoUnidade de Tratamento de MinerioIndustrias Nu-cleares do BrasilCaldasBrazil Laboratory of Radiobiology and Radiometry Pedro Lopes dos santos(LARARA-PLs) Group of Environmental Themes Assessment(GETA)Universidade Federal Fluminense(UFF)NiteroiBrazil Interdisciplinary under Graduation in science and Technology Universidade Federal de AlfenasPocos de CaldasBrazil

This study aims to assess the behavior of the release of Unat (i.e. uranium isotopes in natural relative abundance) from the release of water treated by the Ore Treatment Unit (UTM) in Caldas, state of Minas Gerais, Brazil, during the years 1999 to 2009. During this period, the unit showed no industrial activity, except between 2004 and 2005, when UTM operated 400 tons of monazite in a process to obtain rare earths. Unat was analyzed by spectrophotometry once per week in the effluent waters at sampling point 014. Two fractions were considered for analysis: the soluble one (that passes through a 0.45 μm filter) and the particulate one (retained on a 0.45 μm filter). statistical analyses were performed: the “Z” test and Pearson’s r2 correlation index. The values for the soluble fraction were consistently lower than those of the particulate fraction and no statistically significant correlation was observed between the soluble and particulate fractions. However, the particulate and the total fractions (the sum of soluble and particulate) strongly correlated.

关键词： Uranium Ore Treatment Unit Caldas Radionuclide Monitoring