Ricardo Faria

An olfactory-based robot swarm navigation method

This paper presents a novel robot swarming navigation algorithm in order to find the odor sources in an unknown environment, based on the ability of each swarm member to sense the odor. Each robot in the swarm has a cooperative localization system which uses wireless network as a mean of measuring the distance from the other robots. In this method, at least three robots act as stationary measurement beacons while the other robots of the swarm navigate in the environment towards the odor source. In the next step, the roles of the robots will be switched and some other robots will act as beacons. The experimental tests report a good result in finding the odor source and also the accuracy of localization system1.

Managing the Charging of Electrical Vehicles: Impacts on the Electrical Grid and on the Environment

Electric vehicles are seen as an option to reduce greenhouse emissions, directly related with the electricity generation mix and with the time of charging due to the variations of the generation sources during the day. At the same time, with their widespread adoption the increase in the demand for electricity to charge these vehicles could pose significant challenges to the electrical grid in terms of additional load due to unmanaged charge strategies. In order to mitigate these problems, the charging of the electrical vehicles must be managed. This paper presents the development of a system architecture to dynamically control the charging of electric vehicles to maintain the proper operation of the local distribution grid and minimize the environmental impact. The hardware consists of two modules, a meter and controllable plugs both with communication capabilities, while the software consists in a forecast and scheduler module. The forecast module calculates the load based on the power consumption behavior and uses the renewable generation forecast to assign the best time slot to charge the vehicle. The system aims to minimize the load peaks and flatten the load profile, while minimizing the environmental impacts. Based on the user preferences, system characteristics, consumption and renewable generation forecast, the system will assign the most suitable time slot to charge the electric vehicle. For the case of multiple electric vehicles, the system will schedule their charge based on a calculated priority level, in order to maintain a reliable operation of the local electrical grid.

Cooperative multi-agent mapping of three-dimensional structures for pipeline inspection applications

This article proposes two methods based on cooperation between climbing and ground robots in order to address the mapping problem for autonomous inspection of three-dimensional (3D) structures. A pole climbing robot was developed to autonomously inspect a 3D human-made structure. The robot is able to climb over 3D human-made structures with bends and T-junctions. In the previous version of the system, the robot operator had to provide a set of data, resembling the map of the 3D structure, to the path planning algorithm of the climbing robot. However, the necessity of a priori knowledge of the structure’s geometry reduces the autonomy of the system. In this article we propose two solutions in which the structure in front of the robot is mapped autonomously. In the first proposed method, ground robots act as a mobile observer with a wide coverage for a climbing robot, to detect and estimate the size of the structure being climbed. We will present a case study in which multiple terrain robots provide the model of a structure which should be explored by a pole climbing robot. Each terrain robot is equipped with a low-cost wide angle Visual Graphics Array (VGA) camera, and some markers are fixed on the climbing robot. At each navigation step, the climbing robot and terrain robots cooperate to model a part of the structure which should be explored by the climbing robot. We also present a second approach in which a depth image from a Microsoft Kinect (a motion sensing input device by Microsoft) is fused with the information from the camera in order to eliminate the dependency of the system on color and light conditions.

Autonomous mapping for inspection of 3D structures

This paper proposes a method based on cooperation between climbing and ground robots in order to address the mapping problem for autonomous inspection of 3D structures. In the proposed method ground robots act as a mobile observer with a wide coverage for a climbing robot, to detect and estimate the size of the structure being climbed. We will present a case study in which multiple terrain robots provide the model of a structure which should be explored by a pole climbing robot. Each terrain robot is equipped with a low cost wide angle VGA camera, and some markers are fixed on the climbing robot. At each navigation step, the climbing robot and terrain robots cooperate to model a part of the structure which should be explored by the climbing robot.

Unidade de Síncope – Experiência de um centro com base em organigramas de decisão para síncope de etiologia incerta após a avaliação inicial

INTRODUCTION AND OBJECTIVES Syncope is a common symptom that leads to 1% of admissions to hospital emergency departments, and is associated with high costs to the health system. The cardiology department of Faro Hospital has had a syncope unit since July 2007. The aim of this study is to analyze its results in terms of etiological diagnosis and treatment of syncope, using diagnostic flowcharts based on European Society of Cardiology (ESC) guidelines. METHODS We conducted a retrospective study of all patients referred to the syncope unit of Faro Hospital between July 2007 and August 2011. We analyzed demographic data, characteristics of syncopal episodes, diagnostic methods, etiology of syncope and treatment. The percentages of syncope of cardiac and uncertain etiology were compared with data from other international syncope units. Statistical analysis was performed using SPSS version 13.0. RESULTS Of the 304 patients referred to the syncope unit for loss of consciousness, 245 (80.7%) had syncope. Most had reflex syncope (52.2%), 20% had cardiac syncope, 15.6% had orthostatic hypotension, and in 12% of cases etiology remained undetermined. The percentages of cardiac and uncertain etiology were similar to data published by other syncope units. CONCLUSIONS The Faro Hospital syncope unit obtained similar results to those published by other international syncope units through application of diagnostic flowcharts for etiological diagnosis of syncope. The flowcharts presented can be of value for the proper application of ESC guidelines on syncope.

Imagem tubular «transversal ao septo interauricular»

Please cite this article as: Faria R, et al. Imagem tubular «transversal ao septo inter-auricular». Rev Port Cardiol 2012. doi:10.1016/j.repc.2012.01.010. ∗ Corresponding author. E-mail address: ricardofaria555@gmail.com (R. Faria). apex; the electrocardiogram showed sinus rhythm and left anterior bundle branch block. Left parasternal long-axis echocardiography revealed an anomalous tubular image in continuity with the anterior wall of the ascending aorta (Fig. 1), while in parasternal short-axis view the same tubular structure was seen encircling the aorta (Fig. 2). In apical 4-chamber view, a tubular image, 2 mm in diameter and 42 mm in length, was observed crossing the atrial septum;

Impacto da via verde coronária e da angioplastia primária na redução da mortalidade associada ao enfarte com elevação do segmento ST anterior. A experiência algarvia

INTRODUCTION There are few published data on mortality in anterior ST-segment elevation myocardial infarction (STEMI) in Portugal, particularly in centers with direct access to primary angioplasty. We present the experience of a center with direct access to primary angioplasty in the management of patients admitted with anterior STEMI. METHODS We performed a retrospective study of 120 patients admitted with anterior STEMI in 2008 to Faro Hospital (Algarve region, Portugal). RESULTS Significant coronary artery stenosis was found in 99 patients (82.5%). These patients were predominantly male (79%), and had a mean age of 63 years. Primary angioplasty was performed in the majority of patients within 6 hours of symptom onset and median ECG-to-balloon time was 89 minutes. Primary angioplasty was successful in 98% of patients and complete revascularization was achieved in 83%. Radial access was used in 82% of cases. In-hospital and 30-day mortality was 3%. CONCLUSION Direct access to primary angioplasty was associated with low mortality in patients admitted with anterior STEMI.

Miocardite fulminante – a propósito de um caso clínico

A 46-year-old woman was admitted due to diplopia because of ophthalmoplegia, which improved with corticosteroid therapy. Eight days later, she was admitted with fulminant myocarditis in cardiogenic shock, with severe left ventricular dysfunction and frequent episodes of nonsustained ventricular tachycardia. As there was no clinical improvement, an endomyocardial biopsy was performed that revealed inflammatory infiltrate, vasculitis, and PCR positive for cytomegalovirus, Epstein-Barr virus, parvovirus B19 and enterovirus. Left ventricular function recovered with heart failure treatment and corticosteroids. Three months later, after progressive withdrawal of prednisolone, there was recurrence of myocarditis and left ventricular dysfunction, which was successfully treated by restarting corticosteroid therapy. One month later she was readmitted with fulminant myocarditis which again responded to steroids. She intermittently presented cutaneous purpura lesions. At this time the provisional diagnosis was vasculitis and she started monthly cycles of cyclophosphamide. Before the second cycle she was admitted with pneumonia and ventricular dysfunction and died.

Um doente, uma mutação e 2 miocardiopatias – miocardiopatia hipertrófica associada a não compactação do ventrículo esquerdo

A 34-year-old woman with a history of smoking was observed for rapid palpitations of 12 years’ evolution. The symptoms occurred daily and were of short duration and not associated with dizziness, syncope or chest pain. She had no family history of sudden death, but her father had been diagnosed with idiopathic dilated cardiomyopathy. In the course of assessment she underwent electrocardiography, which revealed sinus bradycardia (36 bpm), criteria of left ventricular hypertrophy, abnormal R-wave progression in the precordial leads, nonpathological Q waves, nonspecific alterations in ventricular repolarization in DII, DIII, aVF and V3--V6, and long QTc. Echocardiography showed undilated cardiac chambers and good biventricular systolic function. The left ventricle (LV) presented nonobstructive hypertrophy of the basal segments of the anterior and inferior septum and inferior wall (Figure 1), with a maximum thickness of 21 mm. Hypertrabeculation was observed at the apical level, particularly in the posterior and lateral wall segments