Patrícia N. Guerra

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This paper presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x, y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment ∆l. Thus, the(More)
The detection of hidden explosives through their odors is of great importance to law enforcement agencies and trained canines have traditionally been used for this purpose. This paper reports the extraction of odor signature compounds characteristic of smokeless powders, followed by their detection by ion mobility spectrometers (IMS). Such a method enables(More)
Current ion mobility spectrometry (IMS) devices are used to detect drugs and explosives in the form of particles and, in cases where the vapor pressure of the drugs or explosives is sufficiently high, the gas can be sampled and detected directly. The aim of this study is to demonstrate the use of solid phase microextraction (SPME) as a preconcentration(More)
Ion mobility spectrometry (IMS) is routinely used in screening checkpoints for the detection of explosives and illicit drugs but it mainly relies on the capture of particles on a swab surface for the detection. Solid phase microextraction (SPME) has been coupled to IMS for the preconcentration of explosives and their volatile chemical markers and, although(More)
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