Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

Rhapsody in fractional

This paper studies several topics related with the concept of “fractional” that are not directly related with Fractional Calculus, but can help the reader in pursuit new research directions. We introduce the concept of non-integer positional number systems, fractional sums, fractional powers of a square matrix, tolerant computing and FracSets, negative probabilities, fractional delay discrete-time linear systems, and fractional Fourier transform.

Rhapsody in Fractional

This paper studies several topics related with the concept of “fractional” that are not directly related with Fractional Calculus, but can help the reader in pursuit new research directions. We introduce the concept of non-integer positional number systems, fractional sums, fractional powers of a square matrix, tolerant computing and FracSets, negative probabilities, fractional delay discrete-time linear systems, and fractional Fourier transform.

Mismatch negativity in childhood temporal lobe epilepsy: a proposed paradigm for testing central auditory processing

Background: Temporal lobe epilepsy (TLE) is a neurological disorder that directly affects cortical areas responsible for auditory processing. The resulting abnormalities can be assessed using event-related potentials (ERP), which have high temporal resolution. However, little is known about TLE in terms of dysfunction of early sensory memory encoding or possible correlations between EEGs, linguistic deficits, and seizures. Mismatch negativity (MMN) is an ERP component – elicited by introducing a deviant stimulus while the subject is attending to a repetitive behavioural task – which reflects pre-attentive sensory memory function and reflects neuronal auditory discrimination and perceptional accuracy. Hypothesis: We propose an MMN protocol for future clinical application and research based on the hypothesis that children with TLE may have abnormal MMN for speech and non-speech stimuli. The MMN can be elicited with a passive auditory oddball paradigm, and the abnormalities might be associated with the location and frequency of epileptic seizures. Significance: The suggested protocol might contribute to a better understanding of the neuropsychophysiological basis of MMN. We suggest that in TLE central sound representation may be decreased for speech and non-speech stimuli. Discussion: MMN arises from a difference to speech and non-speech stimuli across electrode sites. TLE in childhood might be a good model for studying topographic and functional auditory processing and its neurodevelopment, pointing to MMN as a possible clinical tool for prognosis, evaluation, follow-up, and rehabilitation for TLE.

Fractional order modelling of zero length column desorption response for adsorbents with variable particle sizes

This manuscript analyses the data generated by a Zero Length Column (ZLC) diffusion experimental set-up, for 1,3 Di-isopropyl benzene in a 100% alumina matrix with variable particle size. The time evolution of the phenomena resembles those of fractional order systems, namely those with a fast initial transient followed by long and slow tails. The experimental measurements are best fitted with the Harris model revealing a power law behavior.

Time-delay and fractional derivatives

This paper proposes the calculation of fractional algorithms based on time-delay systems. The study starts by analyzing the memory properties of fractional operators and their relation with time delay. Based on the Fourier analysis an approximation of fractional derivatives through timedelayed samples is developed. Furthermore, the parameters of the proposed approximation are estimated by means of genetic algorithms. The results demonstrate the feasibility of the new perspective.

Condition-Based Diagnosis of Mechatronic Systems Using a Fractional Calculus Approach

While fractional calculus (FC) is as old as integer calculus, its application has been mainly restricted to mathematics. However, many real systems are better described using FC equations than with integer models. FC is a suitable tool for describing systems characterised by their fractal nature, long-term memory and chaotic behaviour. It is a promising methodology for failure analysis and modelling, since the behaviour of a failing system depends on factors that increase the model’s complexity. This paper explores the proficiency of FC in modelling complex behaviour by tuning only a few parameters. This work proposes a novel two-step strategy for diagnosis, first modelling common failure conditions and, second, by comparing these models with real machine signals and using the difference to feed a computational classifier. Our proposal is validated using an electrical motor coupled with a mechanical gear reducer.

Bipedal Locomotion: A Fractional CPG for Generating Patterns

Proceedings of the 10th Conference on Dynamical Systems Theory and Applications

Reorganização dos componentes neuro-motores com influência na marcha em indivíduos com lesão do sistema nervoso central - impacto funcional

Objectivo: Avaliar o impacto qualitativo de um programa de intervenção em fisioterapia, segundo o Conceito de Bobath, nas actividades e participação de dois indivíduos com lesão do Sistema Nervoso Central. Avaliar as modificações no comportamento da actividade muscular ao longo da fase de apoio do ciclo da marcha, na força de reacção ao solo e respectiva contribuição muscular. Metodologia: A avaliação realizou-se antes e após um programa de intervenção, segundo a abordagem do Conceito de Bobath, através da Classificação Internacional de Funcionalidade, Incapacidade e Saúde, electromiografia, plataforma de forças e máquina fotográfica. Resultados: Obteve-se melhorias na restrição da participação e na limitação da actividade. Verifica-se uma tendência de modificação do comportamento muscular ao longo da fase de apoio e na componente antero-posterior (Fy), mais evidente no mecanismo de aceleração. A mudança na contribuição muscular para a este mecanismo é mais evidente. Conclusão: O programa de intervenção, segundo o Conceito de Bobath, induziu mudanças positivas quanto à funcionalidade dos indivíduos, reflectindo-se na possibilidade de reorganização dos componentes neuro-motores em indivíduos com lesão do Sistema Nervoso Central.

Advances in smart grids - benefits on sharing background experiences from Portugal, Central Europe and Brazil

This paper presents ELECON - Electricity Consumption Analysis to Promote Energy Efficiency Considering Demand Response and Non-technical Losses, an international research project that involves European and Brazilian partners. ELECON focuses on energy efficiency increasing through consumer´s active participation which is a key area for Europe and Brazil cooperation. The project aims at significantly contributing towards the successful implementation of smart grids, focussing on the use of new methods that allow the efficient use of distributed energy resources, namely distributed generation, storage and demand response. ELECON puts together researchers from seven European and Brazilian partners, with consolidated research background and evidencing complementary competences. ELECON involves institutions of 3 European countries (Portugal, Germany, and France) and 4 Brazilian institutions. The complementary background and experience of the European and Brazilian partners is of main relevance to ensure the capacities required to achieve the proposed goals. In fact, the European Union (EU) and Brazil have very different resources and approaches in what concerns this area. Having huge hydro and fossil resources, Brazil has not been putting emphasis on distributed renewable based electricity generation. On the contrary, EU has been doing huge investments in this area, taking into account environmental concerns and also the economic EU external dependence dictated by huge requirements of energy related products imports. Sharing these different backgrounds allows the project team to propose new methodologies able to efficiently address the new challenges of smart grids.

Fractional dynamics in DNA

This paper addresses the DNA code analysis in the perspective of dynamics and fractional calculus. Several mathematical tools are selected to establish a quantitative method without distorting the alphabet represented by the sequence of DNA bases. The association of Gray code, Fourier transform and fractional calculus leads to a categorical representation of species and chromosomes.

A marcha: a influência do Gerador de Padrão Central

A marcha é influenciada por um conjunto de factores que resultam da interacção e organização própria de sistemas neurais e mecânicos, entre os quais, da dinâmica músculo-esquelética, da modulação pelos centros nervosos superiores, pela modulação aferente e é, também, assumida como sendo controlada pelo Gerador de Padrão Central (GPC), que se define como um programa central baseado num circuito espinal geneticamente determinado, capaz de produzir um ritmo associado a cada marcha. Apresenta-se como objectivo deste trabalho abordar quais os modelos explicativos para o funcionamento do GPC e qual a evidência científica, que continua a ter muitas divergências.

Reposição do sistema semi-automático Pyxis® num Hospital Central Universitário: avaliação do número de unidades repostas

Introdução: No Centro Hospitalar de São João, EPE a partir de 2008, foi implementado o sistema semi-automático de reposição de stocks nivelados de medicamentos, Pyxis®, atualmente implementado em 16 serviços clínicos. Atendendo ao crescimento verificado na implementação deste sistema automatizado na instituição, este trabalho pretende dar a conhecer a realidade de preparação da medicação para reposição no sistema semi-automático Pyxis®, por avaliação do número de unidades de medicamentos repostos diariamente e por dia da semana. Material e Métodos: Desenvolveu-se um estudo longitudinal retrospetivo onde se analisou a totalidade de serviços com implementação Pyxis® através do registo diário de reposição dos diferentes Serviços Clínicos num período de 41 dias consecutivos. Numa segunda fase, os dados foram sintetizados sob a forma de tabelas em Microsoft Office Excel®, tendo posteriormente sido construídos os respetivos gráficos para análise. Resultados: Os resultados, representados graficamente, mostram que a segunda-feira é o dia da semana com maior número de reposições de medicamentos, sendo os serviços com maior número de reposições totais UCI Geral, UCI Neurocríticos, Cirurgia Cardiotorácica e UCIPU. Discussão / Conclusões: Os resultados obtidos permitiram verificar uma sobrecarga de referências de medicamentos e unidades repostas às segundas-feiras, atingindo, em muitos serviços, valores de unidades repostas duas vezes superior à média de reposições do serviço (por ex. UCI Neurocíticos). Contudo, apesar do reduzido período de análise, os dados parecem evidenciar que o facto de haver reposições ao domingo agiliza o processo de reposição dos Pyxis® às segundas-feiras.

A marcha: a influência do Gerador de Padrão Central

A marcha é influenciada por um conjunto de factores que resultam da interacção e organização própria de sistemas neurais e mecânicos, entre os quais, da dinâmica músculo-esquelética, da modulação pelos centros nervosos superiores, pela modulação aferente e é, também, assumida como sendo controlada pelo Gerador de Padrão Central (GPC), que se define como um programa central baseado num circuito espinal geneticamente determinado, capaz de produzir um ritmo associado a cada marcha. Apresenta-se como objectivo deste trabalho abordar quais os modelos explicativos para o funcionamento do GPC e qual a evidência científica, que continua a ter muitas divergências.

Basic dyestuffs removal from textile effluents using feathers: equilibrium, kinetic and column studies

This research work has been focused in the study of gallinaceous feathers, a waste that may be valorised as sorbent, to remove the Dark Blue Astrazon 2RN (DBA) from Dystar. This study was focused on the following aspects: optimization of experimental conditions through factorial design methodology, kinetic studies into a continuous stirred tank adsorber (at pH 7 and 20ºC), equilibrium isotherms (at pH 5, 7 and 9 at 20 and 45ºC) and column studies (at 20ºC, at pH 5, 7 and 9). In order to evaluate the influence of the presence of other components in the sorption of the dyestuff, all experiments were performed both for the dyestuff in aqueous solution and in real textile effluent. The pseudo-first and pseudo-second order kinetic models were fitted to the experimental data, being the latter the best fit for the aqueous solution of dyestuff. For the real effluent both models fit the experimental results and there is no statistical difference between them. The Central Composite Design (CCD) was used to evaluate the effects of temperature (15 - 45ºC) and pH (5 - 9) over the sorption in aqueous solution. The influence of pH was more significant than temperature. The optimal conditions selected were 45ºC and pH 9. Both Langmuir and Freundlich models could fit the equilibrium data. In the concentration range studied, the highest sorbent capacity was obtained for the optimal conditions in aqueous solution, which corresponds to a maximum capacity of 47± 4 mg g-1. The Yoon-Nelson, Thomas and Yan’s models fitted well the column experimental data. The highest breakthrough time for 50% removal, 170 min, was obtained at pH 9 in aqueous solution. The presence of the dyeing agents in the real wastewater decreased the sorption of the dyestuff mostly for pH 9, which is the optimal pH. The effect of pH is less pronounced in the real effluent than in aqueous solution. This work shows that feathers can be used as sorbent in the treatment of textile wastewaters containing DBA.