Aspectos anatômicos do olho e neuroquímicos da retina do mocó (Kerodon rupestris)

The visual system is an important link between the animal and the environment, com profound influences on the habits and lifestyle in various habitats. Adaptive mechanismsto the temporal niche are present in the visual system of many vertebrates, involving changins in ocular dimensios and design, retinal cell distribution and organization of neurochemical circuits related to the retinal resolution or sensitivity. The sensory system of the eye is represented by the retina, whose organization is responsible by receipty, initial analysis, and transmission of the information to the brain. The knowledge of the position of the eyes in the head and the distribution of retinal cells allow to identify adaptive aspects of each species to its visual field, which is characteristic to the ecological niche it occupies. In this research, we study eye anatomical characteristics and retina neurochemical features of the rock cavy (Kerodon rupestris), a tipical Brazilian rodent from the suborder Hystricomorpha, family Caviidae. The rock cavy has lateral eyes well constitute bony orbit and well differentiated extrinsic muscle. The study of the descriptive and morphometric anatomy of the showed mean values of axial diameter 10.7±0,5mm and equatorial diameter 11.6±0.7mm. The pupil is slit shaped and the lens has mean axial diameter 5.4±0.03 mm, corresponding to ~45% of the axial diameter of the eye. The posterior nodal distance and the retinal magnification factor were estimated at 6.74 mm e 118 μm/grau, respectively. Flat mounts were processed for Nissl stain, and the topographic distribution of ganglion cells showed a moderate visual band, just below the optic disc, with higher density in the ventral retina. Retinal vertical sections and flat mounts were processed for immunohistochemistry to visualize tyrosine hydroxilase (TH) and thus two types of TH+ cells were detected. Type 1 cells had strong TH-immunoreactivity, the body cell varied from 120.047 to 269.373 μm2 stratifying in the sublamina 1 of the IPL. Type 2 cells were weakly TH-imunoreactive, had cell body located mostly in the IPL, varying from 54.848 to 177.142 μm2, constituting ~10% of the TH+ cells. Both cell types exhibited similar topographic distribution with higher density found in a horizontal band along of the naso-temporal axis in the dorsal retina. The total population of dopaminergic cells was 2,156±469,4 cells, occupying an average area of 198,164 μm2. The presence of cones and rods was detected by immunohistochemistry in vertical sections and flat mounts. S cones density is around 10 times smaller than L cones, with different degree of spatial organization. Other retinal neuronal populations of the rock cavy were also detected in vertical sections with specific markers. Comparative analysis of the anatomical characteristics of the rock cavy eye 12 suggest that it was designed to acquire higher sensitivity to light, at expense of image sharpness, compatible with a vision at mesopic conditions. Additionally, the distribution of the 2 subtypes of dopaminergic cells in a naso-temporal band in the dorsal retina seems suitable to a gain in sensitivity, coherent with an animal with predominantly crepuscular activity pattern

Padrão de atividades e de interações sociais de animais juvenis em dois grupos selvagens de Callithrix jacchus

The juvenile period represents the developmental phase between weaning and sexual maturity. Weaning occurs when the youngster does not receive direct care from the caretakers anymore. Individuals in the species Callithrix jacchus live in groups composed by the reproductive pair and successive twin sets. Cooperative care is the rule. Infants are weaned early, and from then on, food is provided by the adults in the group. These animals present high levels of social interactions, through play, grooming and social contact. During infant age, the twin becomes the main partner. There are few studies about the juvenile period, especially on Callithrix gender. The objective of this study was describing the pattern of activities and social interactions of four sets (one single and three twin sets) during juvenile phase in two Callithrix jacchus groups. We used instantaneous and continuous focal sampling for juveniles and scan sampling for adults behavioral recordings. Juveniles presented the same behavioral pattern as the adults relating the activity budget, in particular, foraging along the months. The composition of the diet was the same as that of the adults. Food transfer ended along the juvenile period. Social play as much as grooming were important socializing activities for the juveniles. The young individuals in the group were the main partners in social play, specially the twin. Adults were the main partners in grooming interactions. Scent marking differed between twins in the male/female sets, the female presenting the highest levels of marking. The juveniles were independent from adults in foraging activity. Social interaction varied according to group composition, but in general, interacted more with the twin and with the youngsters (infants and subadults), except in grooming. Even presenting many similarities, juveniles showed some differences between genders, which indicates the differentiation in behavior towards reproductive strategies early in the juvenile period

Distribuição diária das atividades comportamentais dos camarões marinhos Farfantepenaeus subtilis (Pérez Farfante, 1967) e Litopenaeus schmitti (Burkenroad, 1938) em condições laboratoriais

Marine aquaculture has developed in the last decades all over the world, especially related to shrimp management. In Brazil, the introduction of the species Litopenaeus vannamei has contributed to the success of the activity, even if there are problems associated with the management of a exotic species, such as new diseases and ecological pressure on native species. It has been emphasized the need of research for developing new methodology that will allow native species management, being the most important Farfantepenaeus subtilis and Litopenaeus schmitti. Most knowledge obtained from research with those species has generally used a technical approach and mainly focused feeding process. There are no specific behavioral data on their activity pattern which should be of great importance for the use of native species on commercial culture farms. So, it was our objective to study and compare the daily distribution of behavioral activities of the marine shrimp species Litopenaeus schmitti and Farfantepenaeus subtilis. Forty animals of each species, 5 individuals per aquarium, were maintained in aquaria containing 200L of sea water under continuous aeration and filtration. They were marked individually and were observed by the instantaneous focal time sampling, along 10 continuous days, in 6 daily 15 min observation windows, every two hour. In each window, behaviors and location position of the animals in the aquarium were registered at 1 min intervals. Food was offered 3 times a day, representing 10% of each aquarium biomass. Aquaria were maintained in artificial photoperiod, 12hour light/l2 hour dark, 4 aquaria in light cycle equivalent to the environmental one (light from 06:00 to 17:59 h and dark from 18:00 to 05:59 h) and the other 4 in the reverse light cycle (light from 18:00 to 05:59 h and dark from 06:00 to 17:59 h) to allow sequential behavioral observation in both phases of the 24 hour cycle. There was a clear distinction between the distribution of behavioral activities of F. subtilis and L. schmitti in the two phases. The activity pattern of Farfantepenaeus subtilis demonstrates that species has prominently night habits and a burying pattern during the light cycle. Exploration, inactivity and swimming were the most common activities. The behavioral pattern of Litopenaeus schmitti indicates that species is active along both phases of the light cycle, and the most evident behaviors were exploration, inactivity and swimming

Avaliação do padrão do ciclo sono-vigília e a cognição em estudantes de medicina com diferentes esquemas de horários de aulas

The sleep patterns of students entering the university, is accompanied by many factors that can lead to changes in sleep habits, such as academic demands, new social opportunities, reduced parental care and irregular teaching schedules. The irregular pattern of sleep-wake cycle is usually accompanied by several daytime consequences, for example, reduced levels of motivation, performance, concentration, alertness and mood as well as increased fatigue and sleepiness.Thus, there are numerous reasons to support the fact that these students may suffer damage in their academic performance. The aim of this study was to evaluate the sleep-wake cycle (SWC) and cognition in medical students with different schemes teaching schedules. One group started classes at 08am, while the other started at 07am. We analyzed the data from 88 volunteers, 39 from each group. However, only those who participated in both stages of the study (n = 78) underwent cognitive testing. For subjective evaluation of the SWC was used questionnaires to check the quality of sleep, chronotype, daytime sleepiness and sleep habits. For objective evaluation was used actigraphy. For cognitive assessment was used the test MoCA (Montreal Cognitive Assessment). The results indicate that the group has class earlier had a greater irregularity of the SWC and a worse performance in cognitive testing. There was a difference between the schedules the week and weekend in the subjective variables, bedtime, wake up and sleep duration in both groups. The objective variables, time in bed showed difference between the schedules the week and weekend to the group started class at 08am and the variables bedtime, get up time, actual sleep time, time in bed and wake bouts in the class at 07am. In the cognitive test, there were differences between the groups in overall score and in the areas of executive function and memory recall. Thus, it is suggested that the class starting time may cause irregularity of the SWC and the irregularity may cause mild cognitive impairment. Moreover, cognitive testing MoCA was sensitive to detect differences among students, although the difference between the schedules is small

Padrão de distribuição e caracterização morfológica de fibras serotonérgicas nos núcleos da linha Média/ intralaminares do tálamo do mocó (Kerodon rupestris)

The midline/intralaminar nuclei form a remarkable group of nuclei of the medial and dorsal thalamus. The midline nuclei, in rats, comprises the paratenial nuclei (PT), paraventricular (PV), intermediodorsal (IMD), reuniens (Re) and rhomboid (Rh). The intralaminar nuclei comprises the central medial (CM), paracentral (PC), central lateral (CL) and parafascicular (PF). Such nuclei have dense serotonergic innervation originating from the brainstem, especially from the so-called ascending activation system. These nuclei, in turn, send projections to various cortical and subcortical areas, specifically to limbic areas, which suggests the important role of this neurotransmitter in the limbic circuitry. The aim of this study was to characterize the distribution pattern and morphology of serotonin fibers in the nuclei of the midline and intralaminar thalamic of rocky cavy (Kerodon rupestris), a tipical rodent from brazilizan northeast. To reach this aim we used four rock cavies adults. Following the transcardially perfusion with paraformaldehyde and brain microtomy steps was performed immunohistochemistry for serotonin (5-HT), Nissl technique and subsequent achievement and image analysis to characterize the cytoarchitecture of these nuclei and the serotonergic fibers visualized. An analysis was made of Relative Optical Density (ROD) to semi-quantify the concentration of serotonin fibers in the areas of interest. Thus, we observed a cytoarchitectonic arrangement of these nuclei similar to that found in rats. In case of fibers distribution, those immunoreactive to 5-HT were presented in a higher concentration according as ROD in the midline nuclei relative to intralaminar; Re being the core which has a higher pixel value followed by the PV , Rh, IMD and PT. In intralaminar CL showed higher pixels, followed by nuclei CM, PC and PF. The serotonergic fibers were classified as number of varicosities and axon diameter, therefore find three types of fibers distributed through this nuclear complex: fibers rugous, granular and semi-granular. In PV fibers predominated rugous; in PT fibers predominated granular; IMD, CL and PF fibers were represented by semi-granular and Re, Rh, PC and CM fibers showed granular and semi-granular. Morphological characterization of serotonergic fibers and differences in density between the nuclei may suggest different patterns of synaptic organization of this neurotransmitter beyond confirming his large repertoire functional

Padrão de atividades do sagüi callithrix jacchus numa área de caatinga

Callithrix jacchus, as the other species in the family Callitrichidae, lives in social groups. The groups cam be found in different habitats, whose distinct floristic physiognomies and communities are intrinsically related to their behavioral ecology and social relations. Our objective was to describe the social relations and feeding behavior of Callithrix jacchus in the Bioma Caatinga. We observed a group at the FLONA (National Forest IBAMA), in Açu-RN, in northeastern Brazil, compose of five adults (2 females and 3 males) at the beginning of the study. The birth of five animals was registered along the study. The following behavioral categories were registered along eleven months, once a week, through instantaneous focal animal sampling: social grooming, contact, proximity, foraging, feeding, locomotion and rest. Foraging presented the highest levels comparing to other activities, and was more frequent in the dry season. Social grooming was the second more frequent activity, with higher levels in the rainy season, and between the reproductive couple. We found similar results for proximity. The most explored feeding item was the gum, specially in the rainy season. The most explored species for exudates feeding were Cirus limon (limão) and Pitecolobiun foliolosum (jurema branca). The comparision of fruit and insect ingestion between the seasons showed higher percentage for both in the dry season. The general activity pattern was similar to what is registeded in groups the inhabit the Atlantic Forest. These results indicate the flexibility of the species which survives and reproduces in such physically and biologically different environments

Fidelidade à área e padrão de associação em Sotalia guianensis, baseado na técnica de foto-identificação

The behavioral patterns follow to environmental changes, including area fidelity and individuals association patterns. Several techniques are used to record these behavioral patterns and the photo-identification has been suggested as a proper tool because of its various advantages. Based on this technique, this research verified, between August of 2005 and January of 2006, area fidelity and association patterns of Sotalia guianensis, at Distrito de Pipa s bays, Rio Grande do Norte State south coast. Besides, we measured the association patterns by using the Jaccard index or Half-Weight Index (HWI). According the observation, 22 individuals were not resighted, 11 were resighted, and 36 new individuals were recorded. Nowadays, 69 individuals are cataloged. The residency rate indicated heterogeneity on studied area permanence and the association patterns between photo-identified seem to be context-specific. In addiction, the comparison of associations between two different age classes showed some individuals more frequently interacting with immature individuals. We also observed fluidity on association patterns among our individuals. We suggest that S. guianensis population from Pipa shows plasticity

Mudanças climáticas globais e o compromisso pró-ecológico de adolescentes natalenses

In recent years, much has been discussed about global climate changes (GCCs), popularly known as global warming. The scientific evidences point out to the influence of human actions for its drastic intensification. Therefore, studies of the psychological aspects involved become relevant. This study aimed at the investigation of the views of adolescents concerning GCCs, and the possible relations between those views and their pro-ecological commitment. Such commitment is measured by willingness for engagement in pro-environmental behaviors; environmentalism attitudes, like ecocentric and anthropocentric; consideration of future consequences; and ecological worldviews. Participants were 348 adolescents who answered a questionnaire containing questions about socio-demographic data, open questions about the practice of environmental care, and about GCCs, and the scales of Ecocentric and Anthropocentric Environmentalism, the Consideration of Future Consequences and the Ecological Worldviews assessment scale. From the inter-relationships between variables, procedures carried out by means of descriptive and correlacional statistics, it was observed that 55% of teenagers said that they did not engage in actions of environmental care, which was associated with apathyanthropocentric, immediatism, and individualism. The consideration of future consequences joined the practice of environmental care, corroborating evidence from the literature. It was evident that views concerning GCCs were superficial; adolescents perceive it as a generic environmental problem, and are confused with other problems such as pollution. This study found no association between views about GCCs and the indicators of pro-ecological commitment, perhaps due to the conceptual confusion about the subject. However, the lack of environmental care actions and other indicators of non-commitment (apathy-anthropocentric, individualism and immediatism) were associated with conceptually poor or incomplete responses (with no indication of cause, consequence or responsibility for the problem), demonstrating diminished knowledge and the failure to consider these issues

Implementação Hardware/Software da estimação de movimento segundo o padrão H.264

Motion estimation is the main responsible for data reduction in digital video encoding. It is also the most computational damanding step. H.264 is the newest standard for video compression and was planned to double the compression ratio achievied by previous standards. It was developed by the ITU-T Video Coding Experts Group (VCEG) together with the ISO/IEC Moving Picture Experts Group (MPEG) as the product of a partnership effort known as the Joint Video Team (JVT). H.264 presents novelties that improve the motion estimation efficiency, such as the adoption of variable block-size, quarter pixel precision and multiple reference frames. This work defines an architecture for motion estimation in hardware/software, using a full search algorithm, variable block-size and mode decision. This work consider the use of reconfigurable devices, soft-processors and development tools for embedded systems such as Quartus II, SOPC Builder, Nios II and ModelSim

Comunidade fitoplanctônica como discriminador ambiental em açude eutrófico tropical semiárido (Barragem Armando Ribeiro Gonçalves, RN) e divulgação científica para reflexão social

The knowledge of the phytoplankton community, as an integral and dynamic processes of eutrophication, provides information essential for proper management and handling. A growing problem of cyanobacteria in reservoirs around the world as a result of artificial eutrophication processes, generating a particular concern, because some species produce cyanotoxins, which can cause adverse effects on human health. The present work aims to characterize the spatial and temporal dynamics of phytoplankton, assessing their potential as ecological indicator of water quality in reservoirs semiarid region. The samples of water were collected monthly between 2009 and 2011, at three points along the dam Armando Ribeiro Gonçalves / RN. In each sample were measured physico - chemical analysis of water and biological components. We conducted a scientific dissemination activity, with distribution and reading primer on eutrophication, informative talk about water quality, questionnaires and performing a play in a public school in the city of Itajá / RN. The reservoir was considered eutrophic in three points, taking into account the values of chlorophyll -a and phosphorus, adopted to characterize eutrophic environments of semi-arid areas. High density of cyanobacteria, with a maximum value of 2.227.862 cél.ml- 1 and minimum of 43.456 cél.ml- 1 was recorded in lentic and semilêntico points throughout the study, exceeding the levels of drinking water (20.000 cél.ml- 1) established in 2.914/2011 Ordinance of the Ministry of Health of Brazil. All samples contained microcystin, and 44 % had values superiores1μg L- 1. The thermal pattern of the water column showed micro stratifications with differences of less than 1 ° C from five feet deep. The distribution pattern was the type profile clinogrado with oxygen deficit in the bottom of the reservoir. Oxiclina from 10 meters depth was observed during the rainy season (May-June) in the two years of study. The phytoplankton community was represented by 10 functional groups: S1, M, H1, Lo, P, F, Sn, P, W2 and R. The assessment of the ecological status of the system by the index Q showed poor water quality. The results of the study show that the vertical variations were less pronounced than the seasonal variations of cyanobacteria and phytoplankton community in general in the reservoir. The presence of cyanotoxins confirms the need for the monitoring of water quality and measures to reduce eutrophication in water supply reservoirs semiarid RN and demonstrates the challenge for water managers and health authorities to ensure water quality and consequently minimize risks to human health. Compared to the lecture, the primer was considered more efficient in sensitizing the participants, featuring a dynamic practice, differentiated learning, create opportunities for students to rethink attitudes of respect and care for the environment, and shall have the opportunity to learn the subject content from your reality and living environment. The knowledge generated from the activity of scientific were seen as essential for raising awareness of some of the region`s environmental problems , such as eutrophication

Vinculando a etnoictiologia às evidências biológicas para explicar o declínio da riqueza da ictiofauna neotropical

The diversity of fish species from South America has been affected by various anthropogenic practices. Some studies have reported the influence that illegal transferring or introduction of exotic species have on the trophic webs of continental lakes. The loss of diversity on fish populations and consequent impacts on fishery are commonly evidenced in these cases. The Brazilian Northeast has ponds for which exotic Amazonian species were transferred as Extremoz Lake. These environments serve as study models for comparison and investigation about the possible impacts of these introductions. We tested the hypothesis that loss of species that this trend can be related with the insertion of the genus Cichla, commonly documented as top predator in its endemic environment. Possible structural causes that interfere in other processes such as migration were also investigated. Thus, the local ecological knowledge of fishermen and a current ecotrophic model were used. We took samples of phytoplankton, zooplankton and fishes during two annual cycles. Concurrently, we made interviews with the fishing community. In fact, there are relations between the loss of fish and the insertion of peacock bass in Extremoz Lake. However, Cichla kelberi was not indicated as primary factor to explain fish species decline. The construction of bridges located in the Rio Doce was main factor for respondents and what explains loss of species. The migration of saltwater fish and / or from the river to Extremoz Lake is hindered by the unsuitability of the crossing-streams that are under these structures. According to the ecotrophic model Hoplias malabaricus was considered key-species and Cichla kelberi top predator. This last trend was similarly noticed in the stomach and local ecological knowledge of fishermen analysis. Overfishing simulations to Cichla kelberi resulted that only raising its captures in 200%, other native species would increase their biomass values only 15 to 30% (in 6 years).The negative effects of the alien species introduction without prior studies and lack of investments in appropriating these constructions to the needs of the fish fauna structures seem to act simultaneously. Both are causing the decline of fish species richness and consequent local artisanal fishery collapse

Arquitetura hardware/software de um núcleo NCAP segundo o padrão IEEE 1451.1: uma prova de conceito

Os sensores inteligentes são dispositivos que se diferenciam dos sensores comuns por apresentar capacidade de processamento sobre os dados monitorados. Eles tipicamente são compostos por uma fonte de alimentação, transdutores (sensores e atuadores), memória, processador e transceptor. De acordo com o padrão IEEE 1451 um sensor inteligente pode ser dividido em módulos TIM e NCAP que devem se comunicar através de uma interface padronizada chamada TII. O módulo NCAP é a parte do sensor inteligente que comporta o processador. Portanto, ele é o responsável por atribuir a característica de inteligência ao sensor. Existem várias abordagens que podem ser utilizadas para o desenvolvimento desse módulo, dentre elas se destacam aquelas que utilizam microcontroladores de baixo custo e/ou FPGA. Este trabalho aborda o desenvolvimento de uma arquitetura hardware/software para um módulo NCAP segundo o padrão IEEE 1451.1. A infra-estrutura de hardware é composta por um driver de interface RS-232, uma memória RAM de 512kB, uma interface TII, o processador embarcado NIOS II e um simulador do módulo TIM. Para integração dos componentes de hardware é utilizada ferramenta de integração automática SOPC Builder. A infra-estrutura de software é composta pelo padrão IEEE 1451.1 e pela aplicação especí ca do NCAP que simula o monitoramento de pressão e temperatura em poços de petróleo com o objetivo de detectar vazamento. O módulo proposto é embarcado em uma FPGA e para a sua prototipação é usada a placa DE2 da Altera que contém a FPGA Cyclone II EP2C35F672C6. O processador embarcado NIOS II é utilizado para dar suporte à infra-estrutura de software do NCAP que é desenvolvido na linguagem C e se baseia no padrão IEEE 1451.1. A descrição do comportamento da infra-estrutura de hardware é feita utilizando a linguagem VHDL

Experiências de vida e a formação do compromisso pró-ecológico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES

A construção medial no português do Brasil: usos no padrão reclamação digital

This thesis examines the medial construction of the Portuguese of Brazil (PB). It is a construction which describes a causative event in which a non-human subject participant is affected by an action that does not originate from itself. Thus, we are interested in investigating this type of construction, its specific characteristics, motivations and discursive context from its semantic- cognitive and discoursive - pragmatic functions. The research questions are: what is the prototypical structural configuration of the medial construction (MC) in the Portuguese of Brazil? What are its specific discoursive functions? What is the degree of MC transitivity based on the properties proposed by Hopper and Thompson (1980)? We assume that the medial construction has its own structure which particularizes its significant dimension, thus ensuring a certain distance between the one in charge of the event and the affected entity. The theoretical and methodological assumptions is founded on Usage-based Functional Linguistics (FURTADO DA CUNHA; BISPO; SILVA, 2013). It is a research of qualitative- interpretative nature that has prioritized the analysis of occurrences arising from texts produced by users of the Brazilian Portuguese language in effective communicative situation. The database for this study is electronic texts available on the website www.reclameaqui.com.br. The results revealed the existence of different configurations of the medial construction in the Brazilian Portuguese, having as prototypical the one formed by SN + V. From the morphosyntactic and semantic point of view, the construction expresses a subject affected by an action that does not part from itself. As for the pragmatic aspect, the construction expresses an event that seems to have the purpose to emphasize the affected argument and to ignore, intentionally or not, the agent or the causative, since it is irrelevant to the speaker/ listener in the contextual situation.

Geração de padrão de marcha adaptável para uma órtese ativa de membros inferiores

Atualmente com o crescente aumento de dispositivos robóticos destinados para aplicação na área de mobilidade de pessoas que sofreram algum tipo de lesão medular, se faz necessário desenvolver novas ferramentas para tornar tais equipamentos mais adaptáveis, seguros e autônomos. Para que as órteses robóticas que auxiliam na locomoção de pessoas paraplégicas possam desempenhar sua função, estas devem ser capazes de reproduzir os movimentos perdidos com o máximo de fidelidade e segurança em ambientes que eventualmente possam conter obstáculos de diferentes tipos como buracos, escadas e calçadas. As órteses robóticas para membros inferiores têm a capacidade de caminhar, subir e descer degraus, todavia, esses movimentos, na maioria das vezes, não se adaptam ao ambiente, sendo assim, para uma órtese robótica que foi projetada para subir um degrau com uma determinada altura ao se deparar com um degrau maior provavelmente não conseguirá realizar essa tarefa com a mesma segurança. Para solucionar esse e outros problemas, esse trabalho apresenta um Sistema de Auxílio à Locomoção (SAL) dotado de um planejador de passos e um gerador de referências angulares com características antropomórficas para a órtese robótica Ortholeg. O SAL utiliza dados antropométricos do usuário para gerar um padrão de marcha personalizado, dessa forma, a órtese em questão é capaz de adaptar o tamanho do passo para não colidir com obstáculos presentes no ambiente e transpor buracos com diversos tamanhos, subir e descer escadas e calçadas com diferentes valores de altura e comprimento. Para desenvolver o sistema de auxílio à locomoção foram adaptadas técnicas de planejamento de caminho, usadas a princípio em robôs bípedes. São apresentados vários experimentos que mostram a órtese Ortholeg realizando alguns movimentos com características antropomórficas para diferentes distâncias de caminhada e três tipos de obstáculos: degrau, buraco e calçada. A autonomia adquirida com a utilização do sistema de planejamento apresentado facilita a utilização de órteses robóticas como também garante uma maior segurança ao usuário.