Controle adaptativo por modelo de referencia e estrutura variável discreto no tempo

With the technology progess, embedded systems using adaptive techniques are being used frequently. One of these techniques is the Variable Structure Model- Reference Adaptive Control (VS-MRAC). The implementation of this technique in embedded systems, requires consideration of a sampling period which if not taken into consideration, can adversely affect system performance and even takes the system to instability. This work proposes a stability analysis of a discrete-time VS-MRAC accomplished for SISO linear time-invariant plants with relative degree one. The aim is to analyse the in uence of the sampling period in the system performance and the relation of this period with the chattering and system instability

Exercícios anaeróbicos, padrão morfofuncional e os marcadores hematológicos em pessoas vivendo com hiv e aids

Estudos que relacionam a atividade física e HIV/AIDS enfatizam a perspectiva biológica, demonstrando a sua relevância, apontam a preocupação em estabelecer um tipo de atividade e intensidade que não comprometa o sistema imunológico, enfatizando as melhorias do exercício sobre os parâmetros antropométricos, na aptidão física bem como um grande aumento da capacidade funcional para o grupo testado. Objetivo: O presente estudo se caracteriza como quase-experimental e objetivou analisar o padrão morfofuncional, marcadores hematológicos em pessoas vivendo com HIV/AIDS, através da oferta intervenção com exercícios anaérobicos (exercícios resistidos em sala de musculação) para pacientes portadores de HIV/AIDS. Métodos: A amostra foi composta por 11 indivíduos do gênero masculino, com média de idade de 43,2 anos, participantes do Programa Pro-Saúde e Atividade Física da Universidade Federal do Rio grande do Norte e atendimento clínico no Hospital Giselda Trigueiro da Secretaria de Estado de Saúde Pública/RN. A coleta de dados foi composta de exames laboratoriais para medir TCD4 e Carga Viral, medidas antropométricas: Índice de Massa Corporal - IMC, Relação Cintura Quadril- RCQ, e uma annamenese sociodemográfica. Para análise dos dados utilizou-se no presente estudo a estatistica descritiva com os valores de tendecia central e seus derivados. Para as variáveis de cunho discreto utilizou-se a análise de frequencia atavés de valores percentuais de aparecimento. Resultados: Os resultados entre os Pré e o Pós teste das variáveis estudadas foram assim apresentadas: para o IMC (pré média de 24,0 Kg/m2 e pós 24,2 Kg/m2), RCQ (pré média de 0,97cm e pós 0,95 cm), Somatório de Dobras cutâneas (Pré 117,1 e Pós 102,0), Somatório da Perimetria(Pré 310,5 e Pós 313,3), Força Escapular(Pré 30,9 Kgf e Pós 30,3 Kgf), Força Pressão Manual Direita(Pre 41,2 e Pós 42,1), Força Pressão Manual esquerda(Pré 39,4 e Pos 39,9), TCD4( Pré 579 e Pós 509 céls/mm3) e Carga Viral(pré e pós <50 cópias). Esses resultados apontam para uma melhora importante das variáveis antropométricas estudadas, principalmente em relação a RCQ, na contagem dos linfócitos TCD4 e manutenção da Carga Viral em níveis abaixo do limite mínimo(<50 cópias/ml) Conclusão:O Programa de Exercícios resistidos com características anaeróbicas promove melhorias no padrão morfofuncional, manutenção das células TCD4 em níveis considerados seguros para esta população e estabilização da carga viral, não apresentando riscos à saúde dos participantes

Custo-efetividade da terapia compressiva no processo de cicatrização de úlceras venosas

Analytical study of therapeutic nonrandomized intervention type, intra-group controlled, with the aim of analyzing the cost-effectiveness of compression therapy with manipulated Unna boot in relation to conventional therapy in the healing of venous ulcers (VU) of patients treated in ambulatory clinic. The study population was composed by patients with VU treated by angiologists in Surgical Clinic Ambulatory of the Onofre Lopes University Hospital (HUOL) with a sample of 18 patients. It obtained the assent of the HUOL Ethics in Research Committee (Protocol 276/09). Data collection was performed over a period of four months by the own master's student and 34 nursing students, through the application of the research instrument in the admission of patients to the study and in the ten subsequent evaluations, performed at the time of changing Unna boot, weekly, for a maximum period of 10 weeks. The data were analyzed with SPSS 15.0 software, using descriptive and inferential statistics, and presented as tables, charts and graphs. Among those surveyed, prevailed: females, mean age 57.6 years, low education and income levels, most retired, unemployed or off work, with the standing position more than six hours per day and up to eight hours daily of domestic or occupational activities. In health status profile of respondents there were predominantly sleep, rest and inadequate elevation of the lower limbs, no smoking and/or alcohol use, presence of hypertension and no use of drugs. Most presented the first VU for over 10 years, recurrences, present VU for more than five years, involvement of left leg, in malleolar and / or distal leg region, mild edema, hyperpigmentation, lipodermatosclerosis, telangiectasies, reticular and varicose veins, mild pain, serous exudate in moderate quantity, small lesions (up to 50cm2), with predominance of granulation tissue and / or epithelialization and demarcated, elevated and irregular borders, with crusts and macerated. Most patients reported that in the 10 weeks prior to admission, made bandages at home and / or Basic Health Unit and / or ambulatory, with nursing aides or technicians, daily, and on weekends or holidays, performed by patients themselves, using healing ointment on the lesion, being observed granulation / epithelialization and increase in VU prevalent in the 10 weeks of traditional treatment. After follow up with manipulated Unna boot, was observed a decrease of lesions in all study patients, with complete healing in 27.8% of those between 1 and 5 weeks of treatment, with satisfactory evolution of the lesions, pain and ankle and calf circumferences, and unsatisfactory development of the borders of ulcers, edema, sleep, rest and elevation of the lower limbs, especially in more chronic patients. Furthermore, patients who achieved total healing and exhibited the greatest percentage reduction of lesions had a higher number of wound healing factors (ρ = 0.01 and ρ = 0.027, respectively). The manipulated Unna boot showed better results in those patients with shorter duration of injury, leading them to a satisfactory outcome within a short period of treatment. After the cost-effectiveness analysis, we conclude that the manipulated Unna boot is more effective than conventional therapy in the healing process of VU and is more cost-effective in patients with shorter lesions (ρ = 0.001), shorter treatment (ρ = 0.000) and greater number of wound healing factors (ρ = 0.005).

Úlceras de pressão: um estudo com pacientes de unidade de terapia intensiva

To characterize patients according to gender, age category, internment time, diagnostical hypothesis and location of the pressure ulcer; to identify the susceptibility conditions, intrinsical and extrinsical factors present on ICU patients and to verify on the existence of association between the susceptibility conditions and the intrinsecal and extrinsecal factors on the occurrence of PU. Methods: It is a descriptive study, of longitudinal design of the panel type, with quantitative approach, performed on two ICU s of a private hospital located in Natal/RN, with 40 patients interned at these units. The data collection was performed on all three shifts through a structured observation and physical exam of the patients' skin form seeking to identify the presence of PU. Results: The greatest occurence of PU was on individuals of the male gender (70%) when compared to the female gender (30%), that difference being statistically significant (p=0,0267), with the male gender presenting 4,3 times greater chance of developing PU than the female; the predominant age category was from 60 years of age on (85%), 60,0% presented 1 to 2 PU s after 7 (seven) days of permanence in the ICU s, the predominant diagnostical hypothesis on the patients with PU were the respiratory diseases (42,3%) and the most frequent locations of PU were the sacral region (40,0%) and heels (36,0%). 25 PU s of stage I were diagnosed on 50,0% of the followed patients, with general incidence of 50,0% on both ICUs. from the 88 variables researched, 75 were identified on the patients from the study, being the predominant conditions (anemia, hypotension, leukocytosis, other diseases hypertension blood pressure, cardiac insuffience, pneumonia - and ansiolythic), the intrinsecal factors (diminished muscular strenght and/or mass, discrete edema, totally compromised mobile coordination and total inability for movement on the bed) and the extrinsecal factors (inadequate mattress type, permanence on a single position for >2 hours, shearing/friction force, bed clothes with folds that leave marks on the body, pressure force) predominated on patients with PU. The male gender variables (p=0,0267,OR=4,3), sedation (p=0,0006,OR=4,1), psychomotive agitation (p=0,0375,OR=5,8) and leukocytosis (p=0,0285,OR=5,0) presented a significant statistical diference when analyzed independently. We verified an association of 17,3%, statistically significant (p=0,0384), between the susceptibility conditions (anemia, leukocytosis and hypotension), the intrinsecal factors (age equal or above 60 years, diminished/absent pain sensibility and smooth, fine or delicate skin) and the extrinsecal factors (inadequate mattress, pressure forces, shearing/friction force, permanence on a single position for more than 2 hours, elevation between 30 to 45 degrees and inadequate bed clothes' conditions), with a chance ratio of 4,6 times the risk of occurrence of PU on the patients that presented the referred association. Conclusion: The incidence of PU detected on the ICU-interned patients was high and we made evident the existence of association between the susceptibility conditions, the intrinsecal and extrinsecal factors on the occurrence of PU s on the ICUinterned patients, and thus we accept the alternative hypothesis proposed on the study

Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

This work 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 Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot

Estudo da transformada rápida wavelet e sua conexão com banco de filtros

In this work we presented an exhibition of the mathematical theory of orthogonal compact support wavelets in the context of multiresoluction analysis. These are particularly attractive wavelets because they lead to a stable and very efficient algorithm, that is Fast Transform Wavelet (FWT). One of our objectives is to develop efficient algorithms for calculating the coefficients wavelet (FWT) through the pyramid algorithm of Mallat and to discuss his connection with filters Banks. We also studied the concept of multiresoluction analysis, that is the context in that wavelets can be understood and built naturally, taking an important step in the change from the Mathematical universe (Continuous Domain) for the Universe of the representation (Discret Domain)

Algorítmo evolucionário para a distribuição de produtos de petróleo por redes de polidutos

The distribution of petroleum products through pipeline networks is an important problem that arises in production planning of refineries. It consists in determining what will be done in each production stage given a time horizon, concerning the distribution of products from source nodes to demand nodes, passing through intermediate nodes. Constraints concerning storage limits, delivering time, sources availability, limits on sending or receiving, among others, have to be satisfied. This problem can be viewed as a biobjective problem that aims at minimizing the time needed to for transporting the set of packages through the network and the successive transmission of different products in the same pipe is called fragmentation. This work are developed three algorithms that are applied to this problem: the first algorithm is discrete and is based on Particle Swarm Optimization (PSO), with local search procedures and path-relinking proposed as velocity operators, the second and the third algorithms deal of two versions based on the Non-dominated Sorting Genetic Algorithm II (NSGA-II). The proposed algorithms are compared to other approaches for the same problem, in terms of the solution quality and computational time spent, so that the efficiency of the developed methods can be evaluated

Estimação paramétrica e não-paramétrica em modelos de markov ocultos

In this work we study the Hidden Markov Models with finite as well as general state space. In the finite case, the forward and backward algorithms are considered and the probability of a given observed sequence is computed. Next, we use the EM algorithm to estimate the model parameters. In the general case, the kernel estimators are used and to built a sequence of estimators that converge in L1-norm to the density function of the observable process

An augmented reality pipeline to create scenes with coherent illumination using textured cuboids

Shadows and illumination play an important role when generating a realistic scene in computer graphics. Most of the Augmented Reality (AR) systems track markers placed in a real scene and retrieve their position and orientation to serve as a frame of reference for added computer generated content, thereby producing an augmented scene. Realistic depiction of augmented content with coherent visual cues is a desired goal in many AR applications. However, rendering an augmented scene with realistic illumination is a complex task. Many existent approaches rely on a non automated pre-processing phase to retrieve illumination parameters from the scene. Other techniques rely on specific markers that contain light probes to perform environment lighting estimation. This study aims at designing a method to create AR applications with coherent illumination and shadows, using a textured cuboid marker, that does not require a training phase to provide lighting information. Such marker may be easily found in common environments: most of product packaging satisfies such characteristics. Thus, we propose a way to estimate a directional light configuration using multiple texture tracking to render AR scenes in a realistic fashion. We also propose a novel feature descriptor that is used to perform multiple texture tracking. Our descriptor is an extension of the binary descriptor, named discrete descriptor, and outperforms current state-of-the-art methods in speed, while maintaining their accuracy.

Distribuição de derivados de petróleo por redes de polidutos: uma abordagem através de algoritmos evolucionários híbridos para um problema triobjetivo

An important problem faced by the oil industry is to distribute multiple oil products through pipelines. Distribution is done in a network composed of refineries (source nodes), storage parks (intermediate nodes), and terminals (demand nodes) interconnected by a set of pipelines transporting oil and derivatives between adjacent areas. Constraints related to storage limits, delivery time, sources availability, sending and receiving limits, among others, must be satisfied. Some researchers deal with this problem under a discrete viewpoint in which the flow in the network is seen as batches sending. Usually, there is no separation device between batches of different products and the losses due to interfaces may be significant. Minimizing delivery time is a typical objective adopted by engineers when scheduling products sending in pipeline networks. However, costs incurred due to losses in interfaces cannot be disregarded. The cost also depends on pumping expenses, which are mostly due to the electricity cost. Since industrial electricity tariff varies over the day, pumping at different time periods have different cost. This work presents an experimental investigation of computational methods designed to deal with the problem of distributing oil derivatives in networks considering three minimization objectives simultaneously: delivery time, losses due to interfaces and electricity cost. The problem is NP-hard and is addressed with hybrid evolutionary algorithms. Hybridizations are mainly focused on Transgenetic Algorithms and classical multi-objective evolutionary algorithm architectures such as MOEA/D, NSGA2 and SPEA2. Three architectures named MOTA/D, NSTA and SPETA are applied to the problem. An experimental study compares the algorithms on thirty test cases. To analyse the results obtained with the algorithms Pareto-compliant quality indicators are used and the significance of the results evaluated with non-parametric statistical tests.

Topologia de gerador de distúrbios elétricos baseada em conversores de potência

Electrical disturbances such as voltage sags, interruptions and voltage unbalances might cause serious problems for the end-user and for the companies of generation and transmission of energy. Few years ago, those companies have been using methods and equipments of protection to avoid the disturbances’ presence or to mitigate their effects on the power system. Disturbances generators are used to analyse the behavior of electrical and electronic equipments affected by disturbances. The analysis of those failures allows the development of appropriated protection equipments. In this paper, the development of a disturbances generator based on power converters is presented. The disturbance generator developed is able to generate some symmetrical disturbances, such as: voltage sags, voltage swells and harmonic distortion. The control strategy used in the disturbance generator is based on discrete and repetitive control. The steps of the design of the control and of the filter used for reducing harmonic in the output, are detailed in the text. Are presented the obtained results on computational simulations and the obtained results on laboratory tests.

Resolução em tomografia de tempo de trânsito poço-a-poço: a dependência da iluminação

The key aspect limiting resolution in crosswell traveltime tomography is illumination, a well known result but not as well exemplified. Resolution in the 2D case is revisited using a simple geometric approach based on the angular aperture distribution and the Radon Transform properties. Analitically it is shown that if an interface has dips contained in the angular aperture limits in all points, it is correctly imaged in the tomogram. By inversion of synthetic data this result is confirmed and it is also evidenced that isolated artifacts might be present when the dip is near the illumination limit. In the inverse sense, however, if an interface is interpretable from a tomogram, even an aproximately horizontal interface, there is no guarantee that it corresponds to a true interface. Similarly, if a body is present in the interwell region it is diffusely imaged in the tomogram, but its interfaces - particularly vertical edges - can not be resolved and additional artifacts might be present. Again, in the inverse sense, there is no guarantee that an isolated anomaly corresponds to a true anomalous body because this anomaly can also be an artifact. Jointly, these results state the dilemma of ill-posed inverse problems: absence of guarantee of correspondence to the true distribution. The limitations due to illumination may not be solved by the use of mathematical constraints. It is shown that crosswell tomograms derived by the use of sparsity constraints, using both Discrete Cosine Transform and Daubechies bases, basically reproduces the same features seen in tomograms obtained with the classic smoothness constraint. Interpretation must be done always taking in consideration the a priori information and the particular limitations due to illumination. An example of interpreting a real data survey in this context is also presented.

Resolução em tomografia de tempo de trânsito poço-a-poço: a dependência da iluminação

The key aspect limiting resolution in crosswell traveltime tomography is illumination, a well known result but not as well exemplified. Resolution in the 2D case is revisited using a simple geometric approach based on the angular aperture distribution and the Radon Transform properties. Analitically it is shown that if an interface has dips contained in the angular aperture limits in all points, it is correctly imaged in the tomogram. By inversion of synthetic data this result is confirmed and it is also evidenced that isolated artifacts might be present when the dip is near the illumination limit. In the inverse sense, however, if an interface is interpretable from a tomogram, even an aproximately horizontal interface, there is no guarantee that it corresponds to a true interface. Similarly, if a body is present in the interwell region it is diffusely imaged in the tomogram, but its interfaces - particularly vertical edges - can not be resolved and additional artifacts might be present. Again, in the inverse sense, there is no guarantee that an isolated anomaly corresponds to a true anomalous body because this anomaly can also be an artifact. Jointly, these results state the dilemma of ill-posed inverse problems: absence of guarantee of correspondence to the true distribution. The limitations due to illumination may not be solved by the use of mathematical constraints. It is shown that crosswell tomograms derived by the use of sparsity constraints, using both Discrete Cosine Transform and Daubechies bases, basically reproduces the same features seen in tomograms obtained with the classic smoothness constraint. Interpretation must be done always taking in consideration the a priori information and the particular limitations due to illumination. An example of interpreting a real data survey in this context is also presented.