Modernizing the Brazilian active control network

The Brazilian Network for Continuous Monitoring of GPS - RBMC, since its foundation in December of 1996, has been playing an essential role for the maintenance and user access of the fundamental geodetic frame in the country,. It provides users with a direct link to the Brazilian Geodetic System - SGB. Its role has become more relevant with the increasing use of space navigation technology in the country. Recently, Brazil adopted a new geodetic system, SIRGAS2000, in February 2005, fully compatible with GNSS technology. The paper provides an overview of the recent modernization phases the RBMC network has undergone highlighting its future steps. From its current post-mission mode, the RBMC will evolve into a real-time network, providing real-time data and real-time correction to users. The network enhanced with modern GPS receivers and the addition of atomic clocks will be used to compute WADGPS-type corrections to be transmitted, in real time, to users in Brazil and surrounding areas. It is estimated that users will be able to achieve a horizontal accuracy around 0.5 m (1σ) in static and kinematic positioning and better for dual frequency users. The availability of the WADGPS service will allow users to tie to the new SIRGAS2000 system in a more rapid and transparent way for positioning and navigation applications. It should be emphasized that support to post-mission static positioning will continue to be provided to users interested in higher accuracy levels. In addition to this, a post-mission Precise Point Positioning (PPP) service will be provided based on the one currently provided by the Geodetic Survey Division of NRCan (CSRS-PPP). The modernization of the RBMC is under development based on a cooperation signed at the end of 2004 with the University of New Brunswick, supported by the Canadian International Development Agency and the Brazilian Cooperation Agency. The Geodetic Survey Division of NRCan is also participating in this modernization effort under the same project.

Some implications of the cosmological constant to fundamental physics

In the presence of a cosmological constant, ordinary Poincaré special relativity is no longer valid and must be replaced by a de Sitter special relativity, in which Minkowski space is replaced by a de Sitter spacetime. In consequence, the ordinary notions of energy and momentum change, and will satisfy a different kinematic relation. Such a theory is a different kind of a doubly special relativity. Since the only difference between the Poincaré and the de Sitter groups is the replacement of translations by certain linear combinations of translations and proper conformal transformations, the net result of this change is ultimately the breakdown of ordinary translational invariance. From the experimental point of view, therefore, a de Sitter special relativity might be probed by looking for possible violations of translational invariance. If we assume the existence of a connection between the energy scale of an experiment and the local value of the cosmological constant, there would be changes in the kinematics of massive particles which could hopefully be detected in high-energy experiments. Furthermore, due to the presence of a horizon, the usual causal structure of spacetime would be significantly modified at the Planck scale. © 2007 American Institute of Physics.

Generating VRS data using atmospheric models: How far can we go?

Nowadays, with the expansion of the reference stations networks, several positioning techniques have been developed and/or improved. Among them, the VRS (Virtual Reference Station) concept has been very used. In this paper the goal is to generate VRS data in a modified technique. In the proposed methodology the DD (double difference) ambiguities are not computed. The network correction terms are obtained using only atmospheric (ionospheric and tropospheric) models. In order to carry out the experiments it was used data of five reference stations from the GPS Active Network of West of São Paulo State and an extra station. To evaluate the VRS data quality it was used three different strategies: PPP (Precise Point Positioning) and Relative Positioning in static and kinematic modes, and DGPS (Differential GPS). Furthermore, the VRS data were generated in the position of a real reference station. The results provided by the VRS data agree quite well with those of the real file data.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

Geocronologia do maciço Granítico Sararé no SW do Cráton Amazônico

Sararé Massif occurs in the southwest Mato Grosso state intruded into Mesoproterozoic units of the Jauru Block inside the Amazonian Craton. It presents an extension of approximately 80 km2 and NW-SE tectonic structures control the elongated shape. It is constituted by three major monzogranitic petrographic facies, represented by leucocratic, reddish, isotropic, equi-inequigranular to locally porphyritic rocks. The composition indicates S-type, peraluminous, with indicatives of late- to post-kinematic magmatism. Geochronological studies with 40Ar/39Ar in biotites and muscovites resulted in ages of 903 to 906 Ma was interpreted as massif rocks cooling period and U-PB 917 ± 18 Ma. ages points to the crystallization of the intrusive body. The massif is formed by melting of material of the upper crust, in an environment of continental collision and/or of post-collisional decompression at the ending of the Aguapeí-Sunsás event, in more stable environments of consolidation and tectonic stabilization of the Amazonian Craton.

Latest Enhancements in the Brazilian Active Control Network

The Brazilian Network for Continuous Monitoring of GPS - RBMC, since its foundation in December of 1996, has been playing an essential role for the maintenance and user access of the fundamental geodetic frame in the country. It provides to users a direct link to the Brazilian Geodetic System. Its role has become more relevant with the increasing use of space navigation technology in the country. Recently, Brazil adopted a new geodetic frame, SIRGAS2000, in February 2005, fully compatible with GNSS technology. The paper provides an overview of the recent modernization phases the RBMC network has undergone highlighting its future steps. From its current post-mission mode, the RBMC will evolve into a real-time network, providing real-time data and real-time correction to users. The network enhanced with modern GPS receivers and the addition of atomic clocks will be used to compute WADGPS-type corrections to be transmitted, in real time, to users in Brazil and surrounding areas. It is estimated that users will be able to achieve a horizontal accuracy around 0.5 m (1 σ) in static and kinematic positioning and better for dual frequency users. The availability of the WADGPS service will allow users to tie to the new SIRGAS2000 frame in a more rapid and transparent way for positioning and navigation applications. It should be emphasized that support to post-mission static positioning, will continue to be provided to users interested in higher accuracy levels. In addition to this, a post-mission Precise Point Positioning (PPP) service will be provided based on the one currently provided by the Geodetic Survey Division of NRCan (CSRS-PPP). The modernization of the RBMC is under development based on a cooperation signed at the end of 2004 with the University of New Brunswick, supported by the Canadian International Development Agency and the Brazilian Cooperation Agency. The Geodetic Survey Division of NRCan is also participating in this modernization effort under the same project. © Springer-Verlag Berlin Heidelberg 2009.

Diferenças na cinemática entre dois tipos de aterrissagens em atletas de voleibol masculinos

Anterior cruciate ligament (ACL) injuries are common in sports. Studies investigating injury mechanisms have demonstrated that most injuries arise from landing tasks. Despite the demonstration of differences between male and female kinematics, there are no studies showing how males behave during different landing tasks. The objective of this study was to compare the angular and temporal kinematics of the lower limbs between two different landing tasks. Double leg and single leg landings were recorded in the frontal and sagittal plane in 15 male volleyball athletes by videogrammetry. Reduced hip and knee flexion and increased knee valgus were observed in the single leg landing task compared to the double leg landing task. No significant difference in landing time was observed between the two tasks. In conclusion, the results support the premise that lower limb kinematics change according to the task performed. Further studies are necessary to explore the impact of these kinematic differences on knee loading and to relate them to ACL injury mechanisms in men.

Misalignment of the knees: Does it affect human stance stability

Introduction: Data describing the relationships between postural alignment and stance stability are scarce and controversial. Objective: The aim of this study was to evaluate the effects of sensory disturbances on knee alignment in upright stance and the effects of knee hyperextension on stance stability. Method: Kinetic and kinematic data of 23 healthy adult women were collected while quietly standing in four sensory conditions. Kinematic data: knee angle (dependent variables) variations were analyzed across sensory conditions. Kinetic data: as subjects with hyperextended knees showed a clear tendency to flex their knees as balance challenge increased, center of pressure (COP) parameters (dependent variables) were analyzed in each sensory condition among trial sub-groups: Aligned-Trials (knee angle < 180°), Hyperextended-Trials (>180°) and Adjusted-Trials (>180° initially, turned <180° under challenging conditions). Results: Differences were found in mean velocity of COP in two conditions showing that knee alignment can affect stance stability. Conclusion: Knee hyperextension is a transient condition changing under postural challenges. Knee hyperextension affected postural control as mean velocity was the highest in the hyperextended group in natural standing sensory condition and lowest with sensory disturbance. © 2009 Elsevier Ltd.

Effects of fatigue induced by prolonged gait when walking on the elderly

Purpose. Fatigue has been pointed as a fall risk in the elderly; however, the effects of prolonged gait on neuromuscular recruitment and on its pattern remain unknown. The aim of this study was to evaluate the effects of prolonged gait on neuromuscular recruitment levels and spatial-temporal gait variables. Methods. Eight healthy older women (age: 72.63 ± 6.55 years) walked at their preferred walking speed for twenty minutes on a treadmill. The Root Mean Square (RMS) from the vastus-lateralis, femoral biceps, tibialis anterior and lateral gastrocnemius muscles were determined at the first and last minute of the test during the moments of Heel Strike (HS), Terminal Stance and Terminal Swing (TS). In addition, coactivation in the knee and ankle as well as the stride cadence and length were measured in the test. The two RMS data (taken at the first and last minute) were compared by means of a Student's t-test. Results. Twenty minutes of walking induced fatigue in the subjects, as observed through an increase in RMS, notably during the HS and TS. Coactivation was also influenced by the prolonged gait test. The only gait phase where a risk of falling was enhanced was the HS. Nonetheless, subjects developed strategies to maintain a safe motor pattern, which was evidenced by an increase in stride length and a decrease in stride cadence. Conclusion. Tests lasting just twenty minutes on a treadmill were enough to induce fatigue in older adults. However, the level of fatigue was not enough to present a danger or fall risk to elderly individuals.

Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

Measurement of the top-quark mass in t̄t events with lepton+jets final states in pp collisions at √s =7 TeV

The mass of the top quark is measured using a sample of t̄t candidate events with one electron or muon and at least four jets in the final state, collected by CMS in pp collisions at √s =7 TeV at the LHC. A total of 5174 candidate events is selected from data corresponding to an integrated luminosity of 5.0 fb-1. For each event the mass is reconstructed from a kinematic fit of the decay products to a t̄t hypothesis. The top-quark mass is determined simultaneously with the jet energy scale (JES), constrained by the known mass of the W boson in q̄q decays, to be 173.49 ± 0.43 (stat. + JES) ±0.98 (syst.) GeV. © 2012 CERN for the benefit of the CMS collaboration.

Multimodal exercise intervention improves frontal cognitive functions and gait in Alzheimer's disease: A controlled trial

Aim: The objective of the present study was to investigate the effect of a multimodal exercise intervention on frontal cognitive functions and kinematic gait parameters in patients with Alzheimer's disease. Methods: A sample of elderly patients with Alzheimer's disease (n=27) were assigned to a training group (n=14; aged 78.0±7.3years) and a control group (n=13; aged 77.1±7.4years). Multimodal exercise intervention includes motor activities and cognitive tasks simultaneously. The participants attended a 1-h session three times a week for 16weeks, and the control participants maintained their regular daily activities during the same period. The frontal cognitive functions were evaluated using the Frontal Assessment Battery, the Clock Drawing Test and the Symbol Search Subtest. The kinematic parameters of gait-cadence, stride length and stride speed were analyzed under two conditions: (i) free gait (single task); and (ii) gait with frontal cognitive task (walking and counting down from 20 - dual task). Results and discussion: The patients in the intervention group significantly increased the scores in frontal cognitive variables, Frontal Assessment Battery (P<0.001) and Symbol Search Subtest (P<0.001) after the 16-week period. The control group decreased the scores in the Clock Drawing Test (P=0.001) and increased the number of counting errors during the dual task (P=0.008) after the same period. Conclusion: The multimodal exercise intervention improved the frontal cognitive functions in patients with Alzheimer's disease. © 2012 Japan Geriatrics Society.

Variabilidade de parâmetros eletromiográficos e cinemáticos em diferentes condições de marcha em idosos

The main goal of this study was to investigate the influence of fear of fall and dual task on electromyographic and kinematic variability parameters on the gait of older females. Seventeen college students (21,47 ± 2,06 years old) and eighteen older female adults, both groups were physically fit and performed the gait test on three different conditions: walking at self-select speed, fear of fall and dual task. Electromyographic activity was measured on muscles of dominant leg and stride time was recorded. ANOVA two-way (p<0.05) was used. Electromyographic and kinematic gait variability were higher in older adult groups. However, for the comparison between gait conditions was only found significant difference for electromyographic variability. In line with this, the higher EMG and kinematic variability in older adults suggest that aging contributes for a higher motor challenge while walking, which may be predispose these individuals a higher risk of fall.

Mechanized instrumentation of root canals oscillating systems

Cleaning and shaping are important steps in the root canal treatment. Despite the technological advances in endodontics, K and Hedströen files are still widely used. In an attempt to be more effective in preparing the root canals, faster and more cutting efficient kinematic, alloys and design alternatives utilizing mechanically oscillating or rotary files are proposed. Even with all these technological innovating alternatives, the preparation of root canals remains a challenge.