Simulação de Robôs Quadrúpedes Utilizando o SimMechanics

Desde sempre o Homem procurou automatizar tarefas repetitivas. Tanto na indústria como no sector doméstico ou de comércio estão constantemente a surgir novos equipamentos procurando aumentar o nível de automação de diversas tarefas. A necessidade de empresas criadoras de produtos inovadores se manterem concorrenciais obrigou à adopção de métodos de projecto e planeamento mais estruturados e eficientes que eliminem os desperdícios tanto de material como de tempo. Diversas construções em termos orçamentais e o aumento da procura de produtos de alta qualidade a baixo custo deu origem a um novo tipo de programas, os programas de simulação virtual. Tal como na indústria, também na investigação nas Instituições de Ensino Superior se procuram adoptar os métodos de trabalho mais eficientes possíveis. Uma parte dos programas de simulação robótica utilizados hoje em dia na investigação no Instituto Superior de Engenharia do Porto estão concebidos em linguagem C. Embora esta linguagem seja extremamente capaz, existem métodos mais adequados de simulação que aceleram o processo de modelação permitindo a visualização do movimento e simulação de diversas situações potencialmente criticas sem existir a necessidade de construção de um protótipo funcional do robô. Durante o último ano, este projecto permitiu construir um modelo de um robô quadrúpede num programa de simulação virtual chamado Simmechanics™. Embora haja já algum trabalho desenvolvido nesta área, constatou-se que a informação existente possuía algumas lacunas. Com o trabalho desenvolvido preparou-se esta dissertação que pretende clarificar algumas questões que surgem na modelação de um robô. Neste documento explica-se como modelar um robô de corpo flexível, modelar as pernas e as respectivas juntas da anca e do joelho assim como também se apresenta a modelação de um contacto com o solo recorrendo a um modelo descrito na literatura. Este documento foi escrito a pensar no leitor, procurando-se explicar de forma simples mas concisa os diversos passos necessários para construir um modelo virtual de um robô. O autor espera, desta forma, ajudar futuros colegas que pretendam trabalhar com o Simmechanics™ a mais facilmente se integrarem com o programa aumentando desta forma o declive da curva de aprendizagem e permitindo um maior aproveitamento desta ferramenta.

Symmetry and order parameter dynamics of the human odometer

Bipedal gaits have been classified on the basis of the group symmetry of the minimal network of identical differential equations (alias cells) required to model them. Primary bipedal gaits (e.g., walk, run) are characterized by dihedral symmetry, whereas secondary bipedal gaits (e.g., gallop-walk, gallop- run) are characterized by a lower, cyclic symmetry. This fact has been used in tests of human odometry (e.g., Turvey et al. in P Roy Soc Lond B Biol 276:4309–4314, 2009, J Exp Psychol Hum Percept Perform 38:1014–1025, 2012). Results suggest that when distance is measured and reported by gaits from the same symmetry class, primary and secondary gaits are comparable. Switching symmetry classes at report compresses (primary to secondary) or inflates (secondary to primary) measured distance, with the compression and inflation equal in magnitude. The present research (a) extends these findings from overground locomotion to treadmill locomotion and (b) assesses a dynamics of sequentially coupled measure and report phases, with relative velocity as an order parameter, or equilibrium state, and difference in symmetry class as an imperfection parameter, or detuning, of those dynamics. The results suggest that the symmetries and dynamics of distance measurement by the human odometer are the same whether the odometer is in motion relative to a stationary ground or stationary relative to a moving ground.

Behavioral changes in Rattus norvegicus experimentally infected by Toxocara canis larvae

Toxocara canis is a common canine nematode parasite and one of its possible transmission mechanisms is the predation of infected rodents by canids. Fifty Rattus norvegicus were used to study behavioral alterations in rodents infected by T. canis larvae. The rats were divided into three groups: G1, 20 rats infected with 300 T. canis eggs; G2, 20 rats infected with 2,000 T. canis eggs; and G3, 10 non-infected rats. Thirty and 60 days post-infection, rats from all the groups were submitted to an open-field apparatus for five min and subsequently, to an elevated plus-maze apparatus, again for five min. The data obtained indicated improvement in mobility (total locomotion time and rearing frequency) and exploratory behavior in infected rats, principally in G2, which provides some support for the hypothesis that behavioral alterations in rodents infected by Toxocara canis larvae enhance the transmission rate of this ascarid to dogs.

Algorithm for the Parkinson’s disease behavioural models characterization using a biosensor

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

A flexible navigation system for autonomous robots operating in heterogeneous environments

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Genetic parameters and mapping quantitative trait loci associated with tibia traits in broilers.

Abstract: Selection among broilers for performance traits is resulting in locomotion problems and bone disorders, once skeletal structure is not strong enough to support body weight in broilers with high growth rates. In this study, genetic parameters were estimated for body weight at 42 days of age (BW42), and tibia traits (length, width, and weight) in a population of broiler chickens. Quantitative trait loci (QTL) were identified for tibia traits to expand our knowledge of the genetic architecture of the broiler population. Genetic correlations ranged from 0.56 +/- 0.18 (between tibia length and BW42) to 0.89 +/- 0.06 (between tibia width and weight), suggesting that these traits are either controlled by pleiotropic genes or by genes that are in linkage disequilibrium. For QTL mapping, the genome was scanned with 127 microsatellites, representing a coverage of 2630 cM. Eight QTL were mapped on Gallus gallus chromosomes (GGA): GGA1, GGA4, GGA6, GGA13, and GGA24. The QTL regions for tibia length and weight were mapped on GGA1, between LEI0079 and MCW145 markers. The gene DACH1 is located in this region; this gene acts to form the apical ectodermal ridge, responsible for limb development. Body weight at 42 days of age was included in the model as a covariate for selection effect of bone traits. Two QTL were found for tibia weight on GGA2 and GGA4, and one for tibia width on GGA3. Information originating from these QTL will assist in the search for candidate genes for these bone traits in future studies.

Fragilidade e pré-fragilidade em pessoas idosas residentes na comunidade

RESUMO: Objectivo: Este estudo tem como principal objectivo determinar perfis de fragilidade em pessoas idosas, residentes ma comunidade. Metodologia: Trata-se de um estudo de natureza não experimental, quantitativo, exploratório e descritivo, com uma amostra de conveniência, constituída por pessoas idosas (n=47), residentes na comunidade. As variáveis em análise foram o fenótipo de fragilidade, onde a força de preensão foi avaliada através de um dinamómetro portátil, a percepção de exaustão através da CES-D, a velocidade de marcha foi avaliada pelo Timed Up and Go Test, a actividade física através de uma escala simplificada, com base nos estudos de Grimby, e a perda de peso não intencional através de uma questão sobre perda de peso no último ano. As restantes variáveis foram avaliadas por questionário, à excepção da capacidade funcional, avaliada por uma escala com actividades básicas e instrumentais da vida diária assim como locomoção, e da força de membros inferiores, avaliada pelo teste de sentar e levantar da cadeira durante 30 segundos. Resultados: Verificou-se que a maioria da amostra era pré-frágil, com uma frequência próxima de fragilidade e uma quase inexistência de não fragilidade. Contribui para isto, essencialmente, a velocidade de marcha e perda de peso não intencional. Apesar de se encontrar uma grande presença de comorbilidade e independência com limitação nos indivíduos deste estudo, não se verifica uma relação de significância entre estas variáveis. Verificam-se relações significativas com a Hipertensão arterial e a percepção do estado de saúde. Conclusão: Não foi possível definir um perfil de fragilidade de forma consistente, devido à grande variabilidade de resultados encontrados e à não existência de correlações significativas, no que diz respeito à síndrome de fragilidade. -----------ABSTRACT: Objective: This study aims to determine profiles of fragility in elderly people, living in the community Methodology: This is a study of a non experimental, quantitative, exploratory and descriptive, with a convenience sample, consisting of elderly (n = 47), living in the community. The variables analyzed were the frailty phenotype where grip strength was measured using a handheld dynamometer, the perception of exhaustion through the CES-D, gait speed was assessed by the Timed Up and Go Test, physical activity through a simplified scale based on studies of Grimby and unintentional loss of weight through a question about weight loss in the last year.The remaining variables were assessed by questionnaire, with the exception of functional capacity assessed by a scale with basic and instrumental activities of daily living as well as locomotion, and lower limb strength, evaluated by sitting and rising from a chair for 30-second test. Results: It was found that most of the sample was pre-fragile with a frequency close to the fragility and almost no non-brittleness. Contribute to this, essentially, gait speed and unintentional weight loss. Despite being a large presence of comorbidity and independence in individuals with limitation of this study, no there is a significant relationship between this variables. There are significant relations with hypertension and the perception of health status. Conclusion: It was not possible to define a profile of fragility consistently, due to the great variability of results and the absence of significant correlations, with respect to the frailty syndrome.

On the function of the floccular complex of the vertebrate cerebellum: implications in paleoneuroanatomy

The cerebellum floccular complex lobes (FCLs) are housed in the FCL fossa of the periotic complex. There is experimental evidence indicating that the FCLs integrate visual and vestibular information, responsible for the vestibulo-ocular reflex, vestibulo-collic reflex, smooth pursuit and gaze holding. Thus, the behavior of extinct animals has been correlated with FCLs dimension in multiple paleoneuroanatomy studies. Here I analyzed braincase endocasts of a representative sample of Mammalia (48 species) and Aves (59 species) rendered using tomography and image segmentation and tested statistical correlations between the floccular complex volume, ecological and behavioral traits to assess various previously formulated paleobiological speculations. My results demonstrate: 1) there is no significant correlation between relative FCL volume and body mass; 2) there is no significant correlation between relative FCL and optic lobes size in birds; 3) average relative FCL size is larger in diurnal than in nocturnal birds but there is no statistically significant difference in mammals; 4) feeding strategies are related with different FCL size patterns in birds, but not in mammals; 5) locomotion type is not related with relative FCL size in mammals; 6) agility is not significantly correlated with FCL size in mammals. I conclude that, despite the apparent relation between FCL size and ecology in birds, the cerebellum of tetrapods is a highly plastic structure and may be adapted to control different functions across different taxonomic levels. For example, the european mole (Talpa europaea) which is fossorial and practically blind, has a FCL fossae relative size larger than those of bats, which are highly maneuverable. Therefore, variation in FCL size may be better explained by a combination of multiple factors with relation to anatomical and phylogenetic evolutionary constraints.

Potential implications of ketamine anesthesia on zebrafish behavior

Dissertação de mestrado integrado em Psicologia

Description of behavioral patterns of Podocnemis erythrocephala (Spix, 1824) (Testudines: Podocnemididae) (Red-headed river turtle) in captivity, Manaus, Amazonas, Brazil

The biology and ecology of South American turtles is still poorly known, particularly, for the Brazilian species. Laboratory studies are essential to understand the life cycles of aquatic turtles species and to help in formulating management plans for their conservation. As a contribution to the knowledge of Podocnemis erythrocephala species, we give a description of its species-typical behaviors, categorized as: maintenance, locomotion, feeding, agonistic and reproduction, based on captives observations of four pairs of turtles in an aquarium in Manaus, Brazil. Similarities and differences with the repertoires of other turtle species are discussed, concluding that turtles have much more complex adaptative strategies and social life than was believed.

Resource partitioning and ecomorphological variation in two syntopic species of Lebiasinidae (Characiformes) in an Amazonian stream

ABSTRACTResource partitioning is important for species coexistence. Species with similar ecomorphology are potential competitors, especially when phylogenetically close, due to niche conservatism. The aim of this study was to investigate the resource partitioning among populations of two species of lebiasinids (Copella nigrofasciata and Pyrrhulina aff. brevis) that co-occur in a first-order Amazonian stream, analyzing the trophic ecology, feeding strategies and ecomorphological attributes related to the use of food and space by these species. Fish were captured in May and September 2010. The stomach contents of 60 individuals were analyzed and quantified volumetrically to characterize the feeding ecology of both species. Eleven morphological attributes were measured in 20 specimens and combined in nine ecomorphological indices. Both species had an omnivorous-invertivorous diet and consumed predominantly allochthonous items. Both showed a tendency to a generalist diet, but intrapopulational variation in resource use was also detected. Overall feeding niche overlap was high, but differed between seasons: low during the rainy season and high in the dry season. In the latter, the food niche overlap was asymmetric because C. nigrofasciata consumed several prey of P. aff. brevis, which reduced its food spectrum. The ecomorphological analysis suggests that C. nigrofasciatahas greater swimming capacity (greater relative length of caudal peduncle) than P. aff. brevis, which has greater maneuverability and tendency to inhabit lentic environments (greater relative depth of the body). Our results demonstrate that these species have similar trophic ecology and suggest a spatial segregation, given by morphological differences related to locomotion and occupation of habitat, favoring their coexistence.

Cognitive processes affect the gait of subjects with Parkinson’s and Alzheimer’s disease in dual tasks

Objective To investigate the relation between gait parameters and cognitive impairments in subjects with Parkinson’s disease (PD) and Alzheimer’s disease (AD) during the performance of dual tasks. Methods This was a cross-sectional study involving 126 subjects divided into three groups: Parkinson group (n = 43), Alzheimer group (n = 38), and control group (n = 45). The subjects were evaluated using the Timed Up and Go test administered with motor and cognitive distracters. Gait analyses consisted of cadence and speed measurements, with cognitive functions being assessed by the Brief Cognitive Screening Battery and the Clock Drawing Test. Statistical procedures included mixed-design analyses of variance to observe the gait patterns between groups and tasks and the linear regression model to investigate the influence of cognitive functions in this process. A 5% significant level was adopted. Results Regarding the subjects’ speed, the data show a significant difference between group vs task interaction (p = 0.009), with worse performance of subjects with PD in motor dual task and of subjects with AD in cognitive dual task. With respect to cadence, no statistical differences was seen between group vs task interaction (p = 0.105), showing low interference of the clinical conditions on such parameter. The linear regression model showed that up to 45.79%, of the variance in gait can be explained by the interference of cognitive processes. Conclusion Dual task activities affect gait pattern in subjects with PD and AD. Differences between groups reflect peculiarities of each disease and show a direct interference of cognitive processes on complex tasks.

Turismo arqueológico: um projeto de valorização da arte rupestre no vale do Lima

Dissertação de mestrado em Património e Turismo Cultural

Efeito do exercício na biomecânica da marcha em crianças e adolescentes com paralisia cerebral

Tipo de Estudo: Revisão. Temática: Efeito do exercício na biomecânica da locomoção de crianças e adolescentes com paralisia cerebral que apresentam marcha em agachamento (designada como “crouch gait”). Objetivos: 1) verificar e analisar as metodologias de programas de treino de força que, combinados ou não com outros programas de treino, exercícios ou intervenções, visam melhorar o padrão da marcha e a funcionalidade destes indivíduos; 2) tendo por base os resultados do primeiro objetivo, compilar uma bateria de exercícios e propôr um exemplo de plano de treino adequado a esta população. Métodos: Usou-se o PICOS para a definição de uma estratégia de busca segura e confiável. A “PubMed”, “Cochrane” e “Web of Knowledge", foram as bases de dados selecionadas e utilizadas. A pesquisa aconteceu na Faculdade de Motricidade Humana e no Hospital de Santa Maria em Lisboa. A seleção final dos artigos decorreu no mês de Janeiro, durante uma semana, e foi realizada e rastreada por dois investigadores de forma diferente. Incluíram-se nesta revisão estudos randomizados e controlados, com crianças e adolescentes com paralisia cerebral e que apresentam “crouch gait”, e nos quais foram utilizados protocolos de exercício como método de intervenção nesta população, tendo em vista a melhoria do padrão de marcha. Resultados: Da pesquisa inicial resultaram 223 estudos. Com a leitura dos resumos, selecionaram-se 96. Excluíram-se 85 porque apenas 11 cumpriram com todos os critérios de eligibilidade. Foi avaliada a qualidade metodológica destes 11 estudos com a escala PEDro e excluíram-se 3, resultando em 8 artigos como potenciais estudos para a revisão. Discussão: Um melhor alinhamento biomecânico e a obtenção de uma base mais estável podem afetar positivamente a função da marcha nestas crianças. O treino da força, sozinho, nem sempre melhora a capacidade da marcha. A melhoria da marcha advém dos efeitos e resultados significativos da força muscular, da amplitude de movimento articular, da diminuição da espasticidade, da regulação do tónus e da melhoria do equilíbrio e da postura. Conclusão: O treino da força não é uma contra indicação para estes indivíduos. Este oferece efeitos benéficos para a melhoria das suas funcionalidades. Para um efeito significativo, a intervenção deve ser superior a seis (6) semanas.

Adaptive Regelung von Robotersystemen in Kontaktaufgaben

Contact Tasks of Robotic Systems, Mobile Legged Robots, Industrial Manipulators, Service Operations, Robot's Locomotion, Adaptive Control, Impedance/Force Control