Distributed active traction control system applied to the RoboCup middle size league

This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies in local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto robots and was used to control and detect loss of for traction. %and to detect the ball in the kicking device. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented.

Access to medicines for acute illness in middle income countries in Central America

OBJECTIVE : To analyze the main predictors of access to medicines for persons who experienced acute health conditions. METHODS : This was a cross-sectional analytic study, based on data from household surveys. We examined the predictors of: (1) seeking care for acute illness in the formal health care system and (2) obtaining all medicines sought for the acute condition. RESULTS : The significant predictors of seeking health care for acute illnesses were urban geographic location, head of household with secondary school education or above, age under 15, severity of illness perceived by the respondent, and having health insurance. The most important predictor of obtaining full access to medicines was seeking care in the formal health care system. People who sought care in the formal system were three times more likely to receive all the medicines sought (OR 3.0, 95%CI 2.3;4.0). For those who sought care in the formal health system, the strongest predictors of full access to medicines were seeking care in the private sector, having secondary school education or above, and positive perceptions of quality of health care and medicines in public sector health facilities. For patients who did not seek care in the formal health system, full access to medicines was more likely in Honduras or Nicaragua than in Guatemala. Urban geographic location, higher economic status, and male gender were also significant predictors. CONCLUSIONS : A substantial part of the population in these three countries sought and obtained medicines outside of the formal health care system, which may compromise quality of care and pose a risk to patients. Determinants of full access to medicines inside and outside the formal health care system differ, and thus may require different strategies to improve access to medicines. 

A complex protocol layer as a linux user-space process

With the current complexity of communication protocols, implementing its layers totally in the kernel of the operating system is too cumbersome, and it does not allow use of the capabilities only available in user space processes. However, building protocols as user space processes must not impair the responsiveness of the communication. Therefore, in this paper we present a layer of a communication protocol, which, due to its complexity, was implemented in a user space process. Lower layers of the protocol are, for responsiveness issues, implemented in the kernel. This protocol was developed to support large-scale power-line communication (PLC) with timing requirements.

A smart layer for remote laboratories

Commonly, when a weblab is developed to support remote experiments in sciences and engineering courses, a particular hardware/software architecture is implemented. However, the existence of several technological solutions to implement those architectures difficults the emergence of a standard, both at hardware and software levels. While particular solutions are adopted assuming that only qualified people may implement a weblab, the control of the physical space and the power consumption are often forgotten. Since controlling these two previous aspects may increase the quality of the weblab hosting the remote experiments, this paper proposes the useof a new layer implemented by a domotic system bus with several devices (e.g. lights, power sockets, temperature sensors, and others) able to be controlled through the Internet. We also provide a brief proof-of-concept in the form of a weblab equipped with a simple domotic system usually implemented in smart houses. The added value to the remote experiment hosted at the weblab is also identified in terms of power savings and environment conditions.

Physical layer aware network architecture for the future internet

In this article, physical layer awareness in access, core, and metro networks is addressed, and a Physical Layer Aware Network Architecture Framework for the Future Internet is presented and discussed, as proposed within the framework of the European ICT Project 4WARD. Current limitations and shortcomings of the Internet architecture are driving research trends at a global scale toward a novel, secure, and flexible architecture. This Future Internet architecture must allow for the co-existence and cooperation of multiple networks on common platforms, through the virtualization of network resources. Possible solutions embrace a full range of technologies, from fiber backbones to wireless access networks. The virtualization of physical networking resources will enhance the possibility of handling different profiles, while providing the impression of mutual isolation. This abstraction strategy implies the use of well elaborated mechanisms in order to deal with channel impairments and requirements, in both wireless (access) and optical (core) environments.

Ecological aspects of American cutaneous leishmaniasis: 6. Man-biting sandfly fauna of a patch of residual forest in the middle and north-eastern region of the São Paulo State, Brazil

This report shows the phlebotomine vectorial role in the endemic cutaneous leishmaniasis situated in the middle and north-eastern region of the São Paulo, Brazil. Analysis of information encloses a sandfly man-biting fauna of four different patches of residual forest. So, using the human-bait and Shannon trap for a period of one year we have caught 16,869 sandflies. The predominance of Lutzomyia intermedia (85,6%) was clear. Moreover, the low density of Lutzomyia whitmani and Lutzomyia pessoai and their epidemiological implications at present and in the past are discussed. Information about the daily activity of some species is given and we emphasize for the first time, the diurnal activity of Lutzomyia firmatoi in the São Paulo State.

Nouvelles données sur le Miocène moyen marin ("Sallomacien") de Gironde (Bassin d'Aquitaine-France) Approche des paléoenvironnements New data about the maine Middle Miocene ("Sallomacian") of Gironde (Aquitaine Basin); paleoecological outline

The Mid Miocene marine formations of Salles area (former "Sallomacian" stage) have been studied again from numerous outcrops and cores. The deep structural framework influences notably of the characteristics and distribution of the deposits, which are neritic. The stratigraphy is stated precisely thanks to the planktonic fauna and floradetailed examination (probably Serravallian zones NN6 - N12). Several paleobiofacies are reconstituted from the rich invertebrate faunas, which give also paleoclimatic data.

High-resolution correlation of coastal cliff sections in the Lagos- Portimao Formation (Lower - Middle Miocene, central Algarve, Portugal)

This paper describes a high-resolution stratigraphic correlation scheme for the early to middle Miocene Lagos-Portimão Formation of central Algarve, southern Portugal. The Lagos Portimão-Formation of central Algarve is a 60 m thick package of horizontally bedded siliciclastics and carbonates. The bryozoan and mollusc dominated biofacies is typical of a shallow marine, warm-temperate climatic environment. We define four stratigraphic marker beds based on biofacies, lithology, and gamma-ray signatures. Marker bed 1 is a reddish shell bed composed predominantly of bivalve shells in various stages of fragmentation. Marker bed 2 is a fossiliferous sandstone / sandy rudstone characterized by bryozoan masses. Marker bed 3 is also a fossiliferous sandstone with abundant larger foraminifers and foliate bryozoans. Marker bed 4 is composed of three distinct layers; two fossiliferous sandstones with an intercalated shell bed. The upper sandstone unit displays thickets of the bryozoan Celleporaria palmate associated with the coral Culizia parasitica. This stratigraphic framework allows to correlate isolated outcrops within the stratigraphic context of the Lagos-Portimão Formation and to establish high resolution chronostratigraphic Sr-isotopic dating.

Palynologic data from Aquitaine (SW France) Middle Miocene Sables Fauves Formation. Climatic evolution

Climatic reconstructions based on palynological data from Aquitaine outcrops emphasize an important degradation phase during the Lower Serravallian. Climatic and environmental changes can be related to sea-level variations (Bur 5 / Lan 1, Lan 2 / Ser 1 and Ser 2 cycles). Transgressive phases feature warmer conditions and more open environments whereas regressive phases are marked by a cooler climate and an extent of the forest cover. From Langhian to Middle Serravallian, a general cooling is highlighted, with disappearance of most megathermic taxa and a transition from warm and dry climate to warm-temperate and much more humid conditions. Conclusions are consistent with studies on bordering areas and place the major degradation phase around 14 My. The palynologic data allow filling a gap in the climatic evolution of Southern France, as a connection between Lower and Upper Miocene, both well recorded. These results document, on Western Europe scale, latitudinal climatic gradient across Northern hemisphere while featuring a transition between Mediterranean area and northeastern Atlantic frontage.

Characterization of middle-ear condition of Oporto daycare children up-to 3 years-old: A cross sectional study

Objective The aim of this study was to determine tympanometric values of children who attend Oporto daycare centers and further analyze any relations with host and environmental factors. Methods Cross sectional study in a randomly selected sample of 117 daycare children up-to 3-years old from Oporto. Tympanometric measures were collected. Results Children presented in left ear (LE) a mean peak pressure (PP) of −156.53 daPa and a mean compliance of 0.16 cm3. Right ear (RE) revealed a PP of −145.61 daPa and a compliance of 0.19 cm3. Normal tympanograms (type A) had a lower frequency than abnormal tympanograms (type B and type C). There was a positive association between age and compliance (LE: p = 0.016; RE: p = 0.013) and between the presence of rhinorrhea and PP (LE: p = 0.002; RE: p < 0.05). Abnormal tympanograms were more frequent in Spring (RE: p = 0.009), in younger children (LE: p = 0.03) and in children that had rhinorrhea (LE: p = 0.002; RE: p = 0.044). Healthy children had a mean PP of −125.19 daPa and a mean compliance of 0.21 cm3 in LE and a mean PP of −144.27 daPa and a mean compliance of 0.22 cm3 in RE. Conclusion Tympanometric measures presented in this paper may be applicable to Oporto daycare children up-to 3 years-old. Most of daycare children revealed abnormal tympanograms. Age, rhinorrhea and season influenced children's middle-ear condition.

The thickness of the transport layer in stratified geomorphic flows

River Flow 2010

Aplicação do multi-layer stream mapping para a gestão da eficiência de recursos e produtividade de um sistema de produção

Mestrado em Engenharia Mecânica – Especialização Gestão Industrial

RESTAVEC – from haitian slave child to middle-class american

Trabalho de Projeto apresentado ao Instituto de Contabilidade e Administração do Porto para a obtenção do grau de Mestre em Tradução e Interpretação Especializadas, sob orientação da Doutora Clara Sarmento

Depositions of rulers in the later middle ages: on the theory of th "useless ruler" and its practical utilization

pp. 157-168

A Real Time Vision System for Autonomous Systems: Characterization during a Middle Size Match

in RoboCup 2007: Robot Soccer World Cup XI