Controle de Manipulador Redundante Utilizando Realimentação Visual

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Filosofar em tempos de informação

This thesis reflects upon the question of how does philosophy think a particular today, which is not only a legitimate philosophical task but a determinative characteristic of philosophy in general. Today's thought follows two paths: first, an hermeneutical-phenomenological analysis of Martin Heidegger's thought with regards to his own contemporaneity; and secondly, through the analysis of the contemporary phenomenon of Information Technology which in the present work is to be considered a privileged sign of our times and distinctive of the mindfulness of philosophy. Therefore, the starting point is an investigation of Heidegger's thinking on his own era to whom facticity is a way of accessing the fundamental question of philosophy. This thesis is led by three guiding words which hold onto a perspective of unity in Heidegger s lifetime of work: 1. Technicity, 2. History, 3. Language, to thereby develop a characterization of human existence as 1. Technopolitical, 2. Technoscientific, and 3. Technological. Finally, in keeping with this triangular characterization of the human, a philosophical comprehension of our times will be established and drawn by Information Technology illustrating three of its' factual signs that are understood to be the 'Remains of Being' today: The Emptying of Speech (Language); The Emptying of Science (History); The Emptying of The Object (Technicity). Through these nowadays phenomenon, it is possible to maintain a grip on the fundamental question, precisely when the task of philosophy seems to have peremptorily lost its meaning and come to its logical end and to show how philosophizing in the information era is as possible as it is necessary.

Estágio menopausal e níveis hormonais no desenvolvimento muscular e funcional em mulheres de meia idade: um estudo transversal

Introduction: Hypoestrogenism is the main characteristic of female aging. It promotes significant changes in body composition, both in fat mass as in lean body mass, leading to a decrease in muscle strength and physical performance. Objective: The aim of this study was to test whether menopausal status and hormone levels are associated with muscular strength and physical performance in middle-aged women. Methods: In a cross-sectional study it was collected sociodemographic data, gynecological history, anthropometric and biochemical measures in women aged 40 to 65 years in Parnamirim-RN. The menopause status (pre, peri and post menopause) was determined by menstrual history. All women underwent three dimensions of physical performance assessment: handgrip dynamometry, gait speed and chair stands test - Short Physical Performance Battery (SPPB). Categorical data were presented as absolute and relative frequencies. Quantitative data were showed as mean and standard deviation and the normality of distribution was verified with Kolmogorov-Smirnov (KS) test. Biochemical measures of estradiol and follicle-stimulating hormone (FSH) were transformed to log10. ANOVA with Tukey post-test for comparison of variables between the groups pre, peri and post-menopausal was performed and then multiple linear regression analyzes. Results: Two hundred and seventy eight women aged 50.2 (±5.58) years composed this study, being 50 women in premenopausal status (18%), 122 in perimenopausal (43.9%), and 106 postmenopausal stage (38.1%). The groups were different in age (p=0.001), marital relationship duration (p <0.001), number of pregnancies (p=0.001) and parity (p=0.001). Differences in biochemical measures were observed among the groups: estradiol (p<0.001), FSH (p<0.001), total cholesterol (p=0.001). There were no differences in gait velocity between menopausal status. Values in mean of grip strength decreased by postmenopausal women to perimenopausal and premenopausal ones (24.5 ± 5.1, 25.6 ± 5.4, 26.9 ± 4.9 for post-stage, pre and peri menopausas, respectively, p = 0.02) and the performance of chair stands test was better in premenopausal women compared with that in peri and postmenopausal status (p = 0.02). In multiple linear regression for muscle strength, the variables that remained were: age, estradiol and somatic symptoms measured by Menopause Rating Scale-MRS (R2=0.15). While for the xiv chair-stands test the predictors were number of births and FSH values (R2=0.04). Conclusion: There is a relationship between the stages of menopause and muscle performance in measures of grip strength and sit-up test and these are influenced by the fall of estrogens levels. Data suggest that the decrease in muscle strength and physical performance already appear in the transition to menopause stage, pointing to the need for more research in this area and appropriate preventive interventions

Radial Plasma Dynamic in Sequential Pinches

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Resistivity in the dynamic current sheath of a field reversed configuration

The resistivity of a field reversed configuration in a theta-pinch with slow rising current was investigated during the turbulent phase from the moment of field reversal until end of plasma radial implosion. This transport coefficient was obtained in a hydrogen plasma by local measurements with magnetic probe and compared to numerical calculations with Chodura resistivity and evolution of lower hybrid drift instability. The values of resistivity are higher than those predicted by classical binary collision. During early phase of confinement, the doubly layer structure of current sheath in the low electric field machine was theoretically well reproduced with anomalous collision frequency calculated with Chodura resistivity that provides appropriate conditions for onset of lower hybrid drift instability and the regular evolution of pinch. The plasma dynamic, radial profiles of magnetic field during the radial compression and resistivity values were equally close to those observed by the measurements. (C) 2012 American Institute of Physics. [http://dx.doi.org/10.1063/1.3698405]

Influência da textura na preensão de indivíduos com Síndrome de Down

INTRODUÇÃO: Diversos estudos disponibilizam evidências sobre características do desempenho motor e cognitivo de indivíduos com Síndrome de Down (SD), porém poucos estudos analisam a força muscular nestes indivíduos. As alterações apresentadas por indivíduos com SD podem manifestar-se funcionalmente e interferir na sua capacidade de desempenhar de forma independente diversas atividades e tarefas da rotina diária. OBJETIVO: O presente estudo teve como objetivo analisar a influência da textura do objeto na força de preensão palmar em indivíduos com Síndrome de Down. Participaram do estudo dez indivíduos com SD, com idade entre 4 e 30 anos. MÉTODO: A análise da força de preensão palmar foi mensurada por meio de um transdutor de força. A tarefa proposta para a coleta dos dados foi realizar a preensão do transdutor, revestido com diferentes texturas, transportá-lo até um ponto previamente demarcado, e posteriormente o retorno à posição inicial. Os dados obtidos foram analisados por meio de estatística descritiva e não-paramétrica. RESULTADOS: Os dados da estatística descritiva permitiram observar que a textura áspera foi a que exigiu menor força de preensão palmar dos participantes neste estudo, no entanto a análise não-paramétrica indicou não haver diferença estatisticamente significativa. CONCLUSÃO: Os resultados deste estudo indicam que textura do objeto não influenciou a força de preensão palmar executada pelos indivíduos com Síndrome de Down.

Valores de referência para o teste de caminhada com carga progressiva em indivíduos saudáveis: da distância percorrida às respostas fisiológicas

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Razão eletromiográfica de músculos estabilizadores do ombro durante a execução de exercícios com haste oscilatória

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Relationship between lower-limb muscle strength and frailty among elderly people

CONTEXTO E OBJETIVO: A sarcopenia é o principal fator envolvido no desenvolvimento da síndrome de fragilidade. O objetivo foi investigar a relação entre força muscular de membros inferiores e as variáveis sexo, idade e critérios de fragilidade; comparar a força muscular de membros inferiores com cada critério de fragilidade e verificar seu poder de estimativa do risco para fragilidade em idosos ambulatoriais. TIPO DE ESTUDO E LOCAL: Estudo transversal no Ambulatório de Geriatria de um hospital universitário de Campinas. MÉTODO: Foi avaliada uma amostra de conveniência não-probabilística de 150 idosos de ambos os sexos em acompanhamento ambulatorial, com coleta de dados sócio-demográficos (sexo e idade) e de saúde física (critérios de fragilidade e teste de levantar e sentar da cadeira cinco vezes consecutivamente). Foram realizadas análises descritivas, de comparação e de regressão logística multivariada. RESULTADOS: A maioria dos idosos (77,3%) apresentou idade igual ou superior a 70 anos, com predomínio do sexo feminino (64,0%) e baixo escore no teste de levantar e sentar da cadeira cinco vezes consecutivas (81,4% escore 0 ou 1), 55,3% dos idosos apresentaram três ou mais critérios de fragilidade. Verificou-se associação significativa entre a força muscular de membros inferiores e as variáveis idade e número de critérios de fragilidade. CONCLUSÕES: Menores níveis de força muscular de membros inferiores estão associados a idade avançada e maior presença de sinais de fragilidade. Além disso, a força muscular de membros inferiores também está associada com os critérios redução da velocidade de marcha e da força de preensão palmar.

On dynamical gluon mass generation

The effective gluon propagator constructed with the pinch technique is governed by a Schwinger-Dyson equation with special structure and gauge properties, that can be deduced from the correspondence with the background field method. Most importantly the non-perturbative gluon self-energy is transverse order-by-order in the dressed loop expansion, and separately for gluonic and ghost contributions, a property which allows for a meanigfull truncation. A linearized version of the truncated Schwinger-Dyson equation is derived, using a vertex that satisfies the required Ward identity and contains massless poles. The resulting integral equation, subject to a properly regularized constraint, is solved numerically, and the main features of the solutions are briefly discussed.

Associação de cetamina S(+) e midazolam pelo método convencional de cálculo e pela extrapolação alométrica em bugios-ruivo (Alouatta guariba clamitans): resposta clínica e cardiorrespiratória

O objetivo deste estudo foi avaliar o protocolo de contenção química com cetamina S(+) e midazolam em bugios-ruivos, comparando o cálculo de doses pelo método convencional e o método de extrapolação alométrica. Foram utilizados 12 macacos bugios (Alouatta guariba clamitans) hígidos, com peso médio de 4,84±0,97kg, de ambos os sexos. Após jejum alimentar de 12 horas e hídrico de seis horas, realizou-se contenção física manual e aferiram-se os seguintes parâmetros: frequência cardíaca (FC), frequência respiratória (f), tempo de preenchimento capilar (TPC), temperatura retal (TR), pressão arterial sistólica não invasiva (PANI) e valores de hemogasometria arterial. Posteriormente, os animais foram alocados em dois grupos: GC (Grupo Convencional, n=06), os quais receberam cetamina S(+) (5mg kg-1) e midazolam (0,5mg kg-1), pela via intramuscular, com doses calculadas pelo método convencional; e GA (Grupo Alometria, n=06), os quais receberam o mesmo protocolo, pela mesma via, utilizando-se as doses calculadas pelo método de extrapolação alométrica. Os parâmetros descritos foram mensurados novamente nos seguintes momentos: M5, M10, M20 e M30 (cinco, 10, 20 e 30 minutos após a administração dos fármacos, respectivamente). Também foram avaliados: qualidade de miorrelaxamento, reflexo podal e caudal, pinçamento interdigital, tempo para indução de decúbito, tempo hábil de sedação, qualidade de sedação, e tempo e qualidade de recuperação. O GA apresentou menor tempo para indução ao decúbito, maior grau e tempo de sedação, bem como redução significativa da FC e PANI de M5 até M30, quando comparado ao GC. Conclui-se que o grupo no qual o cálculo de dose foi realizado por meio da alometria (GA) apresentou melhor grau de relaxamento muscular e sedação, sem produzir depressão cardiorrespiratória significativa.

ANALYTIC STUDY ON HIGH-VOLTAGE CROWBAR SYSTEM

Crowbar switches are largely used in plasma devices, such as field-reversed configuration (FRC) machines and tokamaks, to avoid energy return from the discharge coil to the capacitor bank. A method of identification of all resistances, inductances and currents involved in capacitor bank discharges using a crowbar is proposed based on the derivation of the general analytical form of the coil current. This analysis can also be used for optimization of the discharge, reducing the ripple amplitude inherent in the crowbar-switched current. Fitting results of the TC-1 UNICAMP FRC device are also presented in this work.

Anomalous transport effects on magnetic field profile in a motional current sheath

The radial magnetic field profile during implosion of a reversed field current sheath in a theta-pinch was investigated through local measurements and simulation of hybrid code. The actual profile was defined by Hermite interpolation polynomial through mean value of the field at discrete radial position of measurements. Simulation profile was provided by the numerical code with appropriate initial conditions. Classical and anomalous collision process were taken in account in the theoretical model. The results indicated that anomalous effects play major role during the implosion phase of current sheath in a slow rising theta pinch device.

Is chronic hypoxemia in patients with chronic obstructive pulmonary disease associated with more marked nutritional deficiency?: A study of the fat-free mass evaluated by anthropometry and bioelectrical impedance methods

In order to determine wheter blood gases abnormalities, specially hypoxemia, are associated with more marked changes in fat-free mass in patients with chronic obstructive pulmonary disease (CPOD), nutritional assessment was performed on 16 normoxemic (PaO 2 > 55 mm Hg) and 16 hypoxemic (PaO 2 < 55 mm Hg) COPD patients in stable clinical condition. Body weight was expressed as percentage of the ideal body weight. Fat-free mass was estimated by anthropometry (FFM-Anthr) and by bioelectrical impedance (FFM- BI). Handgrip-strength was assessed as a measure of peripheral skeletal muscle strength. Patients were age-matched and presented similar degree of airway obstruction. Malnutrition, defined as body weight less than 90% of the ideal, was observed in 19% of the normoxemic patients and in 25% of the hypoxemic patients (p>0,05). FFM values in hypoxemic patients, estimated by both methods, were not different from those observed in normoxemic patients. No significant difference was observed on handgrip values between the two groups. No correlation was found between nutritional indices and pulmonary function and gases exchange parameters. FFM correlated positively with values of peripheral muscle function in normoxemic and hypoxemic patients. These data add further evidence to the hypothesis that hypoxemia is not a primary cause of the nutritional deficiency observed in COPD patients.

Electromyographic validation of the trapezius and serratus anterior muscles in the rowing and frontal-lateral cross, dumbbells exercises

The trapezius and serratus anterior muscles were studied in four modalities of rowing exercises executed with two grips, middle and closed, in comparison with the four different modalities of frontal-lateral cross, dumbbells exercise. It was used 24 male volunteers, 18 to 25 years old using a 2-channel TECA TE 4 electromyograph and Hewlett Packard surface electrodes. The results showed that TS acted in a higher significant way in all the modalities of rowing than in the supine lateral raise, inclined supine lateral raise and reverse supine lateral raise, dumbbells exercises, and demonstrated no standing frontal-lateral cross, dumbbells. The SI acted more significantly difference among all the execution modalities of rowing and the inclined supine lateral raise, dumbbells exercises than in all the rowing exercises; even though the activity levels do not make us suggest them as an excellent group of exercises for the development of this muscle.