Avaliação cinemática de cães hígidos da raça Poodle

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Parâmetros cinéticos e cinemáticos em cães da raça Rottweiler com displasia coxofemoral tratados cirurgicamente

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Analytical models for the power subsystem and the attitude control subsystem of a microsatellite

El trabajo realizado en la presente tesis doctoral se debe considerar parte del proyecto UPMSat-2, que se enmarca dentro del ámbito de la tecnología aeroespacial. El UPMSat-2 es un microsatélite (de bajo coste y pequeño tamaño) diseñado, construido, probado e integrado por la Universidad Politécnica de Madrid (España), para fines de demostración tecnológica y educación. El objetivo de la presente tesis doctoral es presentar nuevos modelos analíticos para estudiar la interdependencia energética entre los subsistemas de potencia y de control de actitud de un satélite. En primer lugar, se estudia la simulación del subsistema de potencia de un microsatélite, prestando especial atención a la simulación de la fuente de potencia, esto es, los paneles solares. En la tesis se presentan métodos sencillos pero precisos para simular la producción de energía de los paneles en condiciones ambientales variables a través de su circuito equivalente. Los métodos propuestos para el cálculo de los parámetros del circuito equivalente son explícitos (o al menos, con las variables desacopladas), no iterativos y directos; no se necesitan iteraciones o valores iniciales para calcular los parámetros. La precisión de este método se prueba y se compara con métodos similares de la literatura disponible, demostrando una precisión similar para mayor simplicidad. En segundo lugar, se presenta la simulación del subsistema de control de actitud de un microsatélite, prestando especial atención a la nueva ley de control propuesta. La tesis presenta un nuevo tipo de control magnético es aplicable a la órbita baja terrestre (LEO). La ley de control propuesta es capaz de ajustar la velocidad de rotación del satélite alrededor de su eje principal de inercia máximo o mínimo. Además, en el caso de órbitas de alta inclinación, la ley de control favorece la alineación del eje de rotación con la dirección normal al plano orbital. El algoritmo de control propuesto es simple, sólo se requieren magnetopares como actuadores; sólo se requieren magnetómetros como sensores; no hace falta estimar la velocidad angular; no incluye un modelo de campo magnético de la Tierra; no tiene por qué ser externamente activado con información sobre las características orbitales y permite el rearme automático después de un apagado total del subsistema de control de actitud. La viabilidad teórica de la citada ley de control se demuestra a través de análisis de Monte Carlo. Por último, en términos de producción de energía, se demuestra que la actitud propuesto (en eje principal perpendicular al plano de la órbita, y el satélite que gira alrededor de ella con una velocidad controlada) es muy adecuado para la misión UPMSat-2, ya que permite una área superior de los paneles apuntando hacia el sol cuando se compara con otras actitudes estudiadas. En comparación con el control de actitud anterior propuesto para el UPMSat-2 resulta en un incremento de 25% en la potencia disponible. Además, la actitud propuesto mostró mejoras significativas, en comparación con otros, en términos de control térmico, como la tasa de rotación angular por satélite puede seleccionarse para conseguir una homogeneización de la temperatura más alta que apunta satélite y la antena. ABSTRACT The work carried out in the present doctoral dissertation should be considered part of the UPMSat-2 project, falling within the scope of the aerospace technology. The UPMSat-2 is a microsatellite (low cost and small size) designed, constructed integrated and tested for educational and technology demonstration purposes at the Universidad Politécnica de Madrid (Spain). The aim of the present doctoral dissertation is to present new analytical models to study the energy interdependence between the power and the attitude control subsystems of a satellite. First, the simulation of the power subsystem of a microsatellite is studied, paying particular attention to the simulation of the power supply, i.e. the solar panels. Simple but accurate methods for simulate the power production under variable ambient conditions using its equivalent circuit are presented. The proposed methods for calculate the equivalent circuit parameters are explicit (or at least, with decoupled variables), non-iterative and straight forward; no iterations or initial values for the parameters are needed. The accuracy of this method is tested and compared with similar methods from the available literature demonstrating similar precision but higher simplicity. Second, the simulation of the control subsystem of a microsatellite is presented, paying particular attention to the new control law proposed. A new type of magnetic control applied to Low Earth Orbit (LEO) satellites has been presented. The proposed control law is able to set the satellite rotation speed around its maximum or minimum inertia principal axis. Besides, the proposed control law favors the alignment of this axis with the normal direction to the orbital plane for high inclination orbits. The proposed control algorithm is simples, only magnetorquers are required as actuators; only magnetometers are required as sensors; no estimation of the angular velocity is needed; it does not include an in-orbit Earth magnetic field model; it does not need to be externally activated with information about the orbital characteristics and it allows automatic reset after a total shutdown of attitude control subsystem. The theoretical viability of the control law is demonstrated through Monte Carlo analysis. Finally, in terms of power production, it is demonstrated that the proposed attitude (on principal axis perpendicular to the orbit plane, and the satellite rotating around it with a controlled rate) is quite suitable for the UPMSat-2 mission, as it allows a higher area of the panels pointing towards the sun when compared to other studied attitudes. Compared with the previous attitude control proposed for the UPMSat-2 it results in a 25% increment in available power. Besides, the proposed attitude showed significant improvements, when compared to others, in terms of thermal control, as the satellite angular rotation rate can be selected to achieve a higher temperature homogenization of the satellite and antenna pointing.

Evaluation of a prototype magnetohydrodynamic angular acceleration transducer. Final report.

Mode of access: Internet.

Aerodinâmica de leitos vibrofluidizados: uma revisão

Application of mechanical vibration to aid fluidization and to improve heat, mass and momentum transfer are usual processes in agricultural industry and it has found nowadays extensive applications in particle processing of materials difficult-to-fluidized. Equations and experimental data found in literature for the aerodynamics characteristics of vibro-fluidized beds are presented and discussed, emphasizing the vibration effect in the bed.

Adaptação de protocolos invasivos e não invasivos para avaliações aeróbias e anaeróbias específicas ao basquetebol feminino

OBJECTIVE: To adapted the critical velocity (CV), RAST test and lactate minimum (LM) to evaluation of female basketball players. METHODS: Twelve well-trained female basketball players (19 ± 1yrs) were submitted to four intensities running (10 - 14 km/h) at shuttle exercise until exhaustion, applied on alternate days. The linear model 'velocity vs. 1/tlim' was adopted to determine the aerobic (CV) and anaerobic (CCA) parameters. The lactate minimum test consisted of two phases: 1) hiperlactatemia induction using the RAST test and 2) incremental test composed by five shuttle run (20-m) at 7, 8, 9, 10, and 12 km/h. Blood samples were collected at the end of each stage. RESULTS: The velocity (vLM) and blood lactate concentration at LM were obtained by two polynomial adjustments: lactate vs. intensity (LM1) and lactate vs. time (LM2). ANOVA one-way, Student t-test and Pearson correlation were used for statistical analysis. The CV was obtained at 10.3 ± 0.2 km/h and the CCA estimated at 73.0 ± 3.4 m. The RAST was capable to induce the hiperlactatemia and to determine the Pmax (3.6 ± 0.2 W/kg), Pmed (2.8 ± 0.1 W/kg), Pmin (2.3 ± 0.1 W/kg) and FI (30 ± 3%). The vLM1 and vLM2 were obtained, respectively, at 9.47 ±0.13 km/h and 9.8 ± 0.13 km/h, and CV was higher than vLM1. CONCLUSION: The results suggest that the non-invasive model can be used to determine the aerobic and anaerobic parameters. Furthermore, the LM test adapted to basketball using RAST and progressive phase was effective to evaluate female athletes considering the specificity of modality, with high success rates observed in polynomial adjustment 'lactate vs. time' (LM2).

Formation of vortices in a dense Bose-Einstein condensate

A relaxation method is employed to study a rotating dense Bose-Einstein condensate beyond the Thomas-Fermi approximation. We use a slave-boson model to describe the strongly interacting condensate and derive a generalized nonlinear Schrodinger equation with a kinetic term for the rotating condensate. In comparison with previous calculations, based on the Thomas-Fermi approximation, significant improvements are found in regions where the condensate in a trap potential is not smooth. The critical angular velocity of the vortex formation is higher than in the Thomas-Fermi prediction.

Neuromuscular activity during bench press exercise performed with and without the preexhaustion method

Brennecke, A, Guimaraees, TM, Leone, R, Cadarci, M, Mochizuki, L, Simao, R, Amadio, AC, and Serrao, J. Neuromuscular activity during bench press exercise performed with and without the preexhaustion method. J Strength Cond Res 23(7): 1933-1940, 2009-The purpose of the present study was to investigate the effects of exercise order on the tonic and phasic characteristics of upper-body muscle activity during bench press exercise in trained subjects. The preexhaustion method involves working a muscle or a muscle group combining a single-joint exercise immediately followed by a multi-joint exercise (e. g., flying exercise followed by bench press exercise). Twelve subjects performed 1 set of bench press exercises with and without the preexhaustion method following 2 protocols (P1-flying before bench press; P2-bench press). Both exercises were performed at a load of 10 repetition maximum (10RM). Electromyography (EMG) sampled at 1 kHz was recorded from the pectoralis major (PM), anterior deltoid (DA), and triceps brachii (TB). Kinematic data (60 Hz) were synchronized to define upward and downward phases of exercise. No significant (p > 0.05) changes were seen in tonic control of PM and DA muscles between P1 and P2. However, TB tonic aspect of neurophysiologic behavior of motor units was significantly higher (p < 0.05) during P1. Moreover, phasic control of PM, DA, and TB muscles were not affected (p > 0.05). The kinematic pattern of movement changed as a result of muscular weakness in P1. Angular velocity of the right shoulder performed during the upward phase of the bench press exercise was significantly slower (p < 0.05) during P1. Our results suggest that the strategies set by the central nervous system to provide the performance required by the exercise are held constant throughout the exercise, but the tonic aspects of the central drive are increased so as to adapt to the progressive occurrence of the neuromuscular fatigue. Changes in tonic control as a result of the muscular weakness and fatigue can cause changes in movement techniques. These changes may be related to limited ability to control mechanical loads and mechanical energy transmission to joints and passive structures.

Evaluation of hydrodynamic parameters of a fluidized-bed reactor with immobilized yeast

The fluidized bed reactor has successfully been used to perform biotechnological processes addressed to the production of high added value. The present work evaluates hydrodynamic parameters of a bench-scale fluidized bed reactor with cells of the yeast Candida guilliermondii immobilized either in calcium alginate beads or in polyvinyl alcohol (PVA). The effects of the following variables on cell immobilization were evaluated at 30 degrees C and feeding a synthetic medium containing 50 g L-1 xylose: total particle density (cells plus support), terminal velocity, particle drag force, minimum fluidization velocity and bed porosity. According to the results obtained, the reactor was shown to operate like a fixed-bed bioreactor at xi < 0.5 and a fluidized bed bioreactor at xi > 0.5. The maximum flow rate needed to obtain maximum bed fluidization in the reactor was equal to the terminal velocity of the immobilized cell particles. Particles of cells immobilized within these supports showed values of drag coefficient lower than those reported for other high-density supports. The evaluation of these hydrodynamic characteristics lead to an adequate bed fluidization inside the reactor, thus improving oxygen transference and availability in the fermentation medium, making the process more viable for future scale-up. (c) 2008 Society of Chemical Industry.

The influence of immobilized biomass and particle size on the fluid dynamics of an anaerobic fluidized bed reactor

Fluid dynamic analysis is an important branch of several chemical engineering related areas, such as drying processes and chemical reactors. However, aspects concerning fluid dynamics in wastewater treatment bioreactors still require further investigation, as they highly influence process efficiency. Therefore, it is essential to evaluate the influence of biofilm on the reactor fluid dynamic behavior, through the analysis of a few important parameters, such as minimum fluidization velocity, bed expansion and porosity, and particle terminal velocity. The main objective of the present work was to investigate the fluid dynamics of an anaerobic fluidized bed reactor, having activated carbon particles as support media for biomass immobilization. Reactor performance was tested using synthetic residual water, which was prepared using the solution employed in BOD determination. The results showed that the presence of immobilized biomass increased particle density and altered the main fluid dynamic parameters investigated.

Physical properties and fluidization behaviour of fresh green bean particulates during fluidized bed drying

Changes in the physical properties (such as particle density, bulk density of the bed, shrinkage and bed porosity) of fresh green bean particulates were investigated during drying. Three length:diameter ratios (1:1, 2:1 and 3:1) were considered, using drying conditions of 50 +/- 2 degrees C and 13 +/- 2% relative humidity in a heat pump dehumidifier system. The fluidization behaviour was also evaluated at 10 levels of moisture content. The fluidization experiments demonstrated that the minimum fluidization velocity decreases as the drying proceeds due to the reduced moisture content and changes in the physical properties of the bean particulates. Empirical relationships of the following nature were developed for the change in shrinkage [VR = 1 - Be-kMR], particle density [rho(p) = A + BMR + C (exp)(-D MR)], bulk density [rho(b) = a(1) + b(1)MR + c(1)MR(2)] and bed porosity [epsilon = a(2) + b(2)MR + c(2)MR(2)] with the moisture content during fluidized bed drying.

Evaluation of ductus venosus and inferior vena cava by using multiple Doppler ultrasound parameters in healthy fetuses

The objective of this study was to describe multiple Doppler ultrasound parameters of ductus venosus and inferior vena cava in fetuses at gestational ages ranging from 22 to 38 weeks. In this prospective observational study, Doppler ultrasound exams were performed in 45 healthy fetuses at 22, 26, 34, and 38 weeks. Maximum venous velocity, minimum venous velocity, venous pulsatility index, and venous acceleration time (VAT) (defined as the time between minimum and maximum venous velocity) were evaluated at those gestational periods. Increase in the velocities and decrease in the pulsatility index were observed in these vessels throughout gestational age. The VAT increased with gestational age. The VAT, a Doppler parameter still not described elsewhere, increased during pregnancy could be related to a longer period of time needed to fill the atrium in bigger hearts. In this study, we provide reference values for VAT in healthy fetuses.

Dimensionamento de um secador em leito fluidizado para secagem de cereais

O objectivo desta tese é dimensionar um secador em leito fluidizado para secagem de cereais, nomeadamente, secagem de sementes de trigo. Inicialmente determinaram-se as condições de hidrodinâmica (velocidade de fluidização, TDH, condições mínimas de “slugging”, expansão do leito, dimensionamento do distribuidor e queda de pressão). Com as condições de hidrodinâmica definidas, foi possível estimar as dimensões físicas do secador. Neste ponto, foram realizados estudos relativamente à cinética da secagem e à própria secagem. Foi também estudado o transporte pneumático das sementes. Deste modo, determinaram-se as velocidades necessárias ao transporte pneumático e respectivas quedas de pressão. Por fim, foi realizada uma análise custos para que se soubesse o custo deste sistema de secagem. O estudo da secagem foi feito para uma temperatura de operação de 50ºC, tendo a ressalva que no limite se poderia trabalhar com 60ºC. A velocidade de operação é de 2,43 m/s, a altura do leito fixo é de 0,4 m, a qual sofre uma expansão durante a fluidização, assumindo o valor de 0,79 m. O valor do TDH obtido foi de 1,97 m, que somado à expansão do leito permite obter uma altura total da coluna de 2,76 m. A altura do leito fixo permite retirar o valor do diâmetro que é de 0,52 m. Verifica-se que a altura do leito expandido é inferior à altura mínima de “slugging” (1,20 m), no entanto, a velocidade de operação é superior à velocidade mínima de “slugging” (1,13 m/s). Como só uma das condições mínimas é cumprida, existe a possibilidade da ocorrência de “slugging”. Finalmente, foi necessário dimensionar o distribuidor, que com o diâmetro de orifício de 3 mm, valor inferior ao da partícula (3,48 mm), permite a distruibuição do fluido de secagem na coluna através dos seus 3061 orifícios. O inicio do estudo da secagem centrou-se na determinação do tempo de secagem. Além das duas temperaturas atrás referidas, foram igualmente consideradas duas humidades iniciais para os cereais (21,33% e 18,91%). Temperaturas superiores traduzem-se em tempos de secagem inferiores, paralelamente, teores de humidade inicial inferiores indicam tempos menores. Para a temperatura de 50ºC, os tempos de secagem assumiram os valores de 2,8 horas para a 21,33% de humidade e 2,7 horas para 18,91% de humidade. Foram também tidas em conta três alturas do ano para a captação do ar de secagem, Verão e Inverno representando os extremos, e a Meia- Estação. Para estes três casos, foi possível verificar que a humidade específica do ar não apresenta alterações significativas entre a entrada no secador e a corrente de saída do mesmo equipamento, do mesmo modo que a temperatura de saída pouco difere da de entrada. Este desvio de cerca de 1% para as humidades e para as temperaturas é explicado pela ausência de humidade externa nas sementes e na pouca quantidade de humidade interna. Desta forma, estes desvios de 1% permitem a utilização de uma razão de reciclagem na ordem dos 100% sem que o comportamento da secagem se altere significativamente. O uso de 100% de reciclagem permite uma poupança energética de cerca de 98% no Inverno e na Meia-Estação e de cerca de 93% no Verão. Caso não fosse realizada reciclagem, seria necessário fornecer à corrente de ar cerca de 18,81 kW para elevar a sua temperatura de 20ºC para 50ºC (Meia-Estação), cerca de 24,67 kW para elevar a sua temperatura de 10ºC para 50ºC (Inverno) e na ordem dos 8,90 kW para elevar a sua temperatura dos 35ºC para 50ºC (Verão). No caso do transporte pneumático, existem duas linhas, uma horizontal e uma vertical, logo foi necessário estimar o valor da velocidade das partículas para estes dois casos. Na linha vertical, a velocidade da partícula é cerca de 25,03 m/s e cerca de 35,95 m/s na linha horizontal. O menor valor para a linha vertical prende-se com o facto de nesta zona ter que se vencer a força gravítica. Em ambos os circuitos a velocidade do fluido é cerca de 47,17 m/s. No interior da coluna, a velocidade do fluido tem o valor de 10,90 m/s e a velocidade das partículas é de 1,04 m/s. A queda de pressão total no sistema é cerca de 2408 Pa. A análise de custos ao sistema de secagem indicou que este sistema irá acarretar um custo total (fabrico mais transporte) de cerca de 153035€. Este sistema necessita de electricidade para funcionar, e esta irá acarretar um custo anual de cerca de 7951,4€. Embora este sistema de secagem apresente a possibilidade de se realizar uma razão de reciclagem na ordem dos 100% e também seja possível adaptar o mesmo para diferentes tipos de cereais, e até outros tipos de materiais, desde que possam ser fluidizados, o seu custo impede que a realização deste investimento não seja atractiva, especialmente tendo em consideração que se trata de uma instalação à escala piloto com uma capacidade de 45 kgs.

Probabilistic Stereo Egomotion Transform

In this paper we propose a novel fully probabilistic solution to the stereo egomotion estimation problem. We extend the notion of probabilistic correspondence to the stereo case which allow us to compute the whole 6D motion information in a probabilistic way. We compare the developed approach against other known state-of-the-art methods for stereo egomotion estimation, and the obtained results compare favorably both for the linear and angular velocities estimation.

Isokinetic assessment of knee flexor/extensor muscular strength in elderly women

OBJECTIVE: To assess knee flexor-extensor muscular strength in elderly women with no previous history of musculoskeletal disorders on the lower limbs using an isokinetic dynamometer, in order to obtain data that could be used as a comparative parameter in the evaluation of elderly women with knee disorders, thus facilitating a better rehabilitation of these patients. METHODS: Twenty-six volunteers aged 75 to 83 years were studied using a Cybex® 6000 isokinetic dynamometer. The chosen angular velocity was 60 º/s, and concentric exercise was used for either flexion or extension. The studied parameters were: peak torque, angle of peak torque, and flexor-extensor torque rate. RESULTS: There were no differences between dominant (D) and nondominant (ND) knee peak torque values. This was true for both flexor (D = 42.46 ± 9.09 Nm / ND = 40.65 ± 9.38 Nm) and extensor (D = 76.92 ± 13.97 Nm / ND = 77.65 ± 15.21 Nm) movements. The descriptive statistical analysis of the values obtained for the flexor-extensor peak torque rate and for the angle of occurrence of peak torque was the same for the dominant and nondominant sides. CONCLUSIONS: The values of peak torque for the contralateral side can be used as a reference during rehabilitation of elderly women with acute disease of the knee, and the angular velocity of 60 º/s is proper and safe for isokinetic assessment of elderly people.