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.

Networked embedded systems for active flow control in aircraft

Aerodynamic drag is known to be one of the factors contributing more to increased aircraft fuel consumption. The primary source of skin friction drag during flight is the boundary layer separation. This is the layer of air moving smoothly in the immediate vicinity of the aircraft. In this paper we discuss a cyber-physical system approach able of performing an efficient suppression of the turbulent flow by using a dense sensing deployment to detect the low pressure region and a similarly dense deployment of actuators to manage the turbulent flow. With this concept, only the actuators in the vicinity of a separation layer are activated, minimizing power consumption and also the induced drag.

Building a microscope for the data center

Managing the physical and compute infrastructure of a large data center is an embodiment of a Cyber-Physical System (CPS). The physical parameters of the data center (such as power, temperature, pressure, humidity) are tightly coupled with computations, even more so in upcoming data centers, where the location of workloads can vary substantially due, for example, to workloads being moved in a cloud infrastructure hosted in the data center. In this paper, we describe a data collection and distribution architecture that enables gathering physical parameters of a large data center at a very high temporal and spatial resolutionof the sensor measurements. We think this is an important characteristic to enable more accurate heat-flow models of the data center andwith them, _and opportunities to optimize energy consumption. Havinga high resolution picture of the data center conditions, also enables minimizing local hotspots, perform more accurate predictive maintenance (pending failures in cooling and other infrastructure equipment can be more promptly detected) and more accurate billing. We detail this architecture and define the structure of the underlying messaging system that is used to collect and distribute the data. Finally, we show the results of a preliminary study of a typical data center radio environment.

Relatório de Estágio em Educação Pré-Escolar

O relatório de estágio de qualificação profissional desenvolveu-se no âmbito da Unidade Curricular (UC) de Prática Pedagógica Supervisionada, inserida no Mestrado em Educação Pré- Escolar, nos contextos de creche e pré-escolar. Esta integração implicou a mestranda numa atitude investigativa, traduzida no aprofundamento dos referenciais teóricos abordados na referida UC, que permitiu desenvolver uma atitude indagadora e reflexiva, de modo a aliar saberes teóricos à prática e mobilizá-los em contexto. Efetivando a sua prática pedagógica através da observação, recolha de dados, análise sistemática da ação e reflexão crítica permanente, apoiou-se na metodologia de investigaçãoação, que segundo Elliot (1991) constitui um processo reflexivo, que envolve a mudança de teorias e práticas, permitindo ligar a autoavaliação ao desenvolvimento profissional. A prática pedagógica revista neste documento parte da convicção da mestranda relativamente à importância da observação, na mesma perspetiva de Gonçalves (2006): “se soubermos observar, saberemos compreender, se soubermos compreender, saberemos intervir e se soubermos intervir, saberemos melhorar, estaremos a conferir ao exercício de observação e análise da relação educativa o seu verdadeiro estatuto de instrumento de desenvolvimento pessoal/profissional do formando” (p.72). Foi assim que a mestranda solidificou a construção da sua imagem de criança, encarando-a como ativa e competente, almejando que essa visão se refletisse nas suas planificações, que identificavam necessidades e interesses das crianças, e consequentemente na sua ação. A co construção de saberes e a cooperação assumiram particular relevância no processo de formação e desenvolvimento profissional, proporcionado pelos intervenientes no contexto educativo: par de formação, educadoras, supervisora, pais e comunidade.

Intermodulation in active reconfigurable antennas

Due to the application of active components into antennas these became a source of distortion on wireless communication systems. In this paper we explore the nonlinear effects occurring in a frequency reconfigurable antenna operating with a PIN Diode. We describe the measurement setup used to check the antenna intermodulation products and the measured compression and third order intermodulation limitations of a frequency reconfigurable antenna, operating at the UMTS and WLAN frequencies.

Fisioterapia no tratamento das mulheres Angolanas com cancro da mama no Centro Nacional de Oncologia

Mestrado em Fisioterapia

Tunnig optical A-Sic/A-Si active filters by UV bias light in the visible and infrared spectral ranges

Visible range to telecom band spectral translation is accomplished using an amorphous SiC pi'n/pin wavelength selector under appropriate front and back optical light bias. Results show that background intensity works as selectors in the infrared region, shifting the sensor sensitivity. Low intensities select the near-infrared range while high intensities select the visible part according to its wavelength. Here, the optical gain is very high in the infrared/red range, decreases in the green range, stays close to one in the blue region and strongly decreases in the near-UV range. The transfer characteristics effects due to changes in steady state light intensity and wavelength backgrounds are presented. The relationship between the optical inputs and the output signal is established. A capacitive optoelectronic model is presented and tested using the experimental results. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

HIV testing and clinical status upon admission to a specialized health care unit in Pará, Brazil

OBJECTIVE To analyze the clinical and laboratory characteristics of HIV-infected individuals upon admission to a reference health care center.METHODS This cross-sectional study was conducted between 1999 and 2010 on 527 individuals with confirmed serological diagnosis of HIV infection who were enrolled in an outpatient health care service in Santarém, PA, Northern Brazil. Data were collected from medical records and included the reason for HIV testing, clinical status, and count of peripheral CD4+ T lymphocytes upon enrollment. The data were divided into three groups, according to the patient’s year of admission – P1 (1999-2002), P2 (2003-2006), and P3 (2007-2010) – for comparative analysis of the variables of interest.RESULTS In the study group, 62.0% of the patients were assigned to the P3 group. The reason for undergoing HIV testing differed between genders. In the male population, most tests were conducted because of the presence of symptoms suggesting infection. Among women, tests were the result of knowledge of the partner’s seropositive status in groups P1 and P2. Higher proportion of women undergoing testing because of symptoms of HIV/AIDS infection abolished the difference between genders in the most recent period. A higher percentage of patients enrolling at a more advanced stage of the disease was observed in P3.CONCLUSIONS Despite the increased awareness of the number of HIV/AIDS cases, these patients have identified their serological status late and were admitted to health care units with active disease. The HIV/AIDS epidemic in Pará presents specificities in its progression that indicate the complex characteristics of the epidemic in the Northern region of Brazil and across the country.

Bullying among adolescents in a Brazilian urban center – “Health in Beagá” Study

OBJECTIVE To analyze the prevalence of bullying and its associated factors in Brazilian adolescents.METHODS Data were used from a population-based household survey conducted by the Urban Health Observatory (OSUBH) utilizing probability sampling in three stages: census tracts, residences, and individuals. The survey included 598 adolescents (14-17 years old) who responded questions on bullying, sociodemographic characteristics, health-risk behaviors, educational well-being, family structure, physical activity, markers of nutritional habits, and subjective well-being (body image, personal satisfaction, and satisfaction with their present and future life). Univariate and multivariate analysis was done using robust Poisson regression.RESULTS The prevalence of bullying was 26.2% (28.0% among males, 24.0% among females). The location of most bullying cases was at or on route to school (70.5%), followed by on the streets (28.5%), at home (9.8%), while practicing sports (7.3%), at parties (4.6%), at work (1.7%), and at other locations (1.6%). Reports of bullying were associated with life dissatisfaction, difficulty relating to parents, involvement in fights with peers and insecurity in the neighborhood.CONCLUSIONS A high prevalence of bullying among participating adolescents was found, and the school serves as the main bullying location, although other sites such as home, parties and workplace were also reported. Characteristics regarding self-perception and adolescent perceptions of their environment were also associated with bullying, thus advancing the knowledge of this type of violence, especially in urban centers of developing countries.

Difficulties in access and estimates of public beds in intensive care units in the state of Rio de Janeiro

ABSTRACT OBJECTIVE To estimate the required number of public beds for adults in intensive care units in the state of Rio de Janeiro to meet the existing demand and compare results with recommendations by the Brazilian Ministry of Health. METHODS The study uses a hybrid model combining time series and queuing theory to predict the demand and estimate the number of required beds. Four patient flow scenarios were considered according to bed requests, percentage of abandonments and average length of stay in intensive care unit beds. The results were plotted against Ministry of Health parameters. Data were obtained from the State Regulation Center from 2010 to 2011. RESULTS There were 33,101 medical requests for 268 regulated intensive care unit beds in Rio de Janeiro. With an average length of stay in regulated ICUs of 11.3 days, there would be a need for 595 active beds to ensure system stability and 628 beds to ensure a maximum waiting time of six hours. Deducting current abandonment rates due to clinical improvement (25.8%), these figures fall to 441 and 417. With an average length of stay of 6.5 days, the number of required beds would be 342 and 366, respectively; deducting abandonment rates, 254 and 275. The Brazilian Ministry of Health establishes a parameter of 118 to 353 beds. Although the number of regulated beds is within the recommended range, an increase in beds of 122.0% is required to guarantee system stability and of 134.0% for a maximum waiting time of six hours. CONCLUSIONS Adequate bed estimation must consider reasons for limited timely access and patient flow management in a scenario that associates prioritization of requests with the lowest average length of stay.

Light-activated amplification in SiC Tandem devices: A capacitive active filter model

Characteristics of tunable wavelength pi'n/pin filters based on a-SiC:H multilayered stacked cells are studied both experimentally and theoretically. Results show that the device combines the demultiplexing operation with the simultaneous photodetection and self amplification of the signal. An algorithm to decode the multiplex signal is established. A capacitive active band-pass filter model is presented and supported by an electrical simulation of the state variable filter circuit. Experimental and simulated results show that the device acts as a state variable filter. It combines the properties of active high-pass and low-pass filter sections into a capacitive active band-pass filter using a changing capacitance to control the power delivered to the load.

Do outro lado da linha: impacto dos horários de trabalho de trabalhadores de call center nas necessidades de recuperação – engagement e esforço compensatório

Dissertação apresentada ao Instituto Politécnico do Porto para obtenção do Grau de Mestre em Gestão das Organizações, Ramo Gestão de Empresas Orientada por: Profª Doutora Maria Alexandra Pacheco Ribeiro da Costa Esta dissertação inclui as críticas e sugestões feitas pelo Júri.

Optimal design for active damping in sandwich structures using the Direct MultiSearch method

This paper addresses the problem of optimal positioning of surface bonded piezoelectric patches in sandwich plates with viscoelastic core and laminated face layers. The objective is to maximize a set of modal loss factors for a given frequency range using multiobjective topology optimization. Active damping is introduced through co-located negative velocity feedback control. The multiobjective topology optimization problem is solved using the Direct MultiSearch Method. An application to a simply supported sandwich plate is presented with results for the maximization of the first six modal loss factors. The influence of the finite element mesh is analyzed and the results are, to some extent, compared with those obtained using alternative single objective optimization.

Geological and geotechnical surveys in tectonically active rock masses

The economic development of a region depends on the speed that people and goods can travel. The reduction of people and goods travel time can be achieved by planning smooth road layouts, which are obtained by crossing natural obstacles such as hills, by tunneling at great depths, and allowing the reduction of the road alignment length. The stress state in rock masses at such depths, either because of the overburden or due to the tectonic conditions of the rock mass induces high convergences of the tunnel walls. These high convergence values are incompatible with the supports structural performance installed in the excavation stabilization. In this article it is intended to evaluate and analyze some of the solutions already implemented in several similar geological and geotechnical situations, in order to establish a methodological principle for the design of the tunnels included in a highway section under construction in the region influenced by the Himalayas, in the state of Himachal Pradesh (India) and referenced by "four laning of Kiratpur to Ner Chowk section".

Influência de diferentes estratégias de estabilização lombopélvica e de programas de exercícios de controlo motor no Active Straight Leg Raise

Introdução: O Active Straight Leg Raise (ASLR) tem sido sugerido como um indicador clínico da estabilidade lombopélvica. Estratégias passivas e ativas podem contribuir para aumentar esta estabilidade, assim como programas de exercício baseados nas mesmas estratégias ativas. Objetivos: Comparar os efeitos imediatos da compressão pélvica manual (CP), do drawing-in (DI) e do bracing abdominal (BA) durante o ASLR em indivíduos com e sem dor lombopélvica crónica e inespecífica, e avaliar o efeito prolongado das manobras de estabilização ativas através dos programas de exercícios de controlo motor, Pilates e McGill. Métodos: Estudo transversal, com uma amostra de 111 voluntários, 52 sem dor lombopélvica (NLPPG) e 59 com dor lombopélvica (LPPG), e estudo experimental, formado pelo LPPG dividido em 19 no grupo controlo (GC), 20 no grupo pilates (GP) e 20 no grupo mcgill (GMg). Foi avaliado o ASLR padrão, o ASLR com CP, o ASLR com DI e ASLR com BA. Os participantes foram avaliados antes e após as 8 semanas de implementação dos programas exercícios de McGill e Richardson, apenas aos respetivos grupos. Resultados: O LPPG apresentou significativamente maior score no ASLR comparativamente ao NLPPG (z=-9,361; p<0,001). Apesar do BA ter apresentado scores inferiores às restantes estratégias (p<0,001), todas elas foram capazes de diminuir o score do ASLR (p<0,001). Após a aplicação dos programas de exercícios, verificou-se que o GP (p<0,001) e o GMg (p<0,001) apresentaram scores significativamente menores no ASLR, relativamente ao GC. No GP e no GMg verificou-se uma diminuição do score do ASLR (Z=-4,028; p<0,001; Z=-4,179; p<0,001, respetivamente). Além disso, GMg apresentou uma tendência para apresentar menores scores do ASLR comparativamente ao GP. Conclusão: Qualquer uma destas manobras de estabilização quando adicionada ao ASLR pode aumentar a estabilidade lombopélvica, especialmente o BA. Os exercícios de Pilates e de McGill permitiram melhorar os scores do ASLR.