Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

Tuning and application of integer and fractional order PID controllers

Fractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications of FC in the area of control systems. Firstly, is presented a methodology of tuning PID controllers that gives closed-loop systems robust to gain variations. After, a fractional-order PID controller is proposed for the control of an hexapod robot with three dof legs. In both cases, it is demonstrated the system's superior performance by using the FC concepts.

A importância dos diferentes membros da equipa educativa na inclusão de uma criança com necessidades educativas especiais

Relatório da Prática Profissional Supervisionada Mestrado em Educação Pré-Escolar

Integer vs. fractional order control of a hexapod robot

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The controller performance is analised through the Nyquist stability criterion. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Análise de fadiga de uma ponte ferroviária com tabuleiro misto vigado sob ação de tráfego de mercadorias

A presente dissertação centra-se no estudo de fadiga de uma ponte ferroviária com tabuleiro misto vigado pertencente a uma via de transporte de mercadorias. O caso de estudo incide sobre a ponte ferroviária sobre o rio do Sonho, localizada na Estrada de Ferro de Carajás situada no nordeste do Brasil. Nesta linha circulam alguns dos maiores comboios de mercadoria do mundo com cerca de 3.7 km de extensão e com cargas por eixo superiores a 300 kN. Numa primeira fase apresentam-se diversas metodologias de análise da fadiga em pontes ferroviárias metálicas. É também descrita a ferramenta computacional FADBridge, desenvolvida em ambiente MATLAB, e que possibilita o cálculo sistematizado e eficiente do dano de fadiga em detalhes construtivos de acordo com as indicações dos eurocódigos. Em seguida são abordadas as metodologias numéricas utilizadas para a realização das análises dinâmicas do sistema ponte-comboio e os aspetos regulamentares a ter em consideração no dimensionamento de pontes ferroviárias. O modelo numérico de elementos finitos da ponte foi realizado com recurso ao programa ANSYS. Com base neste modelo foram obtidos os parâmetros modais, nomeadamente as frequências naturais e os modos de vibração, tendo sido também analisada a importância do efeito compósito via-tabuleiro e a influência do comportamento não linear do balastro. O estudo do comportamento dinâmico da ponte foi realizado por intermédio de uma metodologia de cargas móveis através da ferramenta computacional Train-Bridge Interaction (TBI). As análises dinâmicas foram efetuadas para a passagem dos comboios reais de mercadorias e de passageiros e para os comboios de fadiga regulamentares. Nestas análises foi estudada a influência dos modos de vibração globais e locais, das configurações de carga dos comboios e do aumento da velocidade de circulação, na resposta dinâmica da ponte. Por último, foi avaliado o comportamento à fadiga de diversos detalhes construtivos para os cenários de tráfego regulamentar e reais. Foi ainda analisada a influência do aumento da velocidade, da configuração de cargas dos comboios e da degradação da estrutura nos valores do dano por fadiga e da respetiva vida residual.

Afibrinogenemia following snake bite (Crotalus durissus terrificus)

This paper reports two cases of afibrinogenemia with normal platelet count following Crotalus durissus terrificus, snake bite Both patients presented high output acute renal failure and case two also had increased blood levels of CPK and LDH compatible with the diagnosis of rhabdomyolysis. Case one was given an unknown amount of antivenom and was treated with epsilonaminocaproic acid and a fresh whole blood transfusion and showed recovery of the coagulation disturbance 40 hours following these measures. Case two was given an adequate amount of crotalide antivenom and the coagulation tests performed 12 hours later showed a normal partial thromboplastin time and fibrinogen 86 mg/100ml. Case one presented no haemorrhagic disturbances. Case two presented persistent bleeding following venopuncture and after removal of impetigo crust in the legs. Acute renal failure was treated conservatively and both patients were discharged from the hospital with recovery of the renal function.

Neutral C60 effusive source for atomic collisions with fullerene

Review of scientific instruments, Vol.72, Nº9

Mapping and characterization of a green biofilm inside of Vilar de Frades Church (Portugal)

Vilar de Frades church is integrated in the Vilar de Frades Monastery, located in the North part of Portugal (Barcelos). The monastery, founded in 566, suffered several architectural modifications and restoration works, the most relevant was in the XVI century. The church, in granite, has one nave and six bays,holding ten chapels with vaults of crossed ribbings. Nowadays, the chapels present a severe biological colonization characterised by an intense green biofilm, which becoming apparent in other locations inside the church. In the course of a general survey concerning the conservation state of the church, an accurate campaign was planned in order to assess the main biodeterioration agents, map biological colonization and determine the environmental conditions. Laboratory analyses were accomplished with optical microscopy and spectrofluorometry. This study presents the results of this campaign. Details on conservation or preservation works that need to be implemented are also presented.

Um tango com Gardel

Dissertação submetida à Escola Superior de Teatro e Cinema para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Teatro - especialização em Artes Performativas – vertente Teatro-Música.

Immunohistochemical molecular phenotypes of gastric cancer based on SOX2 and CDX2 predict patient outcome

Background Gastric cancer remains a serious health concern worldwide. Patients would greatly benefit from the discovery of new biomarkers that predict outcome more accurately and allow better treatment and follow-up decisions. Here, we used a retrospective, observational study to assess the expression and prognostic value of the transcription factors SOX2 and CDX2 in gastric cancer. Methods SOX2, CDX2, MUC5AC and MUC2 expression were assessed in 201 gastric tumors by immunohistochemistry. SOX2 and CDX2 expression were crossed with clinicopathological and follow-up data to determine their impact on tumor behavior and outcome. Moreover, SOX2 locus copy number status was assessed by FISH (N = 21) and Copy Number Variation Assay (N = 62). Results SOX2 was expressed in 52% of the gastric tumors and was significantly associated with male gender, T stage and N stage. Moreover, SOX2 expression predicted poorer patient survival, and the combination with CDX2 defined two molecular phenotypes, SOX2+CDX2- versus SOX2-CDX2+, that predict the worst and the best long-term patients’ outcome. These profiles combined with clinicopathological parameters stratify the prognosis of patients with intestinal and expanding tumors and in those without signs of venous invasion. Finally, SOX2 locus copy number gains were found in 93% of the samples reaching the amplification threshold in 14% and significantly associating with protein expression. Conclusions We showed, for the first time, that SOX2 combined with CDX2 expression profile in gastric cancer segregate patients into different prognostic groups, complementing the clinicopathological information. We further demonstrate a molecular mechanism for SOX2 expression in a subset of gastric cancer cases.

Desenvolvimento de um robô com pernas inspirado no Alfaiate

A elaboração deste trabalho surge no âmbito da unidade curricular de Tese/Dissertação, integrada no Mestrado em Engenharia Eletrotécnica e de Computadores do Instituto Superior de Engenharia do Porto. O trabalho enquadra-se no âmbito da robótica de inspiração biológica, mais concretamente no desenvolvimento de um robô que apresente caraterísticas de locomoção similares ao inseto Alfaiate, modificando para este efeito um robô hexápode já existente. Inicialmente efetuou-se um estudo sobre a biologia do Alfaiate e dos vários tipos de padrões de locomoção adotados pelos animais. De seguida foi realizado um estudo sobre alguns robôs já existentes inspirados neste inseto. Após a realização desta fase de estudo, foram implementadas modificações ao robô hexápode, de forma a este conseguir apoiar-se e movimentar-se sobre a superfície da água. Para tal foram utilizados apoios em esferovite para as pernas, servomotores para a atuação e um sensor de IRPD para orientar o robô na sua trajetória. Em termos de controlo da estabilidade do corpo utilizou-se um giroscópio para permitir ao robô manter o seu corpo horizontal durante a locomoção em águas agitadas. Este trabalho termina com a realização de testes a diferentes padrões de locomoção, de forma a validar o que apresenta a melhor resposta em termos de velocidade.

Relatório médico em imagiologia: estudo de práticas de criação e uso

Considerando como objeto de estudo o Relatório Médico em imagiologia, esta investigação encontra-se situada entre duas áreas do saber, a Ciência de Informação e as Ciências da Saúde (mais designadamente no âmbito da imagiologia). O Relatório Médico em imagiologia é um documento textual, físico e/ou digital, sigiloso, com caráter legal, que compreende informação médica relativa a um (ou vários) exame(s) médico(s) de um utente e que têm como principal objetivo fornecer dados/indicadores para o diagnóstico médico especializado. Com esta investigação, pretende-se posicionar o objeto de estudo, documentar a sua génese intelectual e material, refletir sobre todo o fluxo informacional do documento, revelar a importância das suas fases de produção e de normalização. Foram realizados levantamentos bibliográficos e abordagens reflexivas sobre a importância e produção do relatório médico, que depois foram cruzados com estudos de caso baseado em diferentes instituições, onde a experiência profissional do médico (produtor intelectual) e datilógrafo (produtor material) nos elucida sobre a temática apresentada e nos permitiu entender práticas e fluxos informacionais. No final do estudo analisamos o papel do datilógrafo como produtor material do relatório médico, salientando-se a sua consciência ética e profissional e sugerindo um conjunto de boas práticas no âmbito da elaboração e normalização de relatórios médicos em imagiologia.

ADVERSE EFFECT VERSUS QUALITY CONTROL OF THE FUENZALIDA-PALACIOS ANTIRABIES VACCINE

We evaluated the components of the Fuenzalida-Palacios antirabies vaccine, which is till used in most developing countries in human immunization for treatment and prophylaxis. This vaccine is prepared from newborn mouse brains at 1% concentration. Even though the vaccine is considered to have a low myelin content, it is not fully free of myelin or of other undesirable components that might trigger adverse effects after vaccination. The most severe effect is a post-vaccination neuroparalytic accident associated with Guillain-Barré syndrome. In the present study we demonstrate how the vaccines produced and distributed by different laboratories show different component patterns with different degrees of impurity and with varying protein concentrations, indicating that production processes can vary from one laboratory to another. These differences, which could be resolved using a better quality control process, may affect and impair immunization, with consequent risks and adverse effects after vaccination. We used crossed immunoelectrophoresis to evaluate and demonstrate the possibility of quality control in vaccine production, reducing the risk factors possibly involved in these immunizing products.

Snakebites by Crotalus durissus ssp in children in Campinas, São Paulo, Brazil

From January, 1984 to March, 1999, 31 children under 15 y old (ages 1-14 y, median 8 y) were admitted after being bitten by rattlesnakes (Crotalus durissus ssp). One patient was classified as "dry-bite", 3 as mild envenoming, 9 as moderate envenoming and 18 as severe envenoming. Most patients had neuromuscular manifestations, such as palpebral ptosis (27/31), myalgia (23/31) and weakness (20/31). Laboratory tests suggesting rhabdomyolysis included an increase in total blood creatine kinase (CK, 28/29) and lactate dehydrogenase (LDH, 25/25) levels and myoglobinuria (14/15). The main local signs and symptoms were slight edema (20/31) and erythema (19/31). Before antivenom (AV) administration, blood coagulation disorders were observed in 20/25 children that received AV only at our hospital (incoagulable blood in 17/25). AV early reactions were observed in 20 of these 25 cases (9/9 patients not pretreated and 11/16 patients pretreated with hydrocortisone and histamine H1 and H2 antagonists). There were no significant differences in the frequency of patients with AV early reactions between the groups that were and were not pretreated (Fisher's exact test, p = 0.12). Patients admitted less than and more than 6 h after the bite showed the same risk of developing severe envenoming (Fisher's exact test, p = 1). No children of the first group (< 6 h) showed severe complications whereas 3/6 children admitted more than 6 h post-bite developed acute renal failure. Patients bitten in the legs had a higher risk of developing severe envenoming (Fisher's exact test, p = 0.04). There was a significant association between both total CK and LDH blood enzyme levels and severity (p < 0.001 for CK and p < 0.001 for LDH; Mann-Whitney U test). No deaths were recorded.

The role of halouracils in radiotherapy studied by electron transfer in atom-molecule collisions experiments

Dissertação para obtenção do Grau de Doutor em Engenharia Física