Chaotic Phenomena and Performance Optimization in the Trajectory Control of Redundant Manipulators

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of abstacles, and the resolution of singularities. For this type of manipulators, several kinetic algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by theseproblems this paper presents a new method that ptimizes the manipulability through a least squre polynomialapproximation to determine the joints positions. Moreover, the article studies influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiment confirm the superior performance of the proposed algorithm for redundant and hyper-redundant manipulators, revealing several fundamental properties of the chaotic phenomena, and gives a deeper insight towards the future development of superior trajectory control algorithms.

New Features to Look at Natural Phenomena

Proceeding of the 3rd International Conference on Fractional Systems and Signals, at Ghent, Belgium

Sertraline accumulation and effects in the estuarine decapod Carcinusmaenas: Importance of the history of exposure to chemical stress

Sertraline is widely prescribed worldwide and frequently detected in aquatic systems. There is, however, a remarkable gap of information on its potential impact on estuarine and coastal invertebrates. This study investigated sertraline accumulation and effects in Carcinus maenas. Crabs from a moderately contaminated (Lima) and a low-impacted (Minho) estuary were exposed to environmental and high levels of sertraline (0.05, 5, 500 μg L−1). A battery of biomarkers related to sertraline mode of action was employed to assess neurotransmission, energy metabolism, biotransformation and oxidative stress pathways. After a seven-day exposure, sertraline accumulation in crabs’ soft tissues was found in Lima (5 μg L−1: 15.3 ng L−1 ww; 500 μg L−1: 1010 ng L−1 ww) and Minho (500 μg L−1: 605 ng L−1 ww) animals. Lima crabs were also more sensitive to sertraline than those from Minho, exhibiting decreased acetylcholinesterase activity, indicative of ventilatory and locomotory dysfunction, inhibition of anti-oxidant enzymes and increased oxidative damage at ≥0.05 μg L−1. The Integrated Biomarker Response (IBR) index indicated their low health status. In addition, Minho crabs showed non-monotonic responses of acetylcholinesterase suggestive of hormesis. The results pointed an influence of the exposure history on differential sensitivity to sertraline and the need to perform evaluations with site-specific ecological receptors to increase relevance of risk estimations when extrapolating from laboratory to field conditions.

Isoflavones in food supplements: chemical profile, label accordance and permeability study in Caco-2 cells

Consumers nowadays are playing an active role in their health-care. A special case is the increasing number of women, who are reluctant to use exogenous hormone therapy for the treatment of menopausal symptoms and are looking for complementary therapies. However, food supplements are not clearly regulated in Europe. The EFSA has only recently begun to address the issues of botanical safety and purity regulation, leading to a variability of content, standardization, dosage, and purity of available products. In this study, isoflavones (puerarin, daidzin, genistin, daidzein, glycitein, genistein, formononetin, prunetin, and biochanin A) from food supplements (n = 15) for menopausal symptoms relief are evaluated and compared with the labelled information. Only four supplements complied with the recommendations made by the EC on the tolerable thresholds. The intestinal bioavailability of these compounds was investigated using Caco-2 cells. The apparent permeability coefficients of the selected isoflavonoids across the Caco-2 cells were affected by the isoflavone concentration and product matrix.

Analysis of Natural and Artificial Phenomena Using Signal Processing and Fractional Calculus

In this paper we study several natural and man-made complex phenomena in the perspective of dynamical systems. For each class of phenomena, the system outputs are time-series records obtained in identical conditions. The time-series are viewed as manifestations of the system behavior and are processed for analyzing the system dynamics. First, we use the Fourier transform to process the data and we approximate the amplitude spectra by means of power law functions. We interpret the power law parameters as a phenomenological signature of the system dynamics. Second, we adopt the techniques of non-hierarchical clustering and multidimensional scaling to visualize hidden relationships between the complex phenomena. Third, we propose a vector field based analogy to interpret the patterns unveiled by the PL parameters.

Avaliação de funcionamento de duas estações de tratamento de águas residuais do interior de Vila Nova de Gaia

Esta dissertação descreve o trabalho desenvolvido ao longo de um ano e um mês desde a pesquisa teórica até à prática experimental no âmbito da unidade curricular de Dissertação/estágio do Mestrado em Engenharia Química, no ramo Tecnologias em Proteção Ambiental. O tema desta dissertação consiste na avaliação do funcionamento de duas estações de tratamento de águas residuais (ETAR) do interior do município de Vila Nova de Gaia no que diz respeito ao possível aumento da resistência a antibióticos na ETAR de Febros e na ETAR de Lever. Os testes de sensibilidade a antibióticos (TSA) foram executados para ambas as ETAR, sendo as amostras de água recolhidas na entrada e na saída dos reatores biológicos (tratamento secundário). Além disso, foram realizados testes de avaliação da eficiência de desinfeção por radiação ultravioleta (UV) relativamente à Escherichia coli (E. coli) na ETAR de Lever. Os antibióticos selecionados para a realização deste trabalho foram a Eritromicina, a Azitromicina, a Claritromicina, a Ofloxacina, a Ciprofloxacina, o Sulfametoxazol, o Trimetoprim e o Metronidazol. Esta seleção baseou-se no facto de estes serem alguns dos antibióticos mais consumidos e mais persistentes no meio ambiente. A bactéria E. coli (isolada a partir de amostras das águas residuais estudadas) foi escolhida para a realização deste estudo uma vez que está sempre presente nas águas residuais domésticas e está associada a fenómenos de multirresistência a antibióticos. Os testes de TSA foram realizados seguindo a metodologia de difusão por discos. No período do estudo (Março a Junho de 2015) identificaram-se situações quer de aumento de resistência quer de aumento de sensibilidade aos antibióticos testados. As situações mais graves de aumento de resistência, a que corresponderam a halos nulos, verificaram-se para os antibióticos Claritromicina, Trimetoprim e Metronidazol, ocorrendo com maior frequência para os dois últimos, que aliás são fármacos que são administrados em simultâneo. Os períodos mais problemáticos em termos de aumento das resistências foram ligeiramente diferentes nas duas ETAR. No caso da ETAR de Febros correspondeu ao mês Abril e na ETAR de Lever ocorreu entre o final de Abril e o início de Maio. Considera-se que estes períodos poderão coincidir com um aumento do consumo destes fármacos devido à sua utilização no combate a infeções respiratórias muito comuns nesta altura do ano. Não se observou qualquer sensibilidade da E. coli para o Metronidazol porque é um antibiótico com indicação para algumas bactérias anaeróbias, fungos e giardia, e que à partida não tem capacidade para eliminar a E. coli. A eficiência da desinfeção na ETAR de Lever relativamente à remoção de E. coli foi satisfatória. Sendo de salientar a importância da manutenção, no que se refere à identificação de possíveis avarias nas lâmpadas e correspondente limpeza. Os resultados deste trabalho provam a existência de estirpes da bactéria E. coli resistentes a alguns dos antibióticos estudados, o que reforça a importância da desinfeção no tratamento de águas residuais domésticas.

CHEMICAL CHARACTERIZATION AND EVALUATION OF ANTIBACTERIAL, ANTIFUNGAL, ANTIMYCOBACTERIAL, AND CYTOTOXIC ACTIVITIES OF Talinum paniculatum

SUMMARY In this study, the bioactivity of Talinum paniculatum was evaluated, a plant widely used in folk medicine. The extract from the T. paniculatum leaves (LE) was obtained by percolation with ethanol-water and then subjecting it to liquid-liquid partitions, yielding hexane (HX), ethyl acetate (EtOAc), butanol (BuOH), and aqueous (Aq) fractions. Screening for antimicrobial activity of the LE and its fractions was evaluated in vitro through broth microdilution method, against thirteen pathogenic and non-pathogenic microorganisms, and the antimycobacterial activity was performed through agar diffusion assay. The cytotoxic concentrations (CC90) for LE, HX, and EtOAc were obtained on BHK-21 cells by using MTT reduction assay. The LE showed activity against Serratia marcescens and Staphylococcus aureus, with Minimum Inhibitory Concentration (MIC) values of 250 and 500 µg/mL, respectively. Furthermore, HX demonstrated outstanding activity against Micrococcus luteus and Candida albicans with a MIC of 31.2 µg/mL in both cases. The MIC for EtOAc also was 31.2 µg/mL against Escherichia coli. Conversely, BuOH and Aq were inactive against all tested microorganisms and LE proved inactive against Mycobacterium tuberculosisand Mycobacterium bovisas well. Campesterol, stigmasterol, and sitosterol were the proposed structures as main compounds present in the EF and HX/EtOAc fractions, evidenced by mass spectrometry. Therefore, LE, HX, and EtOAc from T. paniculatumshowed potential as possible sources of antimicrobial compounds, mainly HX, for presenting low toxicity on BHK-21 cells with excellent Selectivity Index (SI = CC90/MIC) of 17.72 against C. albicans.

Chemical approaches to ubiquitous computing

Dissertação apresentada para obtenção do Grau de Doutor em Química, perfil de Química Física, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Physico-chemical characterization of chars produced in the co-pyrolysis of wastes and possible routes of valorisation

Thesis submitted for the Degree in Master of Energy and Bioenergy

Physical and chemical assessment of lime–metakaolin mortars: Influence of binder:aggregate ratio

Cement & Concrete Composites 45 (2014) 264–271

Cartographic representation of spatiotemporal phenomena

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Electrochemical and quantum chemical investigations of the insecticide fipronil.

This work describes an electrochemical and quantum chemical investigation of the fipronil insecticide. Cyclic voltammetry (CV) and square wave voltammetry (SWV) experiments were performed over a graphite-polyurethane (GPU) composite electrode. The fipronil molecule presents an one?electron irreversible oxidation reaction. Profiting the SWV signal a square wave stripping voltammetry (SWSV) procedure to determine the fipronil molecule in a 0.10 mol L-1 Britton-Robinson buffer solution, pH 8.0 was developed with accumulation potential and time of 0.50 V and 120 s, respectively. The limits of detection and quantification were 0.80 and 2.67 ?g L-1, respectively. Recovery tests were performed in three natural waters samples with values ranging from 99.67 to 101.37%. Quantum chemical studies showed that the nitrogen atom of the pyrazole group is the most probable oxidation site of the fipronil molecule.

Evaluation of the impact of chemical control measures and entomological surveillance on Chagas' disease in the counties of Mambaí and Buritinópolis, Goiás State, Brazil

Epidemiological surveillance activities were implemented in 1980 in Mambaí and Buritinópolis counties, Goiás State. Twenty years later the authors evaluated the impact of these vector control measures on Chagas' disease transmission, based on entomological indicators. Entomological investigation was conducted using the man-hour technique and covering all domiciles. In order to study vector food sources the stomach contents of triatomines were analyzed using the modified precipitins technique. Triatomines were shown to be present in 48 (71.6%) of the 67 locations. Peridomiciliary infestation rates in Mambaí and Buritinópolis were 8.7% and 12.1%, respectively, while intradomiciliary rates were 0.7% and 1.2%. Triatoma sordida was the species identified in 97.3% of all captured specimens. It was also the only species found to be naturally infected with Trypanosoma cruzi. Birds were the most frequent food source (45%) for Triatoma sordida. The most significant result was the complete absence of Triatoma infestans in the two counties.

On the physical-chemical properties of ceramide C16

Dissertation presented to obtain the Ph.D degree in Chemistry.