Development of Biomimetic Robots in the EPS Engineering Programme Capstone Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Influence of dual-task on sit-to-stand-to-sit postural control in Parkinson's disease

Postural control deficits are the most disabling aspects of Parkinson's disease (PD), resulting in decreased mobility and functional independence. The aim of this study was to assess the postural control stability, revealed by variables based on the centre of pressure (CoP), in individuals with PD while performing a sit-to-stand-to-sit sequence under single- and dual-task conditions. An observational, analytical and cross-sectional study was performed. The sample consisted of 9 individuals with PD and 9 healthy controls. A force platform was used to measure the CoP displacement and velocity during the sit-to-stand-to-sit sequence. The results were statistically analysed. Individuals with PD required greater durations for the sit-to-stand-to-sit sequence than the controls (p < 0.05). The anteroposterior and mediolateral CoP displacement were higher in the individuals with PD (p < 0.05). However, only the anteroposterior CoP velocity in the stand-to-sit phase (p = 0.006) was lower in the same individuals. Comparing the single- and dual-task conditions in both groups, the duration, the anteroposterior CoP displacement and velocity were higher in the dual-task condition (p < 0.05). The individuals with PD presented reduced postural control stability during the sit-to-stand-to-sit sequence, especially when under the dual-task condition. These individuals have deficits not only in motor performance, but also in cognitive performance when performing the sit-to-stand-to-sit sequence in their daily life tasks. Moreover, both deficits tend to be intensified when two tasks are performed simultaneously.

Reorganização do Controlo Postural do Tronco para o alcance funcional em crianças com Paralisia Cerebral

Introdução: A organização do controlo postural (CP) é essencial para a execução de movimentos funcionais e está frequentemente alterada em crianças com alterações neuromotoras decorrentes da Paralisia Cerebral (PC), nomeadamente ao nível do segmento do tronco, influenciando assim a qualidade do gesto de alcance. Objetivo: Analisar as modificações na organização do CP do tronco, associado ao gesto de alcance, em crianças com PC, após uma intervenção baseada no conceito de Bobath em pediatria Métodos: Foram avaliadas quatro crianças com PC, num momento inicial (M0) e após 4 meses de intervenção (M1), segundo esse conceito. Recorrendo ao Software de Avaliação Postural (SAPo) procedeu-se à avaliação de variáveis relevantes do ponto de vista do CP, nomeadamente, na vista posterior, o alinhamento horizontal da cabeça, dos acrómios e das espinhas ilíacas póstero-superiores (EIPS). Na vista lateral, avaliou-se o alinhamento da cervical, o alinhamento vertical do tronco (desde a vértebra C7 a L1), a amplitude de movimento do ombro, do cotovelo e de deslocamento anterior do tronco e, do alinhamento da pélvis. Recorreu-se ainda à aplicação da Classificação Internacional de Funcionalidade, Incapacidade e Saúde para Crianças e Jovens (CIF-CJ). Resultados: Em M1, verificaram-se alterações sugestivas de uma melhor organização dos mecanismos de CP, tanto na análise quantitativa através do SAPo, como também se verificaram repercussões positivas nos qualificadores da CIF-CJ. Os participantes apresentam uma maior simetria entre os hemitroncos e um melhor alinhamento do tronco, associado a uma menor amplitude de movimento do tronco e maior amplitude ao nível do ombro e cotovelo, sugerindo uma melhoria dos componentes de estabilidade e de orientação durante o gesto de alcance. Conclusão: De uma maneira geral, os resultados obtidos parecem revelar modificações no CP, após uma intervenção individualizada e direcionada para o principal problema, segundo a abordagem do conceito de Bobath em pediatria – TND.

Reorganização do Controlo Postural no Acidente Vascular Encefálico: Ajustes Posturais Antecipatórios e Stiffness da Tibiotársica

Introdução: A reorganização do Sistema Nervoso após Acidente Vascular Encefálico é dependente da experienciação de diferentes tipos de input no âmbito da intervenção em fisioterapia. A potenciação do controlo postural (CP) nestes sujeitos é importante para organização dos ajustes posturais antecipatórios nas tarefas funcionais levantar, sentar e início da marcha e pode ser acompanhado de uma regulação do stiffness. Objectivo(s): Reportar as modificações ocorridas nos tempos de inibição e ativação dos músculos solear e tibial anterior, respetivamente, nas sequências de movimento levantar, sentar e início da marcha, na linha temporal atribuída aos APA’s assim como descrever as modificações ocorridas no comportamento do stiffness passivo da tibiotársica. Métodos: Foi implementado um programa de fisioterapia durante 3 meses em 5 participantes com Acidente Vascular Encefálico. Estes foram avaliados previamente à implementação do programa e após (M0 e M1). Foi analisada a atividade eletromiográfica dos músculos solear e tibial anterior, em ambos os membros inferiores, na linha temporal atribuída aos APA’s nas referidas tarefas. O torque e a amplitude articular da tibiotársica foi monitorizada, através do dinamómetro isocinético, no movimento passivo de dorsiflexão, e registada a atividade muscular através de eletromiografia de superfície, nos músculos solear e gastrocnémio medial. Resultados: À exceção do músculo tibial anterior contralesional no paciente C, todos os participantes demonstraram modificações nos tempos dos músculos do membro contralesional na tarefa levantar. No membro ispsilesional todos os participantes demonstraram alterações, sem que seja possível definir uma tendência. Todos apresentaram uma diminuição do stiffness, embora nos participantes A e E mais evidente nas amplitudes intermédias. Conclusão: Entre os dois momentos de avaliação foi possível reportar modificações nos tempos de inibição dos músculos solear e nos tempos de ativação dos músculos tibial anterior na linha temporal atribuída aos APA’s, no entanto mais homogéneas no membro contralesional na tarefa levantar. Em todos os participantes o stiffness sofreu alterações no sentido da diminuição.

Reorganização do Controlo Postural do Tronco Ipsilesional em Indivíduos com Acidente Vascular Encefálico

Introdução: O controlo postural (CP) tem sido apontado como indicador de prognóstico funcional e constitui um dos requisitos para a execução de tarefas funcionais. Tem sido demonstrado que após um acidente vascular encefálico (AVE) este esteja severamente alterado. Os mecanismos de neuroplasticidade evidenciam capacidade de mudança no CP através de uma intervenção em Fisioterapia. Objetivos: Descrever as modificações em participantes com AVE face à intervenção em fisioterapia no: 1) componente flexor/extensor do tronco superior/inferior; 2) alinhamento das escápulas; 3) variação do Centro de Pressão (Cop) nos seus componentes medio-lateral e antero-posterior. Pretendeu-se também perceber as mudanças na de distribuição da carga entre membros através do comportamento da força vertical (Fz). Métodos: Estudo de série de casos de participantes com alterações neuromotoras decorrentes de AVE. A avaliação privilegiou a análise do potencial do participante com um objetivo de funcionalidade, tendo ocorrido em 2 momentos: M0 (inicial) e M1 (após 3 meses). Foi avaliado o alinhamento do tronco e da escápula, através do Software de Avaliação Postural (SAPO). Foi também avaliado o deslocamento antero-posterior e medio-lateral do CoP e comportamento da força vertical do solo em Plataforma de Forças. Resultados: Nos participantes A, B, C e D ocorreram modificações nas variáveis cinemáticas, observando-se uma diminuição do componente flexor do tronco e uma tendência para simetria entre as escápulas. O participante E contrariou esta tendência. Nas variáveis em Plataforma de Forças, não é possível encontrar uma tendência homogénea a todos os participantes. Conclusão: Conseguiu-se demonstrar que é possível influenciar positivamente o componente flexor/extensor do tronco superior/inferior, assim como o alinhamento das escápulas. As modificações nas variáveis enunciadas parecem indicar um melhor controlo postural do tronco.

Brotherly love and filial obedience: the commemorative programme of the Avis princes at Santa Maria da Vitória, Batalha

This dissertation focuses on a rare 15th century commemorative programme that has thus far received little scholarly attention: the collective monument erected in the Founder’s Chapel, at the Monastery of Santa Maria da Vitória, Batalha, to house the remains of four Avis princes, members of what would become known as ‘the Illustrious Generation’. A patron is proposed for the commission of this erudite monument - the princes’ eldest brother, king Duarte I - arguing its integration into a broader propaganda programme to glorify the memory of the Avis dynasty founder, king João I. The dissertation then proceeds to discuss various highly innovative features of the monument, such as its pseudo-architectural character, its use of sophisticated heraldry and personal badges, the apparent absence of religious iconography on the tombs and, importantly, the collective nature of the programme, key to its interpretation. Using a semiotic approach, a discussion is also offered on the way the various formal, iconographic and conceptual novelties of the princes’ monument impacted on the 15th century monumental landscape in Portugal. Finally, the monument and the chapel housing it are looked at through the prism of the various readings that successive generations of viewers have projected onto it, from the time of its creation to the turn of the 20th century, in order to offer a more comprehensive understanding of the object as it stands today.

Portuguese banks and the economic adjustment programme: balance sheet adjustments and impact on profitability

Double Degree. A Work Project presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics and a Masters Degree in Finance from Louvain School of Management

Evaluation épidémiologique du programme genevois de dépistage du cancer du sein : 2007-2011

A l'instar de nombreux pays industrialisés, le cancer du sein est à Genève le cancer le plus fréquent (environ 460 cas par an) et la première cause de décès chez les femmes entre 45 et 55 ans. Depuis mars 1999, le Programme genevois de dépistage du cancer du sein a pour missions de promouvoir, d'organiser et de mener une action de prévention auprès de la population féminine du canton âgée de 50 à 69 ans. Ce rapport décrit l'évolution de 15 ans d'activité de dépistage (chapitre 2) et analyse l'utilisation (chapitre 3), la qualité (chapitre 4) et l'efficacité (chapitre 5) du programme genevois entre 2007 et 2011. Couvrant 86'720 mammographies et près de 37'000 femmes, ce rapport s'intéresse aussi, au-delà des indicateurs usuels de performance, à mieux estimer certains effets indésirables comme les résultats faussement positifs ou les cancers survenant entre 2 examens de dépistage (dits cancers d'intervalle).

Mise en place d'un programme de prévention et de prise en charge du diabète en Suisse: le point de vue des patients et des professionnels de la santé [Implementation of a diabetes disease management program in Switzerland: patients' and healthcare professionals' point of view].

BACKGROUND: A reorganization of healthcare systems is required to meet the challenge of the increasing prevalence of chronic diseases, e.g. diabetes. In North-America and Europe, several countries have thus developed national or regional chronic disease management programs. In Switzerland, such initiatives have only emerged recently. In 2010, the canton of Vaud set up the "Diabetes Cantonal Program", within the framework of which we conducted a study designed to ascertain the opinions of both diabetic patients and healthcare professionals on the elements that could be integrated into this program, the barriers and facilitators to its development, and the incentives that could motivate these actors to participate. METHODS: We organized eight focus-groups: one with diabetic patients and one with healthcare professionals in the four sanitary areas of the canton of Vaud. The discussions were recorded, transcribed and submitted to a thematic content analysis. RESULTS: Patients and healthcare professionals were rather in favour of the implementation of a cantonal program, although patients were more cautious concerning its necessity. All participants envisioned a set of elements that could be integrated to this program. They also considered that the program could be developed more easily if it were adapted to patients' and professionals' needs and if it used existing structures and professionals. The difficulty to motivate both patients and professionals to participate was mentioned as a barrier to the development of this program however. Quality or financial incentives could therefore be created to overcome this potential problem. CONCLUSION: The identification of the elements to consider, barriers, facilitators and incentives to participate to a chronic disease management program, obtained by exploring the opinions of patients and healthcare professionals, should favour its further development and implementation.

Programme cantonal Diabète: bilan de la première phase du programme (2010-2011) et construction d'une théorie d'action.

Le Programme cantonal diabète (PCD) du canton de Vaud a pour objectifs de réduire durablement l'impact du diabète sur la population vaudoise. Il a été élaboré à l'initiative du Service de la santé publique du canton de Vaud et la stratégie du programme a été construite sur la base des propositions de plusieurs groupes de travail. Ce programme inclut divers projets complémentaires qui ont été progressivement mis sur pied à partir de 2010. 2012 marque la fin de la première phase du programme et une évaluation-bilan du programme est demandée. Cette évaluation-bilan fait suite à une première phase de travaux qui ont consisté en une évaluation de l'évaluabilité du programme. Les résultats de cette première phase ont été délivrés en décembre 2011 au groupe de pilotage et consignés dans un rapport en février 2012. L'IUMSP propose donc pour 2012 des travaux en continuité de ce qui a été fait en 2011 et qui vont dans le sens d'un bilan critique et de propositions pour un système de monitoring à long terme du programme, comportant des indicateurs d'activité (à harmoniser lorsque c'est possible dans des projets similaires), des indicateurs de couverture et de résultats. [p. 7]

Exploration des expériences et des besoins des patients diabétiques et des professionnels de la santé du canton de Vaud: Programme cantonal Diabète Vaud

Dans le cadre de l'élaboration du Programme cantonal Diabète du canton de Vaud, nous avons mis en place une étude qualitative visant à connaître l'opinion des divers acteurs du système de santé du canton, sur la prise en charge actuelle du diabète et le développement du Programme cantonal Diabète. Nous avons recruté des patients diabétiques et des professionnels de la santé dans le but d'organiser huit focus-groupes (entretiens de groupe) : un focus-groupe de patients diabétiques et un focus-groupe de professionnels de la santé, dans chacune des quatre régions sanitaires du canton de Vaud. [Auteurs, p. 5]

Effect of school based physical activity programme (KISS) on fitness and adiposity in primary schoolchildren: cluster randomised controlled trial.

To assess the effectiveness of a school based physical activity programme during one school year on physical and psychological health in young schoolchildren. Cluster randomised controlled trial. 28 classes from 15 elementary schools in Switzerland randomly selected and assigned in a 4:3 ratio to an intervention (n=16) or control arm (n=12) after stratification for grade (first and fifth grade), from August 2005 to June 2006. 540 children, of whom 502 consented and presented at baseline. Children in the intervention arm (n=297) received a multi-component physical activity programme that included structuring the three existing physical education lessons each week and adding two additional lessons a week, daily short activity breaks, and physical activity homework. Children (n=205) and parents in the control group were not informed of an intervention group. For most outcome measures, the assessors were blinded. Primary outcome measures included body fat (sum of four skinfolds), aerobic fitness (shuttle run test), physical activity (accelerometry), and quality of life (questionnaires). Secondary outcome measures included body mass index and cardiovascular risk score (average z score of waist circumference, mean blood pressure, blood glucose, inverted high density lipoprotein cholesterol, and triglycerides). 498 children completed the baseline and follow-up assessments (mean age 6.9 (SD 0.3) years for first grade, 11.1 (0.5) years for fifth grade). After adjustment for grade, sex, baseline values, and clustering within classes, children in the intervention arm compared with controls showed more negative changes in the z score of the sum of four skinfolds (-0.12, 95 % confidence interval -0.21 to -0.03; P=0.009). Likewise, their z scores for aerobic fitness increased more favourably (0.17, 0.01 to 0.32; P=0.04), as did those for moderate-vigorous physical activity in school (1.19, 0.78 to 1.60; P<0.001), all day moderate-vigorous physical activity (0.44, 0.05 to 0.82; P=0.03), and total physical activity in school (0.92, 0.35 to 1.50; P=0.003). Z scores for overall daily physical activity (0.21, -0.21 to 0.63) and physical quality of life (0.42, -1.23 to 2.06) as well as psychological quality of life (0.59, -0.85 to 2.03) did not change significantly. A school based multi-component physical activity intervention including compulsory elements improved physical activity and fitness and reduced adiposity in children. Trial registration Current Controlled Trials ISRCTN15360785.