Enhancement of a telemanipulator design with a human arm model

In this chapter we described how the inclusion of a model of a human arm, combined with the measurement of its neural input and a predictor, can provide to a previously proposed teleoperator design robustness under time delay. Our trials gave clear indications of the superiority of the NPT scheme over traditional as well as the modified Yokokohji and Yoshikawa architectures. Its fundamental advantages are: the time-lead of the slave, the more efficient, and providing a more natural feeling manipulation, and the fact that incorporating an operator arm model leads to more credible stability results. Finally, its simplicity allows less likely to fail local control techniques to be employed. However, a significant advantage for the enhanced Yokokohji and Yoshikawa architecture results from the very fact that it’s a conservative modification of current designs. Under large prediction errors, it can provide robustness through directing the master and slave states to their means and, since it relies on the passivity of the mechanical part of the system, it would not confuse the operator. An experimental implementation of the techniques will provide further evidence for the performance of the proposed architectures. The employment of neural networks and fuzzy logic, which will provide an adaptive model of the human arm and robustifying control terms, is scheduled for the near future.

A framework for adapting survey design through time for wildlife population assessment

Sampling strategies for monitoring the status and trends in wildlife populations are often determined before the first survey is undertaken. However, there may be little information about the distribution of the population and so the sample design may be inefficient. Through time, as data are collected, more information about the distribution of animals in the survey region is obtained but it can be difficult to incorporate this information in the survey design. This paper introduces a framework for monitoring motile wildlife populations within which the design of future surveys can be adapted using data from past surveys whilst ensuring consistency in design-based estimates of status and trends through time. In each survey, part of the sample is selected from the previous survey sample using simple random sampling. The rest is selected with inclusion probability proportional to predicted abundance. Abundance is predicted using a model constructed from previous survey data and covariates for the whole survey region. Unbiased design-based estimators of status and trends and their variances are derived from two-phase sampling theory. Simulations over the short and long-term indicate that in general more precise estimates of status and trends are obtained using this mixed strategy than a strategy in which all of the sample is retained or all selected with probability proportional to predicted abundance. Furthermore the mixed strategy is robust to poor predictions of abundance. Estimates of status are more precise than those obtained from a rotating panel design.

The inclusion of forage mixtures in the diet of growing dairy heifers: impacts on digestion, energy utilisation, and methane emissions

Intensive farming focusing on monoculture grass species to maximise forage production has led to a reduction in the extent and diversity of species-rich grasslands. However, plant communities with higher species number (richness) are a potential strategy for more sustainable production and mitigation of greenhouse gas (GHG) emissions. Research has indicated the need to understand opportunities that forage mixtures can offer sustainable ruminant production systems. The objective of the two experiments reported here were to evaluate multiple species forage mixtures in comparison to ryegrass-dominant pasture, when conserved or grazed, on digestion, energy utilisation, N excretion, and methane emissions by growing 10–15 month old heifers. Experiment 1 was a 4 × 4 Latin square design with five week periods. Four forage treatments of: (1) ryegrass (control); permanent pasture with perennial ryegrass (Lolium perenne); (2) clover; a ryegrass:red clover (Trifolium pratense) mixture; (3) trefoil; a ryegrass:birdsfoot trefoil (Lotus corniculatus) mixture; and (4) flowers; a ryegrass:wild flower mixture of predominately sorrel (Rumex acetosa), ox-eye daisy (Leucanthemum vulgare), yarrow (Achillea millefolium), knapweed (Centaurea nigra) and ribwort plantain (Plantago lanceolata), were fed as haylages to four dairy heifers. Measurements included digestibility, N excretion, and energy utilisation (including methane emissions measured in respiration chambers). Experiment 2 used 12 different dairy heifers grazing three of the same forage treatments used to make haylage in experiment 1 (ryegrass, clover and flowers) and methane emissions were estimated using the sulphur hexafluoride (SF6) tracer technique. Distribution of ryegrass to other species (dry matter (DM) basis) was approximately 70:30 (clover), 80:20 (trefoil), and 40:60 (flowers) for experiment 1. During the first and second grazing rotations (respectively) in experiment 2, perennial ryegrass accounted for 95 and 98% of DM in ryegrass, and 84 and 52% of DM in clover, with red clover accounting for almost all of the remainder. In the flowers mixture, perennial ryegrass was 52% of the DM in the first grazing rotation and only 30% in the second, with a variety of other flower species occupying the remainder. Across both experiments, compared to the forage mixtures (clover, trefoil and flowers), ryegrass had a higher crude protein (CP) content (P < 0.001, 187 vs. 115 g kg −1 DM) and DM intake (P < 0.05, 9.0 vs. 8.1 kg day −1). Heifers in experiment 1 fed ryegrass, compared to the forage mixtures, had greater total tract digestibility (g kg −1) of DM (DMD; P < 0.008, 713 vs. 641) and CP (CPD, P < 0.001, 699 vs. 475), and used more intake energy (%) for body tissue deposition (P < 0.05, 2.6 vs. −4.9). For both experiments, heifers fed flowers differed the most compared to the ryegrass control for a number of measurements. Compared to ryegrass, flowers had 40% lower CP content (P < 0.001, 113 vs. 187 g kg −1), 18% lower DMD (P < 0.01, 585 vs. 713 g kg −1), 42% lower CPD (P < 0.001, 407 vs. 699 g kg −1), and 10% lower methane yield (P < 0.05, 22.6 vs. 25.1 g kg −1 DM intake). This study has shown inclusion of flowers in forage mixtures resulted in a lower CP concentration, digestibility and intake. These differences were due in part to sward management and maturity at harvest. Further research is needed to determine how best to exploit the potential environmental benefits of forage mixtures in sustainable ruminant production systems.

Design and baseline characteristics of the Food4Me study: a web-based randomised controlled trial of personalised nutrition in seven European countries

Improving lifestyle behaviours has considerable potential for reducing the global burden of non-communicable diseases, promoting better health across the life-course and increasing well-being. However, realising this potential will require the development, testing and implementation of much more effective behaviour change interventions than are used conventionally. Therefore, the aim of this study was to conduct a multi-centre, web-based, proof-of-principle study of personalised nutrition (PN) to determine whether providing more personalised dietary advice leads to greater improvements in eating patterns and health outcomes compared to conventional population-based advice. A total of 5,562 volunteers were screened across seven European countries; the first 1,607 participants who fulfilled the inclusion criteria were recruited into the trial. Participants were randomly assigned to one of the following intervention groups for a 6-month period: Level 0-control group-receiving conventional, non-PN advice; Level 1-receiving PN advice based on dietary intake data alone; Level 2-receiving PN advice based on dietary intake and phenotypic data; and Level 3-receiving PN advice based on dietary intake, phenotypic and genotypic data. A total of 1,607 participants had a mean age of 39.8 years (ranging from 18 to 79 years). Of these participants, 60.9 % were women and 96.7 % were from white-European background. The mean BMI for all randomised participants was 25.5 kg m(-2), and 44.8 % of the participants had a BMI ≥ 25.0 kg m(-2). Food4Me is the first large multi-centre RCT of web-based PN. The main outcomes from the Food4Me study will be submitted for publication during 2015.

Social cohesion: inclusion and a sense of belonging in Latin America and the Caribbean. Summary

Includes bibliography

Effect of lipid sources and inclusion levels in diets for broiler chickens

This research aimed to evaluate the interactions and effects of 2 and 4% addition levels of poultry slaughterhouse fat (chicken tallow) and soybean oil in diets for broiler chickens. Two experiments were carried out using one-day-old male Cobb chicks in an entirely random design with a 2x2 factorial scheme. In the first experiment, 560 chicks were used to evaluate performance and carcass characteristics. In the second experiment, 100 chicks were used to determine the nutrient digestibility, dietary energy utilization and the lipase and amylase pancreatic activity. There was no interaction between the fat sources and the addition levels for any of the analyzed variables, except for the digestibility coefficient of dry matter (DCDM), which was higher in diets added with 2% soybean oil when compared to chicken tallow. The addition of 4% fat in the diet, regardless of fat source, improved the digestibility coefficient of ethereal extract (DCEE) and increased weight gain and feed intake. Moreover, in the initial phase, the addition of 4% fat to the diet increased lipase activity when compared to diets with 2% addition, and a positive correlation between DCEE and pancreatic lipase activity was observed. In conclusion, there is no interaction between fat sources and addition levels, except for DCDM. Carcass characteristics are not influenced by any of the studied factors. The addition of 4% fat increases pancreatic lipase activity and improves DCEE, resulting in greater weight gain, regardless of the tested fat source, making chicken tallow a great alternative to soybean oil.

Dietary fiber inclusion as an alternative to Feed Fasting to induce molting in Commercial Layers

The objective of the present experiment was to compare the performance, egg quality and organ morphometrics of commercial layers submitted to alternative forced molting methods using dietary fibers. The experimental period included the phases of molting, rest, and second laying cycle (six periods of 28 days each). In the trial, 320 commercial Isa Brown layers with 72 weeks of age were distributed, according to a completely randomized experimental design into five treatments with eight replicates of eight birds each, totaling 40 experimental units. Molting was induced by feeding diets with the inclusion of alfalfa or soybean husks at 80% and 60% or feed fasting. Treatments were applied for 14 days. Performance and egg quality parameters were evaluated for the second laying cycle and organ morphometrics (liver, gizzard, proventriculus, reproductive apparatus) in two different slaughter dates. The obtained data were submitted to analysis of variance using the General Linear Model (GLM) procedure of SAS statistical package (SAS Institute, 2002). Alternative molting methods promoted similar performance and egg quality results after molting were similar to those obtained by the conventional fasting method. Feeding fiber produced the expected effects in terms of organ weight regression and recovery and may be used to induce molting in commercial layers.

Quantification of ruminal microbiota and production of methane and carbonic dioxide from diets with inclusion of glycerin

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A relação das tendinopatias do manguito rotador com as atividades cotidianas: uma contribuição para o design ergonômico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Limites reais e impostos à criança com subvisão: a contribuição do design para o projeto de jogos inclusivos

Pós-graduação em Design - FAAC

Effect of the inclusion of fish residue oils in diets on the fatty acid profile of muscles of males and females lambari (Astyanax altiparanae)

This study evaluated the effects of two lipids sources of fish residue (tilapia and salmon) compared with a vegetable oil source (soybean oil) on the fatty acid profiles of male and female lambari. This experiment was developed in a completely randomized experimental design in a 3 x 2 factorial arrangement, totaling 6 treatments resulting from the combination of the three experimental diets for both sexes, with four replications for each treatment. This study involved 120 male (2.58 +/- 0.13 g) and 72 female lambari (4.00 +/- 0.09 g), fed the experimental diets twice a day until apparent satiation for a period of 60 days. Oleic, linoleic, palmitic and stearic fatty acids were found at higher concentrations in all experimental oils and diets, as well in the muscle of male and female lambari. The low amounts of arachidonic, eicosapentaenoic and docosahexaenoic acids in the experimental diets and subsequent greater concentrations in muscle tissue, suggested that lambari are able to desaturate and elongate the chain of fatty acids with 18 carbons. The fish of both sexes that received the diet with soybean oil showed high levels of n-6 fatty acids, especially of C18: 2n-6 and low levels of eicosapentaenoic and docosahexaenoic acids. The diet with salmon residue oil promoted higher levels of fatty acids of the n-3 series and resulted in the best n-3/n-6 ratio in the muscle of male and female lambari. The oils from fish residues can be a substitute for traditional fish oil and its use in the lambari diets does not impair its growth.

What is Missing for Traditional Design-Centric Engineering Education to Better Prepare Newly Graduated Engineers for the Global Era?

This paper presents an analysis of the capacity of design centric methodologies to prepare engineering students to succeed in the market. Gaps are brainstormed and analyzed with reference to their importance. Reasons that may lead the newly graduated engineers not to succeed right from the beginning of their professional lives have also been evaluated. A comparison among the two subjects above was prepared, reviewed and analyzed. The influence of multidisciplinary, multicultural and complex environmental influences created in the current global business era is taken into account. The industry requirements in terms of what they expect to 'receive' from their engineers are evaluated and compared to the remaining of the study above. An innovative approach to current engineering education that utilizes traditional design-centric methodologies is then proposed, aggregating new disciplines to supplement the traditional engineering education. The solution encompasses the inclusion of disciplines from Human Sciences and Emotional Intelligence fields willing to better prepare the engineer of tomorrow to work in a multidisciplinary, globalized, complex and team working environment. A pilot implementation of such an approach is reviewed and conclusions are drawn from this educational project.

Toward supramolecular architectures of the anti-HIV drug lamivudine: understanding the effect of the inclusion of water in a hydrochloride form

Two salts of the anti-HIV drug lamivudine, namely, lamivudine hydrochloride and lamivudine hydrochloride monohydrate, were prepared for the first time. Structural relationships and the role of water in crystal assembly and lamivudine conformation were established and allowed for a rational approach to understand how solid state properties could be changed by engineering new salts of the drug.

Evaluating sport projects which promote social inclusion for young people: a case study

[EN] This work presents the findings of a participatory research program evaluating the outcomes of an Italian sports program for minors at risk. Using a participatory evaluation approach enabled an evaluation-research close to the real objectives and useful for monitoring and e-planning actions, starting from an initial exploration of the different stakeholders’ views of the project itself. The research design is presented in the form of a case study, emphasizing the continuous involvement of the project’s stakeholders in the evaluation process. The outcomes here presented make evident how the participatory evaluation project allowed a targeted and ongoing monitoring at group level as well as at individual level with the minors involved in the project.

Preventing vasospasm improves outcome after aneurysmal subarachnoid hemorrhage: rationale and design of CONSCIOUS-2 and CONSCIOUS-3 trials

Cerebral vasospasm after aneurysmal subarachnoid hemorrhage (aSAH) is a frequent but unpredictable complication associated with poor outcome. Current vasospasm therapies are suboptimal; new therapies are needed. Clazosentan, an endothelin receptor antagonist, has shown promise in phase 2 studies, and two randomized, double-blind, placebo-controlled phase 3 trials (CONSCIOUS-2 and CONSCIOUS-3) are underway to further investigate its impact on vasospasm-related outcome after aSAH. Here, we describe the design of these studies, which was challenging with respect to defining endpoints and standardizing endpoint interpretation and patient care. Main inclusion criteria are: age 18-75 years; SAH due to ruptured saccular aneurysm secured by surgical clipping (CONSCIOUS-2) or endovascular coiling (CONSCIOUS-3); substantial subarachnoid clot; and World Federation of Neurosurgical Societies grades I-IV prior to aneurysm-securing procedure. In CONSCIOUS-2, patients are randomized 2:1 to clazosentan (5 mg/h) or placebo. In CONSCIOUS-3, patients are randomized 1:1:1 to clazosentan 5, 15 mg/h, or placebo. Treatment is initiated within 56 h of aSAH and continued until 14 days after aSAH. Primary endpoint is a composite of mortality and vasospasm-related morbidity within 6 weeks of aSAH (all-cause mortality, vasospasm-related new cerebral infarction, vasospasm-related delayed ischemic neurological deficit, neurological signs or symptoms in the presence of angiographic vasospasm leading to rescue therapy initiation). Main secondary endpoint is extended Glasgow Outcome Scale at week 12. A critical events committee assesses all data centrally to ensure consistency in interpretation, and patient management guidelines are used to standardize care. Results are expected at the end of 2010 and 2011 for CONSCIOUS-2 and CONSCIOUS-3, respectively.