Fractional central differences and derivatives

Journal of Vibration and Control, Vol. 14, Nº 9-10

Filtering method in backlash phenomena analysis

The behavior of robotic manipulators with backlash is analyzed. Based on the pseudo-phase plane two indices are proposed to evaluate the backlash effect upon the robotic system: the root mean square error and the fractal dimension. For the dynamical analysis the noisy signals captured from the system are filtered through wavelets. Several tests are developed that demonstrate the coherence of the results.

Fractional central differences and derivatives

Journal of Vibration and Control, 14(9–10): 1255–1266, 2008

Environmental Decision Support: a Multi-Agent Approach

The environmental management domain is vast and encompasses many identifiable activities: impact assessment, planning, project evaluation, etc. In particular, this paper focusses on the modelling of the project evaluation activity. The environmental decision support system under development aims to provide assistance to project developers in the selection of adequate locations, guaranteeing the compliance with the applicable regulations and the existing development plans as well as satisfying the specified project requirements. The inherent multidisciplinarity features of this activity lead to the adoption of the Multi-Agent paradigm, and, in particular, to the modelling of the involved agencies as a community of cooperative autonomous agents, where each agency contributes with its share of problem solving to the final system’s recommendation. To achieve this behaviour the many conclusions of the individual agencies have to be justifiably accommodated: not only they may differ, but can be interdependent, complementary, irreconcilable, or simply, independent. We propose different solutions (involving both local and global consistency) to support the adequate merge of the distinct perspectives that inevitably arise during this type of decision making.

Belief Revision in Multi-Agent Systems

The ability to respond sensibly to changing and conflicting beliefs is an integral part of intelligent agency. To this end, we outline the design and implementation of a Distributed Assumption-based Truth Maintenance System (DATMS) appropriate for controlling cooperative problem solving in a dynamic real world multi-agent community. Our DATMS works on the principle of local coherence which means that different agents can have different perspectives on the same fact provided that these stances are appropriately justified. The belief revision algorithm is presented, the meta-level code needed to ensure that all system-wide queries can be uniquely answered is described, and the DATMS’ implementation in a general purpose multi-agent shell is discussed.

Improving Assumption based Distributed Belief Revision

Belief revision is a critical issue in real world DAI applications. A Multi-Agent System not only has to cope with the intrinsic incompleteness and the constant change of the available knowledge (as in the case of its stand alone counterparts), but also has to deal with possible conflicts between the agents’ perspectives. Each semi-autonomous agent, designed as a combination of a problem solver – assumption based truth maintenance system (ATMS), was enriched with improved capabilities: a distributed context management facility allowing the user to dynamically focus on the more pertinent contexts, and a distributed belief revision algorithm with two levels of consistency. This work contributions include: (i) a concise representation of the shared external facts; (ii) a simple and innovative methodology to achieve distributed context management; and (iii) a reduced inter-agent data exchange format. The different levels of consistency adopted were based on the relevance of the data under consideration: higher relevance data (detected inconsistencies) was granted global consistency while less relevant data (system facts) was assigned local consistency. These abilities are fully supported by the ATMS standard functionalities.

Distributed Belief Revision and Environmental Decision Support

This article discusses the development of an Intelligent Distributed Environmental Decision Support System, built upon the association of a Multi-agent Belief Revision System with a Geographical Information System (GIS). The inherent multidisciplinary features of the involved expertises in the field of environmental management, the need to define clear policies that allow the synthesis of divergent perspectives, its systematic application, and the reduction of the costs and time that result from this integration, are the main reasons that motivate the proposal of this project. This paper is organised in two parts: in the first part we present and discuss the developed - Distributed Belief Revision Test-bed - DiBeRT; in the second part we analyse its application to the environmental decision support domain, with special emphasis on the interface with a GIS.

Distributed Belief Revision and Environmental Decision Support

This article discusses the development of an Intelligent Distributed Environmental Decision Support System, built upon the association of a Multi-agent Belief Revision System with a Geographical Information System (GIS). The inherent multidisciplinary features of the involved expertises in the field of environmental management, the need to define clear policies that allow the synthesis of divergent perspectives, its systematic application, and the reduction of the costs and time that result from this integration, are the main reasons that motivate the proposal of this project. This paper is organised in two parts: in the first part we present and discuss the developed ; in the second part we analyse its application to the environmental decision support domain, with special emphasis on the interface with a GIS.

Intelligent Distributed Environmental Decision Support System

This article discusses the development of an Intelligent Distributed Environmental Decision Support System, built upon the association of a Multi-agent Belief Revision System with a Geographical Information System (GIS). The inherent multidisciplinary features of the involved expertises in the field of environmental management, the need to define clear policies that allow the synthesis of divergent perspectives, its systematic application, and the reduction of the costs and time that result from this integration, are the main reasons that motivate the proposal of this project. This paper is organised in two parts: in the first part we present and discuss the developed Distributed Belief Revision Test-bed — DiBeRT; in the second part we analyse its application to the environmental decision support domain, with special emphasis on the interface with a GIS.

Beliefs and Conflicts in a Real World Multi-Agent System

In a real world multiagent system, where the agents are faced with partial, incomplete and intrinsically dynamic knowledge, conflicts are inevitable. Frequently, different agents have goals or beliefs that cannot hold simultaneously. Conflict resolution methodologies have to be adopted to overcome such undesirable occurrences. In this paper we investigate the application of distributed belief revision techniques as the support for conflict resolution in the analysis of the validity of the candidate beams to be produced in the CERN particle accelerators. This CERN multiagent system contains a higher hierarchy agent, the Specialist agent, which makes use of meta-knowledge (on how the con- flicting beliefs have been produced by the other agents) in order to detect which beliefs should be abandoned. Upon solving a conflict, the Specialist instructs the involved agents to revise their beliefs accordingly. Conflicts in the problem domain are mapped into conflicting beliefs of the distributed belief revision system, where they can be handled by proven formal methods. This technique builds on well established concepts and combines them in a new way to solve important problems. We find this approach generally applicable in several domains.

Fazer uma história da própria vida. Narrativa pessoal e memória comunicativa em Paul Schatz im uhrenkasten

This essay offers a reflection on the concepts of identity and personal narrative, a line of argument that is closely interlaced with a subject‘s capacity to self-representation. As self-representation is necessarily composed upon remembrance processes, the question of memory as an element that directly influences the formation of an individual‘s identity becomes an emergent topic. Bearing this objective in mind, I shall highlight the notion of biographic continuity, the ability to elaborate a personal narrative, as an essential prerogative to attain a sense of identitary cohesion and coherence. On the other hand, I will argue that not only experienced memories play a key role in this process; intermediated, received narratives from the past, memories transmitted either symbolically or by elder members of the group or, what has been meanwhile termed ―postmemory‖, also influence the development of an individual‘s identitary map. This theoretical framework will be illustrated with the novel Paul Schatz im Uhrenkasten, written by German post-Holocaust author Jan Koneffke.

Escrever para aprender estudo do meio

Dissertação apresentada à Escola Superior de Educação de Lisboa para obtenção de grau de mestre em Didáticas Integradas em Língua Portuguesa, Matemática, Ciências Naturais e Sociais

Sentido de coerência : ligação materno-fetal e estilo de vida da mulher durante a gravidez

RESUMO - Um dos grandes desafios actuais enfrentados pela Saúde Pública diz respeito ao fardo representado pelas doenças crónicas não transmissíveis enquanto co-responsáveis pela maioria das mortes que ocorrem no mundo, pela significativa e progressiva redução da qualidade de vida e aumento das incapacidades dos indivíduos afectados e por uma fasquia bastante elevada das despesas em saúde. Entretanto, a complexa dinâmica genética, biológica, psicológica, afectiva, sócio-cultural e ambiental que envolve o comportamento humano, tão amplamente relacionado com algumas destas doenças – doenças cardiovasculares, alguns tipos de cancro, obesidade, hipertensão, diabetes e doenças osteo-articulares – impõe o desafio constante da busca de novas e efectivas intervenções em promoção da saúde que influenciem positivamente os estilos de vida dos indivíduos, dos grupos e das comunidades. Sendo o sentido de coerência um traço da personalidade do indivíduo desenvolvido sob a influência directa ou indirecta dos mesmo factores acima referidos, o estabelecimento de uma relação entre este constructo e os comportamentos humanos pode revelar-se promissor para a elaboração de novas intervenções em promoção da saúde. Por sua vez, a gravidez, talvez por influência da ligação materno-fetal, pode representar um ponto de viragem na vida da mulher no que respeita ao sentido de coerência e aos comportamentos de saúde e um bom começo na vida do bebé que irá nascer sob a influência dos mesmos. Com a finalidade de contribuir para a construção de intervenções efectivas em promoção da saúde, através da descoberta de prováveis potencialidades salutogénicas dos constructos referidos – sentido de coerência e ligação materno-fetal –, foi desenvolvido um estudo quantitativo, observacional que teve por objectivos: ampliar o conhecimento sobre as mudanças do sentido de coerência no decorrer da vida, especificamente durante a gravidez; ampliar o conhecimento acerca das relações de alguns factores de natureza sócio-demográfica, psico-afectiva e obstétrica com o sentido de coerência das mulheres grávidas e com a ligação materno-fetal; e identificar possíveis relações entre o sentido de coerência, a ligação materno-fetal e o estilo de vida das mulheres grávidas, este último representado pelos hábitos alimentares, consumo de cafeína, consumo de álcool, hábitos tabágicos, prática regular de actividade física e ganho de peso durante a gravidez. O presente relatório descreve a concepção e os resultados deste estudo, que envolveu a uma amostra de 61 mulheres grávidas que estavam a ser acompanhadas nos serviços de saúde materna dos Centros de Saúde de Carnaxide extensão Linda-a-Velha e de Oeiras, no Distrito de Lisboa, Portugal, entre os meses de Fevereiro e Julho de 2005. Os resultados demonstram que, para a amostra de 61 mulheres grávidas que responderam ao inquérito por questionário de auto-resposta, foram encontradas associações estatisticamente significativas entre o sentido de coerência e a escolaridade e entre o sentido de coerência e a percepção do próprio estado de saúde. Além disso, foi encontrada alguma evidência das associações entre o sentido de coerência e a faixa etária, estado civil e rendimento mensal familiar e foi observada alguma tendência para que as mulheres grávidas com níveis de sentido de coerência mais elevados consumissem menos álcool do que as mulheres grávidas com níveis de sentido de coerência inferiores. Entretanto, as demais associações testadas não foram confirmadas. Relativamente à ligação materno-fetal, foram encontradas, para a amostra de 41 mulheres grávidas que participaram do segundo momento de colheita de dados do estudo, entre a 20ª e a 24ª semanas de gravidez, associações estatisticamente significativas com a escolaridade e o nível de rendimento familiar das mulheres grávidas, não tendo sido confirmadas as demais associações testadas. Embora não tenham sido estatisticamente evidenciadas as relações entre o sentido de coerência e a ligação materno-fetal e entre estes e os comportamentos de saúde, o carácter preliminar destes resultados, devido à subjectividade do processo de selecção não probabilístico da amostra estudada e à reduzida dimensão desta amostra, e a escassez de estudos descritos na literatura fazem com que seja prudente a realização de estudos de follow-up, com amostras de maiores dimensões, aleatórias e representativas da população, para que sejam estabelecidas quaisquer conclusões acerca destas questões.-----------------------------ABSTRACT - One of the greatest challenges faced by Public Health in nowadays is the burden represented by chronic diseases as co-responsible for the majority of deaths that occurs in the world, for the meaningful and progressive reduction of quality of life and increase of disabilities in affected individuals and for an important part of health expenses. However, the complexity of the genetic, biological, psychological, emotional, social, cultural and environmental dynamics that involves human behaviours related to some of these diseases – cardiovascular diseases, some kind of cancers, obesity, hypertension, diabetes and joint and bone diseases – poses the continuous challenge of searching for new and effective interventions of health promotion that positively influence individuals, groups and community lifestyles. Due to the fact that sense of coherence is an individual personality trace directly or indirectly influenced by the same factors listed above, the discovery of a relationship between this construct and human behaviours might be promising to the creation of new health promotion interventions. On the other hand, pregnancy may represent a turn point to the mother’s life and a good start in the baby’s life in relation to sense of coherence and health behaviours and It might occur because of the influence of maternal-fetal attachment. With the purpose of contributing with the creation of effective health promotion interventions through the discovery of probable salutogenic potentials in the referred constructs – sense of coherence and maternal-fetal attachment – , it was developed a quantitative observational study with the following objectives: to increase knowledge about changes in sense of coherence throughout life, specifically during pregnancy; to increase knowledge about the relationship between sense of coherence and maternal-fetal attachment and some social, demographical, psychological, emotional and obstetric factors of pregnant women; to identify probable relationships between sense of coherence, maternal-fetal attachment and pregnant women’s lifestyles, represented by diet habits, caffeine consumption, alcohol consumption, smoking habits, physical activity habits and weigh gain during pregnancy. This report describes the structure and the findings of this study involving a sample of 61 pregnant women who had been followed by health professionals in the mother health services of Carnaxide (Linda-a-Velha unity) and Oeiras Health Centres, in Lisbon, Portugal, between February and July of 2005. The results show that, for the 61 pregnant women who filled the self-reported questionnaire, it was found a statistically significant association between sense of coherence and education level. It was also found some evidence of the associations between sense of coherence and age, marital status and mensal household income and a trend toward pregnant women with higher levels of sense of coherence to drink less alcoholic beverages than pregnant women with lower levels of sense of coherence. However, the others associations tested were not confirmed. Regarding maternal-fetal attachment, it was found, for the sample of 41 women who participated in the second moment of data collection, between the 20th and the 24th week of pregnancy, statistically significant associations with education level and mensal household income. The others associations tested were not confirmed. Although the associations between sense of coherence and maternal-fetal attachment and between these constructs and health behaviours were not confirmed, all findings presented here are considered preliminary because of small dimension of sample and non-probabilistic criteria used for sample selection. What’s more, there are almost no studies described in the literature which could confirm or contradict these findings. Therefore, it is better to be careful and develop follow-up studies, with bigger and representative of population samples, before draw any conclusions about these theme.

Sentido de coerência em pessoas com diabetes de tipo 2 : autocuidado e controlo metabólico

RESUMO - A diabetes mellitus é considerada um flagelo à escala mundial, não apenas por atingir milhões de pessoas, mas também porque se tem verificado um aumento da sua prevalência e, consequente-mente, das suas complicações crónicas, que se traduzem no aumento dos gastos em saúde e, sobretudo, em sofrimento das pessoas com diabetes, seus familiares e comunidade. A prevenção das complicações crónicas da diabetes reside, sobretudo, na adopção de comporta-mentos saudáveis que, no dia-a-dia, se traduzem em competência no autocuidado. Assim, será importante conhecer em que medida o sentido de coerência – característica pessoal entendida como influenciadora das estratégias utilizadas face aos acontecimentos originadores de stress, com repercussões na saúde mental, bem como na saúde física – pode determinar a escolha de comportamentos de saúde e, por tal, possa considerar-se como um aspecto sobre o qual os pro-fissionais de saúde poderão investir em prole do seu fortalecimento e, consequentemente, garantir a facilitação do processo de adopção de comportamentos saudáveis. De acordo com o estudo transversal exploratório retrospectivo proposto ambiciona-se conhecer a relação entre o nível de sentido de coerência e o nível de autocuidado e de controlo metabólico, das pessoas com diabetes de tipo 2. Para tal investigação reconhece-se a pertinência da aplica-ção da escala de avaliação do sentido de coerência – Questionário Orientação para Viver (Nunes, 1999), da escala de avaliação do autocuidado com a diabetes – Escala de Avaliação das Activida-des de Autocuidado com a Diabetes (Bastos, Severo e Lopes, 2007) e do Formulário de Controlo Metabólico na Diabetes (European Society of Cardiology e European Association for the Study of Diabetes cit. por Direcção-Geral da Saúde, 2007), numa amostra constituída por 391 pessoas com diabetes de tipo 2, seleccionadas por amostragem aleatória estratificada proporcional, de entre os utentes inscritos nas 33 instituições de Cuidados de Saúde Primários, do distrito de Viana do Castelo --------------------------- ABSTRACT - Diabetes mellitus is considered a global scourge, not only for reaching millions of people, but also because there has been an increase in its prevalence and, consequently, its chronic complications, which translate into increased spending on health and especially in the suffering of people with diabetes, their families and community. The prevention of chronic complications of diabetes includes adoption healthy behaviors that on the day to day, translate into competence in self-care. Therefore it is important to know how far the sense of coherence – understood as influential personal characteristic of the strategies used by the events originators of stress, affecting the mental health and physical health – may determine the choice of health behaviors and, as such, can be considered as an aspect about which health pro-fessionals will invest in strengthening their offspring and thus ensure the facilitation of the process of adopting healthy behaviors. According to the proposed retrospective exploratory cross-sectional study aims to discover the relationship between the level of sense of coherence and level of self-care and metabolic control on people with type 2 diabetes. For this research recognizes the appropriateness of applying the rating scale of sense of coherence – Questionário Orientação para Viver (Nunes, 1999), the rating scale of self-care in diabetes – Escala de Avaliação das Actividades de Autocuidado com a Di-abetes (Bastos, Severo and Lopes, 2007) and the Formulário de Controlo Metabólico na Diabetes (European Society of Cardiology and European Association for the Study of Diabetes cit. por Di-recção-Geral da Saúde, 2007), a sample of 391 people with type 2 diabetes, selected by propor-tional stratified random sampling from among registered users in 33 institutions of Primary Health Care, on district of Viana do Castelo.

O controlo da tuberculose em Portugal : uma apreciação crítica epidemiológica gl

RESUMO - Com tanto ruído informativo e peças de informação incompletas e descontextualizadas, relativos ao controlo da tuberculose em Portugal, a chegarem ao cidadão e aos profissionais de saúde, não é fácil que eles disponham do conhecimento necessário ao desempenho dos respectivos papéis nesse controlo. O presente artigo pretende contribuir para um ganho real em conhecimento quanto (1) ao progresso no controlo da tuberculose em Portugal, enquadrado na evolução desse controlo noutras regiões pertinentes, e (2) aos aspectos do conhecimento disponível e da intervenção na população portuguesa que suscitem especial atenção, para melhoria no futuro imediato. Tem como estratégia integrar, e elevar ao nível de conhecimento, a informação disponibilizada nas fontes mais credíveis e pertinentes, valorizada no contexto da validade das mesmas fontes e da coerência dos diversos componentes. Relata o resultado de um exercício independente de apreciação crítica, com uma perspectiva epidemiológica. São observados: a situação actual, sobretudo a relativa aos anos de 2006 e 2007, e o desempenho do Programa Nacional de Controlo da Tuberculose (PNT), ambos relativizados à evolução recente e ao panorama internacional. O exercício de observação e revisão independentes baseia-se numa selecção de informação oficial e segue o mesmo método de abordagem que a O.M.S. faz nos seus relatórios anuais, à semelhança de outros exercícios já antes realizados. O controlo da tuberculose tem prosseguido a sua tímida, mas firme, evolução favorável, aproximando-se do nível já conseguido nos países seus vizinhos da Europa Ocidental. Em 2007, Portugal contribuiu para os 9 milhões de casos novos anuais, estimados no mundo, com 2916 casos notificados. A este número corresponde a taxa de incidência notificada de 25,7 por 100 000 habitantes e uma redução de 14% em relação ao ano anterior. Esta evolução afigura-se animadora, ainda que seja desejável um impacte mais acentuado do PNT, conforme é de esperar considerando o grau de desenvolvimento do País. A taxa de detecção de casos novos estimada é elevada e continua uma das melhores da Europa Ocidental — o que desfavorece artificialmente a imagem notificada do País, relativamente aos países com pior capacidade de detecção. A taxa de sucesso terapêutico melhorou de novo, situando- -se acima da meta de 85% preconizada pela O.M.S, para um bom controlo da tuberculose. Uma das consequências importantes é que se consegue um melhor aproveitamento da detecção habitualmente alcançada. O conhecimento no seu conjunto aponta para que o grau de controlo possa e deva realmente ser melhorado, sendo imperiosa a discriminação positiva das áreas geográficas e dos grupos populacionais em que tende a concentrar-se a emergência de maior número de casos e de resistências aos medicamentos. Deverão assim ser reforçados selectivamente tanto os meios de detecção e de intervenção clínica, como a qualidade da organização local da intervenção, para o cumprimento efectivo da estratégia DOTS. Enquanto programa vertical que atravessa os diversos níveis do sistema de cuidados de saúde, o desempenho do PNT sofre os efeitos das atribulações desses serviços, sobretudo os de cuidados primários, funcionando como uma «situação-marcadora» quanto ao desempenho do sistema de saúde. A evidência é de que é nesta primeira linha de cuidados que se decide o sucesso na detecção e no tratamento dos casos de tuberculose, reflectindo-se também aí o grau de desenvolvimento social e os comportamentos das populações, por sua vez determinantes do risco de doença e do sucesso terapêutico. ------------------- ABSTRACT - It is not easy that both the citizen and health professionals get enabled with the required knowledge, in order do play the corresponding roles in the control of tuberculosis, considering all the information noise and incomplete, out of context information pieces about the subject, that reach them. This paper is envisaging to contribute for a real gain in knowledge, regarding: (1) the progress in tuberculosis control in Portugal, framed by the evolution of such control in other pertinent regions and (2) the available knowledge and intervention aspects in the Portuguese population that require a special attention, for improvement. The article’s strategy is to integrate, and raise to a knowledge level, information provided by the most accredited and pertinent sources, interpreted as a function of the validity context of the same sources and of the coherence of the several components. Two aspects are observed: the current situation, in particular concerning years 2006 and 2007, and the performance of the National Programme for the Tuberculosis Control (PNT), both made relative to the recent evolution and to the international panorama. This independent observation and revision exercise is based on a selection of official information and follows the same approach that the World Health Organization (W.H.O.) uses in its annual reports, like other similar exercises previously undertaken. The control of tuberculosis is evolving in a shy, but firm, fashion, getting closer to the level already attained by the neighbor countries, in Western Europe. Portugal has contributed with 2916 new notified cases, to the 9 million annual cases estimated in the world, in 2007. This number corresponds to an incidence rate, for notified cases, of 25.7 per 100000 population, and to a reduction of 14% in one year. Such evolution seems encouraging, although a greater impact of PNT is desirable, as expected in relation to the degree of the Country development. Estimated new cases detection rate is high and keeps being one of the best in Western Europe — and this artificially disadvantages the notified image of the Country, as compared with other countries having a worst detection capacity. Treatment success rate has improved again and it is above the 85% target proposed by W.H.O., so that a good control of the disease is achieved. One of the important consequences is a better use of the attained detection. Altogether, knowledge suggests that the degree of control can and must be in fact better; and that a positive discrimination of geographic areas and population groups, in which a greater number of new cases and drug resistances tend to concentrate, is mandatory. Therefore, either clinical detection and intervention resources, or the quality of the local intervention organization have to be reinforced, if a total fulfillment of DOTS strategy is to be obtained. As a vertical programme that crosses the several levels of the health care system, PNT performance suffers the effects of services tribulations, mainly primary care, thus acting as a «markersituation » as to this system performance. Evidence shows that it is in this first line of care that success in both detection and treatment of tuberculosis cases is decided; and that this level also reveals the degree of social developmen