Simulação de Robôs Quadrúpedes Utilizando o SimMechanics

Desde sempre o Homem procurou automatizar tarefas repetitivas. Tanto na indústria como no sector doméstico ou de comércio estão constantemente a surgir novos equipamentos procurando aumentar o nível de automação de diversas tarefas. A necessidade de empresas criadoras de produtos inovadores se manterem concorrenciais obrigou à adopção de métodos de projecto e planeamento mais estruturados e eficientes que eliminem os desperdícios tanto de material como de tempo. Diversas construções em termos orçamentais e o aumento da procura de produtos de alta qualidade a baixo custo deu origem a um novo tipo de programas, os programas de simulação virtual. Tal como na indústria, também na investigação nas Instituições de Ensino Superior se procuram adoptar os métodos de trabalho mais eficientes possíveis. Uma parte dos programas de simulação robótica utilizados hoje em dia na investigação no Instituto Superior de Engenharia do Porto estão concebidos em linguagem C. Embora esta linguagem seja extremamente capaz, existem métodos mais adequados de simulação que aceleram o processo de modelação permitindo a visualização do movimento e simulação de diversas situações potencialmente criticas sem existir a necessidade de construção de um protótipo funcional do robô. Durante o último ano, este projecto permitiu construir um modelo de um robô quadrúpede num programa de simulação virtual chamado Simmechanics™. Embora haja já algum trabalho desenvolvido nesta área, constatou-se que a informação existente possuía algumas lacunas. Com o trabalho desenvolvido preparou-se esta dissertação que pretende clarificar algumas questões que surgem na modelação de um robô. Neste documento explica-se como modelar um robô de corpo flexível, modelar as pernas e as respectivas juntas da anca e do joelho assim como também se apresenta a modelação de um contacto com o solo recorrendo a um modelo descrito na literatura. Este documento foi escrito a pensar no leitor, procurando-se explicar de forma simples mas concisa os diversos passos necessários para construir um modelo virtual de um robô. O autor espera, desta forma, ajudar futuros colegas que pretendam trabalhar com o Simmechanics™ a mais facilmente se integrarem com o programa aumentando desta forma o declive da curva de aprendizagem e permitindo um maior aproveitamento desta ferramenta.

Fungal agents in different anatomical sites in Public Health Services in Cuiabá, state of Mato Grosso, Brazil

INTRODUCTION: A contribution to the regional epidemiological profile of the most common fungal agents in Public Health Services in Cuiabá, state of Mato Grosso, including university hospitals and polyclinics. METHODS: Clinical specimens (n = 1,496) from 1,078 patients were collected, submitted to direct mycological exam (potash or stick tape method) and cultured in specific mediums. Dermatophytic and non-dermatophytic agents were identified according to micromorphology (Ridell technique). RESULTS: The majority of the 1,496 specimens were skin (n = 985) and nail exams (n = 472). Of the 800 positive cultures, 246 (30.8%) corresponded to dermatophytes and 336 (42%) to yeasts of the genus Candida, 190 (23.7%) to other yeasts, 27 (3.4%) to non-dermatophytic filamentous fungi and one (0.1%) the agent of subcutaneous mycosis. Lesions considered primary occurred in greater numbers (59.5%) than recurrent lesions (37.4%), with a greater concentration of positivity occurring on the arms and legs. CONCLUSIONS: Comorbidities, allergies and diabetes mellitus were conditions associated with greater positivity in direct mycological exams and cultures. Positive culture was considered a definitive diagnosis of fungal infection and confirmed 47.8% of diagnostic hypotheses.

SIXTEEN YEARS OF PITYRIASIS VERSICOLOR IN METROPOLITAN AREA OF PORTO ALEGRE, SOUTHERN BRAZIL

SUMMARY Pityriasis versicolor is the most common of the diseases caused by Malasseziayeasts. The aim of this study is to determine the prevalence of pityriasis versicolor and its etiological aspects in the metropolitan area of Porto Alegre, Brazil. A retrospective crosssectional study with data from patients of a reference hospital from 1996 to 2011 was performed. Collected data included: date, age, gender, ethnicity, anatomical region of lesion and the direct mycological examination results. Among the positive results in the direct mycological examination, 5.8% (2,239) were positive for pityriasis versicolor. The angular coefficient (B) was -0.3%/year, showing a decrease over the years. The disease was more prevalent in men (7.1% of men versus 5.1% of women that underwent the direct mycological examination); younger age (median 31 years old); "pardo" and black people (3.7% more than expected in the sample); trunk (73.44% of the affected anatomic sites). Lesions in rare sites (groin, genitals, legs, feet and hands) were also observed in this study. In conclusion, due to the decrease in the prevalence of pityriasis versicolor, long-term epidemiological studies in the metropolitan area of Porto Alegre, Brazil, are needed to continue the monitoring of this disease.

Involuntary Rhythmic Leg Movements Time-Locked With the Respiratory Cycle

Involuntary rhythmic leg movements in childhood is an uncommon condition, the generators of which remain unknown. We report on a male 3 years of age with distinct features providing important clues concerning the location of one of these generators. At the age of 7 months, the previously healthy young male started with low frequency, rhythmic, and continuous (both during wakefulness and sleep) flexion/extension movements of the lower limbs. Movements interfered significantly with gait acquisition, and, despite normal cognitive development, he was able to walk only at age 2 years, 4 months. The neurologic examination revealed the absence of automatic stepping in the neonatal period, but was otherwise normal. A polygraphic electroencephalogram/electromyogram EEG/EMG) recording, at the age of 2 years, 9 months, revealed rhythmic and synchronous legs with EMG activity at 0.5 Hz. A more complete polygraphic recording at the age of 3 years, 10 months, showed a lower frequency (0.35 Hz) for the movements, which were time-locked with the respiratory cycle. Magnetic resonance imaging (MRI) of the brain revealed an increased T2 signal in the upper medulla-lower pons regions. The generator of the rhythmic legs movements is postulated to be the respiratory center, connecting with the reticulospinal projecting neurons through an aberrant pathway.

SURVIVAL CAPACITY OF Arcobacter butzleri INOCULATED IN POULTRY MEAT AT TWO DIFFERENT REFRIGERATION TEMPERATURES

Arcobacter spp. are emerging enteropathogens and potential zoonotic agents that can be transmitted by food and water, being considered a public health risk. The high isolation rate of these bacteria from poultry products suggests that it may be a major source of human infections. One hallmark for differentiating the genus Arcobacter fromCampylobacter includes their growing capacity at low temperatures (15-30 °C) under aerobic conditions. However, little is known about the population density variation of these bacteria at different refrigeration temperatures. The aim of this study was to determine the survival behavior of two different Arcobacter butzleri concentrations (104 CFU/mL and 107 CFU/mL) inoculated on chicken legs and held at two different refrigeration temperatures (4 and 10 °C) throughout storage time. Results have shown that A. butzleri had growing capacity both at 4 and 10 °C. No statistical difference between the survival trends was found for both bacterial concentrations and temperatures tested. This study shows that A. butzleri is a robust species with regard to storage temperature, and represents a potential health risk for poultry meat consumers.

Pseudo-Kaposi's Sarcoma Because of Suction-Socket Lower Limb Prosthesis

Pseudo-Kaposi sarcoma is a benign reactive vascular proliferation mainly involving the lower legs, which can be related to acquired chronic venous insufficiency or congenital arteriovenous malformations. In its most common presentation, acroangiodermatitis is seen in patients with chronic venous insufficiency of the lower limbs as an exaggeration of the stasis dermatitis. However, rare reports of acroangiodermatitis include descriptions in amputees (especially in those with poorly fitting suction-type devices), in patients undergoing hemodialysis (with lesions developing distally to arteriovenous shunts) and in patients with paralyzed legs. We report on a 28 year-old-male who presented pseudo-Kaposi's sarcoma in an amputation stump because of suction-socket lower limb prosthesis.

Isolation of dengue 2 virus from a patient with central nervous system involvement (transverse myelitis)

A dengue fever case is described in a 58-year-old male patient with febrile illness and thrombocytopenia complicated by neurological involvement characterized by transverse myelitis followed by weakness of both legs and flaccid paralysis. Muscle strength was much diminished and bilateral areflexia was observed. Dengue 2 (DEN-2) virus was isolated and the patient sero-converted by hemagglutination-inhibition and IgM-ELISA tests. The RT-PCR test was positive to DEN-2 in acute phase serum and culture supernatant, but negative in the cerebrospinal fluid. After three weeks of hospitalization the patient was discharged. No other infectious agent was detected in the blood and cerebrospinal fluid samples. The patient had full recovery from paralysis six months after the onset of DEN-2 infection.

Disseminated cutaneous sporotrichosis in a patient with AIDS: report of a case

We describe a case report of disseminated cutaneous sporotrichosis as the initial presentation of AIDS in a 24-year-old HIV-positive male patient. He presented multiple ulcerated skin lesions distributed over the face, thorax, legs and arms. Biopsy of one of the cutaneous lesions was suggestive of sporotrichosis and culture isolated Sporothrix schenckii. Itraconazole was started and the lesions progressively resolved after 15 days of medication. The patient was discharged with this medication but he did not return for follow-up. He died three months later in another hospital. Therapy of sporotrichosis in HIV-infected patients remains unclear and the response to therapy is variable. Itraconazole is highly concentrated in the skin and is one of the options for treatment of disseminated sporotrichosis.

Retrospective study of 151 patients with cutaneous leishmaniasis treated with meglumine antimoniate

We retrospectively analyzed a series of 151 cases of cutaneous leishmaniasis treated between 1967 and 1982. One-hundred-and-thirty-nine (92%) patients presented with active lesions and were treated with daily doses of meglumine antimoniate: 81 adults received a 5-ml vial IM and 58 children received 1 to 5ml. Forty-five (32.4%) patients underwent continuous treatment with meglumine antimoniate for 25 to 116 days without rest intervals, and 94 (67.6%) intermittent treatment with 2 to 5 series of meglumine antimoniate. Intermittent series could include schedules of daily IM applications for 10 to 25 days each and intervals varying from 10 to 60 days. Antimony dose was calculated for 66 (47.5%) patients and ranged from 3.9 to 28.7 Sb5+/kg/day. Of these, 35 patients received >10mg and 31 patients <10mg Sb5+/kg/day. Median time of healing was longer for lesions on the legs and feet - 67.5 days versus 48.7 days (p < 0.001) for other sites. However, there were no significant differences in the median time of healing between adults and children, intermittent and continuous regimens or high and low antimony doses. Fifty-one patients were reassessed 5 to 14 years after treatment and showed no evidence of disease. These results support further investigation (clinical trials) on treatment using low doses of antimony.

Dermatitis caused by the tropical fowl mite Ornithonyssus bursa (Berlese) (Acari: Macronyssidae): a case report in humans

Abstract: We herein report human dermatitis caused by the tropical fowl mite Ornithonyssus bursa (Berlese). The cases occurred in an apartment in a residential district of Porto Alegre City, State of Rio Grande do Sul, Brazil, where three members of the same family presented with pruritic lesions on the arms and legs. On inspecting the bathroom, several mites measuring approximately 1.0mm in length were observed coming from a nest of Rufous Hornero, Furnarius rufus (Gmelin). This is the first report of O. bursa in the urban area of Porto Alegre City, from a nest of F. rufus that bites humans.

Auto-referência de sintomas de lesões músculo-esqueléticas ligadas ao trabalho LMELT numa grande empresa em Portugal

RESUMO - A dor, incómodo ou desconforto ao nível músculo-esquelético, sobretudo devido a situações e/ou postos de trabalho com elevadas exigências ao nível postural, de aplicação de força, de repetitividade ou por incorrecta distribuição das pausas, é aceite como um indicador de situações de risco passíveis de se encontrarem na génese de lesões músculo- -esqueléticas ligadas ao trabalho (LMELT) (Stuart-Buttle, 1994). No sentido de avaliar a prevalência de sintomas de LME, efectuou-se um estudo numa grande empresa da indústria de componentes para automóveis na região de Lisboa durante o ano de 2001. Utilizou-se um instrumento de recolha de informação construído a partir de uma adaptação do questionário nórdico músculo-esquelético (QNM) (Kuorinka et al., 1987). Com o apoio do serviço de saúde ocupacional da referida empresa, o questionário foi entregue a todos os trabalhadores, obtendo-se uma taxa de respondentes de 63,2% (n = 574). A população em estudo é maioritariamente do sexo feminino (83,9%), tem idades compreendidas entre os 18 e os 65 anos e a classe modal situa-se entre os 26 e os 33 anos (23,3%). Os resultados evidenciam uma alta prevalência de sintomatologia de LME e diferenças significativas de sintomas entre as categorias profissionais (1) operadores de máquina de costura, (2) trabalhadores dos armazéns e de transporte de mercadorias e (3) trabalhadores da logística, qualidade e escritórios. Os operadores apresentam índices superiores e diferentes (p < 0,05) de sintomatologia nos últimos doze meses ao nível da região cervical, ombros, cotovelos, ancas/coxas, pernas/joelhos e tornozelos/pés e nos punhos nos últimos sete dias. No presente estudo, a análise dos dados obtidos parece indicar que a natureza e as características da actividade de trabalho do grupo profissional operadores de máquina de costura (flexão cervical > 20°, trabalho muscular predominantemente estático ao nível da articulação dos ombros, elevação dos membros superiores > 45°, ortostatismo e exigências elevadas ao nível dos punhos/mãos) estão implicadas no desencadear da sintomatologia auto- -referida.

Observations on flower visitors to Bertholletia excelsa H.B.K. and Couratari tenuicarpa A.C. Sm. (Lecythidaceae)

Bees visiting flowers of Bertholletia excelsa. (Brazil Nut tree) and Couratari tenuicarpa were collected, their behavior described and the pollen found clinging to their dorsal thorax and stored on their legs was identified. Female bees of Xylocopa frontalis(Olivier) and males of Eulaema mocsaryi (Friese) are apparently effective pollinators of Couratari in igapó near Manaus. Female bees of Euplusia seabrai Moure in litt., Epicharis umbraculata (Fabricius), Epicharis rustica (Olivier) and Eulaema nigrita(Lepeletier), as well as male bees of Eulaema cingulata(Fabricius) and Eulaema nigrita are apparently effective pollinators of adult Brazil Nut trees in the Aleixo plantation near Manaus. Only large bees capable of uncurling the floral androecium can effectively pollinate Couratari or Bertholletia.Pollen analysis indicated that all bees captured carried pollen of the host tree in question and had been foraging on flowers of plant species common in secondary growth. Secondary growth near the Aleixo plantation supports a bee guild which appeared to effectively pollinate almost every flower on the Brazil Nut tree studied. Proximity to primary forest (and to those Euglossine bee species which occur only in primary forest) therefore does not appear to be necessary for pollination of Brazil Nut trees.In the Aleixo plantation chronic low fruit set is probably due to some factor other than pollination. Since natural occurrences of Brazil Nut trees to the north and south of Manaus are associated with a higher soil fertility, low production at the Aleixo plantation may be due to deficiencies of the soil.

The larval development of palaemonid shrimps from the amazon region reared in the laboratory. V. The abbreviated development of Pseudopalaemon chryseus Kensley & Walker, 1982 (CRUSTACEA : DECAPODA: PALAEMONIDAE)

Larval development of the freshwater palaemonid shrip Pseudopalaemon chryseus Kensley & Walker, 1982 was studied in the laboratory from the offspring oof females collected in a lake of the lower Negro River system. Females carry few (14 to 43), large (1.86 + 0.13 x 1.29 + 0.06 mm), yolk-rich eggs. The species goes throught three larval stages without feeding and the main feature of its larval development is the presence of functional walking legs on hatching. Descriptions and illustrations of the three larval and first juvenile stages are presented.

Miracetyma etimaruya gen. et sp. n. (COPEPODA, POECILOSTOMATOIDA, ERGASILIDAE) FROM FRESHWATER FISHES OF THE BRAZILIAN AMAZON

Miracetyma etimaruyagen. et sp. n. is proposed from the gills filaments of Curimata cyprinoides(Linnaeus, 1758), Potamorhina latior(Spix, 1829) and Psectrogaster essequibensis(Gunther, 1864). The species of the new genus is characterized by having a more complex latching antenna. The claw is greatly reduced and has a groove; the third segment has one or two grooves; the first, second and third segments have one or two cuticular extensions. The legs have pectinate setae and the first endopod is greatly modified, very long, and without setae. The first segment of the first endopod is large, strong and elongate and the second segment is subcylindrical, slender and elongate. These modifications imply in a loss of swimming capacity which is linked to secure fixation on the gill filament. As a result, the leg morphology has evolved other functions.

The role of crowdfunding in promoting entrepreneurship

Crowdfunding is a collaborative initiative, usually via internet, where people network to collectively raise funds in order to invest in and support projects delivered by other people or organizations. Tools such as crowdfunding are born and thrive in a grassroots environment, with a strong potential to positively disrupt the entrepreneurial generation setting and grow to a position of significant relevance in society, namely at a time when alternatives to traditional forms of finance are welcome and the technology to deliver them is abundant. Entrepreneurship is the act of transforming ideas and projects into economic products or services. Entrepreneurship related to starting new businesses is better known as start‐up ventures. Entrepreneurs face a series of challenges, from idea conception and business plan design, to obtaining finance, promoting new products and services, generating revenues and profits and generally growing and sustaining a business for the long‐run. These challenges can be overwhelming, namely in the start‐up phase of a new venture, leaving several ideas on paper without them having a chance to “grow legs and walk”. This paper and its analysis offer important insights about the contribution of crowdfunding to facilitate the attainment of critical factors for successful entrepreneurship. With extensive use of real practical examples, leveraging previous analytical studies of other crowdfunding implications and reviewing expert literature, by interviewing entrepreneurs, crowdfunding platform owners and by benefitting from hands on experience of working in such an organization, we intend to clarify the impact of crowdfunding in what we considered to be 7 key entrepreneurial requirements detailed further in the introduction section and later in the body of the paper. The findings have implications for entrepreneurs, naturally, and for business generation theory, extending current entrepreneurial guidelines with innovative tools and methodologies capable of sustaining successful ventures in a newly highlighted cooperative world. We live in innovative times where the channels for the transfer of funds and resources suffer disruptive changes with the potential to significantly improve the ability to generate new initiatives for the well‐being of entrepreneurs and all related communities.