Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.

Artificial nest predation rates vary depending on visibility in the eastern Brazilian Amazon

Observational and experimental studies have shown that increased concealment of bird nests reduces nest predation rates. The objective of the present study was to evaluate differences in predation rates between two experimental manipulations of artificial ground nests (i.e., clearing an area around the artificial nest or leaving it as natural as possible), and test whether environmental variables also affected nest predation in an undisturbed area of Amazonian forest in eastern Brazil. A generalized linear model was used to examine the influence of five variables (manipulation type, perpendicular distance from the main trail, total basal area of trees surrounding the nest site, understorey density, and liana quantity) on nest predation rates. Model results, showed that manipulation type was the only variable that significantly affected nest predation rates. Thus, to avoid systematic biases, the influence of nest site manipulation must be taken into consideration when conducting experiments with artificial nests.

Biotechnological approaches for yield improvement of anticancer alkaloids in the plant Catharanthus roseus

Dissertação de mestrado em Biologia Molecular, Biotecnologia e Bioempreendedorismo em Plantas

Highly functional and biodegradable nanofibrous scaffolds combined with stem cells for bone and cartilage tissue engineering

Among the various possible embodiements of Advanced Therapies and in particular of Tissue Engineering the use of temporary scaffolds to regenerate tissue defects is one of the key issues. The scaffolds should be specifically designed to create environments that promote tissue development and not merely to support the maintenance of communities of cells. To achieve that goal, highly functional scaffolds may combine specific morphologies and surface chemistry with the local release of bioactive agents. Many biomaterials have been proposed to produce scaffolds aiming the regeneration of a wealth of human tissues. We have a particular interest in developing systems based in nanofibrous biodegradable polymers1,2. Those demanding applications require a combination of mechanical properties, processability, cell-friendly surfaces and tunable biodegradability that need to be tailored for the specific application envisioned. Those biomaterials are usually processed by different routes into devices with wide range of morphologies such as biodegradable fibers and meshes, films or particles and adaptable to different biomedical applications. In our approach, we combine the temporary scaffolds populated with therapeutically relevant communities of cells to generate a hybrid implant. For that we have explored different sources of adult and also embryonic stem cells. We are exploring the use of adult MSCs3, namely obtained from the bone marrow for the development autologous-based therapies. We also develop strategies based in extra-embryonic tissues, such as amniotic fluid (AF) and the perivascular region of the umbilical cord4 (Whartonâ s Jelly, WJ). Those tissues offer many advantages over both embryonic and other adult stem cell sourcess. These tissues are frequently discarded at parturition and its extracorporeal nature facilitates tissue donation by the patients. The comparatively large volume of tissue and ease of physical manipulation facilitates the isolation of larger numbers of stem cells. The fetal stem cells appear to have more pronounced immunomodulatory properties than adult MSCs. This allogeneic escape mechanism may be of therapeutic value, because the transplantation of readily available allogeneic human MSCs would be preferable as opposed to the required expansion stage (involving both time and logistic effort) of autologous cells. Topics to be covered: This talk will review our latest developments of nanostructured-based biomaterials and scaffolds in combination with stem cells for bone and cartilage tissue engineering.

Degradação fotocatalítica de petróleo e seus derivados através da utilização de nanopartículas de dióxido de titânio puro e misturado com óxido de grafeno reduzido

Dissertação de mestrado integrado em Engenharia de Materiais

Development of advanced cell/tissue culture systems, based on enhanced polymeric scaffolds and sophisticated bioreactors, for tissue engineering applications

Programa Doutoral em Engenharia Biomédica

Towards an engine for coordination-based architectural reconfigurations

Software reconfigurability became increasingly relevant to the architectural process due to the crescent dependency of modern societies on reliable and adaptable systems. Such systems are supposed to adapt themselves to surrounding environmental changes with minimal service disruption, if any. This paper introduces an engine that statically applies reconfigurations to (formal) models of software architectures. Reconfigurations are specified using a domain specific language— ReCooPLa—which targets the manipulation of software coordinationstructures,typicallyusedinservice-orientedarchitectures(soa).Theengine is responsible for the compilation of ReCooPLa instances and their application to the relevant coordination structures. The resulting configurations are amenable to formal analysis of qualitative and quantitative (probabilistic) properties.

Stress induced risk-aversion is reverted by D2/D3 agonist in the rat

Stress exposure triggers cognitive and behavioral impairments that influence decision-making processes. Decisions under a context of uncertainty require complex reward-prediction processes that are known to be mediated by the mesocorticolimbic dopamine (DA) system in brain areas sensitive to the deleterious effects of chronic stress, in particular the orbitofrontal cortex (OFC). Using a decision-making task, we show that chronic stress biases risk-based decision-making to safer behaviors. This decision-making pattern is associated with an increased activation of the lateral part of the OFC and with morphological changes in pyramidal neurons specifically recruited by this task. Additionally, stress exposure induces a hypodopaminergic status accompanied by increased mRNA levels of the dopamine receptor type 2 (Drd2) in the OFC; importantly, treatment with a D2/D3 agonist quinpirole reverts the shift to safer behaviors induced by stress on risky decision-making. These results suggest that the brain mechanisms related to risk-based decision-making are altered after chronic stress, but can be modulated by manipulation of dopaminergic transmission.

Microfluidic based on aqueous two-phase system for plasmidic DNA purification

Dissertação de mestrado em Bioquímica Aplicada (área de especialização em Biotecnologia)

Verificación Formal de Sistemas basada Formal Software Verification based on Automated Analysisen Análisis Automático.

Identificación y caracterización del problema. Uno de los problemas más importantes asociados con la construcción de software es la corrección del mismo. En busca de proveer garantías del correcto funcionamiento del software, han surgido una variedad de técnicas de desarrollo con sólidas bases matemáticas y lógicas conocidas como métodos formales. Debido a su naturaleza, la aplicación de métodos formales requiere gran experiencia y conocimientos, sobre todo en lo concerniente a matemáticas y lógica, por lo cual su aplicación resulta costosa en la práctica. Esto ha provocado que su principal aplicación se limite a sistemas críticos, es decir, sistemas cuyo mal funcionamiento puede causar daños de magnitud, aunque los beneficios que sus técnicas proveen son relevantes a todo tipo de software. Poder trasladar los beneficios de los métodos formales a contextos de desarrollo de software más amplios que los sistemas críticos tendría un alto impacto en la productividad en tales contextos. Hipótesis. Contar con herramientas de análisis automático es un elemento de gran importancia. Ejemplos de esto son varias herramientas potentes de análisis basadas en métodos formales, cuya aplicación apunta directamente a código fuente. En la amplia mayoría de estas herramientas, la brecha entre las nociones a las cuales están acostumbrados los desarrolladores y aquellas necesarias para la aplicación de estas herramientas de análisis formal sigue siendo demasiado amplia. Muchas herramientas utilizan lenguajes de aserciones que escapan a los conocimientos y las costumbres usuales de los desarrolladores. Además, en muchos casos la salida brindada por la herramienta de análisis requiere cierto manejo del método formal subyacente. Este problema puede aliviarse mediante la producción de herramientas adecuadas. Otro problema intrínseco a las técnicas automáticas de análisis es cómo se comportan las mismas a medida que el tamaño y complejidad de los elementos a analizar crece (escalabilidad). Esta limitación es ampliamente conocida y es considerada crítica en la aplicabilidad de métodos formales de análisis en la práctica. Una forma de atacar este problema es el aprovechamiento de información y características de dominios específicos de aplicación. Planteo de objetivos. Este proyecto apunta a la construcción de herramientas de análisis formal para contribuir a la calidad, en cuanto a su corrección funcional, de especificaciones, modelos o código, en el contexto del desarrollo de software. Más precisamente, se busca, por un lado, identificar ambientes específicos en los cuales ciertas técnicas de análisis automático, como el análisis basado en SMT o SAT solving, o el model checking, puedan llevarse a niveles de escalabilidad superiores a los conocidos para estas técnicas en ámbitos generales. Se intentará implementar las adaptaciones a las técnicas elegidas en herramientas que permitan su uso a desarrolladores familiarizados con el contexto de aplicación, pero no necesariamente conocedores de los métodos o técnicas subyacentes. Materiales y métodos a utilizar. Los materiales a emplear serán bibliografía relevante al área y equipamiento informático. Métodos. Se emplearán los métodos propios de la matemática discreta, la lógica y la ingeniería de software. Resultados esperados. Uno de los resultados esperados del proyecto es la individualización de ámbitos específicos de aplicación de métodos formales de análisis. Se espera que como resultado del desarrollo del proyecto surjan herramientas de análisis cuyo nivel de usabilidad sea adecuado para su aplicación por parte de desarrolladores sin formación específica en los métodos formales utilizados. Importancia del proyecto. El principal impacto de este proyecto será la contribución a la aplicación práctica de técnicas formales de análisis en diferentes etapas del desarrollo de software, con la finalidad de incrementar su calidad y confiabilidad. A crucial factor for software quality is correcteness. Traditionally, formal approaches to software development concentrate on functional correctness, and tackle this problem basically by being based on well defined notations founded on solid mathematical grounds. This makes formal methods better suited for analysis, due to their precise semantics, but they are usually more complex, and require familiarity and experience with the manipulation of mathematical definitions. So, their acceptance by software engineers is rather restricted, and formal methods applications have been confined to critical systems. Nevertheless, it is obvious that the advantages that formal methods provide apply to any kind of software system. It is accepted that appropriate software tool support for formal analysis is essential, if one seeks providing support for software development based on formal methods. Indeed, some of the relatively recent sucesses of formal methods are accompanied by good quality tools that automate powerful analysis mechanisms, and are even integrated in widely used development environments. Still, most of these tools either concentrate on code analysis, and in many cases are still far from being simple enough to be employed by software engineers without experience in formal methods. Another important problem for the adoption of tool support for formal methods is scalability. Automated software analysis is intrinsically complex, and thus techniques do not scale well in the general case. In this project, we will attempt to identify particular modelling, design, specification or coding activities in software development processes where to apply automated formal analysis techniques. By focusing in very specific application domains, we expect to find characteristics that might be exploited to increase the scalability of the corresponding analyses, compared to the general case.

Overcoming the supply inconsistencies of tidal current energy conversion devices

The adoption of a sustainable approach to meeting the energy needs of society has recently taken on a more central and urgent place in the minds of many people. There are many reasons for this including ecological, environmental and economic concerns. One particular area where a sustainable approach has become very relevant is in the production of electricity. The contribution of renewable sources to the energy mix supplying the electricity grid is nothing new, but the focus has begun to move away from the more conventional renewable sources such as wind and hydro. The necessity of exploring new and innovative sources of renewable energy is now seen as imperative as the older forms (i.e. hydro) reach the saturation point of their possible exploitation. One such innovative source of energy currently beginning to be utilised in this regard is tidal energy. The purpose of this thesis is to isolate one specific drawback to tidal energy, which could be considered a roadblock to this energy source being a major contributor to the Irish national grid. This drawback presents itself in the inconsistent nature in which a tidal device generates energy over the course of a 24 hour period. This inconsistency of supply can result in the cycling of conventional power plants in order to even out the supply, subsequently leading to additional costs. The thesis includes a review of literature relevant to the area of tidal and other marine energy sources with an emphasis on the state of the art devices currently in development or production. The research carried out included tidal data analysis and manipulation into a model of the power generating potential at specific sites. A solution is then proposed to the drawback of inconsistency of supply, which involves the positioning of various tidal generation installations at specifically selected locations around the Irish coast. The temporal shift achieved in the power supply profiles of the individual sites by locating the installations in the correct locations, successfully produced an overall power supply profile with the smoother curve and a consistent base load energy supply. Some limitations to the method employed were also outlined, and suggestions for further improvements to the method were made.

Some things couples always wanted to know about stable matchings (but were afraid to ask)

It is well-known that couples that look jointly for jobs in the same centralized labor market may cause instabilities. We demonstrate that for a natural preference domain for couples, namely the domain of responsive preferences, the existence of stable matchings can easily be established. However, a small deviation from responsiveness in one couple's preference relation that models the wish of a couple to be closer together may already cause instability. This demonstrates that the nonexistence of stable matchings in couples markets is not a singular theoretical irregularity. Our nonexistence result persists even when a weaker stability notion is used that excludes myopic blocking. Moreover, we show that even if preferences are responsive there are problems that do not arise for singles markets. Even though for couples markets with responsive preferences the set of stable matchings is nonempty, the lattice structure that this set has for singles markets does not carry over. Furthermore we demonstrate that the new algorithm adopted by the National Resident Matching Program to fill positions for physicians in the United States may cycle, while in fact a stable matchings does exist, and be prone to strategic manipulation if the members of a couple pretend to be single.

Treball de camp a una colònia de xatrac comú (sterna hirundo) en Alemanya

Estudio elaborado a partir de una estancia en el Institut fur Vogelforschung. El objeto de la estancia fue participar en la campaña de campo en la colonia de Charrán común (Sterna hirundo) situada en Wilhelmshaven (Alemania), entre los meses de mayo y agosto de 2005. Esta participación se llevó a cabo bajo la dirección del Prof. Dr. Peter H. Becker y junto a su equipo. Se participó en la recogida rutinaria de datos de la colonia así como en distintas técnicas relacionadas con el presente proyecto, como el marcaje de pollos, su observación directa desde escondites y la recogida de distintas muestras biológicas. El objetivo principal era continuar con la obtención de datos para el trabajo de investigación sobre la influencia de la calidad y la condición parental en la manipulación adaptativa de la razón de sexos y la asignación por sexos. La obtención de datos se basa en la implantación de transponders en pollos, que permiten la identificación de cada charrán de por vida. La combinación de esta información con la observación directa de cebas hace de la colonia un lugar excepcional, lo que permite conocer los factores que influyen en las tendencias que existan. Sin embargo, el objetivo específico de la campaña se centraba en investigar la variabilidad individual de la respuesta inmune en los pollos de charrán en relación a un número de atributos de los propios pollos (sexo, tamaño, tasa de crecimiento, proteínas en plasma, hematocrito, carga parasitaria, carotenos en plasma, isótopos de las plumas), de los padres (fecha y tamaño de puesta, calidad parental) y de las condiciones de cría (orden de eclosión, densidad de la sub-colonia). Los resultados de estos datos obtenidos durante la campaña respaldan que existe una influencia de la condición nutricional y la calidad parental en la respuesta immune de los pollos, debida probablemente a un esfuerzo reproductivo diferencial.

Trypanosoma cruzi: strain selection by diferent schedules of mouse passage of an initially mixed infection

From an initial double infection in mice, established by simultaneous and equivalent inocula of bloodstream forms of strains Y and F of Trypanosoma cruzi, two lines were derived by subinoculations: one (W) passaged every week, the other (M) every month. Through biological and biochemical methods only the Y strain was identified at the end of the 10th and 16th passages of line W and only the F strain at the 2nd and 4th passages of line M. The results illustrate strain selection through laboratory manipulation of initially mixed populations of T. cruzi.

BOI 2.0: disseny d'una implementació de JPEG 2000

JPEG 2000 és un estàndard de compressió d'imatges que utilitza tècniques estat de l’art basades en la transformada wavelet. Els principals avantatges són la millor compressió, la possibilitat d’operar amb dades comprimides i que es pot comprimir amb i sense pèrdua amb el mateix mètode. BOI és la implementació de JPEG 2000 del Grup de Compressió Interactiva d’Imatges del departament d’Enginyeria de la Informació i les Comunicacions, pensada per entendre, criticar i millorar les tecnologies de JPEG 2000. La nova versió intenta arribar a tots els extrems de l’estàndard on la versió anterior no va arribar.