Einfluss des Trampolinsprungtuchs und der Sprunghöhe auf die Vertikalbeschleunigung an der Brustwirbelsäule

Die 2011 für das Trampolinturnen eingeführte, instrumentierte Bewertung der Sprunghöhe hatte die Entwicklung wurfstärkerer Sprungtücher und damit eine Zunahme der Sprunghöhen zur Folge. Inwieweit dabei die Beanspruchung des Bewegungsapparates gestiegen ist, wird durch vergleichende biomechanische Analysen verschiedener Sprünge von Athlet/innen des deutschen Nationalkaders auf dem alten 6x4- und dem neuen 4x4 -Sprungtuch untersucht. Erste Analysen zeigten, dass sich die Zunahme der Sprunghöhe auf dem 4x4-Tuch notwendigerweise in einem größeren Kraftstoß begründet, dieser aber nicht durch eine längere Tuchkontaktzeit, sondern durch eine höhere Kraft zustande kommt (Kredel, Eisele, Schweizer, Kuhn & Riehle, 2014). In der Folge soll nun der Einfluss dieser Kraftzunahme auf Bewegungsparameter und Beanspruchung untersucht werden. Kinematische Merkmale von Körper- und Wirbelsäulensegmenten wurden mit einem Vicon-T40s-System aufgezeichnet, während die Bodenreaktionskraftverläufe mit vier Kis t-ler-Kraftmessplatten erfasst wurden. Eine individualisierte, inversdynamische Modellierung der Tuchkontaktphasen soll Aufschluss über die Beanspruchungsunterschiede relevanter Gelenksstrukturen (Sprung-, Knie-, Hüftgelenk, LWS, BWS) geben. Zur Modellvalidierung dient die mittels Beschleunigungssensor erfasste Brustwirbelsäulenkinematik, deren Ausprägung in Bezug zur Sprunghöhe Gegenstand des aktuellen Untersuchungsteils war. Analysen von 102 Standsprüngen zeigen Zusammenhänge zwischen der Sprunghöhe und sowohl der mittleren (4x4: r(44)=.90, p<.001; 6x4: r(54)=.83, p<.001), als auch der maximalen (4x4: r(44)=.65, p<.001; 6x4: r(54)=.80, p<.001) Vertikalbeschleunigung der Brus twirbelsäule während des Tuchkontakts. Sind die Beschleunigungswerte – und damit die Belastungen – im mittleren Sprunghöhenbereich in ähnlichen Größenordnungen, ist festzuhalten, dass die durch das 4x4-Tuch erreichbaren größeren Sprunghöhen nicht nur einen weiteren Anstieg der mittleren, sondern auch eine weitere Erhöhung der maximalen Vertikalbeschleunigung zur Folge haben (Maximum 4x4: 151.4 m/s2 vs. 6x4: 139.6 m/s2) und somit die Maximalbelastung der Athlet/innen zunimmt. Aktuell wird dieser Befund bei den komplexeren Sprungvarianten verifiziert und die Gelenksbeansp.ruchung modelliert

MorphoGraphX: A platform for quantifying morphogenesis in 4D

Morphogenesis emerges from complex multiscale interactions between genetic and mechanical processes. To understand these processes, the evolution of cell shape, proliferation and gene expression must be quantified. This quantification is usually performed either in full 3D, which is computationally expensive and technically challenging, or on 2D planar projections, which introduces geometrical artifacts on highly curved organs. Here we present MorphoGraphX (www.MorphoGraphX.org), a software that bridges this gap by working directly with curved surface images extracted from 3D data. In addition to traditional 3D image analysis, we have developed algorithms to operate on curved surfaces, such as cell segmentation, lineage tracking and fluorescence signal quantification. The software’s modular design makes it easy to include existing libraries, or to implement new algorithms. Cell geometries extracted with MorphoGraphX can be exported and used as templates for simulation models, providing a powerful platform to investigate the interactions between shape, genes and growth.DOI: http://dx.doi.org/10.7554/eLife.05864.001Author keywordsResearch organism

Privacy Preserving Probabilistic Record Linkage (P3RL): a novel method for linking existing health-related data and maintaining participant confidentiality.

BACKGROUND Record linkage of existing individual health care data is an efficient way to answer important epidemiological research questions. Reuse of individual health-related data faces several problems: Either a unique personal identifier, like social security number, is not available or non-unique person identifiable information, like names, are privacy protected and cannot be accessed. A solution to protect privacy in probabilistic record linkages is to encrypt these sensitive information. Unfortunately, encrypted hash codes of two names differ completely if the plain names differ only by a single character. Therefore, standard encryption methods cannot be applied. To overcome these challenges, we developed the Privacy Preserving Probabilistic Record Linkage (P3RL) method. METHODS In this Privacy Preserving Probabilistic Record Linkage method we apply a three-party protocol, with two sites collecting individual data and an independent trusted linkage center as the third partner. Our method consists of three main steps: pre-processing, encryption and probabilistic record linkage. Data pre-processing and encryption are done at the sites by local personnel. To guarantee similar quality and format of variables and identical encryption procedure at each site, the linkage center generates semi-automated pre-processing and encryption templates. To retrieve information (i.e. data structure) for the creation of templates without ever accessing plain person identifiable information, we introduced a novel method of data masking. Sensitive string variables are encrypted using Bloom filters, which enables calculation of similarity coefficients. For date variables, we developed special encryption procedures to handle the most common date errors. The linkage center performs probabilistic record linkage with encrypted person identifiable information and plain non-sensitive variables. RESULTS In this paper we describe step by step how to link existing health-related data using encryption methods to preserve privacy of persons in the study. CONCLUSION Privacy Preserving Probabilistic Record linkage expands record linkage facilities in settings where a unique identifier is unavailable and/or regulations restrict access to the non-unique person identifiable information needed to link existing health-related data sets. Automated pre-processing and encryption fully protect sensitive information ensuring participant confidentiality. This method is suitable not just for epidemiological research but also for any setting with similar challenges.

A pilot test of the new Swiss regulatory procedure for categorizing clinical trials by risk: A randomized controlled trial

BACKGROUND/AIMS Several countries are working to adapt clinical trial regulations to align the approval process to the level of risk for trial participants. The optimal framework to categorize clinical trials according to risk remains unclear, however. Switzerland is the first European country to adopt a risk-based categorization procedure in January 2014. We assessed how accurately and consistently clinical trials are categorized using two different approaches: an approach using criteria set forth in the new law (concept) or an intuitive approach (ad hoc). METHODS This was a randomized controlled trial with a method-comparison study nested in each arm. We used clinical trial protocols from eight Swiss ethics committees approved between 2010 and 2011. Protocols were randomly assigned to be categorized in one of three risk categories using the concept or the ad hoc approach. Each protocol was independently categorized by the trial's sponsor, a group of experts and the approving ethics committee. The primary outcome was the difference in categorization agreement between the expert group and sponsors across arms. Linear weighted kappa was used to quantify agreements, with the difference between kappas being the primary effect measure. RESULTS We included 142 of 231 protocols in the final analysis (concept = 78; ad hoc = 64). Raw agreement between the expert group and sponsors was 0.74 in the concept and 0.78 in the ad hoc arm. Chance-corrected agreement was higher in the ad hoc (kappa: 0.34 (95% confidence interval = 0.10-0.58)) than in the concept arm (0.27 (0.06-0.50)), but the difference was not significant (p = 0.67). LIMITATIONS The main limitation was the large number of protocols excluded from the analysis mostly because they did not fit with the clinical trial definition of the new law. CONCLUSION A structured risk categorization approach was not better than an ad hoc approach. Laws introducing risk-based approaches should provide guidelines, examples and templates to ensure correct application.

Inverse fusion PCR cloning.

Inverse fusion PCR cloning (IFPC) is an easy, PCR based three-step cloning method that allows the seamless and directional insertion of PCR products into virtually all plasmids, this with a free choice of the insertion site. The PCR-derived inserts contain a vector-complementary 5'-end that allows a fusion with the vector by an overlap extension PCR, and the resulting amplified insert-vector fusions are then circularized by ligation prior transformation. A minimal amount of starting material is needed and experimental steps are reduced. Untreated circular plasmid, or alternatively bacteria containing the plasmid, can be used as templates for the insertion, and clean-up of the insert fragment is not urgently required. The whole cloning procedure can be performed within a minimal hands-on time and results in the generation of hundreds to ten-thousands of positive colonies, with a minimal background.

Mechanistic insights into tRNA translocation on the ribosome

The ribosome is a highly conserved cellular complex and constitutes the center of protein biosynthesis. As the ribosome consists to about 2/3 of ribosomal RNA (rRNA), the rRNA is involved in most steps of translation. In order to investigate the role of some defined rRNA residues in different aspects of translation we use the atomic mutagenesis approach. This method allows the site-specific incorporation of unnatural nucleosides into the rRNA in the context of the complete 70S from Thermus aquaticus, and thereby exceeds the possibilities of conventional mutagenesis. We first studied ribosome-stimulated EF-G GTP hydrolysis. Here, we could show that the non-bridging phosphate oxygen of A2662, which is part of the Sarcin-Ricin-Loop, is required for EF-G GTPase activation by the ribosome. EF-G GTPase is a crucial step for tRNA translocation from the A- to the P-site, and from the P- to the E-site, respectively. We furthermore used the atomic mutagenesis approach to more precisely characterize the 23S rRNA functional groups involved in E-site tRNA binding. While the ribosomal A- and P-sites have been functionally well characterized in the past, the contribution of the E-site to protein biosynthesis is still poorly understood in molecular terms. Our data disclose the importance of the highly conserved E-site base pair G2421-C2395 for effective translation. Ribosomes with a disrupted G2421-C2395 base pair are defective in tRNA binding to the E-site. This results in an impaired translation of genuine mRNAs, while homo-polymeric templates are not affected. Cumulatively our data emphasize the importance of E-site tRNA occupancy and in particular the intactness of the 23S rRNA base pair G2421-C2395 for productive protein biosynthesis.

Preoperative Planning of Periacetabular Osteotomy (PAO)

Pelvic osteotomies improve containment of the femoral head in cases of developmental dysplasia of the hip or in femoroacetabular impingement due to acetabular retroversion. In the evolution of osteotomies, the Ganz Periacetabular Osteotomy (PAO) is among the complex reorientation osteotomies and allows for complete mobilization of the acetabulum without compromising the integrity of the pelvic ring. For the complex reorientation osteotomies, preoperative planning of the required acetabular correction is an important step, due to the need to comprehend the three-dimensional (3D) relationship between acetabulum and femur. Traditionally, planning was performed using conventional radiographs in different projections, reducing the 3D problem to a two-dimensional one. Known disturbance variables, mainly tilt and rotation of the pelvis make assessment by these means approximate at the most. The advent of modern enhanced computation skills and new imaging techniques gave room for more sophisticated means of preoperative planning. Apart from analysis of acetabular geometry on conventional x-rays by sophisticated software applications, more accurate assessment of coverage and congruency and thus amount of correction necessary can be performed on multiplanar CT images. With further evolution of computer-assisted orthopaedic surgery, especially the ability to generate 3D models from the CT data, examiners were enabled to simulate the in vivo situation in a virtual in vitro setting. Based on this ability, different techniques have been described. They basically all employ virtual definition of an acetabular fragment. Subsequently reorientation can be simulated using either 3D calculation of standard parameters of femoroacetabular morphology, or joint contact pressures, or a combination of both. Other techniques employ patient specific implants, templates or cutting guides to achieve the goal of safe periacetabular osteotomies. This chapter will give an overview of the available techniques for planning of periacetabular osteotomy.

Posterior Vertical Bite Reconstructions of Erosively Worn Dentitions and the "Stamp Technique" - A Case Series with a Mean Observation Time of 40 Months

PURPOSE In the present case series, the authors report on seven cases of erosively worn dentitions (98 posterior teeth) which were treated with direct resin composite. MATERIALS AND METHODS In all cases, both arches were restored by using the so-called stamp technique. All patients were treated with standardized materials and protocols. Prior to treatment, a waxup was made on die-cast models to build up the loss of occlusion as well as ensure the optimal future anatomy and function of the eroded teeth to be restored. During treatment, teeth were restored by using templates of silicone (ie, two "stamps," one on the vestibular, one on the oral aspect of each tooth), which were filled with resin composite in order to transfer the planned, future restoration (ie, in the shape of the waxup) from the extra- to the intraoral situation. Baseline examinations were performed in all patients after treatment, and photographs as well as radiographs were taken. To evaluate the outcome, the modified United States Public Health Service criteria (USPHS) were used. RESULTS The patients were re-assessed after a mean observation time of 40 months (40.8 ± 7.2 months). The overall outcome of the restorations was good, and almost exclusively "Alpha" scores were given. Only the marginal integrity and the anatomical form received a "Charlie" score (10.2%) in two cases. CONCLUSION Direct resin composite restorations made with the stamp technique are a valuable treatment option for restoring erosively worn dentitions.

Histone-specific RNA 3' processing in nuclear extracts from mammalian cells.

The mature 3' ends of histone mRNAs are formed by endonucleolytic cleavage of longer precursor transcripts. This process occurs in the nucleus and can be regarded as the equivalent of the polyadenylation reaction involved in 3′-end-generation of all other mRNAs. A sea urchin H3 gene that failed to be properly processed in the Xenopus oocyte system proved particularly useful, because it allowed the identification of a processing component from sea urchins by a complementation assay. Nuclear extracts prepared from cells under various growth conditions have helped to reveal proliferation-dependent changes in the efficiency of histone RNA 3′ processing. RNA substrates for in vitro processing are best prepared by runoff transcription of specific DNA templates with bacterial or phage RNA polymerases. For this purpose, a restriction fragment containing the 3′-terminal region of a histone gene and including the conserved palindrome and spacer motifs is cloned into a polylinker sequence downstream of a strong promoter.

Improving 4D plan quality for PBS-based liver tumour treatments by combining online image guided beam gating with rescanning.

Pencil beam scanned (PBS) proton therapy has many advantages over conventional radiotherapy, but its effectiveness for treating mobile tumours remains questionable. Gating dose delivery to the breathing pattern is a well-developed method in conventional radiotherapy for mitigating tumour-motion, but its clinical efficiency for PBS proton therapy is not yet well documented. In this study, the dosimetric benefits and the treatment efficiency of beam gating for PBS proton therapy has been comprehensively evaluated. A series of dedicated 4D dose calculations (4DDC) have been performed on 9 different 4DCT(MRI) liver data sets, which give realistic 4DCT extracting motion information from 4DMRI. The value of 4DCT(MRI) is its capability of providing not only patient geometries and deformable breathing characteristics, but also includes variations in the breathing patterns between breathing cycles. In order to monitor target motion and derive a gating signal, we simulate time-resolved beams' eye view (BEV) x-ray images as an online motion surrogate. 4DDCs have been performed using three amplitude-based gating window sizes (10/5/3 mm) with motion surrogates derived from either pre-implanted fiducial markers or the diaphragm. In addition, gating has also been simulated in combination with up to 19 times rescanning using either volumetric or layered approaches. The quality of the resulting 4DDC plans has been quantified in terms of the plan homogeneity index (HI), total treatment time and duty cycle. Results show that neither beam gating nor rescanning alone can fully retrieve the plan homogeneity of the static reference plan. Especially for variable breathing patterns, reductions of the effective duty cycle to as low as 10% have been observed with the smallest gating rescanning window (3 mm), implying that gating on its own for such cases would result in much longer treatment times. In addition, when rescanning is applied on its own, large differences between volumetric and layered rescanning have been observed as a function of increasing number of re-scans. However, once gating and rescanning is combined, HI to within 2% of the static plan could be achieved in the clinical target volume, with only moderately prolonged treatment times, irrespective of the rescanning strategy used. Moreover, these results are independent of the motion surrogate used. In conclusion, our results suggest image guided beam gating, combined with rescanning, is a feasible, effective and efficient motion mitigation approach for PBS-based liver tumour treatments.

Characterization of template switching and recombination during Moloney murine leukemia virus replication

Retroviruses uniquely co-package two copies of their genomic RNA within each virion. The two copies are used as templates for synthesis of the proviral DNA during the process of reverse transcription. Two template switches are required to complete retroviral DNA synthesis by the retroviral enzyme, reverse transcriptase. With two RNA genomes present in the virion, reverse transcriptase can make template switches utilizing only one of the RNA templates (intramolecular) or utilizing both RNA templates (intermolecular) during the process of reverse transcription. The results presented in this study show that during a single cycle of Moloney murine leukemia virus replication, both nonrecombinant and recombinant proviruses predominantly underwent intramolecular minus- and plus-strand transfers during the process of reverse transcription. This is the first study to examine the nature of the required template switches occurring during MLV replication and these results support the previous findings for SNV, and the hypothesis that the required template switches are ordered events. This study also determined rates for deletion and a rate of recombination for a single cycle of MLV replication. The rates reported here are comparable to the rates previously reported for both SNV and MLV. ^

Improving Cervical Cancer Nodal Boost Radiation Therapy by Quantifying Uncertainties and Exploring Advanced Radiation Therapy Modalities

Radiation therapy for patients with intact cervical cancer is frequently delivered using primary external beam radiation therapy (EBRT) followed by two fractions of intracavitary brachytherapy (ICBT). Although the tumor is the primary radiation target, controlling microscopic disease in the lymph nodes is just as critical to patient treatment outcome. In patients where gross lymphadenopathy is discovered, an extra EBRT boost course is delivered between the two ICBT fractions. Since the nodal boost is an addendum to primary EBRT and ICBT, the prescription and delivery must be performed considering previously delivered dose. This project aims to address the major issues of this complex process for the purpose of improving treatment accuracy while increasing dose sparing to the surrounding normal tissues. Because external beam boosts to involved lymph nodes are given prior to the completion of ICBT, assumptions must be made about dose to positive lymph nodes from future implants. The first aim of this project was to quantify differences in nodal dose contribution between independent ICBT fractions. We retrospectively evaluated differences in the ICBT dose contribution to positive pelvic nodes for ten patients who had previously received external beam nodal boost. Our results indicate that the mean dose to the pelvic nodes differed by up to 1.9 Gy between independent ICBT fractions. The second aim is to develop and validate a volumetric method for summing dose of the normal tissues during prescription of nodal boost. The traditional method of dose summation uses the maximum point dose from each modality, which often only represents the worst case scenario. However, the worst case is often an exaggeration when highly conformal therapy methods such as intensity modulated radiation therapy (IMRT) are used. We used deformable image registration algorithms to volumetrically sum dose for the bladder and rectum and created a voxel-by-voxel validation method. The mean error in deformable image registration results of all voxels within the bladder and rectum were 5 and 6 mm, respectively. Finally, the third aim explored the potential use of proton therapy to reduce normal tissue dose. A major physical advantage of protons over photons is that protons stop after delivering dose in the tumor. Although theoretically superior to photons, proton beams are more sensitive to uncertainties caused by interfractional anatomical variations, and must be accounted for during treatment planning to ensure complete target coverage. We have demonstrated a systematic approach to determine population-based anatomical margin requirements for proton therapy. The observed optimal treatment angles for common iliac nodes were 90° (left lateral) and 180° (posterior-anterior [PA]) with additional 0.8 cm and 0.9 cm margins, respectively. For external iliac nodes, lateral and PA beams required additional 0.4 cm and 0.9 cm margins, respectively. Through this project, we have provided radiation oncologists with additional information about potential differences in nodal dose between independent ICBT insertions and volumetric total dose distribution in the bladder and rectum. We have also determined the margins needed for safe delivery of proton therapy when delivering nodal boosts to patients with cervical cancer.

Comparison of Tumor Shrinkage and Cumulative Dose Distribution for Lung Cancers

Background: The physical characteristic of protons is that they deliver most of their radiation dose to the target volume and deliver no dose to the normal tissue distal to the tumor. Previously, numerous studies have shown unique advantages of proton therapy over intensity-modulated radiation therapy (IMRT) in conforming dose to the tumor and sparing dose to the surrounding normal tissues and the critical structures in many clinical sites. However, proton therapy is known to be more sensitive to treatment uncertainties such as inter- and intra-fractional variations in patient anatomy. To date, no study has clearly demonstrated the effectiveness of proton therapy compared with the conventional IMRT under the consideration of both respiratory motion and tumor shrinkage in non-small cell lung cancer (NSCLC) patients. Purpose: This thesis investigated two questions for establishing a clinically relevant comparison of the two different modalities (IMRT and proton therapy). The first question was whether or not there are any differences in tumor shrinkage between patients randomized to IMRT versus passively scattered proton therapy (PSPT). Tumor shrinkage is considered a standard measure of radiation therapy response that has been widely used to gauge a short-term progression of radiation therapy. The second question was whether or not there are any differences between the planned dose and 5D dose under the influence of inter- and intra-fractional variations in the patient anatomy for both modalities. Methods: A total of 45 patients (25 IMRT patients and 20 PSPT patients) were used to quantify the tumor shrinkage in terms of the change of the primary gross tumor volume (GTVp). All patients were randomized to receive either IMRT or PSPT for NSCLC. Treatment planning goals were identical for both groups. All patients received 5 to 8 weekly repeated 4-dimensional computed tomography (4DCT) scans during the course of radiation treatments. The original GTVp contours were propagated to T50 of weekly 4DCT images using deformable image registration and their absolute volumes were measured. Statistical analysis was performed to compare the distribution of tumor shrinkage between the two population groups. In order to investigate the difference between the planned dose and the 5D dose with consideration of both breathing motion and anatomical change, we re-calculated new dose distributions at every phase of the breathing cycle for all available weekly 4DCT data sets which resulted 50 to 80 individual dose calculations for each of the 7 patients presented in this thesis. The newly calculated dose distributions were then deformed and accumulated to T50 of the planning 4DCT for comparison with the planned dose distribution. Results: At the end of the treatment, both IMRT and PSPT groups showed mean tumor volume reductions of 23.6% ( 19.2%) and 20.9% ( 17.0 %) respectively. Moreover, the mean difference in tumor shrinkage between two groups is 3% along with the corresponding 95% confidence interval, [-8%, 14%]. The rate of tumor shrinkage was highly correlated with the initial tumor volume size. For the planning dose and 5D dose comparison study, all 7 patients showed a mean difference of 1 % in terms of target coverage for both IMRT and PSPT treatment plans. Conclusions: The results of the tumor shrinkage investigation showed no statistically significant difference in tumor shrinkage between the IMRT and PSPT patients, and the tumor shrinkage between the two modalities is similar based on the 95% confidence interval. From the pilot study of comparing the planned dose with the 5D dose, we found the difference to be only 1%. Overall impression of the two modalities in terms of treatment response as measured by the tumor shrinkage and 5D dose under the influence of anatomical change that were designed under the same protocol (i.e. randomized trial) showed similar result.

Fisuración y deformaciones en tabiquerías

A diferencia de otros parámetros, el efecto de la existencia de huecos en la aparición y desarrollo de los procesos de fisuración en los paños de fábrica no ha sido considerado por las distintas normativas existentes en la actualidad. En nuestros días se emplea una variada gama de tipologías de elementos de cerramiento para realizar las particiones en las obras de edificación, cada una de ellas con características mecánicas diferentes y distinta metodología de ejecución, siendo de aplicación la misma normativa relativa al cálculo y control de las deformaciones. Tal y como expresamos en el Capitulo 1, en el que se analiza el Estado del Conocimiento, los códigos actuales determinan de forma analítica la flecha probable que se alcanza en los elementos portantes estructurales bajo diferentes condiciones de servicio. Las distintas propuestas que existen respecto para la limitación de la flecha activa, una vez realizado el cálculo de las deformaciones, bien por el método de Branson ó mediante los métodos de integración de curvaturas, no contemplan como parámetro a considerar en la limitación de la flecha activa la existencia y tipología de huecos en un paño de fábrica soportado por la estructura. Sin embargo se intuye y podríamos afirmar que una discontinuidad en cualquier elemento sometido a esfuerzos tiene influencia en el estado tensional del mismo. Si consideramos que, de forma general, los procesos de fisuración se producen al superarse la resistencia a tracción de material constitutivo de la fábrica soportada, es claro que la variación tensional inducida por la existencia de huecos ha de tener cierta influencia en la aparición y desarrollo de los procesos de fisuración en los elementos de partición o de cerramiento de las obras de edificación. En los Capítulos 2 y 3 tras justificar la necesidad de realizar una investigación encaminada a confirmar la relación entre la existencia de huecos en un paño de fábrica y el desarrollo de procesos de fisuración en el mismo, se establece este aspecto como principal Objetivo y se expone la Metodología para su análisis. Hemos definido y justificado en el Capítulo 4 el modelo de cálculo que hemos utilizado para determinar las deformaciones y los procesos de fisuración que se producen en los casos a analizar, en los que se han considerado como variables: los valores de la luz del modelo, el estado de fisuración de los elementos portantes, los efectos de la fluencia y el porcentaje de transmisión de cargas desde el forjado superior al paño de fábrica en estudio. Además se adoptan dos valores de la resistencia a tracción de las fábricas, 0.75MPa y 1.00MPa. La capacidad de representar la fisuración, así como la robustez y fiabilidad ha condicionado y justificado la selección del programa de elementos finitos que se ha utilizado para realizar los cálculos. Aprovechando la posibilidad de reproducir de forma ajustada las características introducidas para cada parámetro, hemos planteado y realizado un análisis paramétricos que considera 360 cálculos iterativos, de cuya exposición es objeto el Capítulo 5, para obtener una serie representativa de resultados sobre los que se realizará el análisis posterior. En el Capítulo 6, de análisis de los resultados, hemos estudiado los valores de deformaciones y estados de fisuración obtenidos para los casos analizados. Hemos determinado la influencia que tiene la presencia de huecos en la aparición de los procesos de fisuración y en las deformaciones que se producen en las diferentes configuraciones estructurales. Las conclusiones que hemos obtenido tras analizar los resultados, incluidas en el Capítulo 7, no dejan lugar a dudas: la presencia, la posición y la tipología de los huecos en los elementos de fábricas soportadas sobre estructuras deformables son factores determinantes respecto de la fisuración y pueden tener influencia en las deformaciones que constituyen la flecha activa del elemento, lo que obliga a plantear una serie de recomendaciones frente al proyecto y frente a la reglamentación técnica. La investigación desarrollada para esta Tesis Doctoral y la metodología aplicada para su desarrollo abre nuevas líneas de estudio, que se esbozan en el Capítulo 8, para el análisis de otros aspectos que no han sido cubiertos por esta investigación a fin de mejorar las limitaciones que deberían establecerse para los Estados Límite de Servicio de Deformaciones correspondientes a las estructuras de edificación. SUMMARY. Unlike other parameters, the effect of the existence of voids in the arising and development of cracking processes in the masonry walls has not been considered by current Codes. Nowadays, a huge variety of enclosure elements types is used to execute partitions in buildings, each one with different mechanical characteristics and different execution methodology, being applied the same rules concerning deflection calculation and control. As indicated in Chapter 1, which analyzes the State of Art, current codes analytically determine the deflection likely to be achieved in structural supporting elements under different service conditions. The different proposals that exist related to live deflection limitation, once performed deformations calculation, either by Branson´s method or considering curvatures integration methods, do not consider in deflection limitation the existence and typology of voids in a masonry wall structured supported. But is sensed and it can be affirmed that a discontinuity in any element under stress influences the stress state of it. If we consider that, in general, cracking processes occur when masonry material tensile strength is exceeded, it is clear that tension variation induced by the existence of voids must have some influence on the emergence and development of cracking processes in enclosure elements of building works. In Chapters 2 and 3, after justifying the need for an investigation to confirm the relationship between the existence of voids in a masonry wall and the development of cracking process in it, is set as the main objective and it is shown the analysis Methodology. We have defined and justified in Chapter 4 the calculation model used to determine the deformation and cracking processes that occur in the cases analyzed, in which were considered as variables: model span values, bearing elements cracking state, creep effects and load transmission percentage from the upper floor to the studied masonry wall. In addition, two masonry tensile strength values 0.75MPa and 1.00MPa have been considered. The cracking consideration ability, robustness and reliability has determined and justified the selection of the finite element program that was used for the calculations. Taking advantage of the ability of accurately consider the characteristics introduced for each parameter, we have performed a parametric analyses that considers 360 iterative calculations, whose results are included in Chapter 5, in order to obtain a representative results set that will be analyzed later. In Chapter 6, results analysis, we studied the obtained values of deformation and cracking configurations for the cases analyzed. We determined the influence of the voids presence in the occurrence of cracking processes and deformations in different structural configurations. The conclusions we have obtained after analyzing the results, included in Chapter 7, leave no doubt: the presence, position and type of holes in masonry elements supported on deformable structures are determinative of cracking and can influence deformations which are the element live deflection, making necessary to raise a number of recommendations related to project and technical regulation. The research undertaken for this Doctoral Thesis and the applied methodology for its development opens up new lines of study, outlined in Chapter 8, for the analysis of other aspects that are not covered by this research, in order to improve the limitations that should be established for Deflections Serviceability Limit States related to building structures.

A Motor-less and Gear-less Bio-mimetic Robotic Fish Design

In this paper, we describe our current work on bio-inspired locomotion systems using a deformable structure and smart materials, concretely Shape Memory Alloys, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot has been developed whose movements are generated using such actuators, used for bending the backbone of the fish, which in turn causes a change on the curvature of the body. This paper focuses on how standard swimming patterns can be reproduced with the proposed design, using an actuation dynamics model identified in prior work.