Towards human-like bimanual movements in anthropomorphic robots: a nonlinear optimization approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

A new competitive implementation of the electromagnetism-like algorithm for global optimization

The Electromagnetism-like (EM) algorithm is a population- based stochastic global optimization algorithm that uses an attraction- repulsion mechanism to move sample points towards the optimal. In this paper, an implementation of the EM algorithm in the Matlab en- vironment as a useful function for practitioners and for those who want to experiment a new global optimization solver is proposed. A set of benchmark problems are solved in order to evaluate the performance of the implemented method when compared with other stochastic methods available in the Matlab environment. The results con rm that our imple- mentation is a competitive alternative both in term of numerical results and performance. Finally, a case study based on a parameter estimation problem of a biology system shows that the EM implementation could be applied with promising results in the control optimization area.

Further results on the inverse along an element in semigroups and rings

In this paper, we introduce a new notion in a semigroup $S$ as an extension of Mary's inverse. Let $a,d\in S$. An element $a$ is called left (resp. right) invertible along $d$ if there exists $b\in S$ such that $bad=d$ (resp. $dab=b$) and $b\leq_\mathcal{L}d$ (resp. $b\leq_\mathcal{R}d$). An existence criterion of this type inverse is derived. Moreover, several characterizations of left (right) regularity, left (right) $\pi$-regularity and left (right) $*$-regularity are given in a semigroup. Further, another existence criterion of this type inverse is given by means of a left (right) invertibility of certain elements in a ring. Finally we study the (left, right) inverse along a product in a ring, and, as an application, Mary's inverse along a matrix is expressed.

Portuguese internet radio from 2006 to 2009: technical readiness and openness to interaction

[Extrat] The advent of thc internet raised questions about the role of radio in a fast-changing media environment. Many voices forecast its end but in the summer of 2008 the Swedish Radio and TV Authority published a study named 'The Future of Radio', which clearly opposed the pessimism of recent analysis. While the study anticipates the exhaustion of the FM model, it clearly broadens perspectives for DAB and internet radio, highlighting digitalization as the key element for the future relevance of radio. The Portuguese researcher and radio professional João Paulo Meneses states that 'the future of radio relies upon the internet', calling the broad service offerings of the net the pathway for the survival of radio from the threats to its two essential aspects: rnobility and accumulation (Meneses 2008). Accumulation is radio's capability to be used in a non­exclusive manner, which means that a listener can use the radio while performing other activities, like cooking, sewing, reading, writing or jogging.

Exploring the properties of genetically engineered silk-elastin-like protein films

Free standing films of a genetically engineered silk-elastin-like protein (SELP) were prepared using water and formic acid as solvents. Exposure to methanol-saturated air promoted the formation of aggregated β-strands rendering aqueous insolubility and improved the mechanical properties leading to a 10-fold increase in strain-to-failure. The films were optically clear with resistivity values similar to natural rubber and thermally stable up to 180 °C. Addition of glycerol showed to enhance the flexibility of SELP/glycerol films by interacting with SELP molecules through hydrogen bonding, interpenetrating between the polymer chains and granting more conformational freedom. This detailed characterization provides cues for future and unique applications using SELP based biopolymers.

Development of elastin-like recombinamer films with antimicrobial activity

In the present work we explored the ABP-CM4 peptide properties from Bombyx mori for the creation of biopolymers with broad antimicrobial activity. An antimicrobial recombinant protein-based polymer (rPBP) was designed by cloning the DNA sequence coding for ABP-CM4 in frame with the N-terminus of the elastin-like recombinamer consisting of 200 repetitions of the pentamer VPAVG, here named A200. The new rPBP, named CM4-A200, was purified via a simplified nonchromatographic method, making use of the thermoresponsive behavior of the A200 polymer. ABP-CM4 peptide was also purified through the incorporation of a formic acid cleavage site between the peptide and the A200 sequence. In soluble state the antimicrobial activity of both CM4-A200 polymer and ABP-CM4 peptide was poorly effective. However, when the CM4-A200 polymer was processed into free-standing films high antimicrobial activity against Gram-positive and Gram-negative bacteria, yeasts and filamentous fungi was observed. The antimicrobial activity of CM4-A200 was dependent on the physical contact of cells with the film surface. Furthermore, CM4-A200 films did not reveal a cytotoxic effect against both normal human skin fibroblasts and human keratinocytes. Finally, we have developed an optimized ex vivo assay with pig skin demonstrating the antimicrobial properties of the CM4-A200 cast films for skin applications.

Evaluation of temperature influence on embedded kinematic system

Dissertação de mestrado integrado em Engenharia Mecânica

Reflow soldering in an oxidant atmosphere

Dissertação de mestrado integrado em Materials Engineering

Design of mechatronic system for handling bedridden people

Dissertação de mestrado em Engenharia Mecatrónica

Efeito da adição de Zr no endurecimento de ligas Al-Sc

Dissertação de mestrado integrado em Engenharia de Materiais

Gellan gum-hyaluronate spongy-like hydrogels promote angiogenesis in hindlimb ischemia

"Tissue engineering: part A", vol. 21, suppl. 1 (2015)

Methylation at the CpG island shore region upregulates Nr3c1 promoter activity after early-life stress

Early-life stress (ELS) induces long-lasting changes in gene expression conferring an increased risk for the development of stress-related mental disorders. Glucocorticoid receptors (GR) mediate the negative feedback actions of glucocorticoids (GC) in the paraventricular nucleus (PVN) of the hypothalamus and anterior pituitary and therefore play a key role in the regulation of the hypothalamic-pituitary-adrenal (HPA) axis and the endocrine response to stress. We here show that ELS programs the expression of the GR gene (Nr3c1) by site-specific hypermethylation at the CpG island (CGI) shore in hypothalamic neurons that produce corticotropin-releasing hormone (Crh), thus preventing Crh upregulation under conditions of chronic stress. CpGs mapping to the Nr3c1 CGI shore region are dynamically regulated by ELS and underpin methylation-sensitive control of this region's insulation-like function via Ying Yang 1 (YY1) binding. Our results provide new insight into how a genomic element integrates experience-dependent epigenetic programming of the composite proximal Nr3c1 promoter, and assigns an insulating role to the CGI shore.

Determination of the importance of iron acquisition for Staphylococcus epidermidis biofilm survival in human blood

Dissertação de mestrado em Bioengenharia

Modelo in vitro de ateroesclerosis: Efecto de la infección con Trypanosoma cruzi, lípidos y lipoproteínas sobre la expresión de receptores Toll-like y scavengers en la formación de células espumosas derivadas de macrófagos

Los receptores Toll-like (TLRs) son receptores ancestrales que reconocen modelos moleculares asociados a patógenos y nos defienden de los microorganismos. Su activación por vías de señalización que involucran al factor de transcripción NF-kB, estimula la producción de citoquinas inflamatorias, quimioquinas, moléculas de adhesión y procoagulantes. Recientemente se ha documentado la participación de TLR 2 y 4 en el desarrollo /progresión del ateroma en modelos experimentales in vivo, siendo postulados como nexo entre inflamación, infecciones y ateroesclerosis. Infecciones bacterianas y virales han demostrado jugar un papel en su desarrollo. Sin embargo, el rol de parásitos intracelulares obligados -Trypanosoma cruzi- ha sido escasamente explorado. Los macrófagos, células claves del sistema inmune innato, que pueden ser infectadas in vivo e in vitro por este parásito, expresan en su superficie receptores multiligando scavenger (SR) clase B. Entre ellos, CD 36, capta lipoproteínas de baja densidad (LDL) oxidadas y este mecanismo endocítico no controlado por feedback favorecería la formación de células espumosas, la lesión más temprana de ateroesclerosis. El objetivo general de este proyecto es contribuir a esclarecer el conocimiento de los mecanismos bioquímicos, celulares y moleculares que participan en la formación de células espumosas derivadas de macrófagos. Determinar el efecto de potenciales factores aterogénicos sobre receptores Toll-like and SR-CD 36, permitiría diseñar terapias alternativas tendientes a modular su actividad con la finalidad de disminuir la elevada morbilidad/mortalidad que ocasiona la ateroesclerosis en la sociedad occidental. En nuestro modelo proponemos los siguientes objetivos específicos: -Dilucidar el compromiso de TLRs y SR-clase B en el proceso de aterogenésis, específicamente en la formación de células espumosas.-Investigar la influencia de la infección por T. cruzi, ácidos grasos y LDL modificadas como factores aditivos en la formación de estas células. -Evaluar el efecto de ligandos agonistas de TLR2/4 y SR-CD 36. -Determinar el perfil de citoquinas inflamatorias liberadas en el sobrenadante de los cultivos celulares. -Estudiar el efecto metabólico de las hormonas insulina y adipoquinas en el proceso bioquímico y celular que permite la formación de células espumosas.

Efecto de la infección in vivo con Trypanosoma cruzi y una dieta rica en lípidos sobre receptores Toll-like en un modelo experimental de Aterosclerosis

Además de los factores de riesgos convencionales y mejor conocidos que predisponen a la aterosclerosis, entre ellos, la hiperlipemia, hipertensión y el hábito de fumar, recientemente se ha propuesto a las infecciones y la inflamación como factores de riesgo a tener en cuenta en el desarrollo de esta patología. Considerando que algunas infecciones bacterianas y / o virales pueden ejercer una acción pro-aterogénica, probablemente como consecuencia de inflamación sistémica o un efecto directo sobre la pared vascular, nos propusimos como objetivo principal, estudiar la influencia de la infección in vivo con Trypanosoma cruzi (parásito protozoario, agente etiológico de la Enfermedad de Chagas) más una dieta rica en lípidos sobre la expresión de los receptores de la inmunidad innata (Toll – like) en un modelo experimental desarrollado en ratones C57BL/6, propensos a la aterosclerosis. Por otra parte, nos interesa caracterizar los tipos celulares que infiltran el corazón y la aorta de los animales sometidos a tratamientos experimental (mediante estudios inmunohistoquímicos), el perfil de citoquinas inflamatorias séricas y moléculas de adhesión intercelular, así como también establecer una correlación con parámetros bioquímico – clínicos y endocrinológicos, en especial el perfil de lípidos, lipoproteínas y apolipoproteínas, marcadores de inflamación sistémica, peso corporal, glucemia, insulina e insulina resistencia