Drag force and frictional resistances in vertically vibrated dense granular media

The objective of this thesis is to shed light on the vertical vibration of granular materials for potential interest in the power generation industry. The main focus is investigating the drag force and frictional resistance that influence the movement of a granular material (in the form of glass beads) contained in a vessel, which is subjected to sinusoidal oscillation. The thesis is divided into three parts: theoretical analysis, experiments and computer simulations. The theoretical part of this study presents the underlying physical phenomena of the vibration of granular materials. Experiments are designed to determine fundamental parameters that contribute to the behavior of vibrating granular media. Numerical simulations include the use of three different software applications: FLUENT, LS-DYNA and ANSYS Workbench. The goal of these simulations is to test theoretical and semiempirical models for granular materials in order to validate their compatibility with the experimental findings, to assist in predicting their behavior, and to estimate quantities that are hard to measure in laboratory.

Dynamic electrostatic force microscopy in liquid media

We present the implementation of dynamic electrostatic force microscopy in liquid media. This implementation enables the quantitative imaging of local dielectric properties of materials in electrolyte solutions with nanoscale spatial resolution. Local imaging capabilities are obtained by probing the frequency-dependent and ionic concentration-dependent electrostatic forces at high frequency (>1 MHz), while quantification of the interaction forces is obtained with finite-element numerical calculations. The results presented open a wide range of possibilities in a number of fields where the dielectric properties of materials need to be probed at the nanoscale and in a liquid environment.

Dynamic electrostatic force microscopy in liquid media

We present the implementation of dynamic electrostatic force microscopy in liquid media. This implementation enables the quantitative imaging of local dielectric properties of materials in electrolyte solutions with nanoscale spatial resolution. Local imaging capabilities are obtained by probing the frequency-dependent and ionic concentration-dependent electrostatic forces at high frequency (>1 MHz), while quantification of the interaction forces is obtained with finite-element numerical calculations. The results presented open a wide range of possibilities in a number of fields where the dielectric properties of materials need to be probed at the nanoscale and in a liquid environment.

La evaluación del estrés y del trauma: presentación de la versión española de la escala de trauma acumulativo (CTS)

This paper reviews some of the most usual definitions of stress and trauma including the notion of accumulative trauma. Then, the Spanish version of the Cumulative Trauma Scale by Kira et al (2008) is presented. It has been developed by following a process of translation and by applying it to two small groups of subjects to test it for comprehension (pilot test).

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Investigating the spontaneous formation of SDS micelle in aqueous solution using a coarse-grained force field

A 1µs Molecular Dynamic simulation was performed with a realistic model system of Sodium Dodecyl Sulfate (SDS) micelles in aqueous solution, comprising of 360 DS-, 360 Na+ and 90000 water particles. After 300 ns three different micellar shapes and sizes 41, 68 and 95 monomers, were observed. The process led to stabilization in the total number of SDS clusters and an increase in the micellar radius to 2.23 nm, in agreement with experimental results. An important conclusion, is be aware that simulations employed in one aggregate, should be considered as a constraint. Size and shape distribution must be analyzed.

Prevenção e atendimento inicial do trauma e doenças cardiovasculares: um programa de ensino

A Faculdade de Medicina da Universidade de São Paulo, ao cumprir as prerrogativas da universidade quanto ao ensino, pesquisa e prestação de serviços à comunidade, tem desenvolvido programas direcionados à graduação e à coletividade, abrangendo diversos aspectos do trauma e das doenças cardiovasculares. Respeitando protocolos internacionais, cursos teórico-práticos são organizados e ministrados por instrutores reconhecidos pela American Heart Association e American College of Surgeons. A comparação entre pré e pós-testes demonstrou resultado melhor quando os alunos eram profissionais da área da saúde, o que foi atribuído a seu melhor preparo em relação à comunidade leiga. Entretanto, como a finalidade era a capacitação de todos, profissionais da saúde ou não, uma reavaliação da metodologia tornou-se necessária, salientando-se como principal preocupação uma duração maior das atividades práticas e maior possibilidade de discussões.

National Library and Library Network in Finland - Cooperation Being the Driving Force of Success

Kristiina Hormia-Poutasen esitys Danish Research Association -tapahtumassa Tanskassa 15.9.2011

Novel force control methods in a teleoperation system of a hydraulic slider

The objective of the this research project is to develop a novel force control scheme for the teleoperation of a hydraulically driven manipulator, and to implement an ideal transparent mapping between human and machine interaction, and machine and task environment interaction. This master‘s thesis provides a preparatory study for the present research project. The research is limited into a single degree of freedom hydraulic slider with 6-DOF Phantom haptic device. The key contribution of the thesis is to set up the experimental rig including electromechanical haptic device, hydraulic servo and 6-DOF force sensor. The slider is firstly tested as a position servo by using previously developed intelligent switching control algorithm. Subsequently the teleoperated system is set up and the preliminary experiments are carried out. In addition to development of the single DOF experimental set up, methods such as passivity control in teleoperation are reviewed. The thesis also contains review of modeling of the servo slider in particular reference to the servo valve. Markov Chain Monte Carlo method is utilized in developing the robustness of the model in presence of noise.

TANDEM-trauma

Kirjallisuusarvostelu

Ferimento de hipofaringe no trauma cervical penetrante

O tratamento dos ferimentos de hipofaringe ainda é controvertido na literatura. A maior parte dos autores acredita que o tratamento preferencial consiste na exploração cirúrgica imediata, com reparo primário da lesão e drenagem ou somente a drenagem, e que o tratamento conservador estaria indicado em casos selecionados. Entre 157 ferimentos cervicais penetrantes, num período de quatro anos, encontramos sete (4,4%) casos de perfuração de hipofaringe. Destes, seis (85,7%) foram tratados cirurgicamente, cinco (71 ,4%) com sutura primária e drenagem. A taxa de mortalidade foi nula e a morbidade foi de 28,6%, sendo de 11,2 dias o tempo médio de internação.

Utilidade dos exames pré-operatórios em trauma

Os exames complementares são realizados rotineiramente no pré-operatório de procedimentos cirúrgicos médios e grandes. Entretanto, a sua utilidade é questionável, uma vez que muitos deles são normais ou seus resultados são previsíveis. O objetivo deste estudo foi avaliar a real utilidade da propedêutica complementar pré-operatória na prevenção de complicações cirúrgicas. Foram revistos 117 prontuários de pacientes submetidos a operações por traumas abdominais (66,6%) e/ou torácicos (33,4%) de grande porte, no Setor de Urgência do Hospital João XXIII de Belo Horizonte, no período de 1985- 1995. Avaliaram-se os exames complementares pré-operatórios e sua relação com eventuais complicações cirúrgicas. A idade dos 76 homens e 4l mulheres variou entre 20 e 79 anos. Os 49,2% dos exames laboratoriais alterados corresponderam a achados previsíveis pelo exame clínico. Somente 1,6% das anormalidades nesses exames foram relacionadas com complicações pós-operatórias. Nenhuma das 70,4% radiografias alteradas correlacionaram-se com complicações pós-operatórias. As complicações pós-operatórias mais freqüentes foram abscesso de parede, parada cardiorrespiratória e pneumonia. Nenhuma complicação poderia ter sido prevenida pelos exames complementares pré-operatórios. Os resultados obtidos nos exames complementares pré-operatórios não influenciaram as condutas, e as alterações encontradas não foram relacionadas às complicações cirúrgicas em serviço de urgência.