Grip and load force coordination in cyclical isometric manipulation task is not affected by the feedback type

Background: The relationship between normal and tangential force components (grip force - GF and load force - LF, respectively) acting on the digits-object interface during object manipulation reveals neural mechanisms involved in movement control. Here, we examined whether the feedback type provided to the participants during exertion of LF would influence GF-LF coordination and task performance. Methods. Sixteen young (24.7 ±3.8 years-old) volunteers isometrically exerted continuously sinusoidal FZ (vertical component of LF) by pulling a fixed instrumented handle up and relaxing under two feedback conditions: targeting and tracking. In targeting condition, FZ exertion range was determined by horizontal lines representing the upper (10 N) and lower (1 N) targets, with frequency (0.77 or 1.53 Hz) dictated by a metronome. In tracking condition, a sinusoidal template set at similar frequencies and range was presented and should be superposed by the participants' exerted FZ. Task performance was assessed by absolute errors at peaks (AEPeak) and valleys (AEValley) and GF-LF coordination by GF-LF ratios, maximum cross-correlation coefficients (r max), and time lags. Results: The results revealed no effect of feedback and no feedback by frequency interaction on any variable. AE Peak and GF-LF ratio were higher and rmax lower at 1.53 Hz than at 0.77 Hz. Conclusion: These findings indicate that the type of feedback does not influence task performance and GF-LF coordination. Therefore, we recommend the use of tracking tasks when assessing GF-LF coordination during isometric LF exertion in externally fixed instrumented handles because they are easier to understand and provide additional indices (e.g., RMSE) of voluntary force control. © 2013 Pedão et al.; licensee BioMed Central Ltd.

Development and validation of a D-loop mtDNA SNP assay for the screening of specimens in forensic casework

Mitochondrial DNA (mtDNA) analysis is usually a last resort in routine forensic DNA casework. However, it has become a powerful tool for the analysis of highly degraded samples or samples containing too little or no nuclear DNA, such as old bones and hair shafts. The gold standard methodology still constitutes the direct sequencing of polymerase chain reaction (PCR) products or cloned amplicons from the HVS-1 and HVS-2 (hypervariable segment) control region segments. Identifications using mtDNA are time consuming, expensive and can be very complex, depending on the amount and nature of the material being tested. The main goal of this work is to develop a less labour-intensive and less expensive screening method for mtDNA analysis, in order to aid in the exclusion of non-matching samples and as a presumptive test prior to final confirmatory DNA sequencing. We have selected 14 highly discriminatory single nucleotide polymorphisms (SNPs) based on simulations performed by Salas and Amigo (2010) [1] to be typed using SNaPShotTM (Applied Biosystems, Foster City, CA, USA). The assay was validated by typing more than 100 HVS-1/HVS-2 sequenced samples. No differences were observed between the SNP typing and DNA sequencing when results were compared, with the exception of allelic dropouts observed in a few haplotypes. Haplotype diversity simulations were performed using 172 mtDNA sequences representative of the Brazilian population and a score of 0.9794 was obtained when the 14 SNPs were used, showing that the theoretical prediction approach for the selection of highly discriminatory SNPs suggested by Salas and Amigo (2010) [1] was confirmed in the population studied. As the main goal of the work is to develop a screening assay to skip the sequencing of all samples in a particular case, a pair-wise comparison of the sequences was done using the selected SNPs. When both HVS-1/HVS-2 SNPs were used for simulations, at least two differences were observed in 93.2% of the comparisons performed. The assay was validated with casework samples. Results show that the method is straightforward and can be used for exclusionary purposes, saving time and laboratory resources. The assay confirms the theoretic prediction suggested by Salas and Amigo (2010) [1]. All forensic advantages, such as high sensitivity and power of discrimination, as also the disadvantages, such as the occurrence of allele dropouts, are discussed throughout the article. © 2013 Elsevier B.V.

On switched control design of linear time-invariant systems with polytopic uncertainties

This paper proposes a new switched control design method for some classes of linear time-invariant systems with polytopic uncertainties. This method uses a quadratic Lyapunov function to design the feedback controller gains based on linear matrix inequalities (LMIs). The controller gain is chosen by a switching law that returns the smallest value of the time derivative of the Lyapunov function. The proposed methodology offers less conservative alternative than the well-known controller for uncertain systems with only one state feedback gain. The control design of a magnetic levitator illustrates the procedure. © 2013 Wallysonn A. de Souza et al.

Influence of visual feedback sampling on obstacle crossing behavior in people with Parkinson's disease

The purpose of the current study was to investigate the role of visual information on gait control in people with Parkinson's disease as they crossed over obstacles. Twelve healthy individuals, and 12 patients with mild to moderate Parkinson's disease, walked at their preferred speeds along a walkway and stepped over obstacles of varying heights (ankle height or half-knee height), under three visual sampling conditions: dynamic (normal lighting), static (static visual samples, similar to stroboscopic lighting), and voluntary visual sampling. Subjects wore liquid crystal glasses for visual manipulation. In the static visual sampling condition only, the patients with Parkinson's disease made contact with the obstacle more often than did the control subjects. In the successful trials, the patients increased their crossing step width in the static visual sampling condition as compared to the dynamic and voluntary visual sampling conditions; the control group maintained the same step width for all visual sampling conditions. The patients showed lower horizontal mean velocity values during obstacle crossing than did the controls. The patients with Parkinson's disease were more dependent on optic flow information for successful task and postural stability than were the control subjects. Bradykinesia influenced obstacle crossing in the patients with Parkinson's disease. © 2013 Elsevier B.V.

Observer-based control design for switched affine systems and applications to DC-DC converters

This paper deals with the problem of establishing a state estimator for switched affine systems. For that matter, a modification on the Luenberger observer is proposed, the switched Luenberger observer, whose idea is to design one output gain matrix for each mode of the original system. The efficiency of the proposed method relies on a simplification on estimation error which is proved always valid, guaranteeing the estimation error to asymptotically converge to zero, for any initial state and switching law. Next, a dynamic output-dependent switching law is formulated. Then, design methodologies using linear matrix inequalities are proposed, which, to the authors's knowledge, have not yet been applied to this problem. Finally, observers for DC-DC converters are designed and simulated as application examples. © 2013 Brazilian Society for Automatics - SBA.

Controle de movimentos de pacientes paraplégicos utilizando modelos fuzzy T-S

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Controle da injeção de potências ativa e reativa em inversor de Geração Distribuída conectado à rede de distribuição em corrente alternada em baixa tensão, empregando LMIs com realimentação de estados e critérios de D-estabilidade

Pós-graduação em Engenharia Elétrica - FEIS

MODEL-BASED COMPENSATION FOR BURST MESSAGE LOSS IN WIRELESS NETWORKED CONTROL SYSTEMS: EXPERIMENTAL RESULTS

A recent trend in networked control systems (NCSs) is the use of wireless networks enabling interoperability between existing wired and wireless systems. One of the major challenges in these wireless NCSs (WNCSs) is to overcome the impact of the message loss that degrades the performance and stability of these systems. Moreover, this impact is greater when dealing with burst or successive message losses. This paper discusses and presents the experimental results of a compensation strategy to deal with this burst message loss problem in which a NCS mathematical model runs in parallel with the physical process, providing sensor virtual data in case of packet losses. Running in real-time inside the controller, the mathematical model is updated online with real control signals sent to the actuator, which provides better reliability for the estimated sensor feedback (virtual data) transmitted to the controller each time a message loss occurs. In order to verify the advantages of applying this model-based compensation strategy for burst message losses in WNCSs, the control performance of a motor control system using CAN and ZigBee networks is analyzed. Experimental results led to the conclusion that the developed compensation strategy provided robustness and could maintain the control performance of the WNCS against different message loss scenarios.

Development of a Loop-Mediated Isothermal Amplification Method for Detection of Histoplasma capsulatum DNA in Clinical Samples

Improved methods for the detection of Histoplasma capsulatum are needed in regions with limited resources in which the organism is endemic, where delayed diagnosis of progressive disseminated histoplasmosis (PDH) results in high mortality rates. We have investigated the use of a loop-mediated isothermal amplification (LAMP) assay to facilitate rapid inexpensive molecular diagnosis of this disease. Primers for LAMP were designed to amplify the Hcp100 locus of H. capsulatum. The sensitivity and limit of detection were evaluated using DNA extracted from 91 clinical isolates of known geographic subspecies, while the assay specificity was determined using DNA extracted from 50 other fungi and Mycobacterium tuberculosis. Urine specimens (n = 6) collected from HIV-positive individuals with culture- and antigen-proven histoplasmosis were evaluated using the LAMP assay. Specimens from healthy persons (n = 10) without evidence of histoplasmosis were used as assay controls. The Hcp100 LAMP assay was 100% sensitive and specific when tested with DNA extracted from culture isolates. The median limit of detection was <= 6 genomes (range, 1 to 300 genomes) for all except one geographic subspecies. The LAMP assay detected Hcp100 in 67% of antigen-positive urine specimens (4/6 specimens), and results were negative for Hcp100 in all healthy control urine specimens. We have shown that the Hcp100 LAMP assay is a rapid affordable assay that can be used to expedite culture confirmation of H. capsulatum in regions in which PDH is endemic. Further, our results indicate proof of the concept that the assay can be used to detect Histoplasma DNA in urine. Further evaluation of this assay using body fluid samples from a larger patient population is warranted.

Robust Switched Control Design for Nonlinear Systems Using Fuzzy Models

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Controle de velocidade de um motor de indução trifásico usando técnicas de ajuste empírico para bancada de teste no laboratório de automação

This work aims to make the closed loop control of a three phase induction motor, through the integration of the following equipment: a frequency inverter, the actuator system; a programmable logic controller (PLC), the controller; an encoder, the velocity sensor, used as a feedback monitoring the control variable and the three-phase induction motor, the plant to be controlled. The control is performed using a Proportional - Integrative - Derivative (PID) approach. The PLC has a help instruction, which performs the auto adjustment of the controller, that instruction is used and confronted with other adjustment methods. There are several types of methods adjustments to the PID controllers, where the empirical methods are addressed in this work. The system is deployed at the Interface and Electro Electronic Control laboratory in the Universidade Estadual Paulista Júlio Mesquita Filho, Guaratinguetá, São Paulo, then, in the future, this work becomes an experiment to be conducted in the classroom, allowing undergraduate students to develop a greater affinity to the programs used by the PLC as well as studies of undergraduate and graduate works with the help of assembly made

Efeito da manipulação do feedback da percepção subjetiva de esforço esperada na percepção subjetiva de esforço e no desempenho de adultos de diferentes faixas etárias

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Controlador PID utilizando microcontrolador PIC

This monograph proposes the implementation of a low cost PID controller utilizing a PIC microcontroller, and its application in a positioning system previously controlled by a dedicated integrated circuit for a positioning system. Applying the closed-loop PID control, the system instability was reduced, and its response was smoother, eliminating vibrations and mechanical wear compared to its response with the dedicated integrated circuit, which has a very limited control action. The actuator of the system is a DC motor, whose speed is controlled by the Pulse Width Modulation (PWM) technique, using a Full-Bridge circuit, allowing the shift of direction of rotation. The utilized microcontroller was the PIC16F684, which has an enhanced PWM module, with its analog converters used as reference and position feedback. The positioning sensor is a multiturn potentiometer coupled to the motor axis by gears. The possibility of programming the PID coefficients in the microcontroller, as well as the adjustment of the sampling rate, allows the implemented system achieving high level of versatility

A fuzzy Lyapunov function approach for stabilization and control of switched TS fuzzy systems

In this work, sufficient conditions for the existence of switching laws for stabilizing switched TS fuzzy systems via a fuzzy Lyapunov function are proposed. The conditions are found by exploring properties of the membership functions and are formulated in terms of linear matrix inequalities (LMIs). Stabilizing switching conditions with bounds on the decay rate solution and H1 performance are also obtained. Numerical examples illustrate the effectiveness of the proposed design methods.

The benefits of soft sensor and multi-rate control for the implementation of wireless networked control systems

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)