Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Tuberculosis Control Program and patient satisfaction, Rio de Janeiro, Brazil

OBJECTIVE To evaluate factors associated with users’ satisfaction in the Tuberculosis Control Program. METHODS A cross-sectional study of 295 patients aged ≥ 18 years, with two or more outpatient visits in the Tuberculosis Control Program, in five cities in the metropolitan region of Rio de Janeiro, RJ, Southeastern Brazil, in 2010. Considering an estimated population of 4,345 patients, the sampling plan included 15 health care units participating in the program, divided into two strata: units in Rio de Janeiro City, selected with probability proportional to the monthly average number of outpatient visits, and units in the other four cities. In the units, four temporal clusters of five patients each were selected with equal probability, totaling 300 patients. A questionnaire investigating the users’ clinical and sociodemographic variables and aspects of care and service in the program relevant to user satisfaction was applied to the patients. Descriptive statistics about users and their satisfaction with the program were obtained, and the effects of factors associated with satisfaction were estimated. RESULTS Patients were predominantly males (57.7%), with a mean age of 40.9 and with low level of schooling. The mean treatment time was 4.1 months, mostly self-administered (70.4%). Additionally, 25.8% had previously been treated for tuberculosis. There was a high level of satisfaction, especially regarding medication provision, and respect to patients by the health professionals. Patients who were younger (≤ 30), those on self-administered treatment, and with graduate level, showed less satisfaction. Suggestions to improve the services include having more doctors (70.0%), and offering exams in the same place of attendance (55.1%). CONCLUSIONS Patient satisfaction with the Tuberculosis Control Program was generally high, although lower among younger patients, those with university education and those on self-administered treatment. The study indicates the need for changes to structural and organizational aspects of care, and provides practical support for its improvement.

Implementation of a dominance protocol for wireless medium access

Consider the problem of scheduling sporadic message transmission requests with deadlines. For wired channels, this has been achieved successfully using the CAN bus. For wireless channels, researchers have recently proposed a similar solution; a collision-free medium access control (MAC) protocol that implements static-priority scheduling. Unfortunately no implementation has been reported, yet. We implement and evaluate it to find that the implementation indeed is collision-free and prioritized. This allows us to develop schedulability analysis for the implementation. We measure the response times of messages in our implementation and find that our new response-time analysis indeed offers an upper bound on the response times. This enables a new class of wireless real-time systems with timeliness guarantees for sporadic messages and it opens-up a new research area: schedulability analysis for wireless networks.

An IEEE 802.15.4 protocol implementation (in nesC/TinyOS): reference guide v1.0

This technical report is to provide a reference guide to the implementation of the IEEE 802.15.4 protocol in nesC/TinyOS for the MICAz motes. The implementation is provided as a tool that can be used to implement, test and evaluate the current functionalities defined in the protocol standard as well as to enable the development of functionalities not yet implemented and new add-ons to the protocol.

Implementation of the i-GAME mechanism in IEEE 802.15.4 WPANs

This technical report describes the implementation details of the Implicit GTS Allocation Mechanism (i-GAME), for the IEEE 802.15.4 protocol. The i-GAME was implemented in nesC/TinyOS for the CrossBow MICAz mote, over our own implementation of the IEEE 802.15.4 protocol stack. This document provides the implementation details, including a description of the i-GAME software interfaces.

Relatório de estágio em reabilitação neurológica: intervenção da fisioterapia em indivíduos com AVC em fase aguda

Mestrado em Fisioterapia

Association between food assistance program participation and overweight

OBJECTIVE The objective of this study was to investigate the association between food assistance program participation and overweight/obesity according to poverty level. METHODS A cross-sectional analysis of data from 46,217 non-pregnant and non-lactating women in Lima, Peru was conducted; these data were obtained from nationally representative surveys from the years 2003, 2004, 2006, and 2008-2010. The dependent variable was overweight/obesity, and the independent variable was food assistance program participation. Poisson regression was used to stratify the data by family socioeconomic level, area of residence (Lima versus the rest of the country; urban versus rural), and survey year (2003-2006 versus 2008-2010). The models were adjusted for age, education level, urbanization, and survey year. RESULTS Food assistance program participation was associated with an increased risk of overweight/obesity in women living in homes without poverty indicators [prevalence ratio (PR) = 1.29; 95% confidence interval (CI) 1.06;1.57]. When stratified by area of residence, similar associations were observed for women living in Lima and urban areas; no associations were found between food assistance program participation and overweight/obesity among women living outside of Lima or in rural areas, regardless of the poverty status. CONCLUSIONS Food assistance program participation was associated with overweight/obesity in non-poor women. Additional studies are required in countries facing both aspects of malnutrition.

Factors associated with smoking cessation

OBJECTIVE To analyze the prevalence and factors associated with smoking abstinence among patients who were treated in a reference unit for smoking cessation.METHODS This cross-sectional study examined the medical records of 532 patients treated in a reference unit for smoking cessation in Belém, PA, Northern Brazil, between January 2010 and June 2012. Sociodemographic variables and those related to smoking history and treatment were analyzed. Statistical significance was set at p < 0.05.RESULTS The mean age of the participants was 50 years; 57.0% of the patients were women. The mean tobacco load was 30 packs/year, and the mean smoking duration was approximately 32 years. Most patients remained in treatment for four months. The rate of smoking abstinence was 75.0%. Regression analysis indicated that maintenance therapy, absence of relapse triggers, and lower chemical dependence were significantly associated with smoking cessation.CONCLUSIONS The smoking abstinence rate observed was 75.0%. The cessation process was associated with several aspects, including the degree of chemical dependence, symptoms of withdrawal, and period of patient follow-up in a multidisciplinary treatment program. Studies of this nature contribute to the collection of consistent epidemiological data and are essential for the implementation of effective smoking prevention and cessation strategies.

Model driven development implementation of a control systems user interfaces specification tool

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Informática

An internet remote laboratory to teach industrial automation

This paper presents the new internet remote laboratory (IRL), constructed at Mechanical Engineering Department (MED), Instituto Superior de Engenharia de Lisboa (ISEL), to teach Industrial Automation, namely electropneumatic cycles. The aim of this work was the development and implementation of a remote laboratory that was simple and effective from the user point of view, allowing access to all its functionalities through a web browser without having to install any other program and giving access to all the features that the students can find at the physical laboratory. With this goal in mind, it has been implemented a simple architecture with the new programmable logic controller (PLC) SIEMENS S7-1200, and with the aid of several free programs, programming technologies such as JavaScript, PHP and databases, it was possible to have a remote laboratory, with a simple interface, to teach industrial automation students.

Advances and challenges in oral health after a decade of the “Smiling Brazil” Program

ABSTRACT OBJECTIVE To analyze oral health work changes in primary health care after Brazil’s National Oral Health Policy Guidelines were released. METHODS A literature review was conducted on Medline, LILACS, Embase, SciELO, Biblioteca Virtual em Saúde, and The Cochrane Library databases, from 2000 to 2013, on elements to analyze work changes. The descriptors used included: primary health care, family health care, work, health care policy, oral health care services, dentistry, oral health, and Brazil. Thirty-two studies were selected and analyzed, with a predominance of qualitative studies from the Northeast region with workers, especially dentists, focusing on completeness and quality of care. RESULTS Observed advances focused on educational and permanent education actions; on welcoming, bonding, and accountability. The main challenges were related to completeness; extension and improvement of care; integrated teamwork; working conditions; planning, monitoring, and evaluation of actions; stimulating people’s participation and social control; and intersectorial actions. CONCLUSIONS Despite the new regulatory environment, there are very few changes in oral health work. Professionals tend to reproduce the dominant biomedical model. Continuing efforts will be required in work management, training, and permanent education fields. Among the possibilities are the increased engagement of managers and professionals in a process to understand work dynamics and training in the perspective of building significant changes for local realities.

Use of the Brazilian People’s Pharmacy Program by older adults

ABSTRACT OBJECTIVE To assess the prevalence and factors associated with the use of the expanded Brazilian People’s Pharmacy Program among older adults and the reasons for not using it. METHODS In this population-based cross-sectional study conducted in the urban area of Pelotas, RS, Southern Brazil, we evaluated 1,305 older adults (aged 60 years or over) who had used medication in the last 15 days. Independent variables were socioeconomic factors, economic status, household income in minimum wages, educational attainment in years of schooling and occupational status. Demographic variables were sex, age, marital status, and self-reported skin color/race. Poisson regression was employed to analyze the factors associated with the use of the program. RESULTS The prevalence of use was 57.0% whilst the prevalence of knowledge of the program was 87.0%. In individuals aged 80 years or over, use of the program was 41.0%. As to the origin of the prescriptions used by older adults, 46.0% were from the Brazilian Unified Health System. The main reasons for not using the program were: difficulty in getting prescriptions, medication shortage, and ignorance about the medications offered and about the program. Higher age, lower income, presence of chronic diseases, and use of four or more medications were associated with use of the program. CONCLUSIONS It is necessary to expand the knowledge and use of the Brazilian People’s Pharmacy Program, especially among older adults, and to improve the dissemination of its list of medications to users and physicians. Thus it will be possible to reduce spending on long-term medications, which are especially important for this population.

Implementation of fractional-order electromagnetic potential through a genetic algorithm

Several phenomena present in electrical systems motivated the development of comprehensive models based on the theory of fractional calculus (FC). Bearing these ideas in mind, in this work are applied the FC concepts to define, and to evaluate, the electrical potential of fractional order, based in a genetic algorithm optimization scheme. The feasibility and the convergence of the proposed method are evaluated.

FPGA implementation of IEEE 802.15.3C receiver

This paper presents the implementation of the OFDM demodulator and the Viterbi decoder, proposed as part of a wireless High Definition video receiver to be integrated in an FPGA. These blocks were implemented in a Xilinx Virtex-6 FPGA. The complete system was previously modeled and simulated using MATLAB/Simulink to extract importante hardware characteristics for the FPGA implementation.

FPGA-based weblab infrastructures guidelines and a prototype implementation example

Recent trends show an increasing number of weblabs, implemented at universities and schools, supporting practical training in technical courses and providing the ability to remotely conduct experiments. However, their implementation is typically based on individual architectures, unable of being reconfigured with different instruments/modules usually required by every experiment. In this paper, we discuss practical guidelines for implementing reconfigurable weblabs that support both local and remote control interfaces. The underlying infrastructure is based on reconfigurable, low-cost, FPGA-based boards supporting several peripherals that are used for the local interface. The remote interface is powered by a module capable of communicating with an Ethernet based network and that can either correspond to an internal core of the FPGA or an external device. These two approaches are discussed in the paper, followed by a practical implementation example.