蛇形机器人行波运动的研究

对蛇形机器人的行波运动机理进行了研究,基于Serpenoid曲线建立了蛇形机器人行波运动的形状控制模型、运动学模型、机构动力学模型及环境动力学模型,给出了求解过程。仿真结果表明:在行波运动中,各关节输入力矩大小呈周期变化,且随其与蛇体重心距离的增加而减小。蛇体中心关节的最大输入力矩为蛇形机器人所需最大输入力矩。对称关节输入力矩幅值变化规律相同,但相差不同;运动初始弯角保持不变,关节输入力矩随着环境摩擦因数的增加而增加。环境摩擦因数保持不变,关节输入力矩随着初始弯角的增加而减小。

A longitudinal study of infant feeding and obesity throughout the life course

Background: The Centers for Disease Control and Prevention and the US Department of Health and Human Services promote breastfeeding as a strategy for reducing childhood overweight. We evaluated the relation between infant feeding and the development of overweight and obesity throughout life course. Methods: We investigated the association between infant feeding and obesity among 35 526 participants in the Nurses' Health Study II who were followed prospectively from 1989 to 2001. Mothers of participants provided information by mailed questionnaires on the duration of breast- and bottle-feeding, as well as the type of milk or milk substitute in the bottle. Information on body shape at ages 5 and 10, weight at age 18, current weight between 1989 and 2001, and height was reported by the participants. Results: The duration of breastfeeding, including exclusive breastfeeding, was not related to being overweight (25 body mass index (BMI)

Rapid sympatric ecological differentiation of crater lake cichlid fishes within historic times

Background: After a volcano erupts, a lake may form in the cooled crater and become an isolated aquatic ecosystem. This makes fishes in crater lakes informative for understanding sympatric evolution and ecological diversification in barren environments. From a geological and limnological perspective, such research offers insight about the process of crater lake ecosystem establishment and speciation. In the present study we use genetic and coalescence approaches to infer the colonization history of Midas cichlid fishes (Amphilophus cf. citrinellus) that inhabit a very young crater lake in Nicaragua-the ca. 1800 year-old Lake Apoyeque. This lake holds two sympatric, endemic morphs of Midas cichlid: one with large, hypertrophied lips (~20% of the total population) and another with thin lips. Here we test the associated ecological, morphological and genetic diversification of these two morphs and their potential to represent incipient speciation.
Results: Gene coalescence analyses [11 microsatellite loci and mitochondrial DNA (mtDNA) sequences] suggest that crater lake Apoyeque was colonized in a single event from the large neighbouring great lake Managua only about 100 years ago. This founding in historic times is also reflected in the extremely low nuclear and mitochondrial genetic diversity in Apoyeque. We found that sympatric adult thin- and thick-lipped fishes occupy distinct ecological trophic niches. Diet, body shape, head width, pharyngeal jaw size and shape and stable isotope values all differ significantly between the two lip-morphs. The eco-morphological features pharyngeal jaw shape, body shape, stomach contents and stable isotopes (d15N) all show a bimodal distribution of traits, which is compatible with the expectations of an initial stage of ecological speciation under disruptive selection. Genetic differentiation between the thin- and thick-lipped population is weak at mtDNA sequence (FST = 0.018) and absent at nuclear microsatellite loci (FST < 0.001).
Conclusions: This study provides empirical evidence of eco-morphological differentiation occurring very quickly after the colonization of a new and vacant habitat. Exceptionally low levels of neutral genetic diversity and inference from coalescence indicates that the Midas cichlid population in Apoyeque is much younger (ca. 100 years or generations old) than the crater itself (ca. 1 800 years old). This suggests either that the crater remained empty for many hundreds of years after its formation or that remnant volcanic activity prevented the establishment of a stable fish population during the early life of the crater lake. Based on our findings of eco-morphological variation in the Apoyeque Midas cichlids, and known patterns of adaptation in Midas cichlids in general, we suggest that this population may be in a very early stage of speciation (incipient species), promoted by disruptive selection and ecological diversification.

Parsing parallel evolution:Ecological divergence and differential gene expression in the adaptive radiations of thick-lipped Midas cichlid fishes from Nicaragua

The study of parallel evolution facilitates the discovery of common rules of diversification. Here, we examine the repeated evolution of thick lips in Midas cichlid fishes (the Amphilophus citrinellus species complex) - from two Great Lakes and two crater lakes in Nicaragua - to assess whether similar changes in ecology, phenotypic trophic traits and gene expression accompany parallel trait evolution. Using next-generation sequencing technology, we characterize transcriptome-wide differential gene expression in the lips of wild-caught sympatric thick- and thin-lipped cichlids from all four instances of repeated thick-lip evolution. Six genes (apolipoprotein D, myelin-associated glycoprotein precursor, four-and-a-half LIM domain protein 2, calpain-9, GTPase IMAP family member 8-like and one hypothetical protein) are significantly underexpressed in the thick-lipped morph across all four lakes. However, other aspects of lips' gene expression in sympatric morphs differ in a lake-specific pattern, including the magnitude of differentially expressed genes (97-510). Generally, fewer genes are differentially expressed among morphs in the younger crater lakes than in those from the older Great Lakes. Body shape, lower pharyngeal jaw size and shape, and stable isotopes (dC and dN) differ between all sympatric morphs, with the greatest differentiation in the Great Lake Nicaragua. Some ecological traits evolve in parallel (those related to foraging ecology; e.g. lip size, body and head shape) but others, somewhat surprisingly, do not (those related to diet and food processing; e.g. jaw size and shape, stable isotopes). Taken together, this case of parallelism among thick- and thin-lipped cichlids shows a mosaic pattern of parallel and nonparallel evolution. © 2012 Blackwell Publishing Ltd.

An Evidential Improvement for Gender Profiling.

CCTV systems are broadly deployed in the present world. To ensure
in-time reaction for intelligent surveillance, it is a fundamental task for real-world
applications to determine the gender of people of interest. However, normal video
algorithms for gender profiling (usually face profiling) have three drawbacks.
First, the profiling result is always uncertain. Second, for a time-lasting gender
profiling algorithm, the result is not stable. The degree of certainty usually varies, sometimes even to the extent that a male is classified as a female, and vice versa. Third, for a robust profiling result in cases were a person’s face is not visible, other features, such as body shape, are required. These algorithms may provide different recognition results - at the very least, they will provide different degrees of certainties. To overcome these problems, in this paper, we introduce an evidential approach that makes use of profiling results from multiple algorithms over a period of time. Experiments show that this approach does provide better results than single profiling results and classic fusion results.

Evidential Fusion for Gender Profiling

Gender profiling is a fundamental task that helps CCTV systems to
provide better service for intelligent surveillance. Since subjects being detected
by CCTVs are not always cooperative, a few profiling algorithms are proposed
to deal with situations when faces of subjects are not available, among which
the most common approach is to analyze subjects’ body shape information. In
addition, there are some drawbacks for normal profiling algorithms considered
in real applications. First, the profiling result is always uncertain. Second, for a
time-lasting gender profiling algorithm, the result is not stable. The degree of
certainty usually varies, sometimes even to the extent that a male is classified
as a female, and vice versa. These facets are studied in a recent paper [16] using
Dempster-Shafer theory. In particular, Denoeux’s cautious rule is applied for
fusion mass functions through time lines. However, this paper points out that if
severe mis-classification is happened at the beginning of the time line, the result
of applying Denoeux’s rule could be disastrous. To remedy this weakness,
in this paper, we propose two generalizations to the DS approach proposed in
[16] that incorporates time-window and time-attenuation, respectively, in applying
Denoeux’s rule along with time lines, for which the DS approach is a special
case. Experiments show that these two generalizations do provide better results
than their predecessor when mis-classifications happen.

An evidential fusion approach for gender profiling

CCTV (Closed-Circuit TeleVision) systems are broadly deployed in the present world. To ensure in-time reaction for intelligent surveillance, it is a fundamental task for real-world applications to determine the gender of people of interest. However, normal video algorithms for gender profiling (usually face profiling) have three drawbacks. First, the profiling result is always uncertain. Second, the profiling result is not stable. The degree of certainty usually varies over time, sometimes even to the extent that a male is classified as a female, and vice versa. Third, for a robust profiling result in cases that a person’s face is not visible, other features, such as body shape, are required. These algorithms may provide different recognition results - at the very least, they will provide different degrees of certainties. To overcome these problems, in this paper, we introduce an Dempster-Shafer (DS) evidential approach that makes use of profiling results from multiple algorithms over a period of time, in particular, Denoeux’s cautious rule is applied for fusing mass functions through time lines. Experiments show that this approach does provide better results than single profiling results and classic fusion results. Furthermore, it is found that if severe mis-classification has occurred at the beginning of the time line, the combination can yield undesirable results. To remedy this weakness, we further propose three extensions to the evidential approach proposed above incorporating notions of time-window, time-attenuation, and time-discounting, respectively. These extensions also applies Denoeux’s rule along with time lines and take the DS approach as a special case. Experiments show that these three extensions do provide better results than their predecessor when mis-classifications occur.

Genetic and phenotypic population divergence on a microgeographic scale in brown trout.

Salmonid populations of many rivers are rapidly declining. One possible explanation is that habitat fragmentation increases genetic drift and reduces the populations' potential to adapt to changing environmental conditions. We measured the genetic and eco-morphological diversity of brown trout (Salmo trutta) in a Swiss stream system, using multivariate statistics and Bayesian clustering. We found large genetic and phenotypic variation within only 40 km of stream length. Eighty-eight percent of all pairwise F(ST) comparisons and 50% of the population comparisons in body shape were significant. High success rates of population assignment tests confirmed the distinctiveness of populations in both genotype and phenotype. Spatial analysis revealed that divergence increased with waterway distance, the number of weirs, and stretches of poor habitat between sampling locations, but effects of isolation-by-distance and habitat fragmentation could not be fully disentangled. Stocking intensity varied between streams but did not appear to erode genetic diversity within populations. A lack of association between phenotypic and genetic divergence points to a role of local adaptation or phenotypically plastic responses to habitat heterogeneity. Indeed, body shape could be largely explained by topographic stream slope, and variation in overall phenotype matched the flow regimes of the respective habitats.

Étude-pilote portant sur une intervention de groupe auprès de femmes souffrant d’hyperphagie boulimique et l’évaluation de ses effets potentiels

Cette étude porte sur une intervention de groupe basée sur la thérapie cognitivo-comportementale pour l’hyperphagie boulimique (HB), dont les effets potentiels sur la qualité de vie reliée au poids, la fréquence et la sévérité des crises de boulimie, les symptômes dépressifs, l’image corporelle et le poids corporel ont été mesurés, et le degré d’acceptation par les participantes a été documenté. Ainsi, 11 femmes avec un surplus de poids et répondant aux critères diagnostiques de l’HB ont été recrutées du printemps 2012 à l’hiver 2013, dans la région de Montréal. Le programme comportant huit séances hebdomadaires était dispensé par une nutritionniste et une psychothérapeute. La qualité de vie reliée au poids (Impact of Weight on Quality of Life), la fréquence des crises de boulimie (rappel des sept derniers jours), la sévérité des crises de boulimie (Binge Eating Scale), les symptômes dépressifs (Inventaire de Beck pour la dépression), l’insatisfaction corporelle (Body Shape Questionnaire) et le poids corporel ont été mesurés avant et à la fin de l’intervention. Puis, un questionnaire pour mesurer l’acceptation par les participantes était soumis au terme du programme. Le taux de participation aux séances était aussi colligé. Les résultats montrent que notre programme a permis une amélioration significative du score global de la qualité de vie reliée au poids de 8,4 ± 13,3, ainsi qu’en termes d’estime de soi et de travail. Aussi, une diminution significative de la fréquence des crises de boulimie de 2,1 ± 2,1 jours, de la sévérité des crises de boulimie dont le score a diminué de 10,9 ± 7,7, des symptômes dépressifs dont le score a diminué de 8,3 ± 5,7 et de l’insatisfaction corporelle dont le score a diminué de 32,8 ± 17,1, ont été observées. Toutefois, il n’y a pas eu de perte de poids au terme de l’intervention. Puis, le programme a été bien accepté par les participantes tel que démontré par le taux de participation aux séances de 93,8 % et la satisfaction mesurée par l’appréciation des divers éléments du programme de 4,6 sur 5 et la pertinence de ceux-ci de 4,8 sur 5. Ces données suggèrent que l’intervention de groupe semble être prometteuse pour améliorer les symptômes et conséquences de l’HB, à l’exception du poids.

Activité physique et insatisfaction de l'image corporelle chez un groupe d'adolescentes

Essai doctoral présenté à la Faculté des études supérieures en vue de l’obtention du grade de Docteur en psychologie (D.Psy.), option clinique

Attitudes et comportements alimentaires des athlètes québécoises pratiquant un sport esthétique à un haut niveau : caractéristiques personnelles et comparaison à un groupe de contrôle

La pratique d’un sport de type esthétique est aujourd’hui considérée par plusieurs (Sundgot-Borgen & Torstveit, 2004; Thompson & Sherman, 2010) comme un facteur de risque à l’adoption d’attitudes et de comportements alimentaires inappropriés à l’égard de l’alimentation et de l’image corporelle (ACIAI) et ultimement au développement d’un trouble des conduites alimentaires (TCA). Les études actuelles portant sur cette problématique rapportent toutefois des résultats contradictoires. De plus, certains aspects méthodologiques associés notamment à l’hétérogénéité des échantillons limitent la portée interprétative de ces résultats. Afin de pallier les limites actuelles des écrits empiriques, cette thèse a pour but de tracer le portrait de la problématique des désordres alimentaires chez les jeunes athlètes québécoises de haut niveau en sport esthétique. Pour ce faire, un échantillon homogène de 145 adolescentes âgées de 12 à 19 ans a été constitué soit 52 athlètes de haut niveau et 93 non-athlètes. Les sports représentés sont le patinage artistique, la nage synchronisée et le ballet. À partir de cet échantillon, deux études sont réalisées. L’objectif de la première étude est de comparer l’intensité des ACIAI et la prévalence des TCA dans les deux groupes à l’aide de deux questionnaires soit le Eating Disorder Examination Questionnaire (EDE-Q) et le Eating Disorder Inventory-3 (EDI-3). Les résultats obtenus suggèrent qu’il n’y a pas de différence significative entre les athlètes et les non-athlètes de l’échantillon en ce qui a trait à l’intensité des ACIAI et à la prévalence des TCA. La deuxième étude est constituée de deux objectifs. Tout d’abord, comparer les deux groupes relativement aux caractéristiques personnelles suivantes : l’insatisfaction de l’image corporelle (IIC), le sentiment d’efficacité personnelle envers l’alimentation normative (SEP-AN) et l’image corporelle (SEP-IC), le perfectionnisme (P), l’ascétisme (As), la dysrégulation émotionnelle (DÉ) et le déficit intéroceptif (DI). De nature plus exploratoire, le second objectif de cette étude est de décrire et de comparer les caractéristiques personnelles qui sont associées aux ACIAI dans chacun des groupes. Afin de réaliser ces objectifs, deux autres questionnaires ont été utilisés soit le Eating Disorder Recovery Self-efficacy Questionnaire-f (EDRSQ-f) et le Body Shape Questionnaire (BSQ). En somme, les analyses indiquent que les athlètes de l’échantillon présentent des niveaux plus faibles de SEP-AN et de DÉ. Ce faisant, elles auraient moins confiance en leur capacité à maintenir une alimentation normative, mais réguleraient plus efficacement leurs émotions que les adolescentes non-athlètes. Une fois l’âge et l’indice de masse corporelle contrôlés, les résultats démontrent également que le SEP-AN et l’IIC contribuent à prédire dans chaque groupe les ACIAI tels que mesurés par la recherche de minceur. Le SEP-AN a aussi été associé dans les deux groupes à l’intensité des symptômes boulimiques. Les modèles obtenus diffèrent cependant quant aux variables prédictives principales. Chez les athlètes de l’échantillon, l’intensité des conduites boulimiques est associée à la DÉ alors qu’elle est davantage liée au DI chez les adolescentes non sportives. Enfin, en plus de discuter et de comparer l’ensemble de ces résultats aux autres travaux disponibles, les apports distinctifs de la thèse et les principales limites des études sont abordés. Des pistes sont également suggérées afin d’orienter les recherches futures et des implications cliniques sont proposées.

Insatisfacci??n corporal en adolescentes latinoamericanas y espa??olas

Resumen tomado de la publicaci??n

Diseño, construcción y validación de una escala de insatisfacción corporal para adolescentes.

Diseñar una escala de Insatisfacción Corporal para Adolescentes, con los correspondientes estudios de fiabilidad y validez, con objeto de paliar en parte la escasez de técnicas de evaluación de imagen corporal en España. 569 sujetos, chicos y chicas de entre 12 a 19 años escolarizados en dos Institutos de Educación Secundaria de Navarra. Siguiendo el modelo básico de construcción de Test y de diseño de Escalas de Actitudes tipo Likert, adaptando a las características de este trabajo concreto, así como a las limitaciones prácticas que se fueron presentando, el proceso se realizó a través de seis estudios: I.-Determinación rasgo-técnica y selección inicial de ítems. II.-Depuración de ítems por jueces. III.-Asignación de valores a los ítems y análisis del poder discriminante de los ítems. IV.-Estudios de fiabilidad. V.-Estudios de validez. VI.-Valores de referencia y tipificación. I.-Body Shape Questionnarie (Cuestionario de la Forma/Figura Corporal ): es un cuestionario específico para la evaluación de insatisfacción corporal. Se ha utilizado como instrumento de evaluación de imagen corporal y para validación de otros. Está compuesta por 34 ítems y ha obtenido buenos niveles de fiabilidad y validez concurrente en diversas investigaciones. II.-Subescala IC del Eating Disorder Inventory ( Inventario de Conductas Alimentarias Alteradas ): el objetivo es la evaluación de los síntomas que acompaña a los TCA ( Anorexia y Bulimia Nerviosa ), aunque se ha extendido su uso en el ámbito de la investigación con población no patológica. En su segunda versión está compuesta por 91 ítems y 11 escalas. III.-Eating Attitudes Test-40 ( Test de Actitudes hacia la Conducta Alimentaria ): es el instrumento de medida estandarizado más utilizado en la evaluación de situación de riesgo para sufrir un TCA y de sintomatología específica en muestras clínicas. I.-Se ha diseñado una escala de evaluación de insatisfacción corporal en adolescentes- escala tipo Likert - compuesta por 35 ítems. La escala se denomina Escala de Evaluación de Insatisfacción Corporal en Adolescentes ( EEICA ). II.-Analizando los valores de consistencia interna, fiabilidad test-retest y fiabilidad dos mitades, y comparando los resultados con diversos instrumentos de evaluación de imagen corporal, se puede considerar como una escala con buena fiabilidad y por consiguiente alta consistencia interna. En España existen 3 instrumentos propios para evaluar la imagen corporal, o la insatisfacción corporal de forma específica, ( en el mundo anglosajón, existen más de 100 ). Teniendo en cuenta dicha información, disponer de una escala específica, diseñada con población adolescente española y con juicio de especialistas españoles, supone una aportación novedosa al panorama de la evaluación de la imagen corporal en España. Dicha escala obtiene referentes psicométricos similares a los que se han conseguido con otras escalas diseñadas con el mismo.

Incidencia de un programa de Educación Física en la percepción de la propia imagen corporal.

Resumen basado en el de la publicación

Atividade física, discriminação e preocupação com a forma corporal em obesos submetidos a cirurgia bariátrica

A obesidade acarreta consequências ao nível da diminuição de saúde mas também a nível social, sendo os obesos vítimas de elevada discriminação devido ao seu peso. O objetivo principal deste trabalho é analisar a associação entre a atividade física e a perceção de discriminação em obesos submetidos a cirurgia bariátrica. O objetivo secundário prende-se com o estudo da associação entre a atividade física e a preocupação com forma corporal. O trabalho está dividido em duas partes distintas, sendo a primeiro dedicada à revisão sistemática da literatura que abordou os temas da discriminação, insatisfação corporal e atividade física nos obesos. Desta revisão concluí-se que a discriminação e insatisfação com forma corporal contribuem para a manutenção de comportamentos sedentários, no entanto com a prática de atividade física estas tendem a diminuir. A segunda parte do trabalho consiste num estudo observacional retrospetivo, constituído por uma amostra de 98 sujeitos com obesidade mórbida que tenham realizado uma cirurgia bariátrica, com idades compreendidas entre os 26 e os 73 anos. Com recurso à aplicação de questionários avaliou-se a atividade física e a sua associação com a discriminação e preocupação com forma corporal. Os resultados obtidos indicam que a discriminação não se encontra associada à atividade física nem ao IMC. Verificou-se que a atividade física de intensidade moderada e vigorosa está associada à diminuição da preocupação com forma corporal. A preocupação com forma corporal está também associada ao IMC. A atividade física deve ser integrada no programa multidisciplinar que acompanha a cirurgia.