海洋机器人变参数大时延控制系统补偿方法的研究

本文提出一种变参数大时延系统的补偿方法，具有传输滞后系统的幅相频率特性和时域特性，流体动力学变参数的修正方法和具有传输滞后和零阶保持器滞后的补偿仿真。

Emergency slaughter of casualty cattle increases the prevalence of anthelmintic drug residues in muscle

The ProSafeBeef project studied the prevalence of residues of anthelmintic drugs used to control parasitic worms and fluke in beef cattle in Ireland. Injured (casualty) cattle may enter the human food chain under certain conditions, verified by an attending veterinarian and the livestock keeper. An analytical survey was conducted to determine if muscle from casualty cattle contained a higher prevalence of anthelmintic drug residues than healthy (full slaughter weight) cattle as a result of possible non-observance of complete drug withdrawal periods. A validated analytical method based on matrix solid-phase dispersive extraction (QuEChERS) and ultra-performance liquid chromatography-tandem mass spectrometry was used to quantify 37 anthelmintic drugs and metabolites in muscle (assay decision limits, CCa, 0.15-10.2 µg kg -1). Of 199 control samples of beef purchased in Irish shops, 7% contained detectable anthelmintic drug residues but all were compliant with European Union Maximum Residue Limits (MRL). Of 305 muscle samples from injured cattle submitted to abattoirs in Northern Ireland, 17% contained detectable residues and 2% were non-compliant (containing either residues at concentrations above the MRL or residues of a compound unlicensed for use in cattle). Closantel and ivermectin were the most common residues, but a wider range of drugs was detected in muscle of casualty cattle than in retail beef. These data suggest that specific targeting of casualty cattle for testing for anthelmintic residues may be warranted in a manner similar to the targeted testing for antimicrobial compounds often applied in European National Residues Surveillance Schemes. © 2012 Copyright Taylor and Francis Group, LLC.

Família multigeracional e relações intergeracionais : perspectiva sistémica

Os sistemas familiares multigeracionais (três ou mais gerações vivas) passaram de raros no passado a uma realidade social cada vez mais comum na actualidade, devido ao fenómeno demográfico de envelhecimento populacional. Este estudo pretende contribuir para o conhecimento deste sistema social, situado entre a família nuclear e a comunidade, procurando descrever a sua estrutura, funções e padrões relacionais dos seus membros com outros familiares e com os sistemas sociais envolventes. Para tal, foi organizada uma amostra de 25 famílias multigeracionais (contendo quatro gerações), à qual foi aplicada uma entrevista de genograma a um elemento das gerações intermédias e quatro entrevistas de análise da rede social pessoal (uma por geração), perfazendo um total de 25 entrevistas de genograma e 92 de avaliação da rede social (menos 8 do que o esperado devido a mortalidade experimental). A análise dos dados possibilitou: 1) a aplicação do princípio de totalidade sistémica à família multigeracional, a sua definição como um sistema social de complexidade idiossincrática, a identificação dos subsistemas que compõem o objecto de estudo (indivíduo, núcleo familiar, composição familiar, geração, linhagem), e a definição de uma tipologia familiar multigeracional (família unificada, dispersa e fragmentada); 2) a identificação e análise de papéis sociais desempenhados pelos indivíduos no contexto familiar multigeracional especificamente relevantes neste nível sistémico (guardião das memórias familiares, elo de ligação familiar, pronto-socorro familiar); 3) a descrição das redes sociais pessoais e a identificação das diferenças estruturais e funcionais entre indivíduos pertencentes a diferentes subsistemas geracionais, que permitem reflectir sobre a evolução da rede social ao longo das várias fases de desenvolvimento individual e familiar; 4) um conhecimento mais aprofundado das redes sociais dos indivíduos mais idosos que pertencem a famílias multigeracionais, da composição da matriz relacional percepcionada como significativa e apoios disponibilizados. Em suma, os dois primeiros capítulos reflectem o esforço de desenvolvimento de um modelo heurístico para o sistema familiar multigeracional, numa perspectiva estruturalista, enquanto os dois capítulos subsequentes, apoiandose conceptualmente nos anteriores, facultam um quadro das relações entre subsistemas geracionais na actualidade, através de uma metodologia de análise das redes sociais. ABSTRACT: Multigenerational family systems comprising four generations are increasingly common nowadays due to the demographic phenomenon of population aging. This study aims at a deeper understanding of this social system, placed between the nuclear family and the community, in particular by describing its structure, functions and relational patterns of its members with other members in the family and surrounding social systems. A sample of 25 multigenerational families (comprising four generations) was selected. A genogram interview was applied to a member of the middle generations, and four personal social network questionnaires were administered to one element of each generation. A total of 25 genograms and 92 social network inventories were collected (minus 8 than expected due to experimental mortality). Main findings were: 1) the application of systemic principles to the multigenerational family, which allowed us to define it as a social system of idiosyncratic complexity, involving specific subsystems (individual, family nucleus, family composition, generation, lineage), and also to define a multigenerational family typology (unified, dispersed and fragmented family); 2) the identification and analysis of social roles assumed by individuals in the multigenerational family context, that are specifically relevant in this systemic level (keeper of family memories, connecting link in the family, family first aider); 3) the description of the personal social networks and the identification of structural and functional differences among individuals belonging to different generational subsystems, which allowed for a reflection on the evolution of social networks through the various stages of individual and family development; 4) a deeper knowledge of the eldest family members social networks, i.e. the relational matrix of significant individuals and supports in oldold age. In summary, the first two chapters reflect the development of a heuristic model directed at the multigenerational family, whereas the two subsequent chapters provide a view of contemporaneous relationships between generational subsystems, through a social network analysis methodology.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

Eastham-Leinour Indenture, 1830

Fonds consists of one indenture, the sale of part of lot 94 in Niagara Township, to Thomas Eastham, by James Leinour. Thomas Eastham was a driver in the Her Majesty’s Royal Artillery and was General Brock’s trumpeter at the Battle of Queenston Heights. Eastham owned a hotel on the corner of Queen and Highland streets in Queenston. A watercolour of the hotel forms part of the J. Ross Robertson Art collection at the Metropolitan Toronto Reference Library. Eastham also served as pound keeper in the Village of Queenston. Thomas Eastham died in 1839 and an inscribed monument marks his grave in the cemetery of St. Mark’s Church, Niagara-on-the-Lake, Ont. No additional information is known about James Leinour.

Benjamin Woodruff Price Papers, 1851, 1853-1860, 1862-1863, 1874, n.d.

The fonds includes sixty two items of correspondence between Benjamin Woodruff Price, aka Woodruff, Ben or Uncle, and various family members, both immediate and distant cousins. Also included is business correspondence related to Price’s activities as a watchmaker and/or jeweler. Benjamin Woodruff Price was born in Thorold Township ca. 1831, the son of Joseph Price and Mary Smith. B.W. Price married Ella or Ellen McGlashan (1851-1906) ca. 1868. Price died between 1891 and 1901, his burial location is unknown at present. A watchmaker and jeweler, Price lived most of his life in Fonthill, Ont. He also included auctioneer, undertaker and photographer as some of his other professional activities. His siblings included David Smith Price (wife Isabella Ann), John Smith Price (wife Elizabeth Jane), and sisters Susan Page (husband Edward Rice Page), Jerusha Price, Mary Price and Martha W. Stone (husband Dudley Ward Stone). John Smith Price died 18 April 1860, leaving no descendents. It is likely that G.W. Stone was a nephew to B.W. Price, the son of his sister Martha W. Stone and her husband Dudley Ward Stone. Susan Page was a sister of Benjamin Woodruff Price. She was married to Edward Rice Page and they had at least two children, Joseph and Clayton. At the time of this correspondence they lived in Suspension Bridge, NY, now part of Niagara Falls, New York. Edward Rice Page’s occupation was listed as saloon keeper. The Price family appears to have had a very large extended family. This information was gleaned from the contents of letters of Maggie Tisdale, daughter of Ephraim and Hannah (Price) Tisdale, P.A. or Ann Morgan, [may also be Phebe Ann] of Newark, NY? and Marietta House of Bayham Township. DeWitt Higgins of Suspension Bridge, NY aka Niagara Falls, NY was an auctioneer, specialized in buying jewellery, watches, clocks, from individuals and reselling his product to others like B.W. Price.

Second Welland Canal - Book 1, Survey Map 1 - Entrance, Lock 1 and Port Dalhousie

Survey map of the Second Welland Canal created by the Welland Canal Company showing the areas in and around Port Dalhousie and Grantham Township. Identified structures associated with the Canal include Lock 1, Lighthouse, Lighthouse Keeper's House, East and West Piers, Harbour, Waste Weir, Store House, Collector's Office, Collector Assistant Office, Lock Tender's House and the new towing path. Features of the First Welland Canal are noted in red ink and includes the old Harbour, old Lock 1, old towing path and the original bed of the Twelve Mile Creek. The surveyors' measurements and notes can be seen in red and black ink and pencil. Local area landmarks and businesses are also identified and include streets and roads (ex. Lock Street and Colonel Clark's Cattle Road), Alex Muir's Dry Dock, RandJ Laurie Flouring Mill, R. Laurie and Company Grist Mill, A. Morrison Saw Mill, Johnson's Tavern, a store and a church. Properties and property owners of note are: Concession 1 Lots 21 and 22, John Christie, John Clark, N. Pawling, William Pawling, W. Carter, G.A. Clark, J. Maven, Mrs. Wood, James Drabble and J. Woodall.

Second Welland Canal - Book 3, Survey Map 21 - Village of Port Colborne

Survey map of the Second Welland Canal created by the Welland Canal Company showing the areas in and around Port Colborne. Identified structures associated with the Canal include Lighthouse, Pier Light, Old Lock House, Collector's Office, Harbour Master's House, Canal Boundary, Back Ditch, Reserved Back Ditch, Basin, Light-Keeper's House and Ferry Recess. The surveyors' measurements and notes can be seen in red and black ink and pencil. Local area landmarks and businesses are also identified and include Gordon's Woodyard, Welland Rail Road, Welland Railway Elevator and Proposed Elevator, W.R.R. Flour Shed, Roman Catholic Church, School House, Sandhills, Lake Erie, and the High Water Mark. Streets running parallel to Canal include King St., West St., East St., Queen St., Hamilton St., and the Road Allowance are labelled. Streets running perpendicular to Canal include Kent St., Victoria St., Adelaide St., SugarLoaf St., George St., Alexandrina St., William St., Fort Erie St., Lake Rd., and New Road to Dutch Settlement are also labelled. Property owners and leasers as well as buildings on lots are also idenitified and noted as follows: Adams estate, J. Towhig, J.C. Kerr, Mrs. Hill, S. Cooke, Mrs. Yocum, W.T. Cooke, P. Wintermute, J. Shickluna, William Cooke, J. McChesney, John Beatty, W. Robertson, John Gordon, T. Armstrong, John Harper, George Keefer, Estate of James Black, Thomas Park, N. Higgins, S. Hopkins, and L.G. Cartier. Map of the Village of Port Colborne. Being Lot No. 27 and part of Lot No. 28 in the 1st Con. Township of HUMBERSTONE. Scale 2 Chs. per Inch. land shaded in RED Owned by DEPT. Do. Do. BLUE Sold to the COUNTY of WELLAND

Broadside advertising a Real Estate Auction in the Village of Niagara Falls [New York], July, 1836.

Benjamin Rathburn (1790-1873) was a builder, banker and hotel-keeper who was well-known for his work in the development and expansion of Buffalo in the 1830s. He also conducted business in the Village of Niagara Falls. He purchased large tracts of land (largely on credit) with the intent to sell the land at a profit. However, the sales did not meet his expectations and Rathburn found himself over-extended on credit, ultimately leading to his financial ruin.Jesse P. Haines (1793-1877) was an American cartographer who is credited with mapping the Villages of Lockport and Niagara Falls, New York.

Broadside advertising a Real Estate Auction in the Village of Niagara Falls [New York], July, 1836.

Benjamin Rathburn (1790-1873) was a builder, banker and hotel-keeper who was well-known for his work in the development and expansion of Buffalo in the 1830s. He also conducted business in the Village of Niagara Falls. He purchased large tracts of land (largely on credit) with the intent to sell the land at a profit. However, the sales did not meet his expectations and Rathburn found himself over-extended on credit, ultimately leading to his financial ruin. Jesse P. Haines (1793-1877) was an American cartographer who is credited with mapping the Villages of Lockport and Niagara Falls, New York.

Análisis de la influencia del proceso de implementación del tratamiento de renovación urbana en el barrio San Bernardo sobre las dinámicas sociales de los residentes y comerciantes de la zona (2004-2011) Estudio de caso: barrio San Bernardo entre las carreras 10 y 11 con calles 1 y 4

El presente trabajo de grado tiene como propósito evidenciar los cambios que se generaron en las dinámicas sociales de los residentes y comerciantes del barrio San Bernardo, cuando se decidió declarar este territorio idóneo para el Tratamiento de Renovación Urbana como resultado de una serie de especulaciones originadas por parte de la comunidad debido a la incertidumbre generada por la presencia de las entidades distritales en este barrio de Bogotá.

Kvinnors behov av stöd vid bröstcancer : - En litteraturöversikt

Bakgrund Bröstcancer är den vanligaste typen av cancer hos kvinnor över hela världen. De som drabbas av bröstcancer har olika förutsättningar att hantera sin situation. Många av kvinnorna upplever en emotionell kris i samband med diagnosen och med hjälp av stöd från sjukvården kan patienten finna mening i sin situation. Syfte Syftet är att sammanställa aktuell forskning om bröstcancerdrabbade kvinnors effekter av stöd under diagnosperioden. Metod En litteraturöversikt som sammanställer aktuell forskning inom det valda omvårdnadsområdet. Resultat I resultatet framkom att kvinnorna behöver ett stöd i form av kommunikation, information samt ett emotionellt stöd från vårdpersonal. Stödet ska utformas efter patientens unika situation och när sjukvården är tillgänglig för patienterna minskas deras stress. Patienterna upplevde stöd under diagnosperioden då sjuksköterskan erhöll god förmåga att bemöta och kommunicera på ett adekvat sätt. Slutsats Studien visar att det krävs en god relation mellan bröstcancer drabbade kvinnor och vårdaren för att kvinnorna ska känna stöd.

Acesso à justiça enquanto direito fundamental: efetivação pela defensoria pública

The Federal Constitution of 1988 is recognized for its enlargement in the face of large amount of provisions that make it up, among which many are fundamental rights. The fundamental rules set up the foundation of a democratic state, however, are the necessary legal mechanisms to be effective, its exercise is not enough merely to state them, but to offer ways for them to stop being just written standard on paper, and come to be viewed and exercised day-to-day. In this sense, access to justice presents itself in our times, as a cornerstone for a just society dictates. In this light, access to justice can be seen as the most fundamental of rights, which translates as instruments able to safeguard the fundamental rights not only against the action/omission violating the state but also the very particular. Furthermore, access to justice within the legal country, is not right for everyone, despite the willingness of the Citizen Charter in its article 5, paragraph LXXIV, ensuring that the State shall provide full and free legal assistance to those in need. More than half of the population lives in poverty and can´t afford to pay legal fees or court costs as well as a bump in their own ignorance of their rights. The judiciary, in their primary function, is in charge of trying to correct the violation of the rights, intending to effect a true distributive justice, serving as a paradigm for the promotion of substantive equality of human beings, however, is difficult and tortuous access Justice for those without financial resources. In this vein, we present the Public Defender, as keeper of the masses in its institutional role, defending a disadvantage, in the words, as a mechanism for effective access to justice, ensuring therefore fundamental rights. Public Defenders arise at the time or much discussion highlights the priority of actual access to justice, custody, therefore, intimate bond with the pursuit of fundamental rights, in which, that advance the broad range of rights, without whom could defend them or guardianship them

Religião e sociedade no Egito antigo: do mito de Ísis e Osíris na obra de Plutarco (I d.C.)

Pós-graduação em História - FCLAS

Investigando possíveis relações entre alcoolismo, sofrimento psíquico e violência intrafamiliar na perpectiva de mulheres atendidas pela Saúde da Família

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)