A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances

In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains disturbances. The KNC is a variable structure controller (VSC) based on the sliding mode control theory (SMC), and applied to compensate the kinematic disturbances. The TNC is a inertia-based controller constituted of a dynamic neural controller (DNC) and a robust neural compensator (RNC), and applied to compensate the mobile robot dynamics, and bounded unknown disturbances. Stability analysis with basis on Lyapunov method and simulations results are provided to show the effectiveness of the proposed approach. © 2012 Springer-Verlag.

A new sufficient condition for optimal impulsive control problems

In this article we introduce the concept of MP-pseudoinvexity for general nonlinear impulsive optimal control problems whose dynamics are specified by measure driven control equations. This is a general paradigm in that, both the absolutely continuous and singular components of the dynamics depend on both the state and the control variables. The key result consists in showing the sufficiency for optimality of the MP-pseudoinvexity. It is proved that, if this property holds, then every process satisfying the maximum principle is an optimal one. This result is obtained in the context of a proper solution concept that will be presented and discussed. © 2012 IEEE.

Dietary, anthropometric, and biochemical determinants of uric acid in free-living adults

Background: High plasma uric acid (UA) is a prerequisite for gout and is also associated with the metabolic syndrome and its components and consequently risk factors for cardiovascular diseases. Hence, the management of UA serum concentrations would be essential for the treatment and/or prevention of human diseases and, to that end, it is necessary to know what the main factors that control the uricemia increase. The aim of this study was to evaluate the main factors associated with higher uricemia values analyzing diet, body composition and biochemical markers. Methods. 415 both gender individuals aged 21 to 82 years who participated in a lifestyle modification project were studied. Anthropometric evaluation consisted of weight and height measurements with later BMI estimation. Waist circumference was also measured. The muscle mass (Muscle Mass Index - MMI) and fat percentage were measured by bioimpedance. Dietary intake was estimated by 24-hour recalls with later quantification of the servings on the Brazilian food pyramid and the Healthy Eating Index. Uric acid, glucose, triglycerides (TG), total cholesterol, urea, creatinine, gamma-GT, albumin and calcium and HDL-c were quantified in serum by the dry-chemistry method. LDL-c was estimated by the Friedewald equation and ultrasensitive C-reactive protein (CRP) by the immunochemiluminiscence method. Statistical analysis was performed by the SAS software package, version 9.1. Linear regression (odds ratio) was performed with a 95% confidence interval (CI) in order to observe the odds ratio for presenting UA above the last quartile (♂UA > 6.5 mg/dL and ♀ UA > 5 mg/dL). The level of significance adopted was lower than 5%. Results: Individuals with BMI ≥ 25 kg/m§ssup§2§esup§ OR = 2.28(1.13-4.6) and lower MMI OR = 13.4 (5.21-34.56) showed greater chances of high UA levels even after all adjustments (gender, age, CRP, gamma-gt, LDL, creatinine, urea, albumin, HDL-c, TG, arterial hypertension and glucose). As regards biochemical markers, higher triglycerides OR = 2.76 (1.55-4.90), US-CRP OR = 2.77 (1.07-7.21) and urea OR = 2.53 (1.19-5.41) were associated with greater chances of high UA (adjusted for gender, age, BMI, waist circumference, MMI, glomerular filtration rate, and MS). No association was found between diet and UA. Conclusions: The main factors associated with UA increase were altered BMI (overweight and obesity), muscle hypotrophy (MMI), higher levels of urea, triglycerides, and CRP. No dietary components were found among uricemia predictors. © 2013 de Oliveira et al.; licensee BioMed Central Ltd.

Sequential Sampling Plan for Tenuipalpus heveae Baker (Acari: Tenuipalpidae) on Rubber Tree

The objective of the present study was to develop a sequential sampling plan for the decision-making process to control Tenuipalpus heveae Baker (Acari: Tenuipalpidae), an important pest of the rubber tree crop. The experimental area was represented by 1,000 plants of the RRIM 600 clone divided in 100 plots with 10 plants each. Leaves were collected and the number of mites determined under laboratory conditions. The sequential sampling plan was developed in accordance with the Sequential Test Likelihood Ratio. The value 0.10 was pre-established for α and β representing type I and type II errors, respectively. The level of control adopted was six mites per 12 cm2. The operating characteristic curve and the curve of maximum expected sample were determined. Two lines were generated: the upper one, when the condition for chemical control is recommended (S1 = 23.3080 + 2.1972); and the lower, when chemical control is not recommended (S0 = -23.3080 + 2.1972). Sample size for the decision-making process to control T. heveae requires 6 to 18 plants. © 2013 Sociedade Entomológica do Brasil.

Hesperidin associated with continuous and interval swimming improved biochemical and oxidative biomarkers in rats

Background: Citrus flavonoids, such as hesperidin, have shown therapeutic properties that improve hyperglycemia and insulin resistance, and decrease blood serum lipids and inflammation. The current investigation studied the effects of hesperidin supplementation associated with continuous and interval swimming on the biochemical parameters (glucose, cholesterol and triglycerides), and oxidative stress markers (TBARS and DPPH) in rats.Methods: The animals (n = 60) were randomly divided in six groups: negative (C) and positive control (CH) for hesperidin supplementation, and continuous or interval swimming without (CS and IS) or with hesperidin supplementation (CSH and ISH). Hesperidin was given by gavage for four weeks (100 mg/kg body mass) before the exercise. Continuous swimming was performed for 50 min with loads from 5% to 8 % of body weight from the first to fourth week, while interval swimming training was performed for 50 min in sessions of 1 min of swimming followed by 2 min of resting, carrying loads from 10% to 15, 20 and 25% from the first to fourth week. At the end of the experiment, blood serum samples were draw to perform analysis of glucose, total cholesterol, HDL-C and triglycerides. Oxidative biomarkers were evaluated by lipid peroxidation (TBARS) and antioxidant capacity assay (DPPH) of the blood serum.Results: There was a continuous decline of serum glucose from C (100%) > CH (97%) > CS (94%) > CSH (91%, p < .05), IS (87%, p < .05) > ISH (80%, p < .05), showing a combined beneficial effect of hesperidin and swimming. Also, continuous or intermittent swimming with hesperidin supplementation lowered total cholesterol (-16%, p < .05), LDL-C (-50%, p < 0.05) and triglycerides (-19%, p < 0.05), and increased HDL-C (48%, p < .05). Furthermore, hesperidin enhanced the antioxidant capacity on the continuous swimming group (183%, p < .05) and lowered the lipid peroxidation on the interval swimming group (-45%, p < .05).Conclusions: Hesperidin supplementation per se, or in combination with swimming exercise protocols, improved the biochemical profile and antioxidant biomarkers evidencing that the use of flavanones may enhance the health benefits promoted by exercise. © 2013 de Oliveira et al.; licensee BioMed Central Ltd.

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.

Análise multifatorial de segundo tumor primário em pacientes com carcinoma espinocelular primário de boca: estudo retrospectivo de 848 casos

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

Efeito de diferentes dosagens do preparado de anticorpos policlonais específicos sobre as variáveis ruminais, degradabilidade in situ e digestibilidade in vivo de bovinos alimentados com dieta de alto concentrado

Pós-graduação em Zootecnia - FMVZ

Desenvolvimento e análise de um protótipo automatizado para dosagem pontual de fertilizantes sólidos em taxas variáveis

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Determinação de metabólitos de progesterona nas excretas de papagaio verdadeiro(Amazona aestiva) após desafio com ACTH

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação ultra-sonográfica, perfil hormonal e imunoistoquímica de estrógeno e progesterona durante o ciclo estral em vacas Nelore(Bos taurus indicus)

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

Características anatômicas foliares e morfológicas de quatro espécies de gramas sob aplicação de trinexapac-ethyl

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Dinâmica do ar em barra pulverizadora, com saída única e dupla, deposição da calda e controle da ferrugem asiática da soja

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Composição de amostra representativa de solo fertilizado com lodo de esgoto

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Associação e seleção genômica para características relacionadas à eficiência reprodutiva de fêmeas da raça Nelore

Pós-graduação em Zootecnia - FCAV