Towards a smart semi-active prosthetic leg: preliminary assessment and testing

This paper presents a development of a semi-active prosthetic knee, which can work in both active and passive modes based on the energy required during the gait cycle of various activities of daily livings (ADLs). The prosthetic limb is equipped with various sensors to measure the kinematic and kinetic parameters of both prosthetic limbs. This prosthetic knee is designed to be back-drivable in passive mode to provide a potential use in energy regeneration when there negative energy across the knee joint. Preliminary test has been performed on transfemoral amputee in passive mode to provide some insight to the amputee/prosthesis interaction and performance with the designed prosthetic knee.

Demanda y control de la tarea y presencia de síntomas de estrés y osteo-musculares en personal de una institución hospitalaria de IV nivel, Bogotá, 2016.

El ejercicio de labores asistenciales en el personal de la salud, las largas horas de trabajo y la responsabilidad en la ejecución de sus tareas, llevan consigo la exposición a riesgos psicosociales; que de no ser debidamente controlados pueden llevar al individuo a generar respuestas inadecuadas a nivel cognitivo, emocional e intelectual, las cuales se manifiestan en algunos casos con la aparición de sintomatología osteomuscular y/o asociada al estrés. OBJETIVO Identificar la relación entre las demandas de la tarea, el control sobre las mismas y la presencia e intensidad de síntomas de estrés y osteo-musculares en médicos, especialistas y personal de enfermería de una institución hospitalaria de IV nivel en Bogotá. Métodos Estudio de corte transversal en una muestra de 100 profesionales de la salud. Se utilizaron tres instrumentos: cuestionario Nórdico para la detección y análisis de síntomas músculo esqueléticos, cuestionario Karasek para identificar la percepción del trabajo y la relación del entorno profesional y el cuestionario de Estrés del Ministerio de la Protección Social validado para la población colombiana. Se obtuvo previa autorización del Comité de Investigaciones y Comité de Ética del Hospital. El análisis estadístico se realizó con el IBM SPSS Statistics versión 2.0 Resultados Se observó que los síntomas osteomusculares con mayor prevalencia estuvieron relacionados con afectaciones en espalda 43% y cuello 36%; no se observan diferencias estadísticamente significativas entre los distintos profesionales. En cuanto a presencia de sintomatología asociada al estrés, la mayor prevalencia se presentó en síntomas osteomusculares en cuello y espalda en el 84% de los casos, dolor de cabeza en el 74%, trastornos del sueño y cansancio en el 64% y percepción de sobrecarga laboral en el 63%. Para el análisis de prevalencia de los factores psicosociales laborales se utilizó la clasificación de la combinación de altas o bajas demandas y alto o bajo control, el resultado de estos teniendo en cuenta el modelo Demanda-control fue la siguiente: trabajo de alta tensión 34%; trabajo activo 40%; trabajo aburrido 13% y trabajo pasivo 13%. Se encontró una asociación entre la sintomatología y las variables toma de decisiones en médicos especialistas (OR 3,12; IC 95%: 2,80 – 3,49) lo que ratifica que este tipo de profesional tiene una mayor libertad para generar decisiones en su actuar médico y control sobre la tarea para especialistas (OR 3,23; IC 95%: 2,82 – 3,70) y enfermeros jefes (OR 3,36; IC 95%: 2,91 – 3,89); lo que permite inferir que cada uno de estos profesionales posee las herramientas para asumir las exigencias y dar respuesta a los distintos aspectos que están ligados a la tarea. Conclusiones: La presencia de síntomas osteo musculares en zonas como cuello y espalda son propios de la actividad del personal de la salud y se asocia a las posturas inadecuadas y el puesto de trabajo, así como al estrés. En cuanto a la sintomatología asociada al estrés se ratifica la presencia de sintomatología osteo muscular (cuello y espalda), como manifestaciones asociadas al cansancio, trastornos del sueño, sobrecarga laboral, dolor de cabeza y en menor porcentaje dificultades para relacionarse con otros. Respecto a los factores de riesgo psicosocial, se observó que el trabajo activo es la condición predominante en el personal de la salud, pero se observa además que un porcentaje importante experimenta episodios de tensión laboral, asociados a condiciones propias de las demandas psicológicas y el control sobre la tarea. Por lo anterior, se deben establecer acciones encaminadas a favorecer espacios saludables, y programas tendientes a la mejora de las condiciones de tal manera que disminuya la presencia de sintomatología osteomuscular y/o sintomatología derivada del estrés.

Nonlinear Approaches to Attitude Control Using Magnetic and Mechanical Actuation

This thesis argues the attitude control problem of nanosatellites, which has been a challenging issue over the years for the scientific community and still constitutes an active area of research. The interest is increasing as more than 70% of future satellite launches are nanosatellites. Therefore, new challenges appear with the miniaturisation of the subsystems and improvements must be reached. In this framework, the aim of this thesis is to develop novel control approaches for three-axis stabilisation of nanosatellites equipped with magnetorquers and reaction wheels, to improve the performance of the existent control strategies and demonstrate the stability of the system. In particular, this thesis is focused on the development of non-linear control techniques to stabilise full-actuated nanosatellites, and in the case of underactuation, in which the number of control variables is less than the degrees of freedom of the system. The main contributions are, for the first control strategy proposed, to demonstrate global asymptotic stability derived from control laws that stabilise the system in a target frame, a fixed direction of the orbit frame. Simulation results show good performance, also in presence of disturbances, and a theoretical selection of the magnetic control gain is given. The second control approach presents instead, a novel stable control methodology for three-axis stabilisation in underactuated conditions. The control scheme consists of the dynamical implementation of an attitude manoeuvre planning by means of a switching control logic. A detailed numerical analysis of the control law gains and the effect on the convergence time, total integrated and maximum torque is presented demonstrating the good performance and robustness also in the presence of disturbances.

Studies of sustainable strategies to control phytopathogen agents

Choosing natural enemies to suppress pest population has been for a long the key of biological control. Overtime the term biological control has also been applied to the use of suppressive soils, bio-disinfection and biopesticides. Biological control agents (BCA) and natural compounds, extracted or fermented from various sources, are the resources for containing phytopathogens. BCA can act through direct antagonism mechanisms or inducing hypovirulence of the pathogen. The first part of the thesis focused on mycoviruses infecting phytopathogenic fungi belonging to the genus Fusarium. The development of new approaches capable of faster dissecting the virome of filamentous fungi samples was performed. The semiconductor-based sequencer Ion Torrent™ and the nanopore-based sequencer MinION have been exploited to analyze DNA and RNA referable to viral genomes. Comparison with GeneBank accessions and sequence analysis allowed to identify more than 40 putative viral species, some of these mycovirus genera have been studied as inducers of hypovirulence in several phytopathogenic fungi, therefore future works will focus on the comparison of the morphology and physiology of the fungal strain infected and cured by the viruses identified and their possible use as a biocontrol agent. In a second part of the thesis the potential of botanical pesticides has been evaluated for the biocontrol of phloem limited phytopathogens such as phytoplasmas. The only active compounds able to control phytoplasmas are the antibiotic oxytetracyclines and in vitro direct and fast screening of new antimicrobials compounds on media is almost impossible due to the difficulty to culture phytoplasmas. For this reason, a simple and reliable screening method was developed to evaluate the effects of antimicrobials directly on phytoplasmas by an “ex-vivo” approach. Using scanning electron microscopy (SEM) in parallel with molecular tools (ddRT-PCR), the direct activity of tetracyclines on phytoplasma cells was verified, identifying also a promising compound showing similar activity.

Hierarchical active inference for cognitive architectures

This thesis explores the methods based on the free energy principle and active inference for modelling cognition. Active inference is an emerging framework for designing intelligent agents where psychological processes are cast in terms of Bayesian inference. Here, I appeal to it to test the design of a set of cognitive architectures, via simulation. These architectures are defined in terms of generative models where an agent executes a task under the assumption that all cognitive processes aspire to the same objective: the minimization of variational free energy. Chapter 1 introduces the free energy principle and its assumptions about self-organizing systems. Chapter 2 describes how from the mechanics of self-organization can emerge a minimal form of cognition able to achieve autopoiesis. In chapter 3 I present the method of how I formalize generative models for action and perception. The architectures proposed allow providing a more biologically plausible account of more complex cognitive processing that entails deep temporal features. I then present three simulation studies that aim to show different aspects of cognition, their associated behavior and the underlying neural dynamics. In chapter 4, the first study proposes an architecture that represents the visuomotor system for the encoding of actions during action observation, understanding and imitation. In chapter 5, the generative model is extended and is lesioned to simulate brain damage and neuropsychological patterns observed in apraxic patients. In chapter 6, the third study proposes an architecture for cognitive control and the modulation of attention for action selection. At last, I argue how active inference can provide a formal account of information processing in the brain and how the adaptive capabilities of the simulated agents are a mere consequence of the architecture of the generative models. Cognitive processing, then, becomes an emergent property of the minimization of variational free energy.

Integration of ROS for the control of industrial robotic systems in a proprietary environment

The paper deals with the integration of ROS, in the proprietary environment of the Marchesini Group company, for the control of industrial robotic systems. The basic tools of this open-source software are deeply studied to model a full proprietary Pick and Place manipulator inside it, and to develop custom ROS nodes to calculate trajectories; speaking of which, the URDF format is the standard to represent robots in ROS and the motion planning framework MoveIt offers user-friendly high-level methods. The communication between ROS and the Marchesini control architecture is established using the OPC UA standard; the tasks computed are transmitted offline to the PLC, supervisor controller of the physical robot, because the performances of the protocol don’t allow any kind of active control by ROS. Once the data are completely stored at the Marchesini side, the industrial PC makes the real robot execute a trajectory computed by MoveIt, so that it replicates the behaviour of the simulated manipulator in Rviz. Multiple experiments are performed to evaluate in detail the potential of ROS in the planning of movements for the company proprietary robots. The project ends with a small study regarding the use of ROS as a simulation platform. First, it is necessary to understand how a robotic application of the company can be reproduced in the Gazebo real world simulator. Then, a ROS node extracts information and examines the simulated robot behaviour, through the subscription to specific topics.

Analysis, Design, and Hardware-in-the-Loop Validation of Multi-Active Bridge Converters

This master's thesis investigates different aspects of Dual-Active-Bridge (DAB) Converter and extends aspects further to Multi-Active-Bridges (MAB). The thesis starts with an overview of the applications of the DAB and MAB and their importance. The analytical part of the thesis includes the derivation of the peak and RMS currents, which is required for finding the losses present in the system. The power converters, considered in this thesis are DAB, Triple-Active Bridge (TAB) and Quad-Active Bridge (QAB). All the theoretical calculations are compared with the simulation results from PLECS software for identifying the correctness of the reviewed and developed theory. The Hardware-in-the-Loop (HIL) simulation is conducted for checking the control operation in real-time with the help of the RT box from the Plexim. Additionally, as in real systems digital signal processor (DSP), system-on-chip or field programmable gate array is employed for the control of the power electronic systems, and the execution of the control in the real-time simulation (RTS) conducted is performed by DSP.

Modeling, simulation, and control of a formation of multirotor aircraft for cooperative transportation of suspended loads

The work presented in this thesis aims to contribute to innovation in the Urban Air Mobility and Delivery sector and represents a solid starting point for air logistics and its future scenarios. The dissertation focuses on modeling, simulation, and control of a formation of multirotor aircraft for cooperative load transportation, with particular attention to environmental sustainability. First, a simulation and test environment is developed to assess technologies for suspended load stabilization. Starting from the mathematical model of two identical multirotors, formation-flight-keeping and collision-avoidance algorithms are analyzed. This approach guarantees both the safety of the vehicles within the formation and that of the payload, which may be made of people in the very near future. Afterwards, a mathematical model for the suspended load is implemented, as well as an active controller for its stabilization. The key focus of this part is represented by both analysis and control of payload oscillatory motion, by thoroughly investigating load kinetic energy decay. At this point, several test cases were introduced, in order to understand which strategy is the most effective and safe in terms of future applications in the field of air logistics.

An Isoflavone From Dipteryx Alata Vogel Is Active Against The In Vitro Neuromuscular Paralysis Of Bothrops Jararacussu Snake Venom And Bothropstoxin I, And Prevents Venom-induced Myonecrosis.

Snakebite is a neglected disease and serious health problem in Brazil, with most bites being caused by snakes of the genus Bothrops. Although serum therapy is the primary treatment for systemic envenomation, it is generally ineffective in neutralizing the local effects of these venoms. In this work, we examined the ability of 7,8,3'-trihydroxy-4'-methoxyisoflavone (TM), an isoflavone from Dipteryx alata, to neutralize the neurotoxicity (in mouse phrenic nerve-diaphragm preparations) and myotoxicity (assessed by light microscopy) of Bothrops jararacussu snake venom in vitro. The toxicity of TM was assessed using the Salmonella microsome assay (Ames test). Incubation with TM alone (200 μg/mL) did not alter the muscle twitch tension whereas incubation with venom (40 μg/mL) caused irreversible paralysis. Preincubation of TM (200 μg/mL) with venom attenuated the venom-induced neuromuscular blockade by 84% ± 5% (mean ± SEM; n = 4). The neuromuscular blockade caused by bothropstoxin-I (BthTX-I), the major myotoxic PLA2 of this venom, was also attenuated by TM. Histological analysis of diaphragm muscle incubated with TM showed that most fibers were preserved (only 9.2% ± 1.7% were damaged; n = 4) compared to venom alone (50.3% ± 5.4% of fibers damaged; n = 3), and preincubation of TM with venom significantly attenuated the venom-induced damage (only 17% ± 3.4% of fibers damaged; n = 3; p < 0.05 compared to venom alone). TM showed no mutagenicity in the Ames test using Salmonella strains TA98 and TA97a with (+S9) and without (-S9) metabolic activation. These findings indicate that TM is a potentially useful compound for antagonizing the neuromuscular effects (neurotoxicity and myotoxicity) of B. jararacussu venom.

Hypothalamic Inflammation And The Central Nervous System Control Of Energy Homeostasis.

The control of energy homeostasis relies on robust neuronal circuits that regulate food intake and energy expenditure. Although the physiology of these circuits is well understood, the molecular and cellular response of this program to chronic diseases is still largely unclear. Hypothalamic inflammation has emerged as a major driver of energy homeostasis dysfunction in both obesity and anorexia. Importantly, this inflammation disrupts the action of metabolic signals promoting anabolism or supporting catabolism. In this review, we address the evidence that favors hypothalamic inflammation as a factor that resets energy homeostasis in pathological states.

Chitosan/tripolyphosphate Nanoparticles Loaded With Paraquat Herbicide: An Environmentally Safer Alternative For Weed Control.

Paraquat is a fast acting nonselective contact herbicide that is extensively used worldwide. However, the aqueous solubility and soil sorption of this compound can cause problems of toxicity in nontarget organisms. This work investigates the preparation and characterization of nanoparticles composed of chitosan and sodium tripolyphosphate (TPP) to produce an efficient herbicidal formulation that was less toxic and could be used for safer control of weeds in agriculture. The toxicities of the formulations were evaluated using cell culture viability assays and the Allium cepa chromosome aberration test. The herbicidal activity was investigated in cultivations of maize (Zea mays) and mustard (Brassica sp.), and soil sorption of the nanoencapsulated herbicide was measured. The efficiency association of paraquat with the nanoparticles was 62.6 ± 0.7%. Encapsulation of the herbicide resulted in changes in its diffusion and release as well as its sorption by soil. Cytotoxicity and genotoxicity assays showed that the nanoencapsulated herbicide was less toxic than the pure compound, indicating its potential to control weeds while at the same time reducing environmental impacts. Measurements of herbicidal activity showed that the effectiveness of paraquat was preserved after encapsulation. It was concluded that the encapsulation of paraquat in nanoparticles can provide a useful means of reducing adverse impacts on human health and the environment, and that the formulation therefore has potential for use in agriculture.

Influence Of Gastric Emptying On The Control Of Postprandial Glycemia: Physiology And Therapeutic Implications.

The maintenance of glucose homeostasis is complex and involves, besides the secretion and action of insulin and glucagon, a hormonal and neural mechanism, regulating the rate of gastric emptying. This mechanism depends on extrinsic and intrinsic factors. Glucagon-like peptide-1 secretion regulates the speed of gastric emptying, contributing to the control of postprandial glycemia. The pharmacodynamic characteristics of various agents of this class can explain the effects more relevant in fasting or postprandial glucose, and can thus guide the individualized treatment, according to the clinical and pathophysiological features of each patient.

Antimicrobial And Antiproliferative Potential Of Anadenanthera Colubrina (vell.) Brenan.

The aim of the present study was to perform an in vitro analysis of the antimicrobial and antiproliferative potential of an extract from Anadenanthera colubrina (Vell.) Brenan (angico) and chemically characterize the crude extract. Antimicrobial action was evaluated based on the minimum inhibitory concentration (MIC), minimum bactericidal/fungicidal concentration, and the inhibition of formation to oral biofilm. Cell morphology was determined through scanning electron microscopy (SEM). Six strains of tumor cells were used for the determination of antiproliferative potential. The extract demonstrated strong antifungal activity against Candida albicans ATCC 18804 (MIC = 0.031 mg/mL), with similar activity found regarding the ethyl acetate fraction. The extract and active fraction also demonstrated the capacity to inhibit the formation of Candida albicans to oral biofilm after 48 hours, with median values equal to or greater than the control group, but the difference did not achieve statistical significance (P > 0.05). SEM revealed alterations in the cell morphology of the yeast. Regarding antiproliferative activity, the extract demonstrated cytostatic potential in all strains tested. The present findings suggest strong antifungal potential for Anadenanthera colubrina (Vell.) Brenan as well as a tendency toward diminishing the growth of human tumor cells.

Quantum Dots As Biophotonics Tools.

This chapter provides a short review of quantum dots (QDs) physics, applications, and perspectives. The main advantage of QDs over bulk semiconductors is the fact that the size became a control parameter to tailor the optical properties of new materials. Size changes the confinement energy which alters the optical properties of the material, such as absorption, refractive index, and emission bands. Therefore, by using QDs one can make several kinds of optical devices. One of these devices transforms electrons into photons to apply them as active optical components in illumination and displays. Other devices enable the transformation of photons into electrons to produce QDs solar cells or photodetectors. At the biomedical interface, the application of QDs, which is the most important aspect in this book, is based on fluorescence, which essentially transforms photons into photons of different wavelengths. This chapter introduces important parameters for QDs' biophotonic applications such as photostability, excitation and emission profiles, and quantum efficiency. We also present the perspectives for the use of QDs in fluorescence lifetime imaging (FLIM) and Förster resonance energy transfer (FRET), so useful in modern microscopy, and how to take advantage of the usually unwanted blinking effect to perform super-resolution microscopy.

Bacterial Diversity Assessment In Soil Of An Active Brazilian Copper Mine Using High-throughput Sequencing Of 16s Rdna Amplicons.

Mining activities pose severe environmental risks worldwide, generating extreme pH conditions and high concentrations of heavy metals, which can have major impacts on the survival of organisms. In this work, pyrosequencing of the V3 region of the 16S rDNA was used to analyze the bacterial communities in soil samples from a Brazilian copper mine. For the analysis, soil samples were collected from the slopes (geotechnical structures) and the surrounding drainage of the Sossego mine (comprising the Sossego and Sequeirinho deposits). The results revealed complex bacterial diversity, and there was no influence of deposit geographic location on the composition of the communities. However, the environment type played an important role in bacterial community divergence; the composition and frequency of OTUs in the slope samples were different from those of the surrounding drainage samples, and Acidobacteria, Chloroflexi, Firmicutes, and Gammaproteobacteria were responsible for the observed difference. Chemical analysis indicated that both types of sample presented a high metal content, while the amounts of organic matter and water were higher in the surrounding drainage samples. Non-metric multidimensional scaling (N-MDS) analysis identified organic matter and water as important distinguishing factors between the bacterial communities from the two types of mine environment. Although habitat-specific OTUs were found in both environments, they were more abundant in the surrounding drainage samples (around 50 %), and contributed to the higher bacterial diversity found in this habitat. The slope samples were dominated by a smaller number of phyla, especially Firmicutes. The bacterial communities from the slope and surrounding drainage samples were different in structure and composition, and the organic matter and water present in these environments contributed to the observed differences.