Robot Manipulator Systems: Analysis and Control

Manipulator systems are rather complex and highly nonlinear which makes difficult their analysis and control. Classic system theory is veil known, however it is inadequate in the presence of strong nonlinear dynamics. Nonlinear controllers produce good results [1] and work has been done e. g. relating the manipulator nonlinear dynamics with frequency response [2–5]. Nevertheless, given the complexity of the problem, systematic methods which permit to draw conclusions about stability, imperfect modelling effects, compensation requirements, etc. are still lacking. In section 2 we start by analysing the variation of the poles and zeros of the descriptive transfer functions of a robot manipulator in order to motivate the development of more robust (and computationally efficient) control algorithms. Based on this analysis a new multirate controller which is an improvement of the well known “computed torque controller” [6] is announced in section 3. Some research in this area was done by Neuman [7,8] showing tbat better robustness is possible if the basic controller structure is modified. The present study stems from those ideas, and attempts to give a systematic treatment, which results in easy to use standard engineering tools. Finally, in section 4 conclusions are presented.

Studies on BolA and ribonuclease R: two important factors in the control of bacterial gene expression

Dissertation presented to obtain the Ph.D degree in Biology

Regulation of PLK4 levels and activity to ensure centriole number control

Dissertation presented to obtain a Ph.D degree in Cellular Biology

Investigation and Control of a Large Outbreak of Multi-Drug Resistant Tuberculosis at a Central Lisbon Hospital

An increase in the number of new cases of tuberculosis (TB) combined with poor clinical outcome was identified among HIV-infected injecting drug users attending a large HIV unit in central Lisbon. A retrospective epidemiological and laboratory study was conducted to review all newly diagnosed cases of TB from 1995 to 1996 in the HIV unit. Results showed that from 1995 to 1996, 63% (109/173) of the Mycobacterium tuberculosis isolates from HIV-infected patients were resistant to one or more anti-tuberculosis drugs; 89% (95) of these were multidrug-resistant, i.e., resistant to at least isoniazid and rifampicin. Eighty percent of the multidrug-resistant strains (MDR) available for restriction fragment length polymorphism (RFLP) DNA fingerprinting clustered into one of two large clusters. Epidemiological data support the conclusion that the transmission of MDR-TB occurred among HIV-infected injecting drug users exposed to infectious TB cases on open wards in the HIV unit. Improved infection control measures on the HIV unit and the use of empirical therapy with six drugs once patients were suspected to have TB, reduced the incidence of MDR-TB from 42% of TB cases in 1996 to 11% in 1999.

CHEMOPROPHYLAXIS TO CONTROL LEPROSY AND THE PERSPECTIVE OF ITS IMPLEMENTATION IN BRAZIL: A PRIMER FOR NON-EPIDEMIOLOGISTS

The occurrence of leprosy has decreased in the world but the perspective of its elimination has been questioned. A proposed control measure is the use of post-exposure chemoprophylaxis (PEP) among contacts, but there are still questions about its operational aspects. In this text we discuss the evidence available in literature, explain some concepts in epidemiology commonly used in the research on this topic, analyze the appropriateness of implementing PEP in the context of Brazil, and answer a set of key questions. We argue some points: (1) the number of contacts that need to receive PEP in order to prevent one additional case of disease is not easy to be generalized from the studies; (2) areas covered by the family health program are the priority settings where PEP could be implemented; (3) there is no need for a second dose; (4) risk for drug resistance seems to be very small; (5) the usefulness of a serological test to identify a higher risk group of individuals among contacts is questionable. Given that, we recommend that, if it is decided to start PEP in Brazil, it should start on a small scale and, as new evidence can be generated in terms of feasibility, sustainability and impact, it could move up a scale, or not, for a wider intervention.

Insights into the role of almond CBF transcription factors in the environmental control of cold acclimation and dormancy break

Dissertation presented to obtain the Ph.D degree in Biology

Planeamento integrado de alta hospitalar nos idosos

RESUMO: O planeamento da alta hospitalar representa um momento crucial no internamento de pessoas idosas, que muitas vezes regressam ao domicílio com necessidades complexas ao nível dos cuidados. No entanto, não existe um planeamento de alta universal, tornando prioritário o desenvolvimento de estratégias nesse sentido. Após revisão de literatura foi formulado um modelo de análise, com as dimensões e indicadores críticos para a problemática em estudo. Objectivo: Este estudo teve como objectivo analisar as repercussões que um planeamento de alta hospitalar integrado pode ter na satisfação e no bem-estar dos doentes e famílias, tendo impacto ao nível da redução das reincidências hospitalares. Métodos: Foi seleccionada uma amostra no Serviço de Medicina 1B do Centro Hospitalar Lisboa Norte, dividida aleatoriamente em dois grupos. O grupo controlo teve um planeamento de alta de acordo com os padrões habituais, enquanto o grupo experimental foi alvo de um planeamento de alta integrado, com enfoque na informação e clarificação nos cuidados pós alta, e com recurso à entrega de um documento de orientação para a alta. Foi realizado um contacto telefónico de follow-up um mês após a alta, para realização de um questionário telefónico. Resultados: Os participantes do grupo experimental revelaram ter tendência para estar mais bem preparados para a alta hospitalar e regresso ao domicílio, valorizando de forma mais positiva o processo de internamento e alta, bem como a auto-percepção de bem-estar. Conclusões: Apesar da limitação da dimensão da amostra, os resultados apontam no sentido de que os procedimentos do planeamento integrado de alta hospitalar têm um impacto positivo ao nível da satisfação e sentimento de bem-estar global dos idosos no regresso ao domicílio, influenciando na redução das reincidências hospitalares.------------ ABSTRACT: The hospital discharge planning represents a crucial moment in the hospitalization of the elderly, whom very often return home with very complex caring needs. However, there is no universal discharge planning as such, thus becoming mandatory to develop planning strategies. Upon review of reference literature, an investigational model was developed, that features the key indicators and dimensions of the subject matter. Aim: The aim of this study was to analyze how hospital discharge planning promotes the satisfaction and well-being of patients and their families, reducing the number of hospital readmissions. Methods: A sample population was selected from the 1B Internal Medicine Service of Centro Hospitalar Lisboa Norte, which was divided in two random groups. The control group experienced a standard discharge, whereas the experimental group underwent a planned integrated discharge, which focused on the clarification of the post-discharge caring needs. A discharge guidance document was produced and handed to the patients. One month after discharge, a follow-up telephone call was made. Results: The experimental group turned out to be better prepared for hospital discharge and to return home, positively valuing hospitalization and hospital discharge, as well as their perception of their own well-being. Conclusions: The integrated hospital discharge planning had a positive impact on patient satisfaction and global well-being upon their return, and effectively reduced the number of hospital readmissions.

Nós callcentristas somos o novo proletariado. Identidades e resistências do trabalho em call center

Dissertação de mestrado em Antropologia - Direitos Humanos e Movimentos Sociais

An attempt to control schistosomiasis mansoni in an endemic area by the use of Hycanthone as chemotherapeutic agent

Hycanthone in a single dose of 3.3 mg/kg of body weight was used to treal mansoni schistosomiasis in 597 persons (83%) of the population of the endemic vilage of Canabrava. Ninety two patients received a 2nd course 14 months later. There was one death em the 2nd treatment. The cure rate after one stool examination was smaller after the 2ni treatment in comparison with the first one. Re-infections did not occur imediately after the treatment. Three years later the prevalence of persons passing eggs through one stool examination was 19% compared to the 46.3% before the treatment. Adults are more resistant to the re-infections than younger.

Analysis of benefits of the process of certification on international standars: ISO 9001-2008 for Mapfre Assistencia Portugal

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Finance from the NOVA – School of Business and Economics

The control of Chagas' disease transmission in Mambaí, Goiás-Brazil (1980-1981)

BHC application in Mambai in 1980 resulted in a significant decline but not elimination of domiciliated T. infestans. T. sordida peridomestic populations persist and could pose a threat to interupting human transmission of T. cruzi The results of one massive attack spray application alone was compared with this application plus one selective application as regards the presence of T. infestans in houses oneyear later. No significance difference could be detected. It is likely that for interruption of T. infestans transmission cheaper procedures can be devised than those currently in use. A further pilot study of a virgin community afflicted by T. infestans transmission is indicated since Mambai cannot be regarded as a representative areafor those still awaiting insecticide application.

Speed control of induction machine based on direct torque control method

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

The effects of rent control in Lisbon

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Economics from the NOVA – School of Business and Economics

Vitamimos: Children take control over nutrition

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics