The efficiency of bounding vampires

Vampire bats, Desmodus rotundus, must maximize their feeding cycle of one blood meal per day by being efficient in the stalking and acquisition of their food. Riskin and Hermanson documented the running gait of the common vampire bat and observed they were efficient at running speeds, using longer stride lengths and thus decreased stride frequency. We obtained preliminary data on gait maintained for up to 10 minutes on a moving treadmill belt at speeds ranging from 0.23 to 0.74 m/s, which spanned a range from walking to running gaits. Bats tended to transition between gaits at about 0.40 m/s. Fourteen bats were studied and included four that were able to walk or run for 10 minutes. There was no significant change in either stride duration or frequency associated with an increase in speed. We estimated O2 consumption and CO2 production both before and 5 minutes after exercise, and found that O2 consumption increased 1 minute and 5 minutes after exercise. CO2 levels increased significantly 1 minute after exercise, but tended back towards pre-exercise level 5 minutes after exercise. Two bats were tested for blood O2, CO2 and pH levels. Interestingly, pH levels fell from 7.3 to about 7.0, indicating lactate accumulation.

Geometry of static balancing during posture transition

The interaction between the digital human model (DHM) and environment typically occurs in two distinct modes; one, when the DHM maintains contacts with the environment using its self weight, wherein associated reaction forces at the interface due to gravity are unidirectional; two, when the DHM applies both tension and compression on the environment through anchoring. For static balancing in first mode of interaction, it is sufficient to maintain the projection of the centre of mass (COM) inside the convex region induced by the weight supporting segments of the body on a horizontal plane. In DHM, static balancing is required while performing specified tasks such as reach, manipulation and locomotion; otherwise the simulations would not be realistic. This paper establishes the geometric relationships that must be satisfied for maintaining static balance while altering the support configurations for a given posture and altering the posture for a given support condition. For a given location of the COM for a system supported by multiple point contacts, the conditions for simultaneous withdrawal of a specified set of contacts have been determined in terms of the convex hulls of the subsets of the points of contact. When the projection of COM must move beyond the existing support for performing some task, new supports must be enabled for maintaining static balance. This support seeking behavior could also manifest while planning for reduction of support stresses. Feasibility of such a support depends upon the availability of necessary features in the environment. Geometric conditions necessary for selection of new support on horizontal,inclined and vertical surfaces within the workspace of the DHM for such dynamic scenario have been derived. The concepts developed are demonstrated using the cases of sit-to-stand posture transition for manipulation of COM within the convex supporting polygon, and statically stable walking gaits for support seeking within the kinematic capabilities of the DHM. The theory developed helps in making the DHM realize appropriate behaviors in diverse scenarios autonomously.

Conceptualization of a Behavior Modification Tool for University Systems and Doctoral Students

This paper describes a university based system relevant to doctoral students who have problems with themselves, their peers and research supervisors. Doctoral students have various challenges to solve and these challenges contribute to delays in their thesis submission. This tool aims at helping them think through their problem in a pre-counseling stage. The tool uses narratives and hypothetical stories to walk a doctoral student through options of responses he or she can make given the situation in the narrative. Narratives were developed after a preliminary survey (n=57) of doctoral students. The survey indicated that problems they experienced were: busy supervisors, negative competition from peers and laziness with self. The narrative scenarios in the tool prompt self-reflection and provide for options to chose from leading to the next scenario that will ensue. The different stages of the stimulus-response cycles are designed based on Thomas-Kilmann conflict resolution techniques (collaboration and avoidance). Each stimulus-response cycle has a score attached that reflects the student's ability to judge a collaborative approach. At the end of all the stages a scorecard is generated indicating either a progressive or regressive outcome of thesis submission.

Synthetic molecular machines for active self-assembly : prototype algorithms, designs, and experimental study

Computer science and electrical engineering have been the great success story of the twentieth century. The neat modularity and mapping of a language onto circuits has led to robots on Mars, desktop computers and smartphones. But these devices are not yet able to do some of the things that life takes for granted: repair a scratch, reproduce, regenerate, or grow exponentially fast–all while remaining functional.

This thesis explores and develops algorithms, molecular implementations, and theoretical proofs in the context of “active self-assembly” of molecular systems. The long-term vision of active self-assembly is the theoretical and physical implementation of materials that are composed of reconfigurable units with the programmability and adaptability of biology’s numerous molecular machines. En route to this goal, we must first find a way to overcome the memory limitations of molecular systems, and to discover the limits of complexity that can be achieved with individual molecules.

One of the main thrusts in molecular programming is to use computer science as a tool for figuring out what can be achieved. While molecular systems that are Turing-complete have been demonstrated [Winfree, 1996], these systems still cannot achieve some of the feats biology has achieved.

One might think that because a system is Turing-complete, capable of computing “anything,” that it can do any arbitrary task. But while it can simulate any digital computational problem, there are many behaviors that are not “computations” in a classical sense, and cannot be directly implemented. Examples include exponential growth and molecular motion relative to a surface.

Passive self-assembly systems cannot implement these behaviors because (a) molecular motion relative to a surface requires a source of fuel that is external to the system, and (b) passive systems are too slow to assemble exponentially-fast-growing structures. We call these behaviors “energetically incomplete” programmable behaviors. This class of behaviors includes any behavior where a passive physical system simply does not have enough physical energy to perform the specified tasks in the requisite amount of time.

As we will demonstrate and prove, a sufficiently expressive implementation of an “active” molecular self-assembly approach can achieve these behaviors. Using an external source of fuel solves part of the the problem, so the system is not “energetically incomplete.” But the programmable system also needs to have sufficient expressive power to achieve the specified behaviors. Perhaps surprisingly, some of these systems do not even require Turing completeness to be sufficiently expressive.

Building on a large variety of work by other scientists in the fields of DNA nanotechnology, chemistry and reconfigurable robotics, this thesis introduces several research contributions in the context of active self-assembly.

We show that simple primitives such as insertion and deletion are able to generate complex and interesting results such as the growth of a linear polymer in logarithmic time and the ability of a linear polymer to treadmill. To this end we developed a formal model for active-self assembly that is directly implementable with DNA molecules. We show that this model is computationally equivalent to a machine capable of producing strings that are stronger than regular languages and, at most, as strong as context-free grammars. This is a great advance in the theory of active self- assembly as prior models were either entirely theoretical or only implementable in the context of macro-scale robotics.

We developed a chain reaction method for the autonomous exponential growth of a linear DNA polymer. Our method is based on the insertion of molecules into the assembly, which generates two new insertion sites for every initial one employed. The building of a line in logarithmic time is a first step toward building a shape in logarithmic time. We demonstrate the first construction of a synthetic linear polymer that grows exponentially fast via insertion. We show that monomer molecules are converted into the polymer in logarithmic time via spectrofluorimetry and gel electrophoresis experiments. We also demonstrate the division of these polymers via the addition of a single DNA complex that competes with the insertion mechanism. This shows the growth of a population of polymers in logarithmic time. We characterize the DNA insertion mechanism that we utilize in Chapter 4. We experimentally demonstrate that we can control the kinetics of this re- action over at least seven orders of magnitude, by programming the sequences of DNA that initiate the reaction.

In addition, we review co-authored work on programming molecular robots using prescriptive landscapes of DNA origami; this was the first microscopic demonstration of programming a molec- ular robot to walk on a 2-dimensional surface. We developed a snapshot method for imaging these random walking molecular robots and a CAPTCHA-like analysis method for difficult-to-interpret imaging data.

A loucura sai do manicômio: dispositivos residenciais no Espírito Santo

A maneira de lidar com a loucura vem sofrendo diversas transformações. Alguns autores propõem o fim do manicômio e a assistência aos que passam pela experiência da loucura longe de enclausuramentos. No Brasil, a partir dos anos 70, percebemos uma crescente mobilização por parte dos trabalhadores em saúde mental e de familiares de usuários de serviços psiquiátricos em prol de modificações na assistência aos loucos, buscando uma sociedade sem manicômios. As políticas públicas em saúde mental têm avançado na implementação de serviços substitutivos ao internamento asilar, como os Centros de Atenção Psicossocial (Caps) e os Dispositivos Residenciais para egressos de hospícios. O processo de desinstitucionalização da loucura visa extinguir a lógica manicomial de exclusão e isolamento vigente. Não basta retirar os internos dos hospitais psiquiátricos e acabar com estes estabelecimentos. É importante trabalhar no sentido de permitir que os loucos transitem e utilizem espaços outrora proibidos a eles: parques, ruas, lojas, etc, ou seja, desmanchar todo e qualquer preconceito e isolamento em relação aos que passam pela experiência da loucura, desmanchando também os manicômios invisíveis. No Espírito Santo as duas primeiras moradias para egressos do Hospital Psiquiátrico Adauto Botelho foram implantadas em outubro de 2004 no município de Cariacica. A proposta desse estudo foi acompanhar o processo de efetivação desses dispositivos residenciais e a luta em desnaturalizar a loucura como doença mental. Acompanhamos os moradores dessas duas residências em suas atividades, realizamos entrevistas semi-estruturadas com alguns dos profissionais envolvidos nesse processo, moradores e vizinhos dessas moradias. Através desse contato podemos perceber algumas mudanças na maneira de lidar com a loucura, e outras transformações ainda estão por vir. É importante destacarmos que o processo de desinstitucionalização é mais amplo do que a saída dos pacientes do hospital psiquiátrico. Estar morando em casas fora do hospital psiquiátrico não garante que os moradores assumam de fato aquele espaço, as ruas, o território. É necessário, portanto, ampliar as discussões e debates em todos os espaços sociais, não apenas entre os trabalhadores em saúde mental e nas instituições de saúde diretamente envolvidas. É interessante trazer todo o território para essa proposta.

Prevenção das doenças cerebrovasculares no Brasil, no âmbito da atenção primária à saúde

As doenças crônicas não transmissíveis (DCNT) estão posicionadas no topo das enfermidades em termos de morbimortalidade, no Brasil e no mundo. Entre estas, as doenças cardiovasculares (DCV), e particularmente, as cerebrovasculares (DCbV), produzem um impacto significativo sobre a autonomia das pessoas, desfalcando a força de trabalho das nações e gerando um alto custo para a previdência social de todos os países. No Brasil, só muito recentemente as enfermidades circulatórias passaram a ser contempladas por políticas públicas formuladas pelo Ministério da Saúde (MS), não só pela manutenção destas doenças em altos patamares de morbimortalidade, mas também pelo crescimento exponencial de alguns dos seus fatores de risco. Partindo do pressuposto que as políticas e programas oficiais não estão sendo efetivamente implementados no âmbito da Atenção Primária à Saúde (APS), o objetivo do presente estudo foi investigar e analisar como estas iniciativas do MS vem sendo efetivamente executadas em Juiz de Fora-MG. A estratégia utilizada para essa investigação consistiu em uma pesquisa qualiquantitativa com base em observação, documentos e entrevistas semi-estruturadas com os diferentes componentes profissionais das Equipes de Saúde da Família de três unidades básicas de saúde do município citado. Foram entrevistados 40 profissionais de saúde, entre médicos, enfermeiros e agentes comunitários de saúde, buscando-se entender como os programas governamentais com interface com a prevenção das doenças cardiovasculares e, em especial, cerebrovasculares, vêm sendo implementados ao nível do Programa de Saúde da Família. Na comparação entre o que é recomendado nos programas governamentais e o que vem sendo executado nas UBS, concluiu-se que ainda há um longo caminho a ser percorrido para que estes programas sejam efetivamente implementados na porta de entrada do sistema de saúde.

Ser escrito a escrever-se na vida: protagonismo do corpo em conexões entre Nietzsche e Kafka

A presente dissertação aborda considerações e experimentações sobre a filosofia de Friedrich Nietzsche e a literatura de Franz Kafka. Objetiva revalorizar o corpo como protagonista da existência, especificamente a ressignificação do aspecto fisiológico tão denegrido e subestimado pela tradição metafísica. O trabalho parte da experimentação de diferentes textos dos autores estudados e de comentadores, procurando acompanhar o ato de escrever como expressão da vida e uma forma de expressar imageticamente a superação da condição homem. Através da vitalidade que a escrita pode mostrar (sobre o autor/para o leitor), a dissertação empenha-se em percorrer os caminhos trilhados pela decadência, apatia, sofrimento, ressentimento e pela formação da memória no corpo submetido aos desmandos da razão, para finalmente, apresentar uma alternativa a todo o apequenamento diante da vida. Tal alternativa, a metamorfose, é o projeto de superação das estruturas habituais do homem, que evidencia a insurgência do super-homem nietzschiano (Übermensch), assim como corrobora o protagonismo do corpo e do homem diante de sua própria existência.

A construção social do cuidado em um grupo de apoio aos indivíduos portadores do vírus HIV/AIDS: estratégias e enfretamentos

O objetivo principal deste trabalho consiste em analisar a construção social do cuidado em um grupo específico de apoio aos portadores do vírus HIV/AIDS. Para tanto, apresentamos uma discussão teórico-conceitual e metodológica desenvolvida em quatro capítulos. Nos dois primeiros refletimos sobre a trajetória, do enfrentamento da epidemia do HIV/Aids no Brasil e o papel das ONGs nessa trajetória, buscando delinear o campo de disputando qual um grupo específico de portadores do vírus HIV/Aids se insere e assume posição contra-hegemônica. Em seguida, no terceiro capítulo, mapeamos o percurso da formação desse grupo, analisando o engendramento das atividades ali desenvolvidas e os reflexos do campo de disputa no interior do grupo. No capítulo seguinte, refletimos sobre a história de vida de uma das participantes do grupo, por meio da qual identificamos quais as possíveis configurações desse sujeito, mediante sua inserção nos espaços sociais. Verificamos que tal inserção amplia sua capacidade de articular saberes no enfrentamento dos seus problemas de saúde. Concluímos que o grupo estabelece modos de fazer que primam pela manutenção do vínculo por onde circulam bens e se efetuam as solidariedades. Além disso, percebemos que as hegemônicas concepções de saúde e doença estão tendo seus poros alargados por este reordenamento social que não somente filtra os valores indesejáveis da visão hegemônica, como também propicia aos sujeitos a redescoberta do seu próprio cuidado. Por fim, constatamos que as representações sobre saúde e doença, decorrentes da que as representações dobre saúde e doença, decorrentes da inserção do sujeito em espaços sociais específicos, como os grupos de apoio, provocam (re)significações importantes: trabalhar, cozinhar, dormir, alimentar-se e também aquelas que estavam somente na ordem do lazer, como passear, ficar em casa com a família, visitar e ser visitado por amigos, dançar e outras, ganham nova dimensão e passam a ser vistas como vetores de saúde. Deste modo, gestos simples e práticas habituais assumem aspectos de táticas que modulam o cuidado dos sujeitos, Estas práticas realizadas no cotidiano, as quais chamamos de cuidado vivo, são também percebidas pelos sujeitos como cuidado.

Design and control of a climbing robot based on hot melt adhesion

Robust climbing in unstructured environments has been one of the long-standing challenges in robotics research. Among others, the control of large adhesion forces is still an important problem that significantly restricts the locomotion performance of climbing robots. The main contribution of this paper is to propose a novel approach to autonomous robot climbing which makes use of hot melt adhesion (HMA). The HMA material is known as an economical solution to achieve large adhesion forces, which can be varied by controlling the material temperature. For locomotion on both inclined and vertical walls, this paper investigates the basic characteristics of HMA material, and proposes a design and control of a climbing robot that uses the HMA material for attaching and detaching its body to the environment. The robot is equipped with servomotors and thermal control units to actively vary the temperature of the material, and the coordination of these components enables the robot to walk against the gravitational forces even with a relatively large body weight. A real-world platform is used to demonstrate locomotion on a vertical wall, and the experimental result shows the feasibility and overall performances of this approach. © 2013 Elsevier B.V. All rights reserved.

Centenarians and their hearts: a prospective registry with comprehensive geriatric assessment, electrocardiogram, echocardiography, and follow-up

Background Data on the cardiac characteristics of centenarians are scarce. Our aim was to describe electrocardiogram (ECG) and echocardiography in a cohort of centenarians and to correlate them with clinical data. Methods We used prospective multicenter registry of 118 centenarians (28 men) with a mean age of 101.5 ± 1.7 years. Electrocardiogram was performed in 103 subjects (87.3%) and echocardiography in 100 (84.7%). All subjects underwent a follow-up for at least 6 months. Results Centenarians with abnormal ECG were less frequently females (72% vs 93%), had higher rates of previous consumption of tobacco (14% vs 0) and alcohol (24% vs 12%), and scored lower in the perception of health status (6.8 ± 2.0 vs 8.3 ± 6.8). Centenarians with significant abnormalities in echocardiography were less frequently able to walk 6 m (33% vs 54%). Atrial fibrillation/flutter was found in 27 subjects (26%). Mean left ventricular (LV) ejection fraction was 60.0 ± 10.5%. Moderate or severe aortic valve stenosis was found in 16%, mitral valve regurgitation in 15%, and aortic valve regurgitation in 13%. Diastolic dysfunction was assessed in 79 subjects and was present in 55 (69.6%). Katz index and LV dilation were independently associated with the ability to walk 6 m. Age, Charlson and Katz indexes, and the presence of significant abnormalities in echocardiography were associated with mortality. Conclusions Centenarians have frequent ECG alterations and abnormalities in echocardiography. More than one fifth has atrial fibrillation, and most have diastolic dysfunction. Left ventricular dilation was associated with the ability to walk 6 m. Significant abnormalities in echocardiography were associated with mortality.

Characteristics of preferred gait patterns: considerations for exercise prescription

Gait patterns have been widely studied in different fields of science for their particular characteristics. A dynamic approach of human locomotion considers walking and running as two stable behaviors adopted spontaneously under certain levels and natures of constraints. When no constraints are imposed, people naturally prefer to walk at the typical speed (i.e., around 4.5 km.h-1) that minimizes metabolic energy cost. The preferred walking speed (PWS) is also known to be an indicator of mobility and an important clinical factor in tracking impairements in motor behaviors. When constrained to move at higher speeds (e.g., being late), people naturally switch their preference to running for similar optimization reasons (e.g., physiological, biomechanical, perceptual, attentionnal costs). Indeed, the preferred transition speed (PTS) marks the natural seperation between walking and running and consistently falls within a speed range around 7.5 km.h-1. This chapter describes the constraint-dependant spontaneous organisation of the locomotor system, specifically on the walk-to-run speed continuum. We provide examples of the possibility of long-term adaptations of preferred behaviors to specific constraints such as factors related to traditional clothing or practice. We use knowledge from studies on preferred behaviors and on the relationship between affect and exercise adherence as a backdrop to prescribing a walk exercise program with an emphasis on populations with overweight or obesity.

Outcomes After Total Ankle Replacement in Association With Ipsilateral Hindfoot Arthrodesis.

BACKGROUND: Ipsilateral hindfoot arthrodesis in combination with total ankle replacement (TAR) may diminish functional outcome and prosthesis survivorship compared to isolated TAR. We compared the outcome of isolated TAR to outcomes of TAR with ipsilateral hindfoot arthrodesis. METHODS: In a consecutive series of 404 primary TARs in 396 patients, 70 patients (17.3%) had a hindfoot fusion before, after, or at the time of TAR; the majority had either an isolated subtalar arthrodesis (n = 43, 62%) or triple arthrodesis (n = 15, 21%). The remaining 334 isolated TARs served as the control group. Mean patient follow-up was 3.2 years (range, 24-72 months). RESULTS: The SF-36 total, AOFAS Hindfoot-Ankle pain subscale, Foot and Ankle Disability Index, and Short Musculoskeletal Function Assessment scores were significantly improved from preoperative measures, with no significant differences between the hindfoot arthrodesis and control groups. The AOFAS Hindfoot-Ankle total, function, and alignment scores were significantly improved for both groups, albeit the control group demonstrated significantly higher scores in all 3 scales. Furthermore, the control group demonstrated a significantly greater improvement in VAS pain score compared to the hindfoot arthrodesis group. Walking speed, sit-to-stand time, and 4-square step test time were significantly improved for both groups at each postoperative time point; however, the hindfoot arthrodesis group completed these tests significantly slower than the control group. There was no significant difference in terms of talar component subsidence between the fusion (2.6 mm) and control groups (2.0 mm). The failure rate in the hindfoot fusion group (10.0%) was significantly higher than that in the control group (2.4%; p < 0.05). CONCLUSION: To our knowledge, this study represents the first series evaluating the clinical outcome of TARs performed with and without hindfoot fusion using implants available in the United States. At follow-up of 3.2 years, TAR performed with ipsilateral hindfoot arthrodesis resulted in significant improvements in pain and functional outcome; in contrast to prior studies, however, overall outcome was inferior to that of isolated TAR. LEVEL OF EVIDENCE: Level II, prospective comparative series.

Assessment of data quality in a multi-centre cross-sectional study of participation and quality of life of children with cerebral palsy

Background: SPARCLE is a cross-sectional survey in nine European regions, examining the relationship of the environment of children with cerebral palsy to their participation and quality of life. The objective of this report is to assess data quality, in particular heterogeneity between regions, family and item non-response and potential for bias. Methods: 1,174 children aged 8–12 years were selected from eight population-based registers of children with cerebral palsy; one further centre recruited 75 children from multiple sources. Families were visited by trained researchers who administered psychometric questionnaires. Logistic regression was used to assess factors related to family non-response and self-completion of questionnaires by children. Results: 431/1,174 (37%) families identified from registers did not respond: 146 (12%) were not traced; of the 1,028 traced families, 250 (24%) declined to participate and 35 (3%) were not approached. Families whose disabled children could walk unaided were more likely to decline to participate. 818 children entered the study of which 500 (61%) self-reported their quality of life; children with low IQ, seizures or inability to walk were less likely to self-report. There was substantial heterogeneity between regions in response rates and socio-demographic characteristics of families but not in age or gender of children. Item non-response was 2% for children and ranged from 0.4% to 5% for questionnaires completed by parents. Conclusion: While the proportion of untraced families was higher than in similar surveys, the refusal rate was comparable. To reduce bias, all analyses should allow for region, walking ability, age and socio-demographic characteristics. The 75 children in the region without a population based register are unlikely to introduce bias

Prospective strategies underlie the control of interceptive actions.

The purpose of this study was to test whether a constant bearing angle strategy could account for the displacement regulations produced by a moving observer when attempting to intercept a ball following a curvilinear path. The participants were asked to walk through a virtual environment and to change, if (deemed) necessary, their walking speed so as to intercept a moving ball that followed either a rectilinear or a curvilinear path. The results showed that ball path curvature did indeed influence the participants' displacement kinematics in a way that was predicted by adherence to a constant bearing angle strategy mode of control. Velocity modifications were found to be proportional to the magnitude of target curvature with opposing curvatures giving rise to mirror displacement velocity changes. The role of prospective strategies in the control of interceptive action is discussed

Testing the role of expansion in the prospective control of locomotion

The constant bearing angle (CBA) strategy is a prospective strategy that permits the interception of moving objects. The purpose of the present study is to test this strategy. Participants were asked to walk through a virtual environment and to change, if necessary, their walking speed so as to intercept approaching targets. The targets followed either a rectilinear or a curvilinear trajectory and target size was manipulated both within trials (target size was gradually changed during the trial in order to bias expansion) and between trials (targets of different sizes were used). The curvature manipulation had a large effect on the kinematics of walking, which is in agreement with the CBA strategy. The target size manipulations also affected the kinematics of walking. Although these effects of target size are not predicted by the CBA strategy, quantitative comparisons of observed kinematics and the kinematics predicted by the CBA strategy showed good fits. Furthermore, predictions based on the CBA strategy were deemed superior to predictions based on a required velocity (V-REQ) model. The role of target size and expansion in the prospective control of walking is discussed.