A literature review on the optimization of legged robots

Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.

Sistemas energéticos para o sector edifícios em Portugal

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia do Ambiente

Inherently chiral calix[4]arenes with planar chirality: two new entries to the family

The synthesis of two new inherently chiral calix[4]arenes (ICCs, 1 and 2), endowed with electron-rich concave surfaces, has been achieved through the desymmetrization of a lower rim distal-bridged oxacyclophane (OCP) macrocycle. The new highly emissive ICCs were resolved by chiral HPLC, and the enantiomeric nature of the isolated antipodes proved by electronic circular dichroism (CD). Using time-dependent density functional calculations of CD spectra, their absolute configurations were established. NMR studies with (S)-Pirkle's alcohol unequivocally showed that the host-guest interactions occur in the chiral pocket comprehending the calix-OCP exo cavities and the carbazole moieties.

Role of oxidative stress-induced systemic and cavernosal molecular alterations in the progression of diabetic erectile dysfunction

Background Erectile dysfunction (ED) is a prevalent complication of diabetes, and oxidative stress is an important feature of diabetic ED. Oxidative stress-induced damage plays a pivotal role in the development of tissue alterations. However, the deleterious effects of oxidative stress in the corpus cavernosum with the progression of diabetes remain unclear. The aim of this study was to evaluate systemic and penile oxidative stress status in the early and late stages of diabetes. Methods Male Wistar streptozotocin-diabetic rats (and age-matched controls) were examined 2 (early) and 8 weeks (late) after the induction of diabetes. Systemic oxidative stress was evaluated by urinary H2O2 and the ratio of circulating reduced/oxidized glutathione (GSH/GSSG). Penile oxidative status was assessed by H2O2 production and 3-nitrotyrosine (3-NT) formation. Cavernosal endothelial nitric oxide synthase (eNOS) was analyzed by quantitative immunohistochemistry. Dual immunofluorescence was also performed for 3-NT and α-smooth muscle actin (α-SMA) and eNOS–α-SMA. Results There was a significant increase in urinary H2O2 levels in both diabetic groups. The plasma GSH/GSSG ratio was significantly augmented in late diabetes. In cavernosal tissue, H2O2 production was significantly increased in late diabetes. Reactivity for 3-NT was located predominantly in cavernosal smooth muscle (SM) and was significantly reduced in late diabetes. Quantitative immunohistochemistry revealed a significant decrease in eNOS levels in cavernosal SM and endothelium in late diabetes. Conclusions The findings indicate that the noxious effects of oxidative stress are more prominent in late diabetes. Increased penile protein oxidative modifications and decreased eNOS expression may be responsible for structural and/or functional deregulation, contributing to the progression of diabetes-associated ED.

Sialyl Tn-Expressing Bladder Cancer Cells Induce a Tolerogenic Phenotype in Innate and Adaptive Immune Cells

Despite the wide acceptance that glycans are centrally implicated in immunity, exactly how they contribute to the tilt immune response remains poorly defined. In this study, we sought to evaluate the impact of the malignant phenotype-associated glycan, sialyl-Tn (STn) in the function of the key orchestrators of the immune response, the dendritic cells (DCs). In high grade bladder cancer tissue, the STn antigen is significantly overexpressed and correlated with the increased expression of ST6GALNAC1 sialyltransferase. Bladder cancer tissue presenting elevated expression of ST6GALNAC1 showed a correlation with increased expression of CD1a, a marker for bladder immature DCs and showed concomitant low levels of Th1-inducing cytokines IL-12 and TNF-α. In vitro, human DCs co-incubated with STn+ bladder cancer cells, had an immature phenotype (MHC-IIlow, CD80low and CD86low) and were unresponsive to further maturation stimuli. When contacting with STn+ cancer cells, DCs expressed significantly less IL-12 and TNF-α. Consistent with a tolerogenic DC profile, T cells that were primed by DCs pulsed with antigens derived from STn+ cancer cells were not activated and showed a FoxP3high IFN-γlow phenotype. Blockade of STn antigens and of STn+ glycoprotein, CD44 and MUC1, in STn+ cancer cells was able to lower the induction of tolerance and DCs become more mature. Overall, our data suggest that STn-expressing cancer cells impair DC maturation and endow DCs with a tolerogenic function, limiting their capacity to trigger protective anti-tumour T cell responses. STn antigens and, in particular, STn+ glycoproteins are potential targets for circumventing tumour-induced tolerogenic mechanisms.

Bem Estar Fetal Intraparto: Papel da Ecografia

A realização de ecografia está disponível em praticamente todos os Serviços de Urgência de Ginecologia/Obstetrícia. A sua utilidade na avaliação do bem-estar fetal ante-parto é indiscutível. Este trabalho tem por objectivo rever as indicações da Ecografia realizada durante o Trabalho de Parto.

Introduction: digital methods and tools for historical research

As an introduction to a series of articles focused on the exploration of particular tools and/or methods to bring together digital technology and historical research, the aim of this paper is mainly to highlight and discuss in what measure those methodological approaches can contribute to improve analytical and interpretative capabilities available to historians. In a moment when the digital world present us with an ever-increasing variety of tools to perform extraction, analysis and visualization of large amounts of text, we thought it would be relevant to bring the digital closer to the vast historical academic community. More than repeating an idea of digital revolution introduced in the historical research, something recurring in the literature since the 1980s, the aim was to show the validity and usefulness of using digital tools and methods, as another set of highly relevant tools that the historians should consider. For this several case studies were used, combining the exploration of specific themes of historical knowledge and the development or discussion of digital methodologies, in order to highlight some changes and challenges that, in our opinion, are already affecting the historians' work, such as a greater focus given to interdisciplinarity and collaborative work, and a need for the form of communication of historical knowledge to become more interactive.

Museus sem lugar: ensaios, manifestos e diálogos em rede

Contém artigos de: Helena Barranha - Introdução: manifestos por um museu sem lugar (pp.3-8); Natalie Bookchin e Alexei Shulgin - Introdução à net.art (1994-1999) [1999] (pp.11-18); Andreas Broegger - Net Art, web art, online art, net.art? [2000] (pp.19-24); Josephine Berry - Humano, demasiado Pós-Humano? A Net Art e os seus críticos [2000] (pp.25-33); Jon Ippolito - Dez mitos sobre a Internet Art [2002] (pp.34-44); Manuel Castells - Os museus na era da informação: conectores culturais de tempo e espaço [2001] (pp.47-62); Yehuda Kalay e John Marx - Arquitectura e Internet: projectar lugares no ciberespaço [2005] (pp.63-87); Erkki Huhtamo - Nas (ou para além das) pontas dos dedos: arte contemporânea, práticas expositivas e tactilidade [2008] (pp.88-102); Domenico Quaranta - Perdido na tradução. Ou trazer a Net Art para outro lugar – desculpem, contexto [2008] (pp.103-120); Marisa Olson - Pós-Internet: A Arte depois da Internet [2011] (pp.123-136); Fred Forest - A arte cosa mentale. Do visível ao invisível e da realidade a uma realidade... diferente. [2012] (pp.137-141); Hito Steyerl - Demasiado mundo: a Internet morreu? [2012] (pp.142-158); Excertos das entrevistas realizadas, no âmbito do projecto unplace, a artistas, curadores e investigadores (pp.159-196).

Heinrich e Cécile Daniker-Haller - A música doméstica na vida de um casal de negociantes entre Zurique e o Rio de Janeiro na primeira metade do século XIX

O casal de suíços, Heinrich (1795–1866) e Cécile Däniker-Haller (1816–1887), com seus filhos, viveu no Rio de Janeiro entre 1828 e 1852. Comerciantes prósperos, cosmopolitas e melômanos, deixaram grande quantidade de informações sobre suas atividades de música em ambiente doméstico daquele período, mas também depois de terem voltado a se estabelecer na Suíça. O Genealogisches Archiv der Helene und Cécile Rübel Familienstiftung (FA HCR), na cidade de Zurique, documenta a história desta família. As informações registradas pelo casal estudado, principalmente em forma de cartas e diários, permitem-nos conhecer e analisar a prática musical em ambiente doméstico das famílias estrangeiras no Rio de Janeiro, e demonstrar quais eram os repertórios por eles utilizados. Entre as conclusões tiradas, inclui-se o fato de que o romantismo alemão teria feito sua entrada no ambiente musical brasileiro através dos salões musicais das famílias estrangeiras, exatamente como foi o caso em outras cidades do mundo não germânico. Nos documentos deixados pela família Däniker-Haller encontram-se os mais antigos testemunhos até hoje encontrados da execução de Lieder de Schubert em ambiente doméstico no Rio de Janeiro. Por outro lado, a prática da Hausmusik na cidade de Zurique vem descrita e comparada àquela carioca. A análise destes relatos também nos permite descrever a diferença que havia entre os eventos musicais em ambiente doméstico íntimo e informal, e os "salões musicais", onde diletantes se produziam em esfera semi-pública previamente preparados e ensaiados, e a marcante diferença no repertório destes dois tipos de eventos sociais.

Exploring Literary Landscapes: From Texts to Spatiotemporal Analysis through Collaborative Work and GIS

This article argues that the study of literary representations of landscapes can be aided and enriched by the application of digital geographic technologies. As an example, the article focuses on the methods and preliminary findings of LITESCAPE.PT—Atlas of Literary Landscapes of Mainland Portugal, an on-going project that aims to study literary representations of mainland Portugal and to explore their connections with social and environmental realities both in the past and in the present. LITESCAPE.PT integrates traditional reading practices and ‘distant reading’ approaches, along with collaborative work, relational databases, and geographic information systems (GIS) in order to classify and analyse excerpts from 350 works of Portuguese literature according to a set of ecological, socioeconomic, temporal and cultural themes. As we argue herein this combination of qualitative and quantitative methods—itself a response to the difficulty of obtaining external funding—can lead to (a) increased productivity, (b) the pursuit of new research goals, and (c) the creation of new knowledge about natural and cultural history. As proof of concept, the article presents two initial outcomes of the LITESCAPE.PT project: a case study documenting the evolving literary geography of Lisbon and a case study exploring the representation of wolves in Portuguese literature.

Natural history of stenosis in the iliac arteries in patients with intermittent claudication undergoing clinical treatment

PURPOSE: Inspite of the long experience with the treatment of intermittent claudication, little is known about the natural history of stenotic lesions in the iliac segment. With the advent of endovascular treatment, this knowledge has become important. METHODS: Fifty-two stenosis, diagnosed using arteriography, in 38 claudicant patients were analyzed. After a minimum time interval of 6 months, a magnetic resonance angiography was performed to determine whether there was arterial occlusion. The primary factors that could influence the progression of a stenosis were analyzed, such as risk factors (smoking, hypertension, diabetes, sex, and age), compliance with clinical treatment, initial degree of stenosis, site of the stenosis, and length of follow-up. RESULTS: The average length of follow-up was 39 months. From the 52 lesions analyzed, 13 (25%) evolved to occlusion. When occlusion occurred, there was clinical deterioration in 63.2% of cases. This association was statistically significant (P = .002). There was no statistically significant association of the progression of the lesion with the degree or site of stenosis, compliance with treatment, or length of follow-up. Patients who evolved to occlusion were younger (P = .02). The logistic regression model showed that the determinant factors for clinical deterioration were arterial occlusion and noncompliance with clinical treatment. CONCLUSIONS: The progression of a stenosis to occlusion, which occurred in 25% of the cases, caused clinical deterioration. Clinical treatment was important, but it did not forestall the arterial occlusion. Prevention of occlusion could be achieved by early endovascular intervention or with the development of drugs that might stabilize the atherosclerotic plaque.

Examen classis dioeciae.

v. 1 [series pt. 5]

Examen classis dioeciae.

v. 2 [series pt. 5]

Examen classis dioeciae.

v. 3 [series pt. 5]

Examen classis dioeciae.

v. 4 [series pt. 5]