Flight dynamics in Drosophila through a dynamically-scaled robotic approach

Flies are particularly adept at balancing the competing demands of delay tolerance, performance, and robustness during flight, which invites thoughtful examination of their multimodal feedback architecture. This dissertation examines stabilization requirements for inner-loop feedback strategies in the flapping flight of Drosophila, the fruit fly, against the backdrop of sensorimotor transformations present in the animal. Flies have evolved multiple specializations to reduce sensorimotor latency, but sensory delay during flight is still significant on the timescale of body dynamics. I explored the effect of sensor delay on flight stability and performance for yaw turns using a dynamically-scaled robot equipped with a real-time feedback system that performed active turns in response to measured yaw torque. The results show a fundamental tradeoff between sensor delay and permissible feedback gain, and suggest that fast mechanosensory feedback provides a source of active damping that compliments that contributed by passive effects. Presented in the context of these findings, a control architecture whereby a haltere-mediated inner-loop proportional controller provides damping for slower visually-mediated feedback is consistent with tethered-flight measurements, free-flight observations, and engineering design principles. Additionally, I investigated how flies adjust stroke features to regulate and stabilize level forward flight. The results suggest that few changes to hovering kinematics are actually required to meet steady-state lift and thrust requirements at different flight speeds, and the primary driver of equilibrium velocity is the aerodynamic pitch moment. This finding is consistent with prior hypotheses and observations regarding the relationship between body pitch and flight speed in fruit flies. The results also show that the dynamics may be stabilized with additional pitch damping, but the magnitude of required damping increases with flight speed. I posit that differences in stroke deviation between the upstroke and downstroke might play a critical role in this stabilization. Fast mechanosensory feedback of the pitch rate could enable active damping, which would inherently exhibit gain scheduling with flight speed if pitch torque is regulated by adjusting stroke deviation. Such a control scheme would provide an elegant solution for flight stabilization across a wide range of flight speeds.

Complex behavior and perception in Drosophila emerges from iterative feedback-regulated reflexes

For a hungry fruit fly, locating and landing on a fermenting fruit where it can feed, find mates, and lay eggs, is an essential and difficult task requiring the integration of both olfactory and visual cues. Understanding how flies accomplish this will help provide a comprehensive ethological context for the expanding knowledge of their neural circuits involved in processing olfaction and vision, as well as inspire novel engineering solutions for control and estimation in computationally limited robotic applications. In this thesis, I use novel high throughput methods to develop a detailed overview of how flies track odor plumes, land, and regulate flight speed. Finally, I provide an example of how these insights can be applied to robotic applications to simplify complicated estimation problems. To localize an odor source, flies exhibit three iterative, reflex-driven behaviors. Upon encountering an attractive plume, flies increase their flight speed and turn upwind using visual cues. After losing the plume, flies begin zigzagging crosswind, again using visual cues to control their heading. After sensing an attractive odor, flies become more attracted to small visual features, which increases their chances of finding the plume source. Their changes in heading are largely controlled by open-loop maneuvers called saccades, which they direct towards and away from visual features. If a fly decides to land on an object, it begins to decelerate so as to maintain a stereotypical ratio of expansion to retinal size. Once they reach a stereotypical distance from the target, flies extend their legs in preparation for touchdown. Although it is unclear what cues they use to trigger this behavior, previous studies have indicated that it is likely under visual control. In Chapter 3, I use a nonlinear control theoretic analysis and robotic testbed to propose a novel and putative mechanism for how a fly might visually estimate distance by actively decelerating according to a visual control law. Throughout these behaviors, a common theme is the visual control of flight speed. Using genetic tools I show that the neuromodulator octopamine plays an important role in regulating flight speed, and propose a neural circuit for how this controller might be implemented in the flies brain. Two general biological and engineering principles are evident across my experiments: (1) complex behaviors, such as foraging, can emerge from the interactions of simple independent sensory-motor modules; (2) flies control their behavior in such a way that simplifies complex estimation problems.

Control of dynamical systems with temporal logic specifications

This thesis is motivated by safety-critical applications involving autonomous air, ground, and space vehicles carrying out complex tasks in uncertain and adversarial environments. We use temporal logic as a language to formally specify complex tasks and system properties. Temporal logic specifications generalize the classical notions of stability and reachability that are studied in the control and hybrid systems communities. Given a system model and a formal task specification, the goal is to automatically synthesize a control policy for the system that ensures that the system satisfies the specification. This thesis presents novel control policy synthesis algorithms for optimal and robust control of dynamical systems with temporal logic specifications. Furthermore, it introduces algorithms that are efficient and extend to high-dimensional dynamical systems.

The first contribution of this thesis is the generalization of a classical linear temporal logic (LTL) control synthesis approach to optimal and robust control. We show how we can extend automata-based synthesis techniques for discrete abstractions of dynamical systems to create optimal and robust controllers that are guaranteed to satisfy an LTL specification. Such optimal and robust controllers can be computed at little extra computational cost compared to computing a feasible controller.

The second contribution of this thesis addresses the scalability of control synthesis with LTL specifications. A major limitation of the standard automaton-based approach for control with LTL specifications is that the automaton might be doubly-exponential in the size of the LTL specification. We introduce a fragment of LTL for which one can compute feasible control policies in time polynomial in the size of the system and specification. Additionally, we show how to compute optimal control policies for a variety of cost functions, and identify interesting cases when this can be done in polynomial time. These techniques are particularly relevant for online control, as one can guarantee that a feasible solution can be found quickly, and then iteratively improve on the quality as time permits.

The final contribution of this thesis is a set of algorithms for computing feasible trajectories for high-dimensional, nonlinear systems with LTL specifications. These algorithms avoid a potentially computationally-expensive process of computing a discrete abstraction, and instead compute directly on the system's continuous state space. The first method uses an automaton representing the specification to directly encode a series of constrained-reachability subproblems, which can be solved in a modular fashion by using standard techniques. The second method encodes an LTL formula as mixed-integer linear programming constraints on the dynamical system. We demonstrate these approaches with numerical experiments on temporal logic motion planning problems with high-dimensional (10+ states) continuous systems.

Optimal guidance of low-thrust interplanetary space vehicles

The low-thrust guidance problem is defined as the minimum terminal variance (MTV) control of a space vehicle subjected to random perturbations of its trajectory. To accomplish this control task, only bounded thrust level and thrust angle deviations are allowed, and these must be calculated based solely on the information gained from noisy, partial observations of the state. In order to establish the validity of various approximations, the problem is first investigated under the idealized conditions of perfect state information and negligible dynamic errors. To check each approximate model, an algorithm is developed to facilitate the computation of the open loop trajectories for the nonlinear bang-bang system. Using the results of this phase in conjunction with the Ornstein-Uhlenbeck process as a model for the random inputs to the system, the MTV guidance problem is reformulated as a stochastic, bang-bang, optimal control problem. Since a complete analytic solution seems to be unattainable, asymptotic solutions are developed by numerical methods. However, it is shown analytically that a Kalman filter in cascade with an appropriate nonlinear MTV controller is an optimal configuration. The resulting system is simulated using the Monte Carlo technique and is compared to other guidance schemes of current interest.

Probabilistic robust control : theory and applications

In this work, the development of a probabilistic approach to robust control is motivated by structural control applications in civil engineering. Often in civil structural applications, a system's performance is specified in terms of its reliability. In addition, the model and input uncertainty for the system may be described most appropriately using probabilistic or "soft" bounds on the model and input sets. The probabilistic robust control methodology contrasts with existing H∞/μ robust control methodologies that do not use probability information for the model and input uncertainty sets, yielding only the guaranteed (i.e., "worst-case") system performance, and no information about the system's probable performance which would be of interest to civil engineers.

The design objective for the probabilistic robust controller is to maximize the reliability of the uncertain structure/controller system for a probabilistically-described uncertain excitation. The robust performance is computed for a set of possible models by weighting the conditional performance probability for a particular model by the probability of that model, then integrating over the set of possible models. This integration is accomplished efficiently using an asymptotic approximation. The probable performance can be optimized numerically over the class of allowable controllers to find the optimal controller. Also, if structural response data becomes available from a controlled structure, its probable performance can easily be updated using Bayes's Theorem to update the probability distribution over the set of possible models. An updated optimal controller can then be produced, if desired, by following the original procedure. Thus, the probabilistic framework integrates system identification and robust control in a natural manner.

The probabilistic robust control methodology is applied to two systems in this thesis. The first is a high-fidelity computer model of a benchmark structural control laboratory experiment. For this application, uncertainty in the input model only is considered. The probabilistic control design minimizes the failure probability of the benchmark system while remaining robust with respect to the input model uncertainty. The performance of an optimal low-order controller compares favorably with higher-order controllers for the same benchmark system which are based on other approaches. The second application is to the Caltech Flexible Structure, which is a light-weight aluminum truss structure actuated by three voice coil actuators. A controller is designed to minimize the failure probability for a nominal model of this system. Furthermore, the method for updating the model-based performance calculation given new response data from the system is illustrated.

Formal methods for control synthesis in partially observed environments : application to autonomous robotic manipulation

Modern robots are increasingly expected to function in uncertain and dynamically challenging environments, often in proximity with humans. In addition, wide scale adoption of robots requires on-the-fly adaptability of software for diverse application. These requirements strongly suggest the need to adopt formal representations of high level goals and safety specifications, especially as temporal logic formulas. This approach allows for the use of formal verification techniques for controller synthesis that can give guarantees for safety and performance. Robots operating in unstructured environments also face limited sensing capability. Correctly inferring a robot's progress toward high level goal can be challenging.

This thesis develops new algorithms for synthesizing discrete controllers in partially known environments under specifications represented as linear temporal logic (LTL) formulas. It is inspired by recent developments in finite abstraction techniques for hybrid systems and motion planning problems. The robot and its environment is assumed to have a finite abstraction as a Partially Observable Markov Decision Process (POMDP), which is a powerful model class capable of representing a wide variety of problems. However, synthesizing controllers that satisfy LTL goals over POMDPs is a challenging problem which has received only limited attention.

This thesis proposes tractable, approximate algorithms for the control synthesis problem using Finite State Controllers (FSCs). The use of FSCs to control finite POMDPs allows for the closed system to be analyzed as finite global Markov chain. The thesis explicitly shows how transient and steady state behavior of the global Markov chains can be related to two different criteria with respect to satisfaction of LTL formulas. First, the maximization of the probability of LTL satisfaction is related to an optimization problem over a parametrization of the FSC. Analytic computation of gradients are derived which allows the use of first order optimization techniques.

The second criterion encourages rapid and frequent visits to a restricted set of states over infinite executions. It is formulated as a constrained optimization problem with a discounted long term reward objective by the novel utilization of a fundamental equation for Markov chains - the Poisson equation. A new constrained policy iteration technique is proposed to solve the resulting dynamic program, which also provides a way to escape local maxima.

The algorithms proposed in the thesis are applied to the task planning and execution challenges faced during the DARPA Autonomous Robotic Manipulation - Software challenge.

Preparo e administração de medicamentos por sondas em pacientes que recebem nutrição enteral

O objeto de estudo foi o preparo e a administração de medicamentos por cateter pela enfermagem em pacientes que recebem nutrição enteral. O objetivo geral foi investigar o padrão de preparo e administração dos medicamentos por cateter em pacientes que recebem nutrição enteral concomitante. Os objetivos específicos foram apresentar o perfil dos medicamentos preparados e administrados de acordo com a possibilidade de serem administrados por cateter enteral e avaliar o tipo e a freqüência de erros que ocorrem no preparo e administração de medicamentos por cateter. Tratou-se de uma pesquisa com desenho transversal de natureza observacional, sem modelo de intervenção. Foi desenvolvida em um hospital do Rio de Janeiro onde foram observados técnicos de enfermagem preparando e administrando medicamentos por cateter na Unidade de Terapia Intensiva. Foram observadas 350 doses de medicamentos sendo preparados e administrados. Os grupos de medicamentos prevalentes foram os que agem no Sistema Cardiovascular Renal com 164 doses (46,80%), seguido pelos que agem no Sistema Respiratório e Sangue com 12,85% e 12,56% respectivamente. Foram encontrados 19 medicamentos diferentes do primeiro grupo, dois no segundo e cinco no terceiro. As categorias de erro no preparo foram trituração, diluição e misturas. Encontrou-se uma taxa média de 67,71% no preparo de medicamentos. Comprimidos simples foram preparados errados em 72,54% das doses, e todos os comprimidos revestidos e de liberação prolongada foram triturados indevidamente entre sólidos a categoria de erro prevalente foi trituração com 45,47%, preparar misturando medicamentos foi um erro encontrado em quase 40% das doses de medicamentos sólidos. A trituração insuficiente ocorreu em 73,33% das doses de ácido fólico, do cloridrato de amiodarona (58,97%) e bromoprida (50,00%). A mistura com outros medicamentos ocorreu em 66,66% das doses de bromoprida, de besilato de anlodipina (53,33%), bamifilina (43,47%), ácido fólico (40,00%) e ácido acetilsalicílico (33,33%). Os erros na administração foram ausência de pausa e manejo indevido do cateter. A taxa média de erros na administração foi de 32,64%, distribuídas entre 17,14% para pausa e 48,14% para manejo do cateter. A ausência de lavagem do cateter antes foi o erro mais comum e o mais incomum foi não lavar o cateter após a administração. Os medicamentos mais envolvidos em erros na administração foram: cloridrato de amiodarona (n=39), captopril (n=33), cloridrato de hidralazina (n=7), levotiroxina sódica (n=7). Com relação à lavagem dos cateteres antes, ela não ocorreu em 330 doses de medicamentos. O preparo e administração inadequados de medicamentos podem levar à perdas na biodisponibilidade, diminuição do nível sérico e riscos de intoxicações para o paciente. Preparar e administrar medicamentos são procedimentos comuns, porém apresentou altas taxas de erros, o que talvez reflita pouco conhecimento desses profissionais sobre as boas práticas da terapia medicamentosa. Constata-se a necessidade de maior investimento de todos os profissionais envolvidos, médicos, enfermeiros e farmacêuticos nas questões que envolvam a segurança com medicamentos assim como repensar o processo de trabalho da enfermagem.

On the Role of Delays in Biological Systems : Analysis and Design

This work quantifies the nature of delays in genetic regulatory networks and their effect on system dynamics. It is known that a time lag can emerge from a sequence of biochemical reactions. Applying this modeling framework to the protein production processes, delay distributions are derived in a stochastic (probability density function) and deterministic setting (impulse function), whilst being shown to be equivalent under different assumptions. The dependence of the distribution properties on rate constants, gene length, and time-varying temperatures is investigated. Overall, the distribution of the delay in the context of protein production processes is shown to be highly dependent on the size of the genes and mRNA strands as well as the reaction rates. Results suggest longer genes have delay distributions with a smaller relative variance, and hence, less uncertainty in the completion times, however, they lead to larger delays. On the other hand large uncertainties may actually play a positive role, as broader distributions can lead to larger stability regions when this formalization of the protein production delays is incorporated into a feedback system.

Furthermore, evidence suggests that delays may play a role as an explicit design into existing controlling mechanisms. Accordingly, the reccurring dual-feedback motif is also investigated with delays incorporated into the feedback channels. The dual-delayed feedback is shown to have stabilizing effects through a control theoretic approach. Lastly, a distributed delay based controller design method is proposed as a potential design tool. In a preliminary study, the dual-delayed feedback system re-emerges as an effective controller design.

Combinação de drogas para o tratamento da Hipertensão Arterial: estratégia para um melhor controle pressórico

A taxa de controle da hipertensão arterial permanece subótima apesar dos amplos e intensos programas institucionais e o número das novas medicações. A combinação de drogas de diferentes mecanismos de ação vem se tornando uma alternativa para aumentar a redução na pressão arterial (PA) e aumentar seu controle, aumentar aderência ao tratamento e reduzir os eventos adversos. Um estudo fatorial 4X4 foi desenhado para determinar a eficácia e a segurança de telmisartana (T) mais anlodipino (A) em pacientes hipertensos estágios I e II. Pacientes hipertensos adultos (N=1461) estágios I e II (pressão arterial basal 153,212,1 ⁄101,74,3 mm Hg) foram randomizados para 1 de 16 grupos de tratamento com T 0, 20, 40, 80 mg e A 0, 2.5, 5, 10 mg por oito semanas. A maior redução na média das pressões sistólica e diastólica foram observadas com T 80 mg mais A10 mg (- 26,4 ⁄20,1 mm Hg; p<0,05 comparados com as monoterapias). A taxa de controle da PA foi também maior no grupo T 80mg mais A 10mg (76,5% [controle total] e 85,3% [controle da PA diastólica ]), e taxa de controle da PA >90% com esta combinação. O edema periférico maleolar foi o evento adverso mais frequente e ocorreu no grupo A 10mg (17,8%), porém, esta taxa foi marcadamente menor quando A foi usada associada com T: 11,4% (T20+A10), 6,2% (T40+ A10), e 11,3% (T80+A10). Um subestudo utilizando a monitorização ambulatorial da pressão arterial (MAPA) foi realizado na fase basal e após oito semanas de tratamento. A maior redução média das pressões nas 24 horas a partir do período basal foi registrada para a combinação de telmisartana 80 mg e anlodipino 10 mg e encontrou-se queda de 22,4/14,6 mmHg, de 11,9/6,9 mmHg para anlodipino 10 mg monoterapia e de 11,0/6,9 mmHg para telmisartana 80 mg (p< 0,001). Além disso, resultados relevantes foram também constatados numa análise post hoc de subgrupos incluindo idosos, obesos, diabéticos tipo 2 e hipertensão sistólica. A resposta anti-hipertensiva da combinação foi semelhante, independente de qualquer característica de cada subgrupo. Estes dados demonstram que telmisartana e anlodipino em combinação oferecem substancial redução e controle nas 24 horas superior às respectivas monoterapias em hipertensos estágios I e II.

Incremental Control Synthesis for Robotics in the Presence of Temporal Logic Specifications

This thesis presents methods for incrementally constructing controllers in the presence of uncertainty and nonlinear dynamics. The basic setting is motion planning subject to temporal logic specifications. Broadly, two categories of problems are treated. The first is reactive formal synthesis when so-called discrete abstractions are available. The fragment of linear-time temporal logic (LTL) known as GR(1) is used to express assumptions about an adversarial environment and requirements of the controller. Two problems of changes to a specification are posed that concern the two major aspects of GR(1): safety and liveness. Algorithms providing incremental updates to strategies are presented as solutions. In support of these, an annotation of strategies is developed that facilitates repeated modifications. A variety of properties are proven about it, including necessity of existence and sufficiency for a strategy to be winning. The second category of problems considered is non-reactive (open-loop) synthesis in the absence of a discrete abstraction. Instead, the presented stochastic optimization methods directly construct a control input sequence that achieves low cost and satisfies a LTL formula. Several relaxations are considered as heuristics to address the rarity of sampling trajectories that satisfy an LTL formula and demonstrated to improve convergence rates for Dubins car and single-integrators subject to a recurrence task.

Optimización de la metodología para la producción de hongos comestibles

El cultivo de hongos comestibles saprófitos constituye un sistema de producción-consumo, que ha adquirido gran relevancia social, económica y ecológica. Con el fin de abaratar costes a la vez que aprovechar y reciclar residuos forestales, el objetivo de este trabajo se ha centrado en evaluar la viabilidad del aserrín de Eucalyptus globulus como soporte del cultivo en bolsa de Lentinula edodes (hongo comercializado conocido como Shiitake) y Agrocybe aegerita (hongo no comercializado comúnmente llamado Seta de Chopo). Se han evaluado 6 formulaciones, todas ellas con el aserrín como componente principal y con adición de diferentes suplementos: cereales (salvado y mijo), un controlador del pH (CaCO3) y un estimulador de crecimiento (CaSO4). Se ha determinado el crecimiento miceliar sobre cada uno de los sustratos, así como la producción de carpoforos (tanto en cantidad como en calidad) y la duración del periodo de fructificación. La mezcla más efectiva para la producción de L. edodes fue aquella que contenía yeso y azúcar mientras que para A. aegerita el salvado resultó ser el mejor suplemento.

五自由度纳米级定位工作台的设计研究

提出一种新型的五自由度精密定位平台的工作原理及其设计方法。工作台采用柔性导向机构实现平移及转动功能，采用压电陶瓷作为驱动元件，外置纳米级电容传感器作为位移量测量反馈元件，采用数字PID控制方法，可以实现纳米级精度的定位。给出了多种形式柔性导向机构刚度计算公式及设计实例。

Preparo e administração de medicamentos intravenosos pela enfermagem: garantindo a segurança junto aos pacientes críticos

O objeto de estudo é o preparo e a administração de medicamentos pela enfermagem por via intravenosa. O objetivo geral foi discutir as consequências, para os pacientes, dos erros encontrados a partir do preparo e da administração de medicações de uso intravenoso pela enfermagem, no ambiente hospitalar. Os objetivos específicos foram determinar os grupos medicamentosos e os medicamentos envolvidos em erros; e identificar o tipo e frequência desses erros que ocorrem no preparo e administração de medicamentos intravenosos pela enfermagem. Trata-se de uma pesquisa com desenho transversal de natureza observacional, sem modelo de intervenção. Foi desenvolvida em um hospital público, da rede sentinela, do Rio de Janeiro onde foram observados técnicos de enfermagem preparando e administrando medicamentos intravenosos, em três setores: Unidade de Terapia Intensiva, Clínica Médica e Clínica Cirúrgica. Foram observadas 367 doses preparadas e 365 doses administradas, totalizado 732 doses, à luz de 14 categorias. Para cada dose observada havia somente duas possibilidades: certo ou errado. Com relação ao perfil das medicações, os grupos prevalentes foram os antimicrobianos com 176 doses (24,04%), seguidos dos antissecretores com 149 doses (20,36%) e analgésicos com 126 doses (17,21%). Anestésicos e anticonvulsivantes foram os menos observados. Todas as categorias foram divididas em dois grupos: os com potencial de dano para o paciente e os com potencial para alterar a resposta terapêutica do medicamento. Na etapa do preparo, no grupo com potencial de dano, as categorias foram: não troca as agulhas com 88,77% de erro; não desinfecção de ampolas (80,27%) e não faz limpeza de bancada (77,26%). Nas categorias não usa máscara e não identifica o medicamento, não foram encontrado erros. Para o grupo com potencial para alterar a resposta terapêutica, as categorias foram: hora errada (57,26%) e dose errada (6,58%). Na etapa da administração, no grupo com potencial de dano ao paciente, as categorias foram: não confere o medicamento com 96,73% de erro, não avalia flebite (87,47%), não avalia a permeabilidade (86,38%) e não confere o paciente (70,57%). Para o grupo com potencial para alterar a resposta terapêutica, a categoria hora errada apresentou 69,75% de erro; em dose errada e via errada não foi evidenciado erro. Percebeu-se que, nas duas etapas, o grupo prevalente foi o com potencial de dano paciente. Porém, no grupo com potencial para alterar o resultado terapêutico do medicamento, a categoria a hora errada foi a que, provavelmente, apresentou maiores prejuízos para o paciente. Considerando-se que o preparo e administração de medicamentos são umas das maiores responsabilidades da enfermagem e que os erros podem causar danos aos pacientes, sugere-se repensar o processo de trabalho da enfermagem e investir mais em questões que envolvam a segurança com a terapia medicamentosa.

Potenciais interações medicamentosas com dano grave e sua relação com o aprazamento estabelecido por enfermeiros

Trata-se de estudo multicêntrico, com revisão retrospectiva de prontuário, que teve como objeto a associação entre o aprazamento de medicações intravenosas realizadas por enfermeiros e as potenciais interações medicamentosas (PIM) graves, encontradas em prescrições de pacientes críticos adultos hospitalizados. Os objetivos foram: a) apresentar os grupos medicamentosos e medicamentos prevalentes em cada Unidade de Tratamento Intensivo (UTI) pesquisada; b) descrever o perfil do aprazamento dos medicamentos intravenosos em cada UTI pesquisada; e, c) analisar a frequência das potenciais interações medicamentosas graves favorecidas pelo aprazamento feito por enfermeiros. Para coleta de dados foi utilizado um instrumento que contemplou o nome do medicamento, a dose, a via, a frequência de administração e os horários aprazados pelo enfermeiro, dando origem a um imenso banco de dados. Os dados foram coletados em 3 UTIs conveniadas ao SUS e pertencentes à Rede Sentinela. O levantamento das PIM foi feito de prescrição a prescrição, pareando-se todos os medicamentos intravenosos conforme critérios de inclusão, obtendo-se assim uma lista com as interações encontradas. As PIM foram identificadas nas bases Micromedex Drugs-Reax System.12 e Drugs.com. Foi encontrada uma chance quase três vezes maior (OR: 2,96) de PIM em prescrições com mais de 5 medicamentos. Às 6h foi encontrada nas UTIs A e B a maior chance de PIM. Na UTI C não foi encontrada prevalência nem OR significativa, assim como o número de doses comprometidas com PIM foi o menor entre todas as UTIs. Houve predomínio de medicamentos que atuam no sistema digestivo (31,99%), com destaque para ranitidina (44,08%). As UTI A e B seguem um mesmo padrão no que diz respeito a acumular o aprazamento, preferencialmente em quatro horários: 14h, 18h, 22h e 6h. A UTI C distribui seu aprazamento por nove horários, inclusive no horário de visitas (16h) e no início de plantão (08h e 20h). Na UTI A e B predominaram aprazamentos noturnos; na UTI C foram tarde e noite, sugerindo uma rotina organizada de acordo com o processo de trabalho de médicos, enfermagem e farmácia. Foram encontrados 47 PIM graves nos horários prevalentes. A UTI A apresentou o maior número de PIM graves (n=32). Destacam-se cinco medicamentos que, repetidamente, foram aprazados associados em PIM grave: haloperidol, metoclopramida, tramadol, furosemida e prometazina. Conclui-se que a rotina de atividades na UTI favorece o aprazamento padronizado e concentrado em poucos horários, logo a ocorrência de PIM graves, desconsiderando assim os aspectos farmacocinéticos e farmacodinâmicos dos medicamentos em uso concomitante.

Desarrollo de una aplicación usando LEAP

[ES]Hoy en día existen diferentes alternativas para interactuar con los ordenadores. Sin embargo, las más extendidas y utilizadas son el teclado y el ratón. En ambos casos resulta necesario que las manos del usuario entren en contacto con algún dispositivo, ya sea un teclado físico o un ratón. En determinadas circunstancias en las que la higiene de las manos es un factor importante, este hecho puede suponer un inconveniente. En este proyecto de fin de grado se ha desarrollado KVLeap, una aplicación de escritorio para los sistemas Windows, que usando el controlador Leap Motion, un dispositivo que detecta y rastrea la posición y los movimientos de las manos en el aire, permite interactuar con un ordenador sin que las manos del usuario tengan que entrar en contacto con ningún dispositivo.