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

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.

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.

Gestão de infra-estruturas e avaliação de equipamentos laboratoriais

RESUMO: A confiabilidade e qualidade dos resultados clínicos de um laboratório, estão dependentes da qualidade do equipamento onde estes são processados. A qualidade de um equipamento consiste em apresentar resultados com uma confiabilidade metrológica de acordo com os processos de medição realizados. Desta forma, os equipamentos de medição devem conter características metrológicas de acordo com os requisitos dos processos que estão inseridos, tais como: erro máximo, incerteza, resolução… Todos os equipamentos por muito bons que sejam, apresentam perdas das suas características metrológicas ao longo do tempo, o que se torna importante a determinação periódica das suas calibrações, manutenções e o seu respectivo ajuste. A periodicidade das calibrações, devem ser baseadas, em critérios bem estabelecidos de modo a evitar a ocorrência da não conformidade, devido às medições com os equipamentos fora das suas especificações, garantindo-se assim, a confiabilidade metrológica e o aumento da produtividade devido ao controlo dos processos, evitando-se desta forma qualquer tipo de avaria por parte destes. Os normativos de Qualidade e Certificação estabelecem como requisito a calibração dos equipamentos de medição em intervalos adequados, mas não definem claramente qual o intervalo adequado. O importante é gerir as etapas de calibração e manutenção de acordo com os equipamentos de modo a garantir que os resultados emitidos por estes sejam mantidos em condições confiáveis, dentro do período entre calibrações e manutenções, de modo a que nãoocorra uma condição de falha, e por conseguinte, medições com grande quantidade de erros.------------ ABSTRACT: The reliability and quality of the results of a clinical laboratory, are dependent on the quality of the equipment where they are processed. The quality of a product is to present results with a metrological reliability according to the measuring processes carried out. Thus, measuring equipment must contain metrological characteristics according to the requirements of the processes that are included, such as: maximum error, uncertainty, resolution ... All equipment for very good they are, show losses of its metrological characteristics over time, it becomes important to determine its periodic calibrations, maintenance and its adjustment. The frequency of calibrations should be based on well-established criteria in order to avoid the occurrence of non-compliance due to the measurements with the equipment beyond its specifications, thus ensuring the metrological reliability and increased productivity due to the control of processes, thus avoiding any kind of damage on the part thereof. The normative and Quality Certification as a requirement to establish calibration of measuring equipment at appropriate intervals, but not clearly stipulate the proper range. It is important to manage the steps of calibration and maintenance equipment according to ensure that the results emitted by these conditions are maintained in trusted within the period between calibrations and maintenance, sothat there occurs a fault condition, and therefore, large amount of measurements with errors.

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

Bullwhip effect, in production control: a comparison between traditional methods and LPS

21th Annual Conference of the International Group for Lean Construction (IGLC 21), July 2013, Fortaleza, Brazil

Controlo de qualidade interno: elaboração de um programa de Controlo de Qualidade Interno segundo as boas práticas da Qualidade

RESUMO: Esta dissertação pretende apresentar uma proposta para um programa de Controlo de Qualidade interno das hormonas tiroideias, segundo as boas práticas da qualidade. Para que se comprove o rigor e fiabilidade dos seus resultados analíticos, condição indispensável para que estes possam servir de base às mais diversas tomadas de decisão, toda a filosofia que envolve a qualidade assume um papel preponderante. Neste contexto a elaboração de um programa de controlo de qualidade adequado é muito importante e imprescindível. A realização do controlo de qualidade permite monitorizar o desempenho de todos os materiais, equipamentos, instrumentos e métodos analíticos bem como criar sinais de alerta para prevenir a emissão de resultados não-conformes e indicar a necessidade de ações corretivas. Permite também indicar a necessidade de melhorias em processos e em atividades ligadas aos operadores e consciencializar o pessoal de que o controlo da qualidade é um dever para com o cliente e tem a função de gerar confiança nos resultados obtidos. O controlo de qualidade interno abrange todos os procedimentos assumidos por um laboratório para avaliação contínua do seu trabalho. A sua finalidade é assegurar a consistência dos resultados diários e a sua conformidade com critérios definidos, avaliando a precisão dos ensaios e dando indicação do momento para se promoverem ações corretivas quando surge uma não conformidade. Segundo as melhores práticas da qualidade, serão calculados os valores do controlo de qualidade interno para as hormonas tiroideias, os seus limites e critérios (regras) de aceitabilidade, com base na relação entre o desempenho analítico e o Erro Máximo Admissível. Pretende-se assim, otimizar o desempenho do Controlo de Qualidade Interno, aperfeiçoando a capacidade de identificação do erro.-------- ABSTRACT: This paper intends to submit a proposal for a thyroid hormones internal quality Control program, according to the best quality practices. The whole philosophy involving quality plays a central role in order to prove the accuracy and reliability of the analytical results, a basic prerequisite for decision making. In this context the elaboration of an appropriate quality control program is essential and very important. Quality control allows the motorization of the performance of all materials, equipment, instruments and analytical methods, as well as the creation of warning signals indicating the need for corrective actions, to prevent the release of non-compliant results. It also indicates the need for improvements in the processes and operating activities as well as making the staff aware that quality control is a duty to the client and promotes confidence in the results. The internal quality control covers all procedures undertaken by a laboratory for a continuous evaluation of its performance. Its purpose is to ensure the consistency of the daily results and compliance with defined criteria, assessing the accuracy of the tests and indicating the moment to promote corrective actions when nonconformity appears. According to the best quality practices, the values of the internal quality control for the thyroid hormones, their limits and criteria (rules) of acceptability will be calculated, based on the relationship between analytical performance and the maximum allowable error. Thus, the aim is to optimize the performance of the Internal Quality Control, improving the ability for error detection and identification.