SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Cleaning capacity promoted by motor-driven or manual instrumentation using ProTaper Universal system: Histological analysis

The aim of this study was to assess the cleaning capacity of the Protaper system using motor-driven or manual instrumentation. Materials and Methods: Ten mandibular molars were randomly separated into 2 groups (n = 5) according to the type of instrumentation performed, as follows: Group 1 - instrumentation with rotary nickel-titanium (Ni-Ti) files using ProTaper Universal System (Dentsply/Maillefer); and, Group 2 - instrumentation with Ni-Ti hand files using ProTaper Universal (Dentsply-Maillefer). Afterwards, the teeth were sectioned transversely and submitted to histotechnical processing to obtain histological sections for microscopic evaluation. The images were analyzed by the Corel Photo-Paint X5 program (Corel Corporation) using an integration grid superimposed on the image. Results: Statistical analysis (U-Mann-Whitney - P < 0.05) demonstrated that G1 presented higher cleaning capacity when compared to G2. Conclusions: The rotary technique presented better cleaning results in the apical third of the root canal system when compared to the manual technique.

Chronic motor neuron disease possibly related to intoxication with organochlorine insecticides

We report on two patients with a history of chronic exposure to organochlorine insecticides who developed clinical and electromyographic signs and symptoms of chronic motor neuron disease. Measurements of aldrin, lindane and heptachlor confirmed the intoxication. We emphasize the importance of searching for toxic and environmental factors in cases of motor neuron disease especially in Third World countries, where workers usually wear no adequate protective equipment.

Selective suprascapular and axillary nerve block provides adequate analgesia and minimal motor block. Comparison with interscalene block

Shoulder arthroscopic surgeries evolve with intense postoperative pain. Several analgesic techniques have been advocated. The aim of this study was to compare suprascapular and axillary nerve blocks in shoulder arthroscopy using the interscalene approach to brachial plexus blockade. According to the technique used, sixty-eight patients were allocated into two groups: interscalene group (IG, n=34) and selective group (SG, n=34), with neurostimulation approach used for both techniques. After appropriate motor response, IG received 30 mL of 0.33% levobupivacaine in 50% enantiomeric excess with adrenalin 1:200,000. After motor response of suprascapular and axillary nerves, SG received 15 mL of the same substance on each nerve. General anesthesia was then administered. Variables assessed were time to perform the blocks, analgesia, opioid consumption, motor block, cardiovascular stability, patient satisfaction and acceptability. Time for interscalene blockade was significantly shorter than for selective blockade. Analgesia was significantly higher in the immediate postoperative period in IG and in the late postoperative period in SG. Morphine consumption was significantly higher in the first hour in SG. Motor block was significantly lower in SG. There was no difference between groups regarding cardiocirculatory stability and patient satisfaction and acceptability. Failure occurred in IG (1) and SG (2). Both techniques are safe, effective, and with the same degree of satisfaction and acceptability. The selective blockade of both nerves showed satisfactory analgesia, with the advantage of providing motor block restricted to the shoulder.

Efeito de tarefa dupla no controle postural de adultos idosos: acoplamento sensório-motor

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Projeto e usinagem do cabeçote para um motor 4 tempos, a gasolina, monocilíndrico de 400 cc e refrigerado a ar

Pós-graduação em Engenharia Mecânica - FEG

Controle motor em pacientes com doença de Parkinson: terapia do espelho, foco de atenção e tarefa dupla

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Aplicação da teoria de potência conservativa para monitoramento do comportamento do motor de indução trifásico sob distúrbios de qualidade de energia

Pós-graduação em Engenharia Elétrica - FEB

Relação entre testes clínicos e desfechos de dor e incapacidade de pacientes com dor lombar crônica não específica submetidos ao programa de controle motor

Pós-graduação em Fisioterapia - FCT

A relação do desempenho motor em testes de campo e em situação de jogo no futebol

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Projeto de controladores robustos para acionamento de um motor de indução trifásico

Pós-graduação em Engenharia Elétrica - FEIS

As atividades de demonstração e a teoria de Vigotski: um motor elétrico de fácil construção e de baixo custo

The experimental demonstration is one of the traditional activities used in the ambit of the Science teaching and of the scientific divulgation. However, this activity has not been fully explored yet in the classroom, because teachers have faced considerable difficulties due to the lack of demonstration equipment. In this work we present the explanation of an easy and low-cost assembly of an electric motor, to be used in Physics classes in High School. In addition, we employed Vigotski’s theory to guide this experimental activity in the classroom.

Visual estimation of apertures for wheelchair locomotion in novices: perceptual judgment and motor practice

The aim of the present study was to determine the effects of motor practice on visual judgments of apertures for wheelchair locomotion and the visual control of wheelchair locomotion in wheelchair users who had no prior experience. Sixteen young adults, divided into motor practice and control groups, visually judged varying apertures as passable or impassable under walking, pre-practice, and post-practice conditions. The motor practice group underwent additional motor practice in 10 blocks of five trials each, moving the wheelchair through different apertures. The relative perceptual boundary was determined based on judgment data and kinematic variables that were calculated from videos of the motor practice trials. The participants overestimated the space needed under the walking condition and underestimated it under the wheelchair conditions, independent of group. The accuracy of judgments improved from the pre-practice to post-practice condition in both groups. During motor practice, the participants adaptively modulated wheelchair locomotion, adjusting it to the apertures available. The present findings from a priori visual judgments of space and the continuous judgments that are necessary for wheelchair approach and passage through apertures appear to support the dissociation between processes of perception and action.

On nonlinear dynamics behavior and control of a new model of a magnetically levitated vibrating system, excited by an unbalanced DC motor of limited power supply

We analyze new results on a magnetically levitated body (a block including a magnet whose bottom pole is set in such a way as to repel the upper pole of a magnetic base) excited by a non-ideal energy source (an unbalanced electric motor of limited power supply). These new results are related to the jump phenomena and increase of power required of such sources near resonance are manifestations of a non-ideal system and they are referred as the Sommerfeld effect, which emulates an energy sink. In this work, we also discuss control strategies to be applied to this system, in resonance conditions, in order to decrease its vibration amplitude and avoiding this apparent energy sink.

Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.