Neural control of an autonomous robot

This article aims to apply the concepts associated with artificial neural networks (ANN) in the control of an autonomous robot system that is intended to be used in competitions of robots. The robot was tested in several arbitrary paths in order to verify its effectiveness. The results show that the robot performed the tasks with success. Moreover, in the case of arbitrary paths the ANN control outperforms other methodologies, such as fuzzy logic control (FLC).

Formation Control Driven by Cooperative Object Tracking

In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

Visceral leishmaniasis in Brazil: revisiting paradigms of epidemiology and control

In the last 20 years, despite the known underestimation of cases, Brazil registered a marked increase in the incidence of visceral leishmaniasis. The main goal of this review is to reflect on some aspects of this zoonosis in Brazil and also to encourage the discussion in order to find more viable, effective and affordable strategies to be implemented by the Brazilian Leishmaniasis Control Program. The current situation of visceral leishmaniasis in Brazil might be seen as a paradox: the most important aspects of the disease are known, but so far the control of this disease has not yet been achieved. The current control strategies have not been able to prevent the geographical expansion, and even a rise in the incidence and lethality of visceral leishmaniasis. There is a need not only for a better definition of priority areas, but also for the implementation of a fieldwork monitoring system to the disease surveillance that could permit a further evaluation of the control program in areas where visceral leishmaniasis is endemic.

Mass treatment for intestinal helminthisis control in an Amazonian endemic area in Brazil

The objective of the present study was to estimate the prevalence of soil-transmitted helminthiasis and evaluate the sanitary conditions and the role of a mass treatment campaign for control of these infections in Santa Isabel do Rio Negro. A cross-sectional survey was carried out in 2002, to obtain data related to the sanitary conditions of the population and fecal samples for parasitological examination in 308 individuals, followed by a mass treatment with albendazole or mebendazole with coverage of 83% of the city population in 2003. A new survey was carried out in 2004, involving 214 individuals, for comparison of the prevalences of intestinal parasitosis before and after the mass treatment. The prevalences of ascariasis, trichuriasis and hookworm infection were 48%; 27% and 21% respectively in 2002. There was a significant decrease for the frequency of infections by Ascaris lumbricoides (p < 0.05; OR / 95% CI = 0.44 / 0.30 - 0.65), Trichuris trichiura (p < 0.05; OR / 95% CI = 0.37 / 0.22 - 0.62), hookworm (p < 0.05; OR / 95% CI = 0.03 / 0.01 - 0.15) and helminth poliparasitism (p < 0.05; OR / 95% CI = 0.16 / 0.08 - 0.32). It was also noticed a decrease of prevalence of infection by Entamoeba histolytica / dispar (p < 0.05; OR / 95% CI = 0.30 / 0.19 - 0.49) and non-pathogenic amoebas. It was inferred that a mass treatment can contribute to the control of soil-transmitted helminthiasis as a practicable short-dated measure. However, governmental plans for public health, education and urban infrastructure are essential for the sustained reduction of prevalences of those infections.

Interactional strategies between terminologist and domain specialist. Putting order into our universe: the concept of Blended Learning

A presente comunicação visa discutir as mais-valias de um desenho metodológico sustentado numa abordagem conceptual da Terminologia aplicado ao exercício de harmonização da definição do cenário educativo mais promissor do Ensino Superior actual: o blended learning. Sendo a Terminologia uma disciplina que se ocupa da representação, da descrição e da definição do conhecimento especializado através da língua a essência deste domínio do saber responde a uma necessidade fundamental da sociedade actual: putting order into our universe, nas palavras de Nuopponen (2011). No contexto descrito, os conceitos, enquanto elementos da estrutura do conhecimento (Sager, 1990) constituem um objecto de investigação de complexidade não despicienda, pois apesar do postulado de que a língua constitui uma ferramenta fundamental para descrever e organizar o conhecimento, o princípio isomórfico não pode ser tomado como adquirido. A abordagem conceptual em Terminologia propõe uma visão precisa do papel da língua no trabalho terminológico, sendo premissa basilar que não existe uma correspondência unívoca entre os elementos atomísticos do conhecimento e os elementos da expressão linguística. É pela razões enunciadas que as opções metodológicas circunscritas à análise do texto de especialidade serão consideradas imprecisas. Nesta reflexão perspectiva-se que o conceito-chave de uma abordagem conceptual do trabalho terminológico implica a combinação de um processo de elicitação do conhecimento tácito através de uma negociação discursiva orientada para o conceito e a análise de corpora textuais. Defende-se consequentemente que as estratégias de interacção entre terminólogo e especialista de domínio merecem atenção detalhada pelo facto de se reflectirem com expressividade na qualidade dos resultados obtidos. Na sequência do exposto, o modelo metodológico que propomos sustenta-se em três etapas que privilegiam um refinamento dessa interacção permitindo ao terminólogo afirmar-se como sujeito conceptualizador, decisor e interventor: (1) etapa exploratória do domínio-objecto de estudo; (2) etapa de análise onamasiológica de evidência textual e discursiva; (3) etapa de modelização e de validação de resultados. Defender-se-á a produtividade de uma sequência cíclica entre a análise textual e discursiva para fins onomasiológicos, a interacção colaborativa e a introspecção.

Análise das determinantes à receptividade ao bluetooth marketing pelo consumidor português – um estudo empírico

With the increasing technological innovation, the concept of marketing and its applications become more functional and wide. Today is visible the development of mobile marketing campaigns, ie marketing campaigns for mobile devices (mobile phones, smartphones, PDAs, tablets). Taking advantage of mobile devices services (bluetooth networks, Wi-Fi, WAP, SMS service, MMS) as a vehicle to approach and communicate with consumers, bluetooth technology is a potential way of mobile marketing to become increasingly less invasive to consumers. This study seeks to answer the question "what factors may motivate the Portuguese consumer to adopt the bluetooth marketing?". According to the literature review on the concept of mobile marketing, bluetooth marketing and consumer behaviour theories, we propose a conceptual model capable of investigating the relationships between the determinants of responsiveness to bluetooth marketing. The empirical study developed from a set of hypotheses and implementation of an online questionnaire to a sample of 755 respondents, demonstrated that there is a relationship between factors such as, technology ease of use, file exchanging and influence of peers, and the receptivity to bluetooth marketing. Also information value of mobile advertising messages, such as entertainment and personalization relates to responsiveness. The consumer’s perceived control over mobile promotional messages and the safety features of the technology, also showed a positive relationship with the receptivity to bluetooth marketing.

Successful control program to implement the appropriate antibiotic prophylaxis for cesarean section

OBJECTIVE: Describe implementation of a successful program to reduce doses (cefazolin 2 to 1 g) used for antimicrobial prophylaxis. METHODS: Evaluation of an intervention program to reduce prophylactic antimicrobial doses. The intervention included weekly staff discussions, automatic dispensation of 1g-vial of cefazolin by the pharmacy unless expressly requested by surgeon and increase in post-discharge surveillance as a strategy to reassure surgeons of the safety of the reduction. In the pre and post intervention periods, a prospective study of antimicrobial consumption and surgical site infections were measured. RESULTS: There were 5,164 and 5,204 deliveries in 2001-2002 and 2003-2004, respectively; 1,524 (29.5%) and 1,363 (26%) were cesarean sections. There was a 45% decrease in cefazolin vials used on average per cesarean section (2.29 to 1.25). Patients evaluated increased from 16% to 67% and the SSI rates in both periods were 3.34% to 2.42%, respectively. CONCLUSION: An ample intervention, including administrative and educational measures, led to high compliance with dose reduction and saved more than US$4,000 in cefazolin, considered important because government reimbursement in Brazil for cesarean section is $80.

Potential of biologically active plant oils to control mosquito larvae (Culex pipiens, Diptera: Culicidae) from an egyptian locality

The insecticidal effect of six commercially available plant oils was tested against 4th larval instars of Culex pipiens. Larvae were originally collected from Meit El-Attar, Qalyubia Governorate, Egypt, and then reared in the laboratory until F1 generation. The LC50 values were 32.42, 47.17, 71.37, 83.36, 86.06, and 152.94 ppm for fenugreek (Trigonella foenum-grecum), earth almond (Cyperus esculentus), mustard (Brassica compestris), olibanum (Boswellia serrata), rocket (Eruca sativa), and parsley (Carum ptroselinum), respectively. The tested oils altered some biological aspects of C. pipiens, for instance, developmental periods, pupation rates, and adult emergences. The lowest concentrations of olibanum and fenugreek oils caused remarkable prolongation of larval and pupal durations. Data also showed that the increase of concentrations was directly proportional to reduction in pupation rates and adult emergences. Remarkable decrease in pupation rate was achieved by mustard oil at 1000 ppm. Adult emergence was suppressed by earth almond and fenugreek oils at 25 ppm. In addition, the tested plant oils exhibited various morphological abnormalities on larvae, pupae, and adult stages. Consequently, fenugreek was the most potent oil and the major cause of malformation of both larval and pupal stages. Potency of the applied plant oils provided an excellent potential for controlling C. pipiens.

Análise da interoperabilidade aplicada ao projeto BIM de Estruturas Metálicas

O BIM – Building Information Modeling – é um conceito de controlo e gestão de informação desenvolvida, entre diferentes especialidades e intervenientes envolventes, durante o ciclo de vida das construções. A utilização das tecnologias BIM, no ramo da Engenharia Mecânica e Civil, tem sido uma aposta constante, e cada vez mais concisa, nos projetos de construção. A justificação para a adoção destas metodologias mais eficientes, em substituição dos processos convencionais, prende-se com o facto desses processos convencionais, ainda hoje, apresentarem muitas dificuldades e problemas associados, por exemplo, à falta de comunicação entre os intervenientes e ao ineficiente controlo na gestão de projetos. O objetivo desta dissertação centra-se na análise da interoperabilidade de softwares BIM, ou seja, na verificação da viabilidade de exportação de dados dos modelos produzidos, entre as ferramentas BIM. Para este campo de ação contribuirá a análise da passagem de informação, relativa ao modelo de uma Nave Industrial modelada, em alguns dos softwares BIM, correntemente mais utilizados. O conhecimento adquirido com a modelação do caso de estudo do presente trabalho irá permitir identificar algumas lacunas existentes ao nível da falta de recomendações práticas que sirvam de orientação na modelação recorrendo a ferramentas informáticas BIM-compatíveis. Assim, a base deste trabalho consiste na criação de uma série de recomendações ou de um roteiro de modelação em específico para a disciplina de estruturas enquanto área de aplicação concreta do estudo efetuado. Nesse sentido, a proposta deste trabalho é de apresentar alguns critérios de modelação onde são definidos os elementos a modelar em cada fase do projeto.

Influence of Prolonged Wearing of Unstable Shoes on Upright Standing Postural Control

Objective: To study the influence of prolonged wearing of unstable shoes on standing postural control in prolonged standing workers. Methods: The participants were divided into two groups: one wore unstable shoes while the other wore conventional shoes for 8 weeks. Stabilometry parameters related to centre of pressure (CoP), rambling (RM) and trembling (TR) as well as the total agonist/antagonist muscle activity, antagonist co-activation and reciprocal activation were evaluated during upright standing, before and after the 8 week period. In both moments, the subjects were evaluated wearing the unstable shoes and in barefoot. Results: The unstable shoe condition presented increased CoP displacement related variables and decreased co-activation command compared to barefoot before and after the intervention. The prolonged wearing of unstable shoes led to: (1) reduction of medial-lateral CoP root mean square and area; (2) decreased anteroposterior RM displacement; (3) increased anteroposterior RM mean velocity and mediolateral RM displacement; (4) decreased anteroposterior TR RMS; and (5) increased thigh antagonist co-activation in the unstable shoe condition. Conclusion: The unstable shoe condition is associated to a higher destabilizing effect that leads to a selection of more efficient and accurate postural commands compared to barefoot. Prolonged wearing of unstable shoes provides increased effectiveness and performance of the postural control system, while wearing of unstable shoes in upright standing, that are reflected by changes in CoP related variables and by a reorganization of postural control commands.

Cross-Layer Admission Control to Enhance the Support of Real-Time Applications in WSN

Real-time monitoring applications may be used in a wireless sensor network (WSN) and may generate packet flows with strict quality of service requirements in terms of delay, jitter, or packet loss. When strict delays are imposed from source to destination, the packets must be delivered at the destination within an end-to-end delay (EED) hard limit in order to be considered useful. Since the WSN nodes are scarce both in processing and energy resources, it is desirable that they only transport useful data, as this contributes to enhance the overall network performance and to improve energy efficiency. In this paper, we propose a novel cross-layer admission control (CLAC) mechanism to enhance the network performance and increase energy efficiency of a WSN, by avoiding the transmission of potentially useless packets. The CLAC mechanism uses an estimation technique to preview packets EED, and decides to forward a packet only if it is expected to meet the EED deadline defined by the application, dropping it otherwise. The results obtained show that CLAC enhances the network performance by increasing the useful packet delivery ratio in high network loads and improves the energy efficiency in every network load.

Visualizing control systems performance: A fractional perspective

This article presents a novel method for visualizing the control systems behavior. The proposed scheme uses the tools of fractional calculus and computes the signals propagating within the system structure as a time/frequency-space wave. Linear and nonlinear closed-loop control systems are analyzed, for both the time and frequency responses, under the action of a reference step input signal. Several nonlinearities, namely, Coulomb friction and backlash, are also tested. The numerical experiments demonstrate the feasibility of the proposed methodology as a visualization tool and motivate its extension for other systems and classes of nonlinearities.

Análise de Soluções Construtivas no Âmbito do seu Desempenho Térmico

No presente relatório de estágio académico é mencionado o trabalho desenvolvido na empresa Civigest – Gestão de Projetos, Lda. por um período de seis meses, entre Dezembro de 2012 e Junho de 2013. O relatório que se apresenta é, antes de mais, o reflexo do produtivo período passado na empresa, na qual se executou diversificadas tarefas, atribuindo-se maior ênfase ao estudo e elaboração de projetos e fiscalização de empreitadas em todas as suas componentes. Procura-se pois abordar áreas de conhecimento que têm relacionamento direto com os projetos de engenharia civil. No âmbito do planeamento em empresas de projeto de engenharia, as previsões assumem-se como uma ferramenta incontornável para o cumprimento dos objetivos. A calendarização dos projetos e o esforço dos técnicos para o seu cumprimento são fundamentais, visto que as despesas fixas desta atividade prendem-se sobretudo com o custo de mão-de-obra. Incontornavelmente ligado ao departamento de estudos e projetos encontra-se o departamento de orçamentação, auxiliando os técnicos projetistas a optar por soluções que não comprometam os valores alvo da empreitada. O relatório de estágio descreve as atividades desenvolvidas nos vários departamentos da organização, com destaque para o departamento de fiscalização de empreitadas, que tem como principais objetivos a coordenação e gestão de obras envolvendo a elaboração e aprovação de autos de medição e autos de pagamento, a verificação do estrito cumprimento dos projetos, a promoção de alterações de melhoria de projeto, a verificação das especificações técnicas dos materiais e sua correta aplicação, bem como promover um bom relacionamento e diálogo entre as partes interessadas da empreitada. A passagem pelo departamento de fiscalização de empreitadas é fulcral para uma melhor perceção das dificuldades encontradas em obra. Por outro lado, o relatório aborda outra atividade relativa à análise de soluções construtivas, visando o desempenho térmico dos edifícios. Este é o conceito do relatório de estágio onde serão apresentados alguns casos de obras iniciadas na Civigest e posteriormente acompanhadas em obra. Relativamente a este ponto serão analisadas soluções de melhoria térmica. Com menor ênfase no trabalho, mas não menos importante, referir-se-á a profissão de coordenação de segurança em obra.