Measurement of multi-segment foot joint angles during gait using a wearable system.

Usually the measurement of multi-segment foot and ankle complex kinematics is done with stationary motion capture devices which are limited to use in a gait laboratory. This study aimed to propose and validate a wearable system to measure the foot and ankle complex joint angles during gait in daily conditions, and then to investigate its suitability for clinical evaluations. The foot and ankle complex consisted of four segments (shank, hindfoot, forefoot, and toes), with an inertial measurement unit (3D gyroscopes and 3D accelerometers) attached to each segment. The angles between the four segments were calculated in the sagittal, coronal, and transverse planes using a new algorithm combining strap-down integration and detection of low-acceleration instants. To validate the joint angles measured by the wearable system, three subjects walked on a treadmill for five minutes at three different speeds. A camera-based stationary system that used a cluster of markers on each segment was used as a reference. To test the suitability of the system for clinical evaluation, the joint angle ranges were compared between a group of 10 healthy subjects and a group of 12 patients with ankle osteoarthritis, during two 50-m walking trials where the wearable system was attached to each subject. On average, over all joints and walking speeds, the RMS differences and correlation coefficients between the angular curves obtained using the wearable system and the stationary system were 1 deg and 0.93, respectively. Moreover, this system was able to detect significant alteration of foot and ankle function between the group of patients with ankle osteoarthritis and the group of healthy subjects. In conclusion, this wearable system was accurate and suitable for clinical evaluation when used to measure the multi-segment foot and ankle complex kinematics during long-distance walks in daily life conditions.

Design of Instrument for Knee Joint Kinematics Measurement

This thesis describes the process of design and modeling of instrument for knee joint kinematics measurement that can work for both in-vivo and in-vitro subjects. It is designed to be compatible with imaging machine in a sagittal plane. Due to the invasiveness of the imaging machine, the instrument is designed to be able to function independently. The flexibility of this instrument allows to measure anthropometrically different subject. Among the sixth degree of freedom of a knee, three rotational and one translational degree of freedom can be measured for both type of subject. The translational, proximal-distal, motion is stimulated by external force directly applied along its axis. These angular and linear displacements are measured by magnetic sensors and high precision potentiometers respectively

Joint servoing for robust manipulator force control

An experimental and theoretical comparison is made of force control performance with different types of innerloop joint servoing techniques. The problem of disturbance rejection and sensitivity to plant dynamics variations (robustness) is addressed. Position, velocity, strain gauge derived joint torque, and current servos are designed and implemented on a specially instrumented industrial robot, and the end-effector force feedback performances achieved are compared. Joint strain derived torque servoing is found to provide the best overall robust force control performance. Experimental results of the robust hard-on-hard contact achieved with the novel force controller implementation based on joint torque sensing are provided. Conclusions are drawn on the force control performance achievable on a geared robot given the joint servoing technique.

DENSITY PROFILE, VELOCITY ANISOTROPY, AND LINE-OF-SIGHT EXTERNAL CONVERGENCE OF SLACS GRAVITATIONAL LENSES

Data from 58 strong-lensing events surveyed by the Sloan Lens ACS Survey are used to estimate the projected galaxy mass inside their Einstein radii by two independent methods: stellar dynamics and strong gravitational lensing. We perform a joint analysis of these two estimates inside models with up to three degrees of freedom with respect to the lens density profile, stellar velocity anisotropy, and line-of-sight (LOS) external convergence, which incorporates the effect of the large-scale structure on strong lensing. A Bayesian analysis is employed to estimate the model parameters, evaluate their significance, and compare models. We find that the data favor Jaffe`s light profile over Hernquist`s, but that any particular choice between these two does not change the qualitative conclusions with respect to the features of the system that we investigate. The density profile is compatible with an isothermal, being sightly steeper and having an uncertainty in the logarithmic slope of the order of 5% in models that take into account a prior ignorance on anisotropy and external convergence. We identify a considerable degeneracy between the density profile slope and the anisotropy parameter, which largely increases the uncertainties in the estimates of these parameters, but we encounter no evidence in favor of an anisotropic velocity distribution on average for the whole sample. An LOS external convergence following a prior probability distribution given by cosmology has a small effect on the estimation of the lens density profile, but can increase the dispersion of its value by nearly 40%.

Joint Experimental and Theoretical Analysis of Order Disorder Effects in Cubic BaZrO(3) Assembled Nanoparticles under Decaoctahedral Shape

Periodic first-principles calculations based on density functional theory at the B3LYP level has been carried out to investigate the photoluminescence (PL) emission of BaZrO(3) assembled nanoparticles at room temperature. The defect created in the nanocrystals and their resultant electronic features lead to a diversification of electronic recombination within the BaZrO(3) band gap. Its optical phenomena are discussed in the light of photoluminescence emission at the green-yellow region around 570 nm. The theoretical model for displaced atoms and/or angular changes leads to the breaking of the local symmetry, which is based on the refined structure provided by Rietveld methodology. For each situation a band structure, charge mapping, and density of states were built and analyzed. X-ray diffraction (XRD) patterns, UV-vis measurements, and field emission scanning electron microscopy (FE-SEM) images are essential for a full evaluation of the crystal structure and morphology.

Desenvolvimento do saltar à horizontal : uma análise topológica

O objetivo deste estudo foi investigar a organização espaço-temporal dos segmentos da perna e da coxa no saltar à horizontal, verificando as infiuências do organismo e do ambiente (dois tipos de piso: concreto e areia). Participaram do estudo 21 sujeitos, 3 de cada faixa etária: 4, 5, 7, 9, 11, 13 e adulta (X = 19 anos de idade). Os sujeitos foram filmados realizando o saltar à horizontal com marcas desenhadas no centro das articulações do tornozelo, joelho e quadril. Estes pontos foram digitalizados e processados obtendo a posição e velocidade angular dos segmentos da perna e da coxa. A partir da posição e velocidade angular foi possível delinear os gráficos dos atratores (retratos de fase) e calcular os valores dos ângulos de fase para cada segmento, durante a realização da tarefa. Duas reversões para cada segmento, na posição angular, foram identificadas e nestes momentos os valores dos ângulos de fase foram capturados. Analisando as trajetórias dos retratos de fase verificou-se que os segmentos da perna e da coxa apresentaram um conjunto específico de características topológicas, na realização do saltar à horizontal. A análise dos valores dos ângulos de fase, nas duas reversões, indicou que ao longo das faixas etárias e nos dois tipos de piso os segmentos da perna e da coxa apresentaram organização espaço-temporal semelhante, indicando coordenação invariante.

Aglomerado estelar M67: processos de diluição e a evolução do Momentum Angular

Galactic stellar clusters have a great variety of physical properties that make valuable probes of stellar and galactic chemical evolution. Current studies show a discrepancy between the standard evolutionary models and observations, mainly considering the level of mixing and convective dilution of light elements, as well as to the evolution of the angular momentum. In order to better settle some of these properties, we present a detailed spectroscopic analysis of 28 evolved stars, from the turn-off to the RGB, belonging to the stellar open cluster M67. The observations were performed using UVES+FLAMES at VLT/UT2. We determined stellar parameters and metallicity from LTE analysis of Fe I and Fe II lines between 420 1100 nm. The Li abundance was obtained using the line at 6707.78 ˚A, for the whole sample of stars. The Li abundances of evolved stars of M67 present a gradual decreasing when decreasing the effective temperature. The Li dilution factor for giant stars of M67 with Teff ∼ 4350K is at least 2300 times greater than that predicted by standard theory for single field giant stars. The Li abundance as a function of rotation exhibits a good correlation for evolved stars of M67, with a much smaller dispersion than the field evolved stars. The mass and the age seem to be some of the parameters that influence this connection. We discovered a Li-rich subgiant star in M67 (S1242). It is member of a spectroscopic binary system with a high eccentricity. Its Li abundance is 2.7, the highest Li content ever measured for an evolved star in M67. Two possibilities could explain this anomalous Li content: (i) preservation of the Li at the post turn off stage due to tidal effects, or (ii) an efficient dredge-up of Li, hidden below the convective zone by atomic diffusion occurring in the post turn off stage. We also study the evolution of the angular momentum for the evolved stars in M67. The results are in agreement with previous studies dedicated to evolved stars of this cluster, where stars in the same region of the CM-diagram have quite similar rotations, but with values that indicate an extra breaking along the main sequence. Finally, we analize the distributions of the average rotational velocity and of the average Li abundance as a function of age. With relation to the average Li abundances, stars in clusters and field stars present the same type of exponencial decay law t−β. Such decay is observed for ages lesser than 2 Gyr. From this age, is observed that the average Li abundance remain constant, differently of the one observed in the rotation age connection, where the average rotational velocity decreases slowly with age

Influência do tipo de chanfro, tecimento e sentido de laminação na distorção angular em soldagem GMAW-P robotizada de alumínio

The industry's interest in having a greater control of the deformations caused by welding is due to the geometric and dimensional tolerances been more and more precise in the project specifications, motivating the manufacturing engineering to develop stable processes and to ensure routine production. Aiming at it, the main goal of this present work is to analyze how much routine situations used in automatic aluminum welding can influence on the angular deformations of this material. Using the alloy AA 5052 H34, and the automatic welding in pulsed GMAW process, three types of weaving were applied throughout the length of the weld, in butt joints assembled without groove and with 60 degrees single-V-groove, arranged transversely as well as longitudinally to the rolling direction of the plate. The measurement of the deformations was made by a three-dimensional equipment, before and after the welding, in three distinct regions in the specimens. The profile of the weld bead was the main factor for the different types of deformations found, as revealed by macrographical analysis. The 60 degrees single-V-groove had higher amplitudes of deformations as the joint without groove. The torch oscillation wasn't a variable of statistically significant influence on this amplitudes.

Velocidade ideal da esteira para estimular passadas do andar em bebês

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Joint Experimental and Theoretical Analysis of Order Disorder Effects in Cubic BaZrO3 Assembled Nanoparticles under Decaoctahedral Shape

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Fluid dynamics of air in a packed bed: velocity profiles and the continuum model assumption

Air flow through packed beds was analyzed experimentally under conditions ranging from those that reinforce the effect of the wall on the void fraction to those that minimize it. The packing was spherical particles, with a tube-to-particle diameter ratio (D/dp) between 3 and 60. Air flow rates were maintained between 1.3 and 4.44 m3/min, and gas velocity was measured with a Pitot tube positioned above the bed exit. Measurements were made at various radial and angular coordinate values, allowing the distribution of air flow across the bed to be described in detail. Comparison of the experimentally observed radial profiles with those derived from published equations revealed that at high D/dp ratios the measured and calculated velocity profiles behaved similarly. At low ratios, oscillations in the velocity profiles agreed with those in the voidage profiles, signifying that treating the porous medium as a continuum medium is questionable in these cases.

Uso da esteira motorizada na promoção do desenvolvimento motor de bebês com risco de atraso desenvolvimental

Pós-graduação em Ciências da Motricidade - IBRC

Search for gravitational radiation from intermediate mass black hole binaries in data from the second LIGO-Virgo joint science run

This paper reports on an unmodeled, all-sky search for gravitational waves from merging intermediate mass black hole binaries (IMBHB). The search was performed on data from the second joint science run of the LIGO and Virgo detectors (July 2009-October 2010) and was sensitive to IMBHBs with a range up to similar to 200 Mpc, averaged over the possible sky positions and inclinations of the binaries with respect to the line of sight. No significant candidate was found. Upper limits on the coalescence-rate density of nonspinning IMBHBs with total masses between 100 and 450 M-circle dot and mass ratios between 0.25 and 1 were placed by combining this analysis with an analogous search performed on data from the first LIGO-Virgo joint science run (November 2005-October 2007). The most stringent limit was set for systems consisting of two 88 M-circle dot black holes and is equal to 0.12 Mpc(-3) Myr(-1) at the 90% confidence level. This paper also presents the first estimate, for the case of an unmodeled analysis, of the impact on the search range of IMBHB spin configurations: the visible volume for IMBHBs with nonspinning components is roughly doubled for a population of IMBHBs with spins aligned with the binary's orbital angular momentum and uniformly distributed in the dimensionless spin parameter up to 0.8, whereas an analogous population with antialigned spins decreases the visible volume by similar to 20%.

Comportamento de indivíduos com doença de Parkinson no levantar da cadeira e no início da marcha: relações com o envelhecimento

Large motor dysfunctions are observed in older adults with the age advance. Parkinson’s disease (PD) patients have motor deficits to perform daily living activities. To raise from a chair, a daily task necessary to live independently, requires both large muscle recruitment and large joint range of motion to achieve the vertical position safely. Normally, we initiate gait after raise from a chair. The aim of this study was to analyze the PD patients’ behavior when rising from a chair and initiating gait and to compare it according to the age advance. In order to do that, 23 PD patients (66.61±7.64 years old) were distributed in three age groups: Young group, between 51 and 60 years of age (n=7); intermediary group, between 61 and 70 years of age (n=7); and elderly group, over 70 years of age (n=9). There were no statistical differences among groups either for the disease evolution stage or for it compromising. The task was to stand from a chair and to initiate gait forward in three attempts. The dependent variables were: spatial and temporal (first step length and duration, and stride length, duration and velocity) and angular (flexion and extension of head, shoulder, hip, knee, and ankle). The motion of standing from a chair was divided in two phases. The data was statistically treated by means of Analyses of Variance with group as the only factor. The Scheffé’s post hoc test was used to localize differences among groups and the significance level was adjusted to p≤0.017. There were statistical differences for stride...(Complete abstract click electronic access below)

Dominant-non-dominant asymmetry of kicking a stationary and rolling ball in a futsal context

The aim of this study was to analyse the characteristics of the asymmetries in the dominant and non-dominant limbs when kicking stationary and rolling balls. Ten experienced Brazilian amateur futsal players participated in this study. Each participant performed kicks under two conditions (stationary ball vs. rolling ball) with the dominant and non-dominant limbs (five kicks per condition per limb). We analysed the kicking accuracy, ball and foot velocities, angular joint displacement and velocity. The asymmetry between the dominant and non-dominant limbs was analysed by symmetry index and two-way repeated measures ANOVA. The results did not reveal any interaction between the condition and limb for ball velocity, foot velocity and accuracy. However, kicking with the dominant limb in both kicks showed higher ball velocity (stationary ball: dominant - 24.27 ± 2.21 m · s(-1) and non-dominant - 21.62 ± 2.26 m · s(-1); rolling ball: dominant - 23.88 ± 2.71 m · s(-1) and non-dominant - 21.42 ± 2.25 m · s(-1)), foot velocity (stationary ball: dominant - 17.61 ± 1.87 m · s(-1) and non-dominant - 15.58 ± 2.69 m · s(-1); rolling ball: dominant - 17.25 ± 2.26 m · s(-1) and non-dominant - 14.77 ± 2.35 m · s(-1)) and accuracy (stationary ball: dominant - 1.17 ± 0.84 m and non-dominant - 1.56 ± 1.30 m; rolling ball: dominant - 1.31 ± 0.91 m and non-dominant - 1.97 ± 1.44 m). In addition, the angular joint adjustments were dependent on the limb in both kicks (the kicks with non-dominant limb showed lower hip external rotation than the kicks with the dominant limb), indicating that the hip joint is important in kick performance. In conclusion, the kicks with the non-dominant limb showed different angular adjustments in comparison to kicks with the dominant limb. In addition, kicking a rolling ball with the non-dominant limb showed higher asymmetry for accuracy, indicating that complex kicks are more asymmetric.