A multi-objective approach for the motion planning of redundant manipulators

Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.

Competitive dynamics for behavior coordination in a joint transportation task

We address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.

A fractional approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.

An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close.

Using fractional derivatives for the joint ontrol of hexapod robots

This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.

Implementação e integração do modelo de acreditação da Joint Commission International na unidade de imagiologia do Hospital Privado da Boavista

Este trabalho descreve a abordagem abrangente sobre a melhoria do sistema de gestão da qualidade na Unidade de Imagiologia do Hospital da Boavista através da implementação das normas de acreditação da Joint Commission International (JCI). Fundamental para a melhoria geral da qualidade é a redução contínua de riscos para os doentes e para os profissionais da Unidade. Tais riscos podem existir ao nível do ambiente físico assim como no circuito dos exames e dos doentes. A acreditação em Saúde é uma das prioridades estratégicas do Ministério da Saúde e tem como objetivo fortalecer a confiança dos cidadãos nos profissionais de saúde bem como nas instituições de saúde. É importante que Portugal cultive a melhoria da qualidade e segurança nas instituições de saúde mantendo uma relação adequada custo/benefício. A União Europeia tem feito um esforço para que a acreditação seja harmoniosa nos seus princípios, no entanto é respeitada sempre a prevalência da legislação de cada país, bem como as suas especificações culturais e religiosas (Shaw, 2006), responsabilizando-o pelo seu sistema de saúde O trabalho aqui apresentado tem como objetivo principal fundamentar a escolha do modelo de acreditação da JCI para o Hospital da Boavista, nomeadamente para a Unidade de Imagiologia, ver se os padrões estão de acordo com os procedimentos da Unidade, identificar falhas e apontar possiveis melhorias. Pretende-se ainda mostrar a importância da implementação dos sistemas de certificação e acreditação da gestão da qualidade, documentada pela experiência profissional, bem como o know-how do Hospital da Boavista, assim como a complementaridade dos programas da gestão da qualidade, certificação e acreditação. A escolha do modelo de acreditação da JCI, foi uma opção do Hospital da Boavista baseada na credibilidade e no grau de exigência que a entidade impõe. Foi imperativo que a Unidade de Imagiologia realizasse as suas funções de forma válida e fiável e que disponibilizasse produtos / serviços de qualidade. A monitorização e consequente controlo de qualidade do serviço prestado pela Unidade de Imagiologia, foi difícil mas simplificado, em parte, devido ao sistema de gestão da qualidade ISO 9001:2008 já implementado, tendo este sido consolidado com a implementação da acreditação da JCI, com padrões específicos bem definidos na gestão do controlo de qualidade na Unidade de Imagiologia do Hospital da Boavista.

Joint effects of salinity and the antidepressant sertraline on the estuarine decapod Carcinus maenas

Concurrent exposure of estuarine organisms to man-made and natural stressors has become a common occurrence. Numerous interactions of multiple stressors causing synergistic or antagonistic effects have been described. However, limited information is available on combined effects of emerging pharmaceuticals and natural stressors. This study investigated the joint effects of the antidepressant sertraline and salinity on Carcinus maenas. To improve knowledge about interactive effects and potential vulnerability,experiments were performed with organisms from two estuaries with differing histories of exposure to environmental contamination. Biomarkers related to mode of action of sertraline were employed to assess effects of environmentally realistic concentrations of sertraline at two salinity levels. Synergism and antagonism were identified for biomarkers of cholinergic neurotransmission, energy production,anti-oxidant defences and oxidative damage. Different interactions were found for the two study sites highlighting the need to account for differences in tolerance of local ecological receptors in risk evaluations.

On the applicability of joint inversion of gravity and resistivity data to the study of a tectonic sedimentary basin in Northern Portugal

The Chaves basin is a pull-apart tectonic depression implanted on granites, schists, and graywackes, and filled with a sedimentary sequence of variable thickness. It is a rather complex structure, as it includes an intricate network of faults and hydrogeological systems. The topography of the basement of the Chaves basin still remains unclear, as no drill hole has ever intersected the bottom of the sediments, and resistivity surveys suffer from severe equivalence issues resulting from the geological setting. In this work, a joint inversion approach of 1D resistivity and gravity data designed for layered environments is used to combine the consistent spatial distribution of the gravity data with the depth sensitivity of the resistivity data. A comparison between the results from the inversion of each data set individually and the results from the joint inversion show that although the joint inversion has more difficulty adjusting to the observed data, it provides more realistic and geologically meaningful models than the ones calculated by the inversion of each data set individually. This work provides a contribution for a better understanding of the Chaves basin, while using the opportunity to study further both the advantages and difficulties comprising the application of the method of joint inversion of gravity and resistivity data.

Chronic disease prevention and health promotion. Public policies and social network analysis of the hospitals services and oyhers health and social organizations to support joint action for children with diabetes

Comunicação apresentada na 18th Conference International of Health Promotion Hospitals & Health Services "Tackling causes and consequences of inequalities in health: contributions of health services and the HPH network", em Manchester de 14-16 de april de 2010

Smart Grid Market Using Joint Energy and Ancillary Services Bids

The power systems operation in the smart grid context increases significantly the complexity of their management. New approaches for ancillary services procurement are essential to ensure the operation of electric power systems with appropriate levels of stability, safety, quality, equity and competitiveness. These approaches should include market mechanisms which allow the participation of small and medium distributed energy resources players in a competitive market environment. In this paper, an energy and ancillary services joint market model used by an aggregator is proposed, considering bids of several types of distributed energy resources. In order to improve economic efficiency in the market, ancillary services cascading market mechanism is also considered in the model. The proposed model is included in MASCEM – a multi-agent system electricity market simulator. A case study considering a distribution network with high penetration of distributed energy resources is presented.

Integration in MASCEM of the Joint Dispatch of Energy and Reserves Provided by Generation and Demand Resources

The provision of reserves in power systems is of great importance in what concerns keeping an adequate and acceptable level of security and reliability. This need for reserves and the way they are defined and dispatched gain increasing importance in the present and future context of smart grids and electricity markets due to their inherent competitive environment. This paper concerns a methodology proposed by the authors, which aims to jointly and optimally dispatch both generation and demand response resources to provide the amounts of reserve required for the system operation. Virtual Power Players are especially important for the aggregation of small size demand response and generation resources. The proposed methodology has been implemented in MASCEM, a multi agent system also developed at the authors’ research center for the simulation of electricity markets.

Shoulder Kinematics Is Not Influenced by External Load During Elevation in the Scapular Plane

The current study aimed to compare the shoulder kinematics (3D scapular orientation, scapular angular displacement and scapulohumeral rhythm) of asymptomatic participants under unloaded and loaded conditions during unilateral shoulder elevation in the scapular plane. We used a repeated-measures design with a convenience sample. Eleven male participants with an age range of 21–28 years with no recent history of shoulder injury participated in the study. The participants performed isometric shoulder elevation from a neutral position to approximately 150 degrees of elevation in the scapular plane in intervals of approximately 30 degrees during unloaded and loaded conditions. Shoulder kinematic data were obtained with videogrammetry. During shoulder elevation, the scapula rotated upwardly and externally, and tilted posteriorly. The addition of an external load did not affect 3D scapular orientation, scapular angular displacement, or scapulohumeral rhythm throughout shoulder elevation (P > .05). In clinical practice, clinicians should expect to observe upward and external rotation and posterior tilt of the scapula during their assessments of shoulder elevation. Such behavior was not influenced by an external load normalized to 5% of body weight when performed in an asymptomatic population.

Temporomandibular Joint Ankylosis in an Infant: A Rare Cause of Difficult Airway

1.Pre-assessment data of the patient A 2-year-old boy, weighing 15 kg was admitted with a history of limited mouth opening(inter-incisor distance of 6 mm), hypoplastic and retrognathic mandible (bird face deformity) and facial asymmetry from left temporomandibular joint ankylosis (TMJA). He was born at term, after an uneventful pregnancy, and there was no report of trauma during caesarean section. No other possible aetiologies were identified. He was scheduled for mandibular osteotomy. Preoperative ENT examination revealed adenotonsillar hypertrophy. 2. Anaesthetic Plan A fiberoptic nasal intubation was performed under deep inhalation anaesthesia with sevoflurane, with the patient breathing spontaneously. Midazolam (0.05 mg.kg-1) and alfentanil (0.03 mg.kg-1) were given and anaesthesia was maintained with O2/air and sevoflurane. No neuromuscular blocking agent was administered since the surgical team needed facial nerve monitoring. 3. Description of incident During surgery an accidental extubation occurred and an attempt was made to reintubate the trachea by direct laryngoscopy. Although the osteotomy was nearly completed, the vocal cords could not be visualized (Cormack-Lehane grade IV laryngoscopic view). 4. Solving the problem Re-intubation was finally accomplished with the flexible fiberscope and the procedure was concluded without any more incidents. Extubation was performed 24 hours postoperatively with the patient fully awake. After surgery mouth opening improved to inter-incisor gap of 15 mm. 5. Lessons learned and take home message Two airways issues present in this case can lead to difficultventilation and intubation: TMJA and adenotonsillar hypertrophy. These difficulties were anticipated and managed accordingly. The accidental extubation brought to our attention the fact that, even after surgical correction, this airway remains challenging. Even with intensive jaw stretchingexercises there is a high incidence of re-ankylosis, especially in younger patients. One should bear that in mind when anaesthetizing patients with TMJA.

Contributo para o desenvolvimento de uma metodologia que avalia a posição da omoplata: fidedignidade intra e interobservador e validade concorrente

RESUMO: Introdução: A relação cinemática entre as articulações do CAO apresenta grande importância na função do MS, e é por isso cada vez mais investigada e descrita. O posicionamento da omoplata ganha um importante papel para compreender as DCAO. É indiscutível o importante papel da omoplata na dinâmica do MS, bem como o posicionamento escapular como parâmetro clínico de disfunção do CAO. Todos estes factores criam a necessidade de desenvolver instrumentos de avaliação da posição da articulação ET. A grande maioria dos testes de avaliação, restringem a sua avaliação às disfunções da articulação GU, não integrando uma avaliação mais dinâmica e interactiva que respeite os pressupostos teóricos inerentes ao REU. È importante também que os métodos de avaliação sejam de fácil aplicabilidade clínica e que avaliem fidedignamente e com validade os outcomes. Objectivos: Contribuir para o desenvolvimento de uma metodologia de avaliação da omoplata em diferentes amplitudes do MS, através do estudo da validade concorrente, da fidedignidade intra e inter-observador. Metodologia: A amostra foi constituída por 20 elementos seleccionados por conveniência, entre o corpo de discentes da ESS-IPS, sem história de disfunção do CAO. Foi realizada uma análise cinemática ao MS de cada sujeito, usando um aparelho de análise por varrimento electromagnético, o FOB. Em cada sujeito foram ainda medidas, as distâncias escapulares em estudo, usando a fita métrica. Cada método de medição foi constituído por dois momento (teste e reteste), em cada momento, as medidas eram recolhidas por dois investigadores distintos. Resultados e Discussão: Foram considerados como positivos os resultados que se apresentassem acima do limiar de 0,5, que classifica uma correlação como moderada a excelente. Os resultados da validade mostram que para o investigador 1 nas medidas M1e M2 apenas houve correlação com valores excelentes a moderados até aos 30º de elevação do MS. Já para M3 apenas aos 30º no plano da omoplata essa mesma correlação não tem valores próximos do cutpoint. Em M4 nenhum valor tem correlação significativa com os valores do FOB, chegando mesmo a haver correlação negativa para os 120º no plano da omoplata. Em M5 apenas os 0º mostram valores correlacionais excelentes a moderados. Para o investigador 2, em M1 e M2 á semelhança do investigador 1, só existem valores de correlação significativos até aos 30º de elevação do MS. Já para M3 todos os valores mostram excelente a moderada correlação á excepção dos 120º no plano frontal. Em M4 este investigador apresenta maus resultados. Já em M5 os valores de correlação são moderados aos 0º e aos 90º. No que diz respeitos aos resultados dos CCI intra-observador,podemos afirmar que foi em M5 que estes valores mais se aproximaram do cut point. M1 e M2 são as medidas onde se encontram resultados menos satisfatórios. É aos 60º que existem valores mais satisfatórios, seguidos pelos 0º e 30º, quando nos aproximamos de graus mais elevados, como 90º e 120º, estes valores tendem a baixar. Quanto á fidedignidade inter-observador para M1 apenas aos 90º e aos 120º houve valores de correlação abaixo do cutpoint. Em M2, só os 60º do plano sagital não teve valores acima do cutpoint, em M3 apenas os 30º plano sagital não obtiveram valores acima do cut-point, o mesmo acontece para M3 aos 30º plano da omoplata e em M5 aos 30º e 120º no plano frontal. Conclusão: Os resultados deste estudo indicam que a metodologia em causa apresenta elevado grau de fidedignidade inter-observador, já no que toca é fidedignidade intra-observador o grau de semelhança não é tão elevado. Também o erro associado á medida não ultrapassou 1,5cm, sendo considerado baixo. Na validade concorrente concluímos que é aos 0º que a metodologia se torna uma opção válida na aferição das distâncias medidas com uma boa a excelente concordância com o FOB. As medidas consideradas como opções válidas, nas diferentes amplitudes, podem funcionar como parâmetros clínicos de caracterização do posicionamento da omoplata, podendo vir a contribuir ainda para a caracterização da orientação da mesma.-------------------- ABSTRACT:Introduction: The kinematic relationship between the joints of the CAO has great importance in the function of MS, which is why more and more investigated and described. The positioning of the blade gets an important role in understanding the DCAO. There is no doubt the important role of the scapula in the dynamics of MS as well as the positioning of scapular dysfunction as a clinical parameter of the CAO. All these factors create the need to develop tools for evaluating the place of articulation ET. Most assessment tests, restrict its assessment to GU joint disorders, not incorporating a more dynamic and interactive way that respects the theoretical assumptions inherent in the REU. It is also important that the methods are easy to apply clinical and reliably to assess the validity and outcomes. Objectives: To contribute to the development of a methodology for evaluating the scapula in different ranges of MS, through the study of concurrent validity, reliability of intra-and inter-observer. Methodology: The sample consisted of 20 selected elements for convenience, between the body of students of IPS-ESS with no history of dysfunction of the CAO. We performed a kinematic analysis of each subject to MS, using a scanning device for electromagnetic analysis, the FOB. In each subject were also measured, the scapular distances under study, using tape measure. Each method of measuring the time consisted of two (test and retest), in each moment, the measures were collected by two different investigators. Results and Discussion: We considered as positive results that were above the threshold of 0.5, which ranks as a moderate to excellent correlation. The results show that the validity for the researcher in an action M1e M2 was only correlated with moderate to excellent values up to 30º of elevation of the MS. As for M3 only to 30º in the plane of the scapula has the same correlation values near the cutpoint. M4 has no value in correlation with the values of the FOB, and even negative correlation to 120 ° in the plane of the scapula. In M5 show only the values 0 ° correlational excellent to moderate. For investigator 2 in M1 and M2 will be like an investigator, there are only significant correlation values up to 30º of elevation of the MS. As for M3 all the values show excellent correlation to moderate with the exception of 120 ° in the frontal plane. In this researcher M4 has bad results. M5 already in the correlation values are moderate to 0º and 90 º. Regarding the results of ICC intra-observer, we can say that M5 was that these values come closest to the cut point. M1 and M2 are measures which are less than satisfactory results. At 60 ° there are more satisfactory values, followed by 0º and 30º, when we approached the highest levels, such as 90 ° and 120 °, these values tend to decrease. The inter-observer reliability for M1 only to 90 º and 120 ºcorrelation values were below the cutpoint. In M2, only 60 of the sagital plane did not have values above the cutpoint in M3 only 30º sagital plane did not obtain values above the cut-point, the same goes for M3 at 30 ° plane of the scapula and M5 at 30 º and 120 º in frontal plane. Conclusion: The results of this study indicate that the methodology in question has a high degree of inter-observer reliability, as far as intra-observer reliability is the degree of similarity is not as high. Also the error of measure did not exceed 1.5 cm, and is considered low. In concurrent validity conclude that it is at 0 ° the methodology becomes a valid option for the measurement of distances measured with a good to excellent agreement with the FOB. The measures considered as valid options in different amplitudes, can function as clinical parameters to characterize the positioning of the shoulder blade and could further contribute to the characterization of the orientation of the same.

Influence of the wood mechanical properties in the dovetail joint behavior

The force distribution inside a dovetail joint is complex. Wood is simultaneously loaded in different directions in the several connected surfaces. The analytical solutions available for the analysis of the behavior of those carpentry joints rely on the mechanical properties of wood. In particular, the stiffness properties of wood under compression are crucial for the forces equilibrium. Simulations showed that the stiffness values considered in each of the springs normally assumed in the analytical models, have great influence in the bearing capacity and stiffness of the dovetail joints, with important consequence on the stress distribution over the overall structure. In a wide experimental campaign, the properties under compression of the most common wood species of existing timber structures have been determined. Then, a solved example of a dovetail joint is presented assuming different wood species and the corresponding strength and stiffness properties values obtained in the tests.