Adaptive Fault-Tolerant Teleoperation

While the robots gradually become a part of our daily lives, they already play vital roles in many critical operations. Some of these critical tasks include surgeries, battlefield operations, and tasks that take place in hazardous environments or distant locations such as space missions. In most of these tasks, remotely controlled robots are used instead of autonomous robots. This special area of robotics is called teleoperation. Teleoperation systems must be reliable when used in critical tasks; hence, all of the subsystems must be dependable even under a subsystem or communication line failure. These systems are categorized as unilateral or bilateral teleoperation. A special type of bilateral teleoperation is described as force-reflecting teleoperation, which is further investigated as limited- and unlimited-workspace teleoperation. Teleoperation systems configured in this study are tested both in numerical simulations and experiments. A new method, Virtual Rapid Robot Prototyping, is introduced to create system models rapidly and accurately. This method is then extended to configure experimental setups with actual master systems working with system models of the slave robots accompanied with virtual reality screens as well as the actual slaves. Fault-tolerant design and modeling of the master and slave systems are also addressed at different levels to prevent subsystem failure. Teleoperation controllers are designed to compensate for instabilities due to communication time delays. Modifications to the existing controllers are proposed to configure a controller that is reliable in communication line failures. Position/force controllers are also introduced for master and/or slave robots. Later, controller architecture changes are discussed in order to make these controllers dependable even in systems experiencing communication problems. The customary and proposed controllers for teleoperation systems are tested in numerical simulations on single- and multi-DOF teleoperation systems. Experimental studies are then conducted on seven different systems that included limited- and unlimited-workspace teleoperation to verify and improve simulation studies. Experiments of the proposed controllers were successful relative to the customary controllers. Overall, by employing the fault-tolerance features and the proposed controllers, a more reliable teleoperation system is possible to design and configure which allows these systems to be used in a wider range of critical missions.

Aplicação da perlita expandida modificada com ortofenantrolina na remoção do negro de eriocromo T em águas residuais geradas em laboratórios de ensino de química

In this study, we carried out the study of Eriochrome black T removal using expanded perlite modified orthophenanthroline by adsorption technique. The study of the adsorption process was performed by investigating the effect of the initial dye concentration, contact time and pH range of the solution (acidic and alkaline) in the adsorption process, for a so-called synthetic effluent (aqueous solution of black eriochrome T) and a real effluent (generated from the test for determining the water hardness, by complexation titration). The materials were characterized by Thermogravimetry / Differential Thermal Analysis (TG / DTA), absorption spectroscopy in the infrared (IR), X-ray Diffraction (XRD) and scanning electron microscopy (SEM). By analysis of XRD observed thinking on orthophenanthroline the modified expanded perlite. And by IR analysis showed an increase in intensity and a detailed enlargement of the absorption band related to the axial deformation of the OH bond of silanol groups of perlite (Si-OH). In the equilibration time of the study, in the evaluated time range (5-230 min) was not possible to observe the existence of a balance of time, probably attributed to the type of interaction between the Eriochrome black-T and the expanded perlite modified orthophenanthroline, being an interaction of surface origin. In the study effect of the initial concentration of the adsorbate in the case 2,0x10-4 mol / L natural pH (pH 5) gave the highest removal percentage value of eriochrome T black color with 63.74 % removal in 20 minutes of contact. In evaluating the effect of varying the pH of Eriochrome black T solution in the adsorption process, it was found that the more acidic the environment, the greater the percentage stain removal, being a result of acid-base interaction between the adsorbate and the adsorbent. In T Eriochrome black removal study in real effluent we used the optimized conditions by studying with synthetic sewage. The dye removal at pH 10, natural pH of the effluent was no significant reaching the maximum amount of color removal percentage of 8.12%, obtained already at pH 3 with maximum color removal 100.00% of color, once more proving that eriochrome black T and effectively interact better with the adsorbent at acid pH values (pH 5 or 3), and most efficiently at pH 3. thus one can mention that the perlite expanded (an amorphous aluminosilicate naturally acid) modified with orthophenanthroline (one Bronsted base) consists of a master and effective removal of coloring material in the acid-type aqueous solution, the conditions expressed in this study, can be applied as an adsorbent of this dye also mums real effluent.

Jogos de negócio : o que leva o docente de cursos da área de Ciências Sociais Aplicadas a adotar a ferramenta de ensino

The Business Games are a growing teaching strategy and alternative to the academic front through the new process of Teaching and Learning. Through literature review and semi-structured interviews, this work addresses the teachers considering their subjectivity in deciding JN as the three profiles suggested by Faria and Wellington (2004): those who use it, those who stopped using and those who do not. The research corpus is limited to contributions of 22 respondents between master and doctors teachers of Applied Social Sciences area courses in colleges of Brasília (DF), Goiânia (GO), Ribeirão Preto (SP) and Uberlandia (MG). The content analysis of the interviews allowed to infer that: (1) join the teaching strategy is a commitment to a complex planning, with constant training and proactivity related to student feedback; (2) abandons the practice is becoming less common, because managers tend to recommend it and there are more and more software available for specific disciplines. Its discussed also other contributions (motivations) given by respondents of the three groups that were not found in the literature. It is hoped that this work will serve (1) incentive to teachers on the use of Business Games as a teaching strategy (2) consultation by managers when they decide about purchasing simulation software. Finally, stands out that the educational success of JN depends not only on the various motivations of teachers, as well as the interest and commitment of the student.

Commandeering Aesop’s Bamboo Canon: A 19th Century Confederacy of Creole Fugitive Fables

In my thesis, “Commandeering Aesop’s Bamboo Canon: A 19th Century Confederacy of Creole Fugitive Fables,” I ask and answer the ‘Who? What? Where? When? Why?” of Creole Literature using the 19th century production of Aesopian fables as clues to resolve a set of linguistic, historical, literary, and geographical enigmas pertaining the ‘birth-place(s)’ of Creolophone Literatures in the Caribbean Sea, North and South America, as well as the Indian Ocean. Focusing on the fables in Martinique (1846), Reunion Island (1826), and Mauritius (1822), my thesis should read be as an attempt capture the links between these islands through the creation of a particular archive defined as a cartulary-chronicle, a diplomatic codex, or simply a map in which I chart and trace the flight of the founding documents relating to the lives of the individual authors, editors, and printers in order to illustrate the articulation of a formal and informal confederation that enabled the global and local institutional promotion of Creole Literature. While I integrate various genres and multi-polar networks between the authors of this 19th century canon comprised of sacred and secular texts such as proclamations, catechisms, and proverbs, the principle literary genre charted in my thesis are collections of fables inspired by French 17th century French Classical fabulist, Jean de la Fontaine. Often described as the ‘matrix’ of Creolophone Literature, these blues and fables constitute the base of the canon, and are usually described as either ‘translated,’ ‘adapted,’ and even ‘cross-dressed’ into Creole in all of the French Creolophone spaces. My documentation of their transnational sprouting offers proof of an opaque canonical formation of Creole popular literature. By constituting this archive, I emphasize the fact that despite 200 years of critical reception and major developments and discoveries on behalf of Creole language pedagogues, literary scholars, linguists, historians, librarians, archivist, and museum curators, up until now not only have none have curated this literature as a formal canon. I also offer new empirical evidence in order to try and solve the enigma of “How?” the fables materially circulated between the islands, and seek to come to terms with the anonymous nature of the texts, some of which were published under pseudonyms. I argue that part of the confusion on the part of scholars has been the result of being willfully taken by surprise or defrauded by the authors, or ‘bamboozled’ as I put it. The major paradigmatic shift in my thesis is that while I acknowledge La Fontaine as the base of this literary canon, I ultimately bypass him to trace the ancient literary genealogy of fables to the infamous Aesop the Phrygian, whose biography – the first of a slave in the history of the world – and subsequent use of fables reflects a ‘hidden transcript’ of ‘masked political critique’ between ‘master and slave classes’ in the 4th Century B.C.E. Greece.

This archive draws on, connects and critiques the methodologies of several disciplinary fields. I use post-colonial literary studies to map the literary genealogies Aesop; use a comparative historical approach to the abolitions of slavery in both the 19th century Caribbean and the Indian Ocean; and chart the early appearance of folk music in early colonial societies through Musicology and Performance Studies. Through the use of Sociolinguistics and theories of language revival, ecology, and change, I develop an approach of ‘reflexive Creolistics’ that I ultimately hope will offer new educational opportunities to Creole speakers. While it is my desire that this archive serves linguists, book collectors, and historians for further scientific inquiry into the innate international nature of Creole language, I also hope that this innovative material defense and illustration of Creole Literature will transform the consciousness of Creolophones (native and non-native) who too remain ‘bamboozled’ by the archive. My goal is to erase the ‘unthinkability’ of the existence of this ancient maritime creole literary canon from the collective cultural imaginary of readers around the globe.

Rôle des cellules myéloïdes dans des modèles murins de la neuroinflammation

L’inflammation du système nerveux central (SNC), appelée neuroinflammation, est un aspect inséparable des maladies neurodégénératives chroniques comme la sclérose en plaques (SEP) et la maladie d’Alzheimer (MA). La caractérisation de la signature moléculaire spécifique à chaque population cellulaire dans des pathologies distinctes va aboutir à la compréhension et donc au contrôle de la neuroinflammation. Le présent ouvrage a pour but de mieux comprendre les mécanismes d’action de deux types cellulaires myéloïdes, la microglie et les neutrophiles, au cours des affections neuroinflammatoires du SNC. Ainsi, le premier objectif a été de comprendre le rôle des cytokines IL-36 dans la neuroinflammation établie au cours de l’encéphalomyélite auto-immune expérimentale (EAE). Dans une seconde partie, l’objectif a été d’explorer l’action du GPR84, un récepteur couplé à la protéine G spécifique à la microglie dans le SNC, lors de l’altération des fonctions cérébrales dans un modèle de souris transgénique de la MA. Nos résultats démontrent que la voie de signalisation IL-36/IL36R est augmentée dans trois modèles différents de l’EAE, mais ne contribue pas au développement ni à la progression de la pathologie. En utilisant l’approche de cytométrie en flux nous identifions les neutrophiles comme la source majeure de l’IL-36γ. De plus, nous démontrons que la microglie exprime l’IL-36R et sa stimulation par l’IL-36γ conduit à la production de cytokines pro-inflammatoires. Dans un second temps, nous caractérisons l’augmentation de l’expression du GPR84 par la microglie dans le modèle murin de la MA APP/PS1. Ainsi, le croisement de ces souris avec des souris déficientes en GPR84 diminue l’activation et le recrutement de la microglie autour des plaques d’amyloïde-β et accélère le déclin cognitif. Nos études impliquent le GPR84 comme un acteur important dans le maintien de l’homéostasie neuronale puisque son absence favorise la dégénérescence des dendrites dans le cerveau. Les résultats obtenus dans cette thèse apportent de nouveaux éléments qui peuvent contribuer au développement des thérapies qui ciblent les cellules myéloïdes dans diverses pathologies du SNC. Ces données ouvrent de nouvelles pistes pour élucider le rôle de l’IL-36γ dans des maladies neurodégénératives. Enfin, pour une première fois, nous présentons un modèle murin permettant d’identifier le(s) ligand(s) endogène(s) du GPR84, une cible thérapeutique potentielle pour la prévention et/ou le traitement de la MA.

Prática de ensino supervisionada em Educação Pré-escolar e Ensino do 1.º Ciclo do Ensino Básico

Com o presente relatório de estágio elaborado no âmbito do Mestrado em Educação Pré-Escolar e Ensino do Primeiro Ciclo do Ensino Básico, pretendemos interpretar as ideias matemáticas que as crianças do Jardim-de-Infância e os alunos do Primeiro Ciclo do Ensino Básico têm em mente. O estágio que, de algum modo, lhe deu forma foi desenvolvido em instituições localizadas na cidade de Bragança, nos anos letivos 2014/2015 e 2015/2016, respetivamente, no âmbito da unidade curricular de Prática de Ensino Supervisionada inserida no Mestrado de Educação Pré-Escolar e Ensino do Primeiro Ciclo do Ensino Básico. Um dos objetivos foi compreender as ideias matemáticas que os mais novos desenvolviam na escola e outro consistiu na análise e interpretação de algumas experiências de ensino e aprendizagem desenvolvidas na área da Matemática. A investigação realizou-se numa ótica qualitativa, tendo como participantes vinte crianças do Jardim-de-Infância e dezanove alunos de uma turma de terceiro ano do Primeiro Ciclo do Ensino Básico. Para a elaboração do estudo, procedeu-se à pesquisa de bibliografia relacionada com a Educação, o Ensino e a Aprendizagem, bem como o de processos matemáticos. As notas de campo e registos fotográficos contribuíram também para a investigação, por certificarem os processos matemáticos. Foi verificado que em contexto de Pré-Escolar, as crianças conseguem perceber quais os conjuntos que apresentam mais elementos, pela associação de objeto com objeto e, em contexto do Primeiro Ciclo, como podem os alunos utilizar a matemática no seu dia-a-dia.

Equitação Militar na Academia Militar : Perspetivas dos Mestres e Instrutores

No seguimento do Tirocínio para Oficiais formados na Academia Militar, temos como último momento avaliativo o Trabalho de Investigação Aplicada. Neste âmbito e pertencendo à Arma de Cavalaria vimos a necessidade de expor sobre uma das componentes que a Cavalaria tem na sua panóplia de atribuições, a Equitação, mais propriamente na Academia Militar. Como tal, temos por base verificar o que cada Mestre e Instrutor de Equitação, que esteve a exercer funções na Academia Militar pensa que serão os objetivos a atingir com a Equitação Militar, nesta mesma instituição de ensino. Assim, o presente trabalho visa analisar de que forma os vários Mestres e Instrutores de Equitação Militar percecionam o modo de dar instrução na Academia Militar e quais os objetivos que se pretendem atingir. Não obstante, pretende-se também alertar para o facto de apesar de hoje a Equitação não ser uma exigência operacional, tem valor a nível da instrução, a nível histórico, a nível desportivo e um valor a nível militar operacional que atualmente não o é em efetividade, mas que pode voltar a ser num futuro próximo. Deste modo, devemos manter o “Know-how” de uma forma de combate que não está tão desatualizada como se possa pensar. Portanto, de forma geral, vamos refletir sobre quais são os objetivos a atingir com a Equitação Militar na Academia Militar, segundo a perspetiva dos Mestres e Instrutores e respetivas mais-valias deste tipo de instrução tão único, que envolve outro ser vivo nas nossas decisões.

Propuesta de creación línea de investigación en administración en salud

La propuesta de crear una nueva línea de investigación basada en temas de Administración en Salud nación de la necesidad de ampliar la fundamentación temática impartida en este tema, dado que hoy en día la Universidad del Rosario cuenta con cuatro especializaciones y una maestría enfocadas en la Administración en Salud. El proyecto inicia con una fundamentación teórica basada en temáticas impartidas en grandes escuelas de negocios a nivel mundial que tengan en sus enfoques la Administración en Salud. Esto permitió recolectar gran cantidad de información que serviría de base para posteriormente generar la propuesta de investigación. Seguido de esto se realizó el análisis de los trabajos de grado realizado tanto en la maestría como en las Especializaciones de la Universidad del Rosario enfocadas en este tema, generando así revisión temática de estos estudios y sus respectivos aportes. Esto con el fin de poder realizar una comparación temática entre las escuelas de negocios del mundo y los estudio impartidos por la Universidad del Rosario, lo cual abriría paso a generar una lista temática para la propuesta de la línea de investigación. Una vez realizada la fundamentación teórica y la revisión de los trabajos de grado tanto de Maestría como de Especialización, se definió la propuesta de la línea de investigación la cual se estableció en dos partes fundamentales: Concepción de la línea de investigación y construcción de la línea de investigación, en donde se definió un nombre, un objetivo, una jerarquía, una propuesta temáticas, unos lineamientos generales y se definieron unos entregables a realizar por parte de los integrantes de la línea de investigación. Concluyendo así la viabilidad de la creación de la línea de investigación en la Universidad del Rosario, dada la necesidad requerida

Membrane and walls: who is master, who is servant?

Specialised plant cell types often locally modify their cell walls as part of a developmental program, as do cells that are challenged by particular environmental conditions. Modifications can include deposition of secondary cellulose, callose, cutin, suberin or lignin. Although the biosyntheses of cell wall components are more and more understood, little is known about the mechanisms that control localised deposition of wall materials. During metaxylem vessel differentiation, site-specific cell wall deposition is locally prevented by the microtubule depolymerising protein MIDD1, which disassembles the cytoskeleton and precludes the cellulose synthase complex from depositing cellulose. As a result, metaxylem vessel secondary cell wall appears pitted. How MIDD1 is tethered at the plasma membrane and how other cell wall polymers are locally deposited remain elusive. Casparian strips in the root endodermis represent a further example of local cell wall deposition. The recent discovery of the Casparian Strip membrane domain Proteins (CASPs), which are located at the plasma membrane and are important for the site-specific deposition of lignin during Casparian strip development, establishes the root endodermis as an attractive model system to study the mechanisms of localised cell wall modifications. How secondary modifications are modulated and monitored during development or in response to environmental changes is another question that still misses a complete picture.

Trajectory Sensitivity Method and Master-Slave Synchronization to Estimate Parameters of Nonlinear Systems

A combination of trajectory sensitivity method and master-slave synchronization was proposed to parameter estimation of nonlinear systems. It was shown that master-slave coupling increases the robustness of the trajectory sensitivity algorithm with respect to the initial guess of parameters. Since synchronization is not a guarantee that the estimation process converges to the correct parameters, a conditional test that guarantees that the new combined methodology estimates the true values of parameters was proposed. This conditional test was successfully applied to Lorenz's and Chua's systems, and the proposed parameter estimation algorithm has shown to be very robust with respect to parameter initial guesses and measurement noise for these examples. Copyright (C) 2009 Elmer P. T. Cari et al.

Equivalence between Redfield- and master-equation approaches for a time-dependent quantum system and coherence control

We present a derivation of the Redfield formalism for treating the dissipative dynamics of a time-dependent quantum system coupled to a classical environment. We compare such a formalism with the master equation approach where the environments are treated quantum mechanically. Focusing on a time-dependent spin-1/2 system we demonstrate the equivalence between both approaches by showing that they lead to the same Bloch equations and, as a consequence, to the same characteristic times T(1) and T(2) (associated with the longitudinal and transverse relaxations, respectively). These characteristic times are shown to be related to the operator-sum representation and the equivalent phenomenological-operator approach. Finally, we present a protocol to circumvent the decoherence processes due to the loss of energy (and thus, associated with T(1)). To this end, we simply associate the time dependence of the quantum system to an easily achieved modulated frequency. A possible implementation of the protocol is also proposed in the context of nuclear magnetic resonance.

Modeling and Filtering Double-Frequency Jitter in One-Way Master-Slave Chain Networks

One-way master-slave (OWMS) chain networks are widely used in clock distribution systems due to their reliability and low cost. As the network nodes are phase-locked loops (PLLs), double-frequency jitter (DFJ) caused by their phase detectors appears as an impairment to the performance of the clock recovering process found in communication systems and instrumentation applications. A nonlinear model for OWMS chain networks with P + 1 order PLLs as slave nodes is presented, considering the DFJ. Since higher order filters are more effective in filtering DFJ, the synchronous state stability conditions for an OWMS chain network with third-order nodes are derived, relating the loop gain and the filter coefficients. By using these conditions, design examples are discussed.

Comparing lock-in ranges and transient responses of second- and third-order phase-locked loops in master-slave clock distribution networks

The distribution of clock signals throughout the nodes of a network is essential for several applications. in control and communication with the phase-locked loop (PLL) being the component for electronic synchronization process. In systems with master-slave (MS) strategies, the PLLs are the slave nodes responsible for providing reliable clocks in all nodes of the network. As PLLs have nonlinear phase detection, double-frequency terms appear and filtering becomes necessary. Imperfections in filtering process cause oscillations around the synchronous state worsening the performance of the clock distribution process. The behavior of one-way master-slave (OWMS) clock distribution networks is studied and performances of first- and second-order filter processes are compared, concerning lock-in ranges and responses to perturbations of the synchronous state. (c) 2007 Elsevier GmbH. All rights reserved.

Modeling and measuring double-frequency jitter in one-way master-slave networks

The double-frequency jitter is one of the main problems in clock distribution networks. In previous works, sonic analytical and numerical aspects of this phenomenon were studied and results were obtained for one-way master-slave (OWMS) architectures. Here, an experimental apparatus is implemented, allowing to measure the power of the double-frequency signal and to confirm the theoretical conjectures. (C) 2008 Elsevier B.V. All rights reserved.

Design of the multicenter Australian study of epidural anesthesia and analgesia in major surgery: The MASTER Trial

The Multicenter Australian Study of Epidural Anesthesia and Analgesia in Major Surgery (The MASTER Trial) was designed to evaluate the possible benefit of epidural block in improving outcome in high-risk patients. The trial began in 1995 and is scheduled to reach the planned sample size of 900 during 2001. This paper describes the trial design and presents data comparing 455 patients randomized in 21 institutions in Australia, Hong Kong, and Malaysia, with 237 patients from the same hospitals who were eligible but not randomized. Nine categories of high-risk patients were defined as entry criteria for the trial. Protocols for ethical review, informed consent, randomization, clinical anesthesia and analgesia, and perioperative management were determined following extensive consultation with anesthesiologists throughout Australia. Clinical and research information was collected in participating hospitals by research staff who may not have been blind to allocation. Decisions about the presence or absence of endpoints were made primarily by a computer algorithm, supplemented by blinded clinical experts. Without unblinding the trial, comparison of eligibility criteria and incidence of endpoints between randomized and nonrandomized patients showed only small differences. We conclude that there is no strong evidence of important demographic or clinical differences between randomized and nonrandomized patients eligible for the MASTER Trial. Thus, the trial results are likely to be broadly generalizable. Control Clin Trials 2000;21:244-256 (C) Elsevier Science Inc. 2000.