Development of a Control System for a Tele Operated Mobile Robot

Mobile robots are capable of performing spatial displacement motions in different environments. This motions can be calculated based on sensorial data (autonomous robot) or given by an operator (tele operated robot). This thesis is focused on the latter providing the control architecture which bridges the tele operator and the robot’s locomotion system and end effectors. Such a task might prove overwhelming in cases where the robot comprises a wide variety of sensors and actuators hence a relatively new option was selected: Robot Operating System (ROS). The control system of a new robot will be sketched and tested in a simulation model using ROS together with Gazebo in order to determine the viability of such a system. The simulated model will be based on the projected shape and main features of the real machine. A stability analysis will be performed first theoretically and afterwards using the developed model. This thesis concluded that both the physical properties and the control architecture are feasible and stable settling up the ground for further work with the same robot.

Stability and mechanical evaluation of bovine pericardium cross-linked with polyurethane prepolymer in aqueous medium

The present study investigates the potential use of non-catalyzed water-soluble blocked polyurethane prepolymer (PUP) as a bifunctional cross-linker for collagenous scaffolds. The effect of concentration (5, 10, 15 and 20%), time (4, 6, 12 and 24 h), medium volume (50, 100, 200 and 300%) and pH (7.4, 8.2, 9 and 10) over stability, microstructure and tensile mechanical behavior of acellular pericardial matrix was studied. The cross-linking index increased up to 81% while the denaturation temperature increased up to 12 °C after PUP crosslinking. PUP-treated scaffold resisted the collagenase degradation (0.167 ± 0.14 mmol/g of liberated amine groups vs. 598 ± 60 mmol/g for non-cross-linked matrix). The collagen fiber network was coated with PUP while viscoelastic properties were altered after cross-linking. The treatment of the pericardial scaffold with PUP allows (i) different densities of cross-linking depending of the process parameters and (ii) tensile properties similar to glutaraldehyde method.

Successful rescue and field establishment of native banana varieties severely affected by rhizome rot

Rhizome rot disease caused by Erwinia spp. is emerging as a major problem in banana nurseries and young plantations worldwide. Management of the disease is possible only in the initial stages of development. Currently no method is available for rescuing plant material already infected with this pathogen. A total of 95 Nanjanagud Rasabale and 212 Elakki Bale suckers were collected from different growing regions of Karnataka, India. During nursery maintenance of these lines, severe Erwinia infection was noticed. We present a method to rescue infected plants and establish them under field conditions. Differences were noticed in infection severity amongst the varieties and their accessions. Field data revealed good establishment and growth of most rescued plants under field conditions. The discussed rescue protocol coupled with good field management practices resulted in 89.19 and 82.59 percent field establishment of previously infected var. Nanjanagud Rasabale and var. Elakki Bale plants, respectively.

Helga's dune: 40 years of dune dynamics in the Namib Desert

The dynamics of a small linear dune on the northern margin of the Namib Sand Sea have been monitored using erosion pins placed at the dune tip since 1969. GPS measurements of these pins enabled estimation of the rates of advance and lateral migration of the dune. The average rate of advance of the dune tip over the period 1969–2012 was 1.99 m yr–1 towards 015°. Rates of advance and lateral movement varied over the period of monitoring, with a decrease in rates of advance by a factor of 50%, but an increase in the rate of lateral movement. Changes in dune behavior appear to be related to changes in wind regime and the vegetation cover of the interdune area, as a result of increased rainfall in recent years. This study demonstrates the dynamic nature of the tip of this dune and its sensitivity to changes in winds and sand supply.

Capital Flows to Latin America and the Caribbean: 2014 Overview

Divergence in macro trends and in monetary policy in advanced economies was a dominant driver of rates and currencies in emerging markets in 2014. Diverging macroeconomic developments were reflected in different monetary policy actions in 2014, with the European Central Bank (ECB) and the Bank of Japan (BOJ) moving in the opposite direction of the U.S. Federal Reserve. The unwinding of the U.S. monetary stimulus, while the ECB and the BOJ step up their monetary stimulus, has underpinned an appreciation by the U.S. dollar, in which most commodities are priced. Latin American markets, which started the year under pressure from fears of the U.S. Federal Reserve tapering off its quantitative easing program and concerns over stability, ended 2014 under pressure from a stronger U.S. dollar. However, there are many signs that a slowdown in LAC financial markets – particularly debt markets, which have been breaking records in debt issuance for the past six years – is under way. The region’s growth prospects look somewhat brighter in 2015 relative to 2014, but a strengthening U.S. dollar, uneven global growth and weakness in commodity prices are skewing the risk toward the downside for the 2015 forecasts across the region.

Effect of inter-adatoms correlations on the local density of states of graphene

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Efeitos das correlações inter-átomos adsorvidos na densidade de estados do grafeno

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estudo do mecanismo de ação antirradicalar de betalaínas

Foi preparada uma série de quatro betalaínas com o objetivo de determinar o efeito da metilação do nitrogênio imínico e da presença de uma hidroxila fenólica na posição 3 do anel aromático sobre a estabilidade e propriedades antirradicalares, fotofísicas e redox desta classe de pigmentos vegetais. O estudo destes compostos, chamados de m-betalainofenol, N-metil-m-betalainofenol, fenilbetalaína e N-metil-fenilbetalaína, revelou que os derivados metilados apresentam um deslocamento hipsocrômico sutil dos máximos de absorção e fluorescência em relação aos compostos não metilados. Os deslocamentos de Stokes são maiores em cerca de 4 kJ mol-1 para os derivados metilados e os rendimentos quânticos de fluorescência cerca de três vezes menores. A hidrólise destas betalaínas foi investigada na faixa de pH entre 3 e 7. Todas as betalaínas são mais persistentes em pH = 6 e a metilação da porção imínica aumenta significativamente a estabilidade da betalaína em meio aquoso. A presença da porção fenólica, em comparação a um grupo fenila, não afeta as propriedades fotofísicas dos compostos e tem um efeito menos pronunciado do que o da metilação sobre a estabilidade destes em meio aquoso. O comportamento eletroquímico dos compostos foi estudado por voltametria cíclica, nas mesmas condições de pH. A N-metilação foi novamente mais significativa do que a hidroxilação, provocando aumento de até 200 mV no potencial de pico anódico. O aumento do pH diminuiu o potencial de pico anódico dos quatro compostos, com uma razão entre prótons e elétrons igual a 1 para a maioria dos picos. A capacidade antirradicalar foi quantificada pelo ensaio colorimétrico TEAC baseado na redução de ABTS•+. Os dois derivados N-metilados apresentaram, em média, o mesmo valor de TEAC, apesar de um ser fenólico e o outro não. Já entre os não metilados, que têm TEAC de 2 a 3 unidades inferior à dos outros, a presença do fenol provoca elevação da capacidade antirradicalar. Os resultados sugerem a participação dos elétrons do anel 1,2,3,4-tetraidropiridínico, acoplados ao próton do nitrogênio imínico na ação antirradicalar de betalaínas.

Kinetic of water diffusion and color stability of a resin composite as a function of the curing tip distance

The influence of curing tip distance and storage time in the kinetics of water diffusion (water sorption-W SP, solubility-W SB, and net water uptake) and color stability of a composite were evaluated. Composite samples were polymerized at different distances (5, 10, and 15 mm) and compared to a control group (0 mm). After desiccation, the specimens were stored in distilled water to evaluate the water diffusion over a 120-day period. Net water uptake was calculated (sum of WSP and WSB). The color stability after immersion in a grape juice was compared to distilled water. Data were submitted to three-way ANOVA/Tukey's test (α = 5%). The higher distances caused higher net water uptake (p < 0.05). The immersion in the juice caused significantly higher color change as a function of curing tip distance and the time (p < 0.05). The distance of photoactivation and storage time provide the color alteration and increased net water uptake of the resin composite tested.

Dimensionality of drinking consequences - cross-cultural comparability and stability over time

Despite the long tradition for asking about the negative social and health consequences of alcohol consumption in surveys, little is known about the dimensionality of these consequences. Analysing cross-sectional and longitudinal data from the Nordic Taxation Study collected for Sweden, Finland, and Denmark in two waves in 2003 and 2004 by means of an explorative principal component analysis for categorical data (CATPCA), it is tested whether consequences have a single underlying dimension across cultures. It further tests the reliability, replicability, concurrent and predictive validity of the consequence scales. A one-dimensional solution was commonly preferable. Whereas the two-dimensional solution was unable to distinguish clearly between different concepts of consequences, the one-dimensional solution resulted in interpretable, generally very stable scales within countries across different samples and time.

Long-term stability of surgical bone regenerative procedures of peri-implantitis lesions in a prospective case-control study over 3 years

Objectives: To evaluate the extent of bone fill over 3 years following the surgical treatment of peri-implantitis with bone grafting with or without a membrane. Material and Methods: In a non-submerged wound-healing mode, 15 subjects with 27 implants were treated with a bone substitute (Algipore®) alone and 17 subjects with 29 implants were treated with the bone substitute and a resorbable membrane (Osseoquest®). Implants with radiographic bone loss ≥1.8 mm following the first year in function and with bleeding and/or pus on probing were included. Following surgery, subjects were given systemic antibiotics (10 days) and rinsed with chlorhexidine. After initial healing, the subjects were enrolled in a strict maintenance programme. Results: Statistical analysis failed to demonstrate changes in bone fill between 1 and 3 years both between and within procedure groups. The mean defect fill at 3 years was 1.3 ± (SD) 1.3 mm if treated with the bone substitute alone and 1.6 ± (SD) 1.2 mm if treated with an adjunct resorbable membrane, (p=0.40). The plaque index decreased from approximately 40–10%, remaining stable during the following 2 years. Conclusion: Defect fill using a bone substitute with or without a membrane technique in the treatment of peri-implantitis can be maintained over 3 years.

A randomised double-blind, cross-over trial of 4-aminopyridine for downbeat nystagmus--effects on slowphase eye velocity, postural stability, locomotion and symptoms

Objective The effects of 4-aminopyridine (4-AP) on downbeat nystagmus (DBN) were analysed in terms of slow-phase velocity (SPV), stance, locomotion, visual acuity (VA), patient satisfaction and side effects using standardised questionnaires. Methods Twenty-seven patients with DBN received 5 mg 4-AP four times a day or placebo for 3 days and 10 mg 4-AP four times a day or placebo for 4 days. Recordings were done before the first, 60 min after the first and 60 min after the last drug administration. Results SPV decreased from 2.42 deg/s at baseline to 1.38 deg/s with 5 mg 4-AP and to 2.03 deg/s with 10 mg 4-AP (p<0.05; post hoc: 5 mg 4-AP: p=0.04). The rate of responders was 57%. Increasing age correlated with a 4-AP-related decrease in SPV (p<0.05). Patients improved in the ‘get-up-and-go test’ with 4-AP (p<0.001; post hoc: 5 mg: p=0.025; 10 mg: p<0.001). Tandem-walk time (both p<0.01) and tandem-walk error (4-AP: p=0.054; placebo: p=0.059) improved under 4-AP and placebo. Posturography showed that some patients improved with the 5 mg 4-AP dose, particularly older patients. Near VA increased from 0.59 at baseline to 0.66 with 5 mg 4-AP (p<0.05). Patients with idiopathic DBN had the greatest benefit from 4-AP. There were no differences between 4-AP and placebo regarding patient satisfaction and side effects. Conclusions 4-AP reduced SPV of DBN, improved near VA and some locomotor parameters. 4-AP is a useful medication for DBN syndrome, older patients in particular benefit from the effects of 5 mg 4-AP on nystagmus and postural stability.

Direct and adjoint global stability analysis of turbulent transonic flows over a NACA0012 profile

In this work, various turbulent solutions of the two-dimensional (2D) and three-dimensional compressible Reynolds averaged Navier?Stokes equations are analyzed using global stability theory. This analysis is motivated by the onset of flow unsteadiness (Hopf bifurcation) for transonic buffet conditions where moderately high Reynolds numbers and compressible effects must be considered. The buffet phenomenon involves a complex interaction between the separated flow and a shock wave. The efficient numerical methodology presented in this paper predicts the critical parameters, namely, the angle of attack and Mach and Reynolds numbers beyond which the onset of flow unsteadiness appears. The geometry, a NACA0012 profile, and flow parameters selected reproduce situations of practical interest for aeronautical applications. The numerical computation is performed in three steps. First, a steady baseflow solution is obtained; second, the Jacobian matrix for the RANS equations based on a finite volume discretization is computed; and finally, the generalized eigenvalue problem is derived when the baseflow is linearly perturbed. The methodology is validated predicting the 2D Hopf bifurcation for a circular cylinder under laminar flow condition. This benchmark shows good agreement with the previous published computations and experimental data. In the transonic buffet case, the baseflow is computed using the Spalart?Allmaras turbulence model and represents a mean flow where the high frequency content and length scales of the order of the shear-layer thickness have been averaged. The lower frequency content is assumed to be decoupled from the high frequencies, thus allowing a stability analysis to be performed on the low frequency range. In addition, results of the corresponding adjoint problem and the sensitivity map are provided for the first time for the buffet problem. Finally, an extruded three-dimensional geometry of the NACA0012 airfoil, where all velocity components are considered, was also analyzed as a Triglobal stability case, and the outcoming results were compared to the previous 2D limited model, confirming that the buffet onset is well detected.