Gait Pattern Adaptation for an Active Lower-Limb Orthosis Based on Neural Networks

This work deals with neural network (NN)-based gait pattern adaptation algorithms for an active lower-limb orthosis. Stable trajectories with different walking speeds are generated during an optimization process considering the zero-moment point (ZMP) criterion and the inverse dynamic of the orthosis-patient model. Additionally, a set of NNs is used to decrease the time-consuming analytical computation of the model and ZMP. The first NN approximates the inverse dynamics including the ZMP computation, while the second NN works in the optimization procedure, giving an adapted desired trajectory according to orthosis-patient interaction. This trajectory adaptation is added directly to the trajectory generator, also reproduced by a set of NNs. With this strategy, it is possible to adapt the trajectory during the walking cycle in an on-line procedure, instead of changing the trajectory parameter after each step. The dynamic model of the actual exoskeleton, with interaction forces included, is used to generate simulation results. Also, an experimental test is performed with an active ankle-foot orthosis, where the dynamic variables of this joint are replaced in the simulator by actual values provided by the device. It is shown that the final adapted trajectory follows the patient intention of increasing the walking speed, so changing the gait pattern. (C) Koninklijke Brill NV, Leiden, 2011

Spatial distribution of schistosomiasis and geohelminthiasis cases in the rural areas of Pernambuco, Brazil

INTRODUCTION: The prevalence and intensity of geohelminth infections and schistosomiasis remain high in the rural areas of Zona da Mata, Pernambuco (ZMP), Brazil, where these parasites still represent a significant public health problem. The present study aimed to spatially assess the occurrences of schistosomiasis and geohelminthiasis in the ZMP. METHODS: The ZMP has a population of 1,132,544 inhabitants, formed by 43 municipalities. An ecological study was conducted, using secondary data relating to positive human cases and parasite loads of schistosomiasis and positive human cases of geohelminthiasis that were worked up in Excel 2007. We used the coordinates of the municipal headquarters to represent the cities which served as the unit of analysis of this study. The Kernel estimator was used to spatially analyze the data and identify distribution patterns and case densities, with analysis done in ArcGIS software. RESULTS: Spatial analysis from the Kernel intensity estimator made it possible to construct density maps showing that the northern ZMP was the region with the greatest number of children infected with parasites and the populations most intensely infected by Schistosoma mansoni. In relation to geohelminths, there was higher spatial distribution of cases of Ascaris lumbricoides and Trichuris trichiura in the southern ZMP, and greater occurrence of hookworms in the northern/central ZMP. CONCLUSIONS: Despite several surveys and studies showing occurrences of schistosomiasis and geohelminthiasis in the ZMP, no preventive measures that are known to have been effective in decreasing these health hazards have yet been implemented in the endemic area.

Reliability of current estimates of schistosomiasis prevalence in the Rainforest Zone of the state of Pernambuco, Northeastern Brazil

The Program for Schistosomiasis Control within the Unified Health System (PCE-SUS) was implemented by 1999 in the Rainforest Zone or "Zona da Mata" of Pernambuco (ZMP) aiming to carry out biennial stool surveys of whole populations through municipal health organs followed by treatment of the positives through the local units of the Family Health Program (PSF). Yearly reports from the Health Department of Pernambuco State (SES/PE) from 2002 to 2004 on the PCE-SUS surveys were assessed to evaluate whether the current estimates of prevalence in the municipalities of the ZMP are based on reliable samples so as to allow considerations on the real situation of schistosomiasis in that area. The surveys carried out in that period did not follow the major principles underlying sampling design, thus posing problems in both precision and validity of the estimates. Only 12 out of 43 municipalities had minimally reliable estimates: five with moderate prevalence (10-50%) and seven with low prevalence (< 10%). Surveys with appropriate sampling procedures aimed either at representative target groups (school-aged children) or communities are recommended for the ZMP and other endemic areas not only to provide reliable information on the current situation of schistosomiasis but also to plan adequate control strategies.

Attaining the minimum target of resolution WHA 54.19 for schistosomiasis control in the Rainforest Zone of the state of Pernambuco, Northeastern Brazil

Resolution 19 of the 54th World Health Assembly (WHA-54.19) urged member nations to promote preventive measures, ensure treatment and mobilize resources for control of schistosomiasis and soil-transmitted helminthiases (STH). The minimum target is to attend 75% of all school-age children at risk by year 2010. The Brazilian Ministry of Health (MoH) recommends biennial surveys of whole communities and treatment of the positives through the Schistosomiasis Control Program within the Unified Health System (PCE-SUS). However, by 2004 the PCE-SUS had covered only 8.4% of the 1.2 million residents in the Rainforest Zone of Pernambuco (ZMP). Six of the 43 municipalities still remained unattended. Only three of the municipalities already surveyed reached coverage of 25% or more. At least 154 thousand children in the 7-14 years old range have to be examined (and treated if positive) within the next five years to attend the minimum target of the WHA 54.19 for the ZMP. To make this target feasible, it is suggested that from 2006 to 2010 the PCE-SUS actions should be complemented with school-based diagnosis and treatment, involving health and educational organs as well as community associations to include both children in schools and non-enrolled school-age children.

Effet de la mutation du gène lrpprc sur l'activité de l'AMPK dans les fibroblastes des patients atteints du syndrome de Leigh, type canadien français

Le syndrome de Leigh, type canadien français (LSFC) est une maladie infantile orpheline causée par une mutation du gène lrpprc. Elle se caractérise par une déficience tissu spécifique de cytochrome c oxydase (COX), une dysfonction mitochondriale et la survenue de crises d’acidose lactique fatales dans plus de 80% de cas. Selon les familles des patients, ces crises apparaissent lors d’une demande excessive d’énergie. Malheureusement, les mécanismes sous-jacents à l’apparition des crises et notamment la physiopathologie du LSFC demeurent inconnus. Afin de mieux comprendre les mécanismes de régulation du métabolisme énergétique chez les patients LSFC, nous avons examiné la régulation de la protéine kinase activée par l’AMP (AMPK), une enzyme clé de l'homéostasie énergétique, de même que certaines de ses voies cibles (SIRT1/PGC1α et Akt/mTOR) dans les fibroblastes de patients LSFC et de témoins en conditions basales et conditions de stress. En conditions basales, l’activité de l’AMPK était similaire dans les cellules LSFC et les témoins. Par contre, les cellules LSFC montraient une surexpression significative des voies Akt/mTOR et SIRT1/PGC1α comparativement aux cellules témoins. Nous avons aussi examiné ces voies de signalisation suite à une incubation de 4h avec 10 mM de lactate et 1 mM de palmitate (LP), nous permettant de mimer les conditions de « crise ». Nos résultats ont démontré que le LP augmentait les niveaux de phosphorylation de l’AMPK de 90% (p<0,01) dans les cellules témoins mais pas dans les cellules LSFC. Pourtant, l’AMPK est activée dans les cellules LSFC en réponse à une hypoxie chimique induite par le 2,4 dinitrophénol. Dans les cellules témoins, le LP augmentait aussi les niveaux d’expression de SIRT1 (57%, p<0,05), de LRPPRC (23%, p=0,045) et de COXIV (19%, p<0,05). Un prétraitement de 48h au ZMP, un activateur pharmacologique de l’AMPK, a eu un effet additif avec le LP et des augmentations de SIRT1 phosphorylée (120%, p<0,05), de SIRT1 total (75%, p<0,01), de LRPPRC (63%, p<0,001) et de COXIV (38%, p<0,001) ont été observées. Tous ces effets étaient aussi abolis dans les cellules LSFC. En conclusion, nos résultats ont démontré des altérations importantes de la régulation du métabolisme énergétique dans les fibroblastes de patients LSFC.

Estudo eletroquímico das interações do tartarato de sódio sobre superfícies zincadas para posterior eletrodeposição de polipirrol

Neste trabalho, foi estudada a síntese eletroquimica do pirrol sobre eletrodos de zinco e aço galvanizado em tartarato de sódio. De modo a avaliar a interação aço galvanizadoltartarato e zincoltartarato, foram empregadas as técnicas de voltametria cíclica, espectroscopia de impedância eletroquímica, Raman e análise morfológica. Através dos resultados verificou-se que há a formação de um filme de tartarato sobre as superficies galvanizadas que inibe a dissolução anódica do metal. Verificou-se que houve fonnação de polipirrol sobre substratos galvanizados em meio tartarato de sódio. No estudo da eletropolimerização do pirrol, a influência de parâmetros tais como concentrações do eletrólito, do tenso ativo e dos pigmentos e tempo e densidade de corrente na eletrodeposição foi investigada. Com o objetivo de melhorar as propriedades anticorrosivas dos filmes de polipirrol, foi estudada a incorporação de tensoativos e dos pigmentos de dióxido de titânio e fosfato de zinco comercial ZMP. Para avaliar os substratos metálicos e os filmes de polipirrol, foram empregadas as técnicas de voltametria ciclica e espectroscopia de impedância eletroquimica. A morfologia dos filmes poliméricos foi analisada por microscopia eletrônica de varredura. Os filmes de Ppy foram também caracterizados por espectros copia Raman. Os filmes de poliméricos em presença de moléculas tensoativos tornaram-se mais compactos e homogêneos. Com relação à incorporação de pigmentos nestes filmes, a adição destes tende a aumentar a resistência à corrosão.

Minderung physiologischer Reaktivität auf psychosozialen Stress durch Taiji-Training - wer profitiert besonders? Eine Untersuchung moderierender Effekte von selbstberichteter dispositioneller psychologischer Stressreaktivität und Achtsamkeit.

Theoretical background and objectives: Stress reducing effects of Taiji practice have been repeatedly reported. The aim of the present study was to investigate which persons benefit the most from Taiji practice in terms of reduced physiological stress reactivity. Methods: We conducted a secondary data analysis of a randomized controlled Taiji trial that significantly lowered stress reactivity of salivary cortisol and alpha-amylase in a Taiji group (n = 26) compared to a control group (n = 23). By using hierarchical regression analyses potential moderating influences of self-reported trait-mindfulness and trait values of general psychological stress reactivity on stress protective effects of a three months Taiji training were examined. Moderator variables were assessed at the beginning of the study using the Freiburg-Mindfulness-Inventory and the Perceived- Stress-Reactivity-Scale. Results: The interaction effect "study group x mindfulness" was significant for stress reactivity of salivary alpha-amylase (p = 0.050). Participants in the Taiji group with higher trait-mindfulness showed a lower salivary alpha-amylase stress reactivity, while in the control group higher trait-mindfulness was associated with higher alpha-amylase stress reactivity. In the control group (p = 0.042) but not in the Taiji group (p = 0.69) salivary cortisol stress reactivity was significantly increased in persons with higher trait-mindfulness scores. We could not find moderating effects of general psychological stress reactivity. Conclusion: Our results suggest that without intervention higher trait-mindfulness is associated with increased physiological stress reactivity. Persons with higher trait-mindfulness seem to benefit the most from practicing Taiji in terms of reduced sympathetic stress reactivity.

Improved joint control using a genetic algorithm for a humanoid robot

This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP estimation, a prerequisite for a closedloop dynamically stable humanoid walking gait. Results in both simulation and on a real robot are presented, demonstrating the superior smoothness performance of the GA based methods.