Optimization of a humanoid robot gait: multilocal optimization approach

The humanoid robot gait planning presents a large number of unknown parameters that should be found to make the humanoid robot to walk. There are several approaches to achieve the gait but an accurate simulation can be used to compute it. A stable joint model of a humanoid robot is used in simulation to optimize the gait parameters. The optimization is based on the stretched simulated annealing with the multilocal algorithm approach. Final results prove the benefits of the presented optimization algorithm.This work is financed by the ERDF - European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT -Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) within projects FCOMP-01-0124-FEDER-022701 and FCOMP-01-0124-FEDER-022674

Contribuição para o conhecimento biológico das águas interiores da Graciosa

XI Expedição Científica do Departamento de Biologia - Graciosa 2004.Das três pequenas lagoas permanentes existentes na ilha até meados do século passado, duas desapareceram e a terceira está completamente artificializada. Neste momento as zonas húmidas dulçaquícolas naturais da ilha Graciosa reduzem-se a dois pequenos charcos (Barreiro e Tanque), ambos fortemente eutrofizados. São apresentadas listas das espécies de algas, plantas vasculares, invertebrados bênticos e vertebrados aí encontrados

Human tendon-derived cell sheets created by magnetic force-based tissue engineering hold tenogenic and immunomodulatory potential

Cell sheet technology and magnetic based tissue engineering hold the potential to become instrumen- tal in developing magnetically responsive living tissues analogues that can be potentially used both for modeling and therapeutical purposes. Cell sheet constructions more closely recreate physiological niches, through the preservation of contiguous cells and cell-ECM interactions, which assist the cellular guidance in regenerative processes. We herein propose to use magnetically assisted cell sheets (magCSs) constructed with human tendon- derived cells (hTDCs) and magnetic nanoparticles to study inflammation activity upon magCSs exposure to IL-1 β, anticipating its added value for tendon disease modeling. Our results show that IL-1 βinduces an inflammatory profile in magCSs, supporting its in vitro use to en- lighten inflammation mediated events in tendon cells. Moreover, the response of magCSs to IL-1 βis mod- ulated by pulsed electromagnetic field (PEMF) stimulation, favoring the expression of anti-inflammatory genes, which seems to be associated to MAPK(ERK1/2) pathway. The anti-inflammatory response to PEMF together with the immunomodulatory potential of magCSs opens new perspectives for their applicability on tendon regeneration that goes beyond advanced cell based modeling.This research was funded by the ERC CoG MagTendon (No. 772817), Fundação para a Ciência e Tecnologia (FCT) for the doctoral grant PD/BD/128089/2016 of A. Vinhas and the project MagTT PTDC/CTM-CTM/29930/2017 (POCI-01-0145-FEDER-29930), project Norte-01-0145-FEDER-02219015 supported by Norte Portugal Regional Operational Programme (NORTE 2020) and EC Twinning project Achilles (No. 810850)

Work-Family Interface in the Context of Social Responsibility: A Systematic Literature Review

The literature on internal social responsibility, in which the work-family interface can be included, already has a robust tradition in scientific research. It is, therefore, important to systematize the path that has been taken and what the future may hold. This article aims to systematize the literature that simultaneously focuses on the work-family relationship and on the context of social responsibility and sustainability, with the purpose of mapping the research that has been produced on these intersections. A systematic review of the literature was conducted between the period 1968 and 2021. The search was performed on the SCOPUS database, and the analysis was conducted using the VOSviewer software, with 333 articles having been identified and subjected to a bibliometric and content analysis. As a result, 88 articles were analyzed in depth, focusing on the Work and Life Space dimension and the work-family relationship. The results indicate that corporate social responsibility has a positive effect on the work-family relationship, where an efficient balance between personal and professional life is often measured based on the adequacy of the adjustment of factors such as working hours and social and family commitments.info:eu-repo/semantics/publishedVersio

Ground penetrating radar mapping in rescue archaeology: a study from pego late Bronze Age settlement, Braga (NW Portugal)

Rescue archaeology, sometimes called preventive or salvage archaeology, is archaeological survey and excavation carried out in areas threatened by, or revealed by, construction or other development. Unlike traditional survey and excavation, these works must be undertaken in the shortest possible time. In these scenarios the use of ground penetrating radar (GPR) allows field archaeologists to quickly discover and map buried archaeological features. This paper describes the use of GPR during a rescue archaeology campaign at the Pego Late Bronze Age settlement, near the city of Braga (NW Portugal). Closely spaced GPR transects were collected in a grid-based approach, covering three different areas from the site, using GSSI Sir 3000 System, with antennae frequency of 400MHz. Wave velocities were determined by reflected wave and Hyperbola-Fitting methods. Measured velocities ranged between 0.12-0.14 m/ns. Amplitude slice-maps of the surveyed grids were produced. The interpretation of these maps indicates the existence of several cultural features from Bronze Age (post holes, pits, small trenches and flat graves) at an approximated depth of 50 cm. The information obtained with this GPR survey proved to be very useful. Amplitude slice-maps produced act as primary data that is going to be used to guide the rescue archaeological excavation. These results are significant because they can provide a template for interpretation of future GPR surveys of Late Bronze Age sites in NW Portugal and even in NW Iberia

Culture collection of freshwater microalgae from the Azores archipelago: resource for taxonomic and phycoprospecting research

ABSTRACT: In recent years, much interest has been focused on the biotechnological potential of microalgae, mainly due to their rapid growth and the identification of several substances synthesized by these organisms. The isolation and in vitro cultivation of native microalgae species is very important for taxonomic and conservation studies and is the first step towards feasibility studies of local commercial productions. In this study 114 isolates of microalgae were obtained from samples collected in 23 locations of the island of Sao Miguel, Azores. From them, 60 species were identified comprising 39 Chlorophyta, 10 Ochrophyta, 6 Cyanophyta, 3 Charophyta, 1 Euglenozoa and 1 Cryptophyta. Eighteen of the species identified constitute new records for the Island of Sao Miguel.info:eu-repo/semantics/publishedVersio

Cynaropicrin- and chlorogenic acid-rich extracts easily prepared from Cynara cardunculus var. scolymus: antioxidant and antigenotoxic properties

Cynara cardunculus L. var. scolymus, commonly known as globe artichoke, is known for its medicinal and culinary properties since ancient times. Nowadays, with the increasing demand for healthier foods artichoke has been valorized and worldwide production has increased to meet the increasing demand in consumption of the flower and infusion from leaves. The aim of this work was to characterize the main bioactive compounds obtained from artichoke leaf extracts using simple and sustainable techniques. Among different extraction procedures tested, decoction in water gave extracts particularly rich in chlorogenic acid (1) and cynaropicrin (2) as demonstrated by the NMR spectroscopy analysis. Compounds 1 and 2 were efficiently separated by liquid-liquid extraction, as 1 was only found in the aqueous (Aq) fraction and 2 was selectively isolated in the organic (O) fraction. While both fractions showed in vitro antioxidant activity by scavenging activity, only the O fraction was able to protect Saccharomyces cerevisiae cells from oxidative stress. Interestingly, the O fraction was much more antigenotoxic than Aq fraction, suggesting a highly efficient hydroxyl radical scavenging activity. Besides being simple and avoiding organic solvents, decoction in water provides maximal extraction of 1 and 2 and, presumably, maximal bioactivities.This work was supported by national funds through the Fundação para a Ciência e Tecnologia, FCT I.P. [“Contrato-Programa” UIDB/04050/2020]; the Portuguese Foundation for Science and Technology (FCT) in the framework of the Strategic Funding [UIDB/ 00686/2020]; and by the Operation Program of Integrated Infrastructure [Advancing University Capacity and Competence in Research, Development and Innovation, ITMS2014+: 313021X329, co-financed by the European Regional Development Fund]

Release kinetic model and antimicrobial activity of an innovative minocycline and voriconazole co-delivery system

Purpose and Strategy: Development of a new local drug-delivery system aiming at bone infection and the modulation of the polymicrobial activity; simultaneous delivery of minocycline and voriconazole, antibacterial and antifungal agents, respectively; polylactide (PDLLA) scaffolds functionalized with collagen and bioglass, osteogenic enhancers.info:eu-repo/semantics/publishedVersio