A scalable embedded robotics real time platform development architecture in Linux

La manipulación de objetos por medio de robots es elemento crucial de las herramientas avanzadas de automatización. Sin embargo, los mecanismos para controlarlos generalmente son muy específicos y requieren diseños que están profundamente atados al hardware del robot – este tipo de implementaciones resultan en código no reutilizable y optimizaciones de algoritmos que solo funcionan en familias de robots particulares. En este trabajo se presenta una propuesta de arquitectura de software para brazos robóticos que corren en el entorno ya ampliamente utilizado de GNU/Linux. Se aborda la necesidad de una arquitectura de software que sea fácil de implementar y escalable en cuanto a su utilización de recursos para prototipos de robots y sistemas completos funcionales. Se presentan diferentes configuraciones y conceptos relacionados a la manipulación y el control de sistemas robóticos y se presenta una propuesta de un robot como caso de estudio para mostrar las dificultades y ventajas de dicha implementación, así como sus parámetros de desempeño en cuanto a tiempos de respuesta y aplicaciones. Robotic manipulation is crucial element of advanced automation tools, however the methods for controlling it are usually crafted for specific and custom designs that are deeply tied to the hardware of the robotics. These type of implementations results in non-re-usable code and optimization algorithms that only work for specific robotic families. In here we will discuss a software architecture for robotic arms running under the freely and widely available GNU/Linux environment along with its benefits and drawbacks of such. The work here expresses the need for a software architecture that results in an easy to implement and scalable framework for robotics prototyping and real functioning systems. In here we will be discussing different robotic configurations and the concepts associated with manipulating and controlling robotic systems. A robot configuration is used as a case of study where the challenges and benefits of the implementation are discussed along with performance data and applications developed with the framework.Consejo Nacional de Ciencia y Tecnologí

Factors associated with hospitalization for aortic stenosis in Portugal from 2015 to 2017

publishersversionpublishe

New version of the Pediatric Evaluation of Disability Inventory (PEDI-CAT): translation, cultural adaptation to Brazil and analyses of psychometric properties

BACKGROUND: The Pediatric Evaluation of Disability Inventory-Computer Adaptive Test (PEDI-CAT), developed with innovative measurement methodologies, evaluates functioning of children and youth, from 0 to 21 years, with different health conditions. It is a revision of an earlier instrument (PEDI) that has been used in national and international clinical practice and research. It was felt to be necessary to make this new version (PEDI-CAT) available in Brazil. OBJECTIVES: Translate and culturally adapt the PEDI-CAT to the Brazilian-Portuguese language and test its psychometric properties. METHOD: This methodological study was developed through the following stages: (1) translation, (2) synthesis, (3) back-translation, (4) revision by an expert committee, (5) testing of the pre-final version, and (6) evaluation of the psychometric properties. The 276 translated PEDI-CAT items were divided into three age groups (0-7, 8-14, and 15-21 years). RESULTS: The PEDI-CAT translation followed all six stages. The adaptations incorporated cultural and socioeconomic class specificities. The PEDI-CAT/Brazil showed good indices of inter-examiner (intraclass correlation coefficient-ICC=0.83-0.89) and test-retest (ICC=0.96-0.97) reliability, good internal consistency (0.99) and small standard error of measurement in all three age groups (0.12-0.17). Factor analyses grouped the items from the three functional skills domains into one factor, and items from the responsibility scale into three factors, supporting the adequacy of these factor solutions to the conceptual structure of the instrument and the developmental model. CONCLUSION: The PEDI-CAT/Brazil is a theoretically consistent, culturally appropriate, and reliable instrument. Its availability in Brazil will contribute to the evaluation and measurement of functional outcomes from clinical interventions, longitudinal follow-up, and rehabilitation research

Sfp1 and Rtg3 reciprocally modulate carbon source-conditional stress adaptation in the pathogenic yeast Candida albicans

Acknowledgements We thank Aaron Mitchell, Dominique Sanglard and Suzanne Noble for their generosity in providing mutant collections, and Linghuo Jiang for generously providing strains. We also thank Susan Budge for her support and excellent technical assistance. We also thank the qPCR Facility in the Institute of Medical Sciences, and particularly Fiona Saunders for her great advice and help. SLK was supported by a PhD scholarship from the University of Aberdeen. AJPB was supported by the UK Biotechnology and Biological Research Council (BB/F00513X/1; BB/K017365/1), by the European Research Council (STRIFE Advanced Grant; ERC-2009-AdG-249793), and by the UK Medical Research Council (MR/M026663/1). AJPB and CAM were also supported by the Wellcome Trust (088858; 097377), and by the MRC Centre for Medical Mycology and the University of Aberdeen (MR/N006364/1).Peer reviewedPublisher PD

Distribuição espacial e temporal de lagartas de Spodoptera frugiperda no milho.

Resumo ID: 2496-

Hole burning in a nanomechanical resonator coupled to a Cooper pair box

We propose a scheme to create holes in the statistical distribution of excitations of a nanomechanical resonator. It employs a controllable coupling between this system and a Cooper pair box. The success probability and the fidelity are calculated and compared with those obtained in the atom-field system via distinct schemes. As an application we show how to use the hole-burning scheme to prepare (low excited) Fock states.Comment: 7 pages, 10 figure