Evolution strategies combined with central pattern generators for head motion minimization during quadruped robot locomotion

In autonomous robotics, the head shaking induced by locomotion is a relevant and still not solved problem. This problem constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this article, we propose a movement controller to generate locomotion and head movement. Our aim is to generate the head movement required to minimize the head motion induced by locomotion itself. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs). CPGs are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows to explicitly specify parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. Based on these ideas, we propose a combined approach to generate head movement stabilization on a quadruped robot, using CPGs and an evolution strategy. The best set of parameters that generates the head movement are computed by an evolution strategy. Experiments were performed on a simulated AIBO robot. The obtained results demonstrate the feasibility of the approach, by reducing the overall head movement

Morfodiagnose de Orbignya teixeirana Bondar (Palmae - Cocosoideae) nos Estados do Piaui e Maranhao.

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The influence of scavengers on VOC emissions in particleboards made from pine and poplar

This paper studies the performance of scavengers on Volatile Organic Compound (VOC) emissions from wood-based composites. Particleboards made from maritime pine (Pinus pinaster Ait.) and European poplar (Populus spp.) were produced with a UF resin doped with melamine and two scavengers, sodium metabisulfite and urea. VOC emission was measured according to EN ISO 16000. Particleboards made from pine present much higher total VOC (TVOC) emissions than boards made from poplar. Pine emits a higher amount of terpenes, but also aldehydes, acids and terpenoids, while poplar emits mainly acetic acid. Sodium metabisulfite showed an excellent ability to reduce aldehydes emission, which represents nearly 50 % of total emission of particleboards made from pine. When sodium metabisulfite was applied to particleboards made from poplar, reduction of TVOCs was not significant due to the low contribution of aldehydes to TVOCs. Urea presents a low reduction in TVOCs for both wood species

Composição química da forragem produzida em pastagens degradadas de Brachiaria brizantha cv. Marandu submetidas a diferentes níveis e freqüência de fertilização do solo.

O objetivo deste trabalho foi avaliar os efeitos de níveis e frequências de fertilização do solo sobre a composição química da forragem produzida empastagens degradadas de Brachiaria brizantha cv.Marandu, nas condições edafoclimáticas de PortoVelho - RO.bitstream/item/45969/1/ct116-pastagem.pd

Resposta de pastagens degradadas de Brachiaria brizantha cv. Marandu a diferentes níveis e frequência de fertilização do solo.

O objetivo desse trabalho foi avaliar os efeitos de níveis e frequências de fertilização do solo no acúmulo de forragem em pastagens degradadas de Brachiaria brizantha cv. Marandu, nas condições edafoclimáticas de Porto Velho-RO.bitstream/item/46603/1/cot363-pastagem.pd

Influence of Insulin-like Growth Factor I (IGF-I) on the survival and the in vitro development of caprine preantral follicles

The aim of this study was to investigate the effects of the insulin-like growth factor -I (IGF-I) on survival, activation (transition from primordial to primary follicles) and growth of caprine preantral follicles cultured in vitro. Fragments of ovarian cortex were cultured for one and seven days in the absence or presence of IGF-I (0, 50 and 100ng/ml). The non-cultured and cultured tissues were processed and analyzed by histology and transmission electron microscopy. The culture for one day in a medium with 100ng/ml of IGF-I showed 86.7% of morphologically normal follicles. These results were similar (P>0.05) to the percentage of normal follicles found in the control (96.7%). It was also found that this medium increased the percentage of follicular activation (developing follicles) with one day of culture. The oocyte and follicular diameters remained similar to the control by culturing for one day in a medium containing 100ng/ml of IGF-I. The ultrastructural analysis did not confirm the integrity of the follicular fragments in a medium containing IGF-I (100ng/ml) after one and seven days of culture. In conclusion, this study demonstrated that the addition of 100 ng/ml of IGF-I in the culture medium enables the development of preantral follicles of goats with one day of culture. However, it is not sufficient to maintain the follicular integrity and the follicular survival rate after seven days of culture.O objetivo do presente estudo foi investigar os efeitos do fator de crescimento semelhante a insulina-I (IGF-I) na sobrevivência, ativação (transição de folículos primordiais para primários) e crescimento de folículos pré-antrais caprinos cultivados in vitro. Fragmentos de córtex ovariano foram cultivados por um e sete dias na ausência ou presença de IGF-I (0, 50 e 100ng/mL). Os tecidos não cultivados e cultivados foram processados e analisados por histologia e microscopia eletrônica de transmissão. O cultivo por um dia em meio com 100ng/mL de IGF-I apresentou 86,7% de folículos morfologicamente normais. Estes resultados foram semelhantes (P>0,05) ao percentual de folículos normais encontrados no controle (96,7%). Verificou-se ainda que este meio aumentou o percentual de ativação folicular (folículos em desenvolvimento) com um dia de cultivo. Os diâmetros ovocitário e folicular mantiveram-se semelhantes ao controle ao cultivar por um dia em meio contendo 100ng/mL de IGF-I. As análises ultraestruturais não confirmaram a integridade folicular dos fragmentos em meio contendo IGF-I (100 ng/mL) após um e sete dias de cultivo. Em conclusão, esse estudo demonstrou que a adição de 100 ng/mL de IGF-I no meio de cultivo ativa o desenvolvimento de folículos pré-antrais de caprinos com um dia de cultivo. Entretanto, não é suficiente para manter a integridade folicular e a taxa de sobrevivência folicular após sete dias de cultivo

Implantable microdevice with integrated wireless power transfer for thermal neuromodulation applications

Medication resistant neurological and psychiatric disorders, RNPD, are devastating multicausal chronic diseases that cannot be adequately controlled using conventional pharmaco and/or psychotherapies, being epilepsy a well-known RNPD. Wireless biomedical device availability is growing at an impressive rate, and the systems' miniaturization, integration and complexity is also increasing, unveiling new therapies based on such new devices. This paper presents a new wireless implantable device as a solution for thermal neuromodulation of brain cells, which can be used to treat or study the brain's behavior when cooled down. The obtained results show that, despite these systems' potential to be power hungry, they may operate within acceptable electrical power values, while reaching the required neuromodulation temperatures.This work has been supported by FCT (Fundação para a Ciência e Tecnologia) in the scope of the project PTDC/EEITEL/5250/2014, project PTDC/CTM-NAN/5414/2014 and under grant SFRH/BD/100649/2014.info:eu-repo/semantics/publishedVersio

Maize open-pollinated populations physiological improvement: validating tools for drought response participatory selection

Participatory selection—exploiting specific adaptation traits to target environments—helps to guarantees yield stability in a changing climate, in particular under low-input or organic production. The purpose of the present study was to identify reliable, low-cost, fast and easy-to-use tools to complement traditional selection for an e ective participatory improvement of maize populations for drought resistance/tolerance. The morphological and eco-physiological responses to progressive water deprivation of four maize open-pollinated populations were assessed in both controlled and field conditions. Thermography and Chl a fluorescence, validated by gas exchange indicated that the best performing populations under water-deficit conditions were ‘Fandango’ and to a less extent ‘Pigarro’ (both from participatory breeding). These populations showed high yield potential under optimal and reduced watering. Under moderate water stress, ‘Bilhó’, originating from an altitude of 800 m, is one of the most resilient populations. The experiments under chamber conditions confirmed the existence of genetic variability within ‘Pigarro’ and ‘Fandango’ for drought response relevant for future populations breeding. Based on the easiness to score and population discriminatory power, the performance index (PIABS) emerges as an integrative phenotyping tool to use as a refinement of the common participatory maize selection especially under moderate water deprivationinfo:eu-repo/semantics/publishedVersio