Erratum: Martins, M.S., et al. Wideband and wIde beam polyvinylidene difluoride (PVDF) acoustic transducer for broadband underwater. Sensors 2019, 19, 3991

The authors wish to make the following erratum to this paper [...].info:eu-repo/semantics/publishedVersio

Automatic Denavit-Hartenberg parameter identification for serial manipulators

An automatic algorithm to identify Standard Denavit-Hartenberg parameters of serial manipulators is proposed. The method is based on geometric operations and dual vector algebra to process and determine the relative transformation matrices, from which it is computed the Standard Denavit-Hartenberg (DH) parameters (ai, ai, di, θi). The algorithm was tested in several serial robotic manipulators with varying kinematic structures and joint types: the KUKA LBR iiwa R800, the Rethink Robotics Sawyer, the ABB IRB 140, the Universal Robots UR3, the KINOVA MICO, and the Omron Cobra 650. For all these robotic manipulators, the proposed algorithm was capable of correctly identifying a set of DH parameters. The algorithm source code as well as the test scenarios are publicly available.FCT - Fundação para a Ciência e a Tecnologia(SFRH/BD/86499/2012

AN INFORMATION THEORETIC APPROACH TO THE CONSTRUCTION OF EFFICIENT DECISION TREES

This paper treats the problem of construction of efficient decision trees. Construction of optimal decision trees is an NP-complete problem and, therefore, a heuristic approach for the design of efficient decision trees is considered. The approach is based on information theoretic concepts and the proposed algorithm provides us with a simple procedure for the construction of near-optimal decision trees

A fast and precise tool for multi-layer planar coil self-inductance calculation

An open-source tool that allows for a fast and precise analytical calculation of multi-layer planar coils self-inductance, without any geometry limitation is proposed here. The process of designing and simulating planar coils to achieve reliable results is commonly limited on accuracy and or geometry, or are too time-consuming and expensive, thus a tool to speed up this design process is desired. The model is based on Grover equations, valid for any geometry. The validation of the tool was performed through the comparison with experimental measurements, Finite Element Model (FEM) simulations, and the main analytical methods usually used in literature, with errors registered to be below 2.5%, when compared to standard FEM simulations, and when compared to experimental measurements they are below 10% in the case of the 1-layer coils, and below 5% in the 2-layer coils (without taking into consideration the coil connectors). The proposed model offers a new approach to the calculation of the self-inductance of planar coils of several layers that combines precision, speed, independence of geometry, easy interaction, and no need for extra resources.This work is supported by: European Structural and Investment Funds in the FEDER component, through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) [Project nº 037902; Funding Reference: POCI-01-0247-FEDER-037902]. The work of Andreia Faria was funded by FCT—Fundação para a Ciência e Tecnologia under Grant PD/BD/128142/2016. The work of Carlos Ferreira was supported by the Fundação para a Ciência e Tecnologia (FCT) under Grant PD/BDE/135102/2017

Robotic implantation of intracerebral electrodes for deep brain stimulation

This dissertation objective is to contribute for the development of a robotic system towards neurosurgery assistance in Deep Brain Stimulation (DBS) stereotactic procedures. Being DBS neurosurgery typically a long, physically and cognitively demanding procedure; the introduction of a robotic assistant to hold, manipulate and position instrumentation would improve the medical team working conditions and lead to better surgery outcomes. Upon understanding how could the robot be used and what robotic systems were adequate to the task, we implemented a simulation environment to emulate several industrial robot manipulators and the operating room. It was also developed each robot geometric and differential kinematic equations, and control algorithms specifically oriented for DBS neurosurgery assistance. Taking into account the operating room arrangement, the robot characteristics and task requirements, we selected the most apt industrial robotic manipulator and further elaborated on its placement and orientation to achieve utmost performance.This work has been partially financed by projects FP7 Marie Curie ITN - NETT (project no289146), FCT FCOMP-01-0124-FEDER-022674, Pest-C/MAT-UI0013/2011 (FCT grant ref. UMINHO/BIC/8/2012) and FCT PhD grant (ref. SFRH/BD/86499/2012)

Morphogenic Responses of Two \u3cem\u3eBrachiaria\u3c/em\u3e Genotypes in Response to Clipping Frequency

Tropical grasslands represent an important resource for the Brazilian cattle industry, which is heavily dependent on grazed pastures. Total pasture area in the country totals 196 M ha (23% of the country’s land area) (FAO 2013). The genus Brachiaria represents around 85% of cultivated pastures in Brazil (Moreira et al. 2009), 40% of which are established with B. brizantha cv. Marandu (Barbosa 2006). Mulato II is a new hybrid brachiaria grass cultivar which has been developed to improve agronomic characteristics, broaden the range of adaptation, and to ensure high forage production and nutritive value. It has also been viewed as a means of reducing the dependence on the Marandu palisade grass monoculture (Argel et al. 2007). The use of new cultivars should be based on adequate understanding of physiological processes and growth potential under a range of management practices. Morphogenic characteristics allow for accessing herbage accumulation potential through the measurement of tissue synthesis and senescence in forage plants. Management practices such as defoliation frequency can modify assimilate partitioning in the forage plant, affecting morphogenic characteristics related to growth rate and forage nutritive value. The objective of this research was to describe and explain morphogenic differences between Marandu palisade grass and Mulato II brachiaria grass as affected by harvest frequency

Multiparameter probability distributions for heavy rainfall modeling in extreme southern Brazil

AbstractStudy regionThe study was conducted in the Rio Grande do Sul state – Brazil.Study focusStudies about heavy rainfall events are crucial for proper flood management in river basins and for the design of hydraulic infrastructure. In Brazil, the lack of runoff monitoring is evident, therefore, designers commonly use rainfall intensity–duration–frequency (IDF) relationships to derive streamflow-related information. In order to aid the adjustment of IDF relationships, the probabilistic modeling of extreme rainfall is often employed. The objective of this study was to evaluate whether the GEV and Kappa multiparameter probability distributions have more satisfying performance than traditional two-parameter distributions such as Gumbel and Log-Normal in the modeling of extreme rainfall events in southern Brazil. Such distributions were adjusted by the L-moments method and the goodness-of-fit was verified by the Kolmogorov–Smirnov, Chi-Square, Filliben and Anderson–Darling tests.New hydrological insights for the regionThe Anderson–Darling and Filliben tests were the most restrictive in this study. Based on the Anderson–Darling test, it was found that the Kappa distribution presented the best performance, followed by the GEV. This finding provides evidence that these multiparameter distributions result, for the region of study, in greater accuracy for the generation of intensity–duration–frequency curves and the prediction of peak streamflows and design hydrographs. As a result, this finding can support the design of hydraulic structures and flood management in river basins

Mechanical pruning and soil organic amending in two terroirs. Effects on wine chemical composition and sensory profile

The knowledge about the interaction between mechanical pruning and soil organic amending is still scarce. This study aimed to examine the effects of the interaction between these two practices on wine quality. Syrah grapes from two trial fields in Portugal subjected to two different pruning systems (mechanical pruning; hand spur pruning) and five different organic amendment treatments (control, biochar, municipal solid waste compost, cattle manure, and sewage sludge) were harvested and vinified for four years. Mechanical pruning significantly reduced wine alcoholic strength, pH, and total anthocyanins. Mechanical pruning and organic amendments, tendentially reduced wine total phenols and tannin power, known as an “estimation of the astringency potential of the wines”. Tasters found low but significant differences in global appreciation with the pruning system. Sludge tended to reduce wine global appreciation more than municipal solid waste compost and cattle manure, while biochar had no effect on tasters’ preference when compared to the control. There was strong relation between yield and tasters’ preference only above 6 kg/vine and 8 kg/vine depending on the terroir. Mechanical pruning tendentially has significant effects on wine quality when yield raises above a certain level. Thus, with this pruning system, the choice of the organic amendment and its amount must be done considering the destiny of the produced grapes. To the best of our knowledge, effects of the interaction of mechanical pruning with soil organic amending on wine quality are a noveltyinfo:eu-repo/semantics/publishedVersio

[C-11]PIB PET imaging can detect white and grey matter demyelination in a non-human primate model of progressive multiple sclerosis

Background: Multiple sclerosis (MS) is a demyelinating and inflammatory disease of the central nervous system. Its diagnosis is clinical, often confirmed by magnetic resonance imaging. This image modality, however, is not ideal for discrimination of demyelination in grey and white matter regions from inflammatory lesions. Positron Emission Tomography (PET), using specific radiopharmaceuticals, can be a tool to differentiate between these processes. The radiopharmaceutical [C-11]PIB is widely used for detection of beta-amyloid plaques, but has also been suggested for the analysis of myelin content due to its consistent uptake in white matter. The aim of this study was to evaluate [C-11]PIB PET imaging as a tool for detecting demyelinated regions in white and grey matter of non-human primate model of progressive MS. Methods: Experimental autoimmune encephalomyelitis (EAE) was induced in marmosets by injection of re-combinant human myelin oligodendrocyte glycoprotein (rhMOG) emulsified in either Incomplete Freund's Adjuvant (IFA) or Complete Freund's Adjuvant (CFA). [C-11]PIB PET images were acquired prior to immunization (baseline) and after symptoms were present (end of experiment). Brain tissue was isolated for histochemical analysis. Results: All rhMOG/IFA-treated and rhMOG/CFA-treated animals showed clinical signs of EAE. The rhMOG/CFA group presented a significant [C-11]PIB uptake reduction only in the left motor cortex (9%, P = 0.011). For the rhMOG/IFA group, significant decrease in [C-11]PIB uptake was observed in the whole brain (15%, P = 0.015), in the right hemisphere of body of corpus callosum (34%, P = 0.02), splenium of corpus callosum (38%, P = 0.004), hippocampus (19%, P = 0.036), optic tract (13%, P = 0.025), thalamus (14%, P = 0.041), Globus pallidus (23%, P = 0.017), head of caudate nucleus (25%, P = 0.045), tail of caudate nucleus (29%, P = 0.003), putamen (28%, P = 0.047) and left hemisphere of body of corpus callosum (14%, P = 0.037) and head of caudate nucleus (23%, P = 0.023). [C-11]PIB uptake significantly correlated with luxol fast blue histology (myelin marker), both in the rhMOG/IFA (r(2) = 0.32, P <0.0001) and the rhMOG/CFA group (r(2) = 0.46, P <0.0001). Conclusion: [C-11]PIB PET imaging is an efficient tool for detecting demyelination in grey and white matter, in a non-human primate model of progressive MS