Estudo do movimento humano em tarefas de transporte cooperativo

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e ComputadoresA interação humano-robô tem uma enorme aplicabilidade na realização de tarefas cooperativas do nosso quotidiano. Um exemplo, é o transporte de objetos largos e compridos, que devido à dificuldade da tarefa, um humano, sozinho, não seria capaz de efetuar. No entanto, com a ajuda de um segundo agente, um robô por exemplo, a tarefa já podia então ser concluída. Para que o transporte seja bem-sucedido é necessário que o humano e o robô estejam em sintonia para que no caso de ser encontrada uma dificuldade de percurso (e.g. corredor apertado ou corredor sem saída), não haja conflito entre os intervenientes. Nesta dissertação, pretendemos desenvolver uma experiência com equipas humano-humano a efetuar o transporte de um objeto comprido até uma localização alvo passando por um corredor mais apertado onde a coordenação entre os participantes se torna imperativa. A estratégia utilizada designa-se de Leader-Follower, onde o Leader sabe a localização alvo escolhendo o caminho até lá e o Follower tem como objetivo ajudar o Leader a completar a tarefa se possível sem colisões ao longo do percurso. O Follower não tem qualquer informação acerca do alvo. Durante a experiência, os participantes irão transportar dois tipos de objetos (objetos com tamanhos diferentes). A ausência de comunicação entre os intervenientes, a falta de informação acerca do ambiente e a visibilidade reduzida tornam-se obstáculos a superar pelos participantes. Inicialmente é feita uma descrição detalhada da experiência, onde é apresentado o cenário onde esta foi desenvolvida, o sistema de motion tracking usado para capturar as trajetórias dos participantes, os objetos a serem transportados pelos participantes, os chapéus responsáveis por limitar a quantidade de informação ao dispor dos participantes, e por fim o procedimento adotado. Seguidamente é explicado detalhadamente o processamento aplicado aos dados até à serem exportados. Finalmente são apresentadas as variáveis calculadas que descrevem as trajetórias dos participantes e os métodos estatísticos usados para apresentar e relacionar os resultados. Os resultados obtidos demonstram que o Leader da tarefa tem em atenção as dificuldades do parceiro adotando trajetórias mais seguras ao longo da experiência. Mostram também a existência de um efeito de aprendizagem por parte do participante Leader à medida que a experiência é realizada. Em relação ao Follower, conclui-se que este segue a orientação do objeto, no entanto, é o responsável por corrigir a trajetória na eventualidade de uma colisão.The human-robot interaction has a huge applicability in carrying out cooperative tasks of everyday life. An example of those applications are the joint-carrying tasks like the transport of wide and long objects. Given the difficulty of the task a human, by himself, would not be able to perform it successfully. However, with the help of a second agent, like a robot, the task could then be concluded. Nonetheless, to successfully accomplish the task, both agents need to be coordinated in space and time so any route difficulty (tighter corridor, dead end, etc.) can be solved accordingly. In this dissertation, we intend to develop an experiment with human-human teams while a transport of a long object through a tighter corridor is developed. In this case scenario the coordination between the participants becomes imperative. The strategy adopted is called the Leader-Follower, where the Leader knows the target location and he is responsible to choose the path to get there. The Follower has to help the Leader to complete the task preferably without any collision. The Follower does not have any information about the target’s location. During the experiment, two types of objects will be carried by the participants (objects with different sizes). The absence of communication between the participants, the lack of information about the environment and the reduced visibility become obstacles to overcome by the participants. First, a detailed description of the experience is given, where the scenario and the motion tracking system used to capture the trajectories of the participants are presented. Afterwards the objects to be transported by the participants, the hats responsible to limit the amount of information to available for participants and the procedure adopted are revised. Finally, it is explained how the collected data was processed and exported to be analyzed and which characteristics of the participant’s trajectories were explored and how they were calculated. The results shown that the Leader takes into account the difficulties of the Follower adopting safer paths through the experience. They also shown that there is a learning effect by the participant Leader as the experiment is performed. Regarding the Follower, it is concluded that he follows the orientation of the object. However, he is responsible for adapting his trajectory in order to avoid collisions

Feridas complexas

Complex wound is the term used more recently to group those well-known difficult wounds, either chronic or acute, that challenge medical and nursing teams. They defy cure using conventional and simple "dressings" therapy and currently have a major socioeconomic impact. The purpose of this review is to bring these wounds to the attention of the health-care community, suggesting that they should be treated by multidisciplinary teams in specialized hospital centers. In most cases, surgical treatment is unavoidable, because the extent of skin and subcutaneous tissue loss requires reconstruction with grafts and flaps. New technologies, such as the negative pressure device, should be introduced. A brief review is provided of the major groups of complex wounds-diabetic wounds, pressure sores, chronic venous ulcers, post-infection soft-tissue gangrenes, and ulcers resulting from vasculitis.Ferida complexa é uma nova definição para identificar aquelas feridas crônicas e algumas agudas já bem conhecidas e que desafiam equipes médicas e de enfermagem. São difíceis de serem resolvidas usando tratamentos convencionais e simples curativos. Têm atualmente grande impacto sócio-econômico. Esta revisão procura atrair atenção da comunidade de profissionais de saúde para estas feridas, sugerindo que devam ser tratadas por equipe multidisciplinar em centro hospitalar especializado. Na maioria dos casos o tratamento cirúrgico deve ser indicado, uma vez que a perda de pele e tecido subcutâneo é extensa, necessitando de reconstrução com enxertos e retalhos. Nova tecnologia, como uso da terapia por pressão negativa foi introduzido. Breves comentários sobre os principais grupos de feridas complexas: pé diabético, úlceras por pressão, úlceras venosas, síndrome de Fournier e vasculites

Surveillance of non-indigenous invertebrate species through DNA metabarcoding in recreational marinas in the North and Center of Portugal

DNA metabarcoding has been widely used in biodiversity assessments as a complement to traditional morphology-based techniques. This technique is useful for the early detection and surveillance of non-indigenous species (NIS) in aquatic ecosystems. When introduced to new locations, NIS can establish, and become invasive, which may cause severe alterations to native ecosystems and biodiversity. As most introductions in coastal ecosystems occur by transport in ships (through ballast waters discharges and biofouling), ports and marinas are priority hubs for the early detection of NIS. The aim of this study was to survey marine invertebrate NIS in four marinas in the north and center of Portugal using (e)DNA metabarcoding and different sampling methodologies. We sampled four marinas in three locations in Portugal spanning a distance of ca. 150 km: one in Viana do Castelo (VC), one in Porto (L), inside the port of Leixões, and two in Aveiro (Av1: Costa Nova and Av2: Oudinot). Viana do Castelo, Porto, and Oudinot marinas are more sheltered, located near the coast, with a lower current flow, while Costa Nova marina is located inside a channel, more exposed to the passage of ships and to a higher current flow. Samples were taken of the organisms colonizing the marinas’ hard substrates (e.g. pontoons, buoys, ropes), as well as from water, for environmental DNA (eDNA) analysis, and zooplankton, collected using a 55-µm mesh net. We used two molecular markers: the mitochondrial cytochrome c oxidase gene (COI) and the small subunit ribosomal RNA gene (18S) to produce amplicon libraries for each sample, which were high throughput sequenced in an Illumina MiSeq platform. mBRAVE and SILVAngs were then used to process the sequence data and to generate species-level assignments for COI and 18S data, respectively. A total of 23 NIS was detected in this study: 13 using each molecular marker. Only 3 NIS were detected using both markers. The highest number of NIS was detected in the Av1 marina with COI (11), whereas in the other marinas this number ranged from 5-9 NIS depending on the molecular marker. Six NIS were common to all the marinas, amongst which Amphibalanus amphitrite and Amphibalanus eburneus , two invasive barnacle species and Eriocheir sinensis, the Chinese mitten crab, a very well-known species with invasive behavior that causes severe ecological and economic damages. Fifty percent of NIS belonged to the phyla Arthropoda: Crustacea and Chordata: Ascidiacea. The sampling method that registered the highest number of NIS (9) was the eDNA from water in Av1, using COI. Overall, 18S detected approximately 1,6 times higher numbers of OTUs (237-267), phyla (16-21) and species (179-210) than COI, and only 5-6% of species were detected using both markers. Regarding the type of sampling method, the zooplankton samples retrieved the highest number of phyla (20 in VC; COI: 12 and 18S: 20) and more species (40 to 155; COI: 90 and 18S: 155), namely from Mollusca and Annelida. Between the three methods, there were only 21 (COI) to 28% (18S) of shared species. Crustacea dominated most samples collected from hard substrates. As for marinas, VC had the highest number of recovered OTUs (267), phyla (21) and species (210), when analyzed with the 18S marker, and the lowest number of OTUs (94) and species (86) was recovered in Av1 with COI. Coincidently, this was also the marina with the highest number of NIS probably due to its more exposed location. These results show the efficiency of NIS detection using (e)DNA metabarcoding but reveal the need to employ different molecular markers and sampling methodologies to guarantee a more comprehensive surveillance and detection of NIS in these environmentsNIS-DNA: Early detection and monitoring of non-indigenous species (NIS) in coastal ecosystems based on high-throughput sequencing tools (PTDC/BIA-BMA/29754/2017). Ana S. Lavrador was supported by grant UI/BD/150871/202

Calidad de vida relacionada con la salud en pacientes con hepatitis c en terapia doble y triple

OBJETIVO Comparar los puntajes de Calidad de Vida Relacionada con la Salud (CVRS) en pacientes con hepatitis C crónica sometidos a la terapia antiviral doble y triple y analizar los posibles factores relacionados con la CVRS. MÉTODO La CVRS fue evaluada utilizando el Short Form 36 y elChronic Liver Disease Questionnaire , que fueron aplicados antes y en las semanas 4, 12 y 16 de tratamiento, en 32 pacientes divididos en 2 grupos: terapia doble con interferón pegilado (IFN-PEG) y ribavirina, y triple con IFN-PEG, ribavirina y telaprevir. RESULTADOS La reducción de la CVRS fue mayor en pacientes en terapia triple cuando comparados con los tratados con dos drogas, siendo el momento más crítico la 12ª semana en ambos grupos. Después de la retirada del telaprevir, el grupo de terapia triple mejoró de modo significativo los puntajes de CVRS. Ansiedad y depresión en el pre tratamiento, situación de empleo y raza se mostraron relacionados con la reducción de la CVRS. CONCLUSIÓN Pacientes sometidos a la terapia doble y triple presentan reducción de los índices de CVRS, pero la adición del telaprevir les proporciona una caída más expresiva.OBJETIVO Comparar os escores de Qualidade de Vida Relacionada à Saúde (QVRS) em pacientes com hepatite crônica C submetidos à terapia antiviral dupla e tripla e analisar os possíveis fatores relacionados à QVRS. MÉTODO A QVRS foi avaliada utilizando o Short Form 36 e oChronic Liver Disease Questionnaire , que foram aplicados antes e nas semanas 4, 12 e 16 de tratamento, em 32 pacientes divididos em 2 grupos: terapia dupla com interferon peguilado (IFN-PEG) e ribavirina e tripla com IFN-PEG, ribavirina e telaprevir. RESULTADOS A redução da QVRS foi maior em pacientes em terapia tripla quando comparados àqueles tratados com duas drogas, sendo o momento mais crítico a 12ª semana em ambos os grupos. Após a retirada do telaprevir, o grupo terapia tripla melhorou de modo significativo os escores de QVRS. Ansiedade e depressão no pré-tratamento, status empregatício e raça se mostraram relacionados à redução da QVRS. CONCLUSÃO Pacientes submetidos à terapia dupla e tripla apresentam redução dos índices de QVRS, mas a adição do telaprevir confere uma queda mais expressiva.OBJECTIVE Comparing Health-Related Quality of Life (HRQoL) scores in patients with chronic hepatitis C undergoing double and triple antiviral therapy and analyzing possible factors related to HRQoL. METHOD HRQoL was assessed using the Short Form 36 and Chronic Liver Disease Questionnaire, which were applied at baseline and at weeks 4, 12 and 16 of treatment to 32 patients divided into two groups: double therapy with pegylated interferon (IFN-PEG) and ribavirin, and triple therapy with PEG-IFN, ribavirin and telaprevir. RESULTS The reduction of HRQoL was greater in patients receiving triple therapy compared to those treated with two drugs, the most critical time is at 12 weeks in both groups. After removal of telaprevir, the triple therapy group significantly improved their HRQoL scores. Anxiety and depression before treatment, employment status and race are significantly related to diminished HRQoL. CONCLUSION Patients undergoing double and triple therapy have diminished HRQoL indexes, but the addition of telaprevir chooses a more significant decrease

Main clinical evidence of ultrasound and ozone therapy in the endodontics treatments: the systematic review

Introduction: Issues related to endodontic treatment are intrinsically linked to the prevention and total control of pulp and periapical infections. The presence of microorganisms is not limited to the endodontic but is also present in the periradicular regions, characterized by an apical biofilm that is strongly adhered to the surface. In this context of decontamination of root and periapical canals, ozone has been highlighted as an important sanitizer. Objective: To demonstrate the main experimental and clinical findings of the use of ozone therapy alone and in association with conventional treatments as an antiseptic in the treatment of root canals. Methods: The research was carried out from May 2021 to June 2021 and developed based on Scopus, PubMed, Science Direct, Scielo, and Google Scholar, following the Systematic Review-PRISMA rules. The quality of the studies was based on the GRADE instrument and the risk of bias was analyzed according to the Cochrane instrument. Results: There is moderate evidence to provide important preliminary information about ozone therapy. As for reducing the microbial load for patients undergoing root canal treatment, ozone therapy has inferior results when compared to conventional chemomechanical techniques using NaOCl. The joint action of these treatments proved to be quite effective. Conclusion: Ozone therapy is proving to be a useful new treatment modality that offers great benefits to patients. The strong antimicrobial power of ozone, together with its ability to stimulate the circulatory system and modulate the immune response, makes it a corrective agent of choice in the treatment of various oral infectious diseases. More research is needed to help with its reproducibility, its use should be indicated by the dentist in clinical practice

Interdisciplinarity in health education: updating, successes and challenges

The advent of the concept of interdisciplinarity arose from the need to update traditional curricula in view of the complexity of health problems and the search for training professionals with a more global vision and a reflective attitude, less fragmented and biological, resulting in the correlation between the disciplines as an important tool in current healthcare education. The aim of the study is to present an update on the importance of interdisciplinarity in the curricular formation of health education and its applicability in the context of health work. A literature review was carried out in the Scielo, Lilacs and PUBMED/Medline databases, between January 2016 and April 2021 with the keywords interdisciplinarity, education and health. 77 publications related to the keywords were identified. Of these, 23 were considered relevant to the scope of the study. The publications show successful examples of the implementation of interdisciplinarity as a curricular model tool in healthcare courses and between different courses in this area (interprofessionality), cases of educational institutions that have already used it for a long time in their curricula and discuss the challenges to its implementation and its benefits to the professional egress and to the society that receives their service. It is necessary to implement interdisciplinarity in the curricula of health schools so that we can train professionals who have a more global and reflective vision for patients and society

Terapia por pressão negativa (vácuo) no preparo do leito da ferida em pacientes diabéticos: série de casos

CONTEXT: Complications from diabetes mellitus affecting the lower limbs occur in 40 to 70% of such patients. Neuropathy is the main cause of ulceration and may be associated with vascular impairment. The wound evolves with necrosis and infection, and if not properly treated, amputation may be the end result. Surgical treatment is preferred in complex wounds without spontaneous healing. After debridement of the necrotic tissue, the wound bed needs to be prepared to receive a transplant of either a graft or a flap. Dressings can be used to prepare the wound bed, but this usually leads to longer duration of hospitalization. Negative pressure using a vacuum system has been proposed for speeding up the treatment. This paper had the objective of analyzing the effects of this therapy on wound bed preparation among diabetic patients. CASE SERIES: Eighty-four diabetic patients with wounds in their lower limbs were studied. A commercially available vacuum system was used for all patients after adequate debridement of necrotic tissues. For 65 patients, skin grafts completed the treatment and for the other 19, skin flaps were used. Wound bed preparation was achieved over an average time of 7.51 days for 65 patients and 10 days for 12 patients, and in only one case was not achieved. CONCLUSIONS: This experience suggests that negative pressure therapy may have an important role in wound bed preparation and as part of the treatment for wounds in the lower limbs of diabetic patients.CONTEXTO: Complicações do diabetes mellitus que afetam os membros inferiores ocorrem em 40 a 70% dos pacientes. A neuropatia é a principal causa de ulceração e pode estar associada com problemas vasculares. A ferida evolui com necrose e infecção, e se não for corretamente tratada poderá terminar em amputação. O tratamento cirúrgico é preferido em feridas complexas, quando não há cicatrização espontânea. Após desbridamento cirúrgico do tecido necrótico do leito da ferida este precisa ser preparado para receber um transplante, seja um enxerto ou um retalho. Curativos podem ser usados para o preparo do leito da ferida, mas frequentemente levam a um longo tempo de hospitalização. A pressão negativa usada através de um sistema vácuo foi proposta para acelerar o tempo de tratamento. O presente trabalho teve como finalidade analisar os efeitos desta terapia no preparo do leito de feridas em pacientes diabéticos. SÉRIE DE CASOS: Oitenta e quatro pacientes diabéticos com feridas em membros inferiores foram estudados. Um sistema vácuo de uso comercial foi utilizado em todos os pacientes após adequado desbridamento de tecidos necróticos. Em 65 pacientes enxertos de pele completaram o tratamento e em outros 19 retalhos cutâneos. O preparo do leito da ferida foi conseguido, em média, em 7,51 dias em 65 pacientes, em 10 dias para 12 pacientes e em somente um caso não foi efetivo. CONCLUSÃO: A experiência sugere que a terapia por pressão negativa possa ter um papel importante no preparo do leito e como parte do tratamento de feridas nos membros inferiores de pacientes diabéticos

Evidence of the association between endodontic infections and heart diseases: a systematic review

Introduction: In the scenario of heart diseases, especially cardiovascular diseases (CVD), there are several predictors of these diseases, including diseases related to oral health. Objective: It was to analyze through clinical studies the association of diseases of the oral cavity with cardiovascular diseases, to point out the main causes and treatments for future clinical studies. Methods: The rules of the Systematic Review-PRISMA Platform were followed. The research was carried out from January 2022 to April 2022 and developed based on Scopus, PubMed, Science Direct, Scielo, and Google Scholar. The quality of the studies was based on the GRADE instrument and the risk of bias was analyzed according to the Cochrane instrument. Results and Conclusion: In line with the objective proposed in the present study, the results concluded that the association between chronic endodontic infection and CVD cannot be disregarded, although it is of limited quality evidence at the moment. Thus, clinical studies observed that the risk of diagnosing CVD in patients with chronic endodontic infection was 1.38 times those without infection. Furthermore, early childhood caries showed that the microbiome profile composed of Fusobacterium, Prevotella, Capnocytophaga, and Oribacterium were more abundant in the group with congenital heart disease than in the group without congenital heart disease. Also, the greater number of missing teeth was associated with an increased risk of a first acute myocardial infarction, and endodontic inflammatory disease may contribute as an independent risk factor for cardiovascular diseases

Assembleia de Moluscos da Região do Pântano do Ramalho, Cabo Frio, RJ: Indicadores Biológicos de Variação do Nível Relativo do Mar Durante o Holoceno

Na planície costeira do Rio Una, Cabo Frio, litoral Norte do Estado do Rio de Janeiro, são encontradas evidências biológicas de variação do nível relativo do mar durante o Holoceno, representadas por acumulações muito densas e de ampla distribuição compostas predominantemente por conchas de moluscos. O presente trabalho tem como objetivo descrever uma nova ocorrência de acumulação de conchas de moluscos na região do pântano no Ramalho, planície costeira do rio Una. A área de estudo situa-se no interior do condomínio Portal de Búzios, localizado na Rodovia Amaral Peixoto (RJ-106) na altura do Km 125 entre as coordenadas 22º44’53’’S e 42º03’29’’W. O levantamento da cota altimétrica do banco de conchas foi realizado através de rastreadores DGPS’s Pro Mark 2. Para realização das análises taxonômicas, paleoecológicas e geocronológicas foram coletadas aproximadamente 1,75 dm3 de conchas de moluscos em uma trincheira de 0,50 cm, escavada na margem de uma pequena represa na área do condomínio Portal de Búzios. Aproximadamente 100 gramas de conchas da espécie Anomalocardia brasiliana foram enviadas para datação absoluta pelo método radicarbono para o Beta Analytic Inc, na cidade de Miami – Estados Unidos. Dados obtidos através de um DGPS pro mark 2 apontam uma altimetria de 0,90 m acima do nível do mar atual. Somente três espécies de moluscos foram identificadas neste depósito: Anomalocardia brasiliana, Crassostrea rizophorae e Lucina pectinata. A. brasiliana e L. pectinata têm hábito infaunal não aderido, vivem em fundos arenosos ou lamosos. C. rizophorae tem hábito epifaunal aderido, vivem em substratos rochosos e de cascalho. As três espécies apresentam cotas batimétricas variando entre 0 a 30 m de profundidade. A maior parte das conchas encontradas se apresenta com baixo grau de fragmentação e corrosão, indicando pouco ou nenhum transporte. Algumas conchas de L. pectinata e A. brasiliana encontram-se articuladas, e as conchas de C. rizophorae encontram-se incrustadas nas conchas das outras espécies. A idade convencional do depósito é de 5.780 + 70 A.P., calibrada pelo programa CALIB 5.0, em 5.997 – 6.333 anos cal. A.P. Esses dados são similares às idades encontradas em depósitos análogos ao longo do litoral norte do estado do Rio de Janeiro

Evolução da linha de praia do Peró, Cabo Frio / RJ nos últimos 7.000 anos

The present work aims to evaluate the coastal dynamics along the Peró beach over the last 7,000 years, using shell-midden dating, sediment granulometric analysis, aerial photography from different ages, and field investigation to aid result interpretation and provide for clues on the adaptation of the methodology employed. Paleobeach reconstruction has been made possible by a combination of 14C age-dating and the interpretation of beach ridge disposition. Aerial photography from the years of 1959, 1976, and 2003 allow the evaluation of the present short-term coastline behavior, thus establishing the position of the paleobeach in relation to the current high-tide zone. Results indicate that the paleobeach situated in the present-day coastal plain dates from 3.373 - 3.000 cal A.P. Coastline variation in the 1959 - 1976 period consists of approximately 30m of accretion on its most significant point, while in the it eroded about 30m at the central beach sector during 1976 - 2003 period. In this context, results are considered satisfactory for the understanding of sedimentation dynamics at the Peró beach, in the city of Cabo Frio, Rio de Janeiro, Brazil.O presente trabalho tem como objetivo estudar a dinâmica costeira da praia do Peró nos últimos 7.000 anos, usando como parâmetro datações no depósito de conchas, análise granulométrica, interpretação de fotografias aéreas de diferentes datas de vôo e investigações de campo que facilitassem as interpretações dos resultados encontrados e adequações na metodologia a ser empregada. Através do método de datação por 14C foi possível estabelecer a idade da paleopraia e pela disposição das cristas praias fazer a sua reconstituição. As fotografias aéreas correspondentes aos anos de 1959, 1976 e 2003 permitiram uma avaliação de curto prazo sobre o comportamento da atual linha de costa, estabelecendo assim, a relação do antigo posicionamento da paleopraia em relação à faixa de preamar atual. Os resultados indicaram que a paleopraia situada no interior da planície costeira apresenta idade 3.373 - 3.000 cal A.P. A variação da linha de costa correspondente ao período de 1959 - 1976 foi de aproximadamente 30 m de acresção e entre 1976 - 2003, a retrogradação foi de 30 m. Neste contexto os resultados alcançados mostraram-se satisfatório para compreensão da dinâmica sedimentar da praia do Peró, município de Cabo Frio - Rio de Janeiro