Design, modeling, and control of an autonomous legged-wheeled hybrid robotic vehicle with non-rigid joints

This paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotational joints with completely passive components for damping and accumulation of kinetic energy, one rigid rotational joint, and a driving wheel. Each leg uses three independent DC motors—one for each joint, as well as a fourth one for driving the wheel. The four legs have the same position configuration, except for the upper hip joint. The vehicle was designed to be modular, low-cost, and its parts to be interchangeable. Beyond this, the vehicle has multiple operation modes, including a low-power mode. Across this article, the design, modeling, and control stages are presented, as well as the communication strategy. A prototype platform was built to serve as a test bed, which is described throughout the article. The mechanical design and applied hardware for each leg have been improved, and these changes are described. The mechanical and hardware structure of the complete robot is also presented, as well as the software and communication approaches. Moreover, a realistic simulation is introduced, along with the obtained results.info:eu-repo/semantics/publishedVersio

Determination of sun protection factor (SPF) of sunscreens by ultraviolet spectrophotometry

O objetivo desta pesquisa foi determinar o Fator de Proteção Solar (FPS) de emulsões contendo filtros solares físicos e químicos por espectrofotometria no ultravioleta. Foram analisadas dez amostras comerciais de emulsões de diferentes fabricantes. Os valores de FPS rotulados foram na faixa de 8 a 30. Das emulsões analisadas, 30% apresentaram valores de FPS próximos do valor rotulado, 30% apresentaram valores acima e 40% apresentaram valores abaixo do valor rotulado. O método espectrofotométrico proposto é simples e rápido para determinação preliminar in vitro do FPS de emulsões protetoras solar.The aim of this research was to determine the sun protection factor (SPF) of sunscreens emulsions containing chemical and physical sunscreens by ultraviolet spectrophotometry. Ten different commercially available samples of sunscreen emulsions of various manufactures were evaluated. The SPF labeled values were in the range of 8 to 30. The SPF values of the 30% of the analyzed samples are in close agreement with the labeled SPF, 30% presented SPF values above the labeled amount and 40% presented SPF values under the labeled amount. The proposed spectrophotometric method is simple and rapid for the in vitro determination of SPF values of sunscreens emulsions

Narrativas pedagógicas e saberes docentes: movimentos de pesquisaformação

This paper discusses pedagogical narratives written by teachers, as possibilities of construction, sharing, and socialization of teaching knowledge, in movements that involve research and teacher education. It takes as its theoretical and methodological contribution the (auto) biographical narrative approach, in dialogue with Walter Benjamin, Paul Ricoeur and Mikhail Bakhtin. The research was developed in the context of an extension course, as continuing education, in a partnership between university and school, in the state of Rio de Janeiro, Brazil. The movements experienced in sharing with the participating teachers favored reflection by means of what was narrated, in the search for understanding of the practice itself and the conceptions that underlie it, bringing important contributions to the field of teacher training, socialized by means of lessons. One of them concerns the way we work with narrative sources when we opt for the (shared) understanding of the formative meanings which we call cointerpretation. In this process, from the teacher’s first narrative, which according to Ricoeur (2007) is already self-interpreted by the teacher, we produce, through negotiation of meanings, a second text, a metanarrative about the formative learning. Another lesson learned is that this decision presupposes an ethical and responsive posture (Bakhtin, 2012) of epistemic horizontality as we assume the radicality of making interpretative movements in a collaborative way with the co-participants.Este trabajo discute las narrativas pedagógicas escritas por profesoras como posibilidades de construcción, intercambio y socialización del conocimiento pedagógico, en movimientos que involucran la investigación y la formación de los profesores. Toma como aporte teórico y metodológico el enfoque narrativo (auto)biográfico, en diálogo con los estudios de Walter Benjamin, Paul Ricoeur y Mijaíl Bajtín. La investigación se desarrolló en el contexto de un curso de extensión, en la modalidad de educación continua, en una asociación entre universidad y escuela, en el estado de Río de Janeiro-Brasil. Los movimientos experimentados, al compartir con las profesoras participantes, favorecieron la reflexión a través de lo narrado, en la búsqueda de la comprensión de la propia práctica y de las concepciones que subyacen a ella, aportando importantes contribuciones al campo de la formación docente, socializadas a través de lecciones aprendidas. Una de ellas se refiere a la forma de trabajar con las fuentes narrativas cuando se opta por la comprensión (compartida) de los significados formativos que llamamos cointerpretación. En este proceso, a partir de la primera narrativa de la profesora, que, según Ricoeur (2007), ya es autointerpretada por ella, produjimos un segundo texto, una metanarrativa sobre el aprendizaje formativo. Otra lección aprendida es que esta decisión presupone una postura ética y responsiva (Bajtín, 2012) de horizontalidad epistémica al asumir la radicalidad de realizar movimientos interpretativos de manera colaborativa con los coparticipantes.O presente artigo tematiza as narrativas pedagógicas escritas por professoras, como possibili­dades de construção, partilha e socialização de saberes docentes, em movimentos que envolvem pesquisa e formação de professoras e professores. Toma como aporte teórico-metodológico a abordagem narrativa (auto)biográfica, em diálogo com os estudos de Walter Benjamim, Paul Ricoeur e Mikhail Bakhtin. A pesquisa foi desenvolvida no contexto de um curso de extensão, na modalidade de formação continuada, em uma parceria entre universidade e escola, no estado do Rio de Janeiro-Brasil. Os movimentos experienciados em partilha com as professoras participantes favoreceram a reflexão por meio do narrado, na busca de compreensão da própria prática e das concepções que as fundamentam, trazendo importantes contribuições para o cam­po da formação docente, socializadas por meio de lições. Uma delas diz respeito ao modo pelo qual trabalhamos com as fontes narrativas ao optarmos pela compreensão (com)partilhada dos sentidos formativos ao qual chamamos de cointerpretação. Neste processo, a partir da nar­rativa primeira da professora, que de acordo com Ricoeur (2007) já está autointerpretada pela mesma, produzimos, em negociação de sentidos, um segundo texto, uma metanarrativa sobre as aprendizagens formativas. Outra lição aprendida é que essa decisão pressupõe uma postura ética e responsiva (Bakhtin, 2012) de horizontalidade epistêmica ao assumirmos a radicalidade de fazermos os movimentos interpretativos de modo colaborativo com as coparticipantes

Nova Classificação das Doenças e Condições Periodontais e Peri-implantares: importância do conhecimento para profissionais e acadêmicos de Odontologia / New Classification of Periodontal and Peri-implant Diseases and Conditions: importance of knowledge for dental professionals and academics

A Periodontia tem sido foco de muitas publicações e por isso, amplamente debatida nos últimos anos, principalmente após o Workshop Mundial sobre a Classificação das Doenças e Condições Periodontais e Peri-implantares que ocorreu em 2017, ficou estabelecida uma nova classificação. O objetivo deste estudo é apresentar com base na literatura, os aspectos mais relevantes da nova classificação das doenças e condições periodontais e peri-implantares, para uma ampla difusão de conhecimento e aprimoramento da rotina clínica entre acadêmicos e profissionais. O método de pesquisa transversal e observacional escolhido foi a revisão integrativa da literatura. Dentre os principais resultados encontrados, os estudos versam sobre a importância do conhecimento acerca da nova classificação, com destaque para as definições específicas que foram acordadas em relação aos casos de saúde gengival ou inflamação após a conclusão do tratamento da periodontite com base no sangramento na sondagem e profundidade do sulco/bolsa residual. De fato, houve a necessidade real de modificação da classificação das doenças e condições periodontais anteriormente vigentes em detrimento da classificação atual e a importância da inclusão das condições e das patologias peri-implantares. A nova classificação das doenças e condições periodontais e peri-implantares amplia as possibilidades de diagnósticos e intervenções, além de elevar as probabilidades de outras pesquisas para uma melhor empregabilidade desses conceitos na prática

a randomized comparative effectiveness trial

Funding Information: The author(s) declare financial support was received for the research, authorship, and/or publication of this article. This work was sponsored by CUF and Pingo Doce, as part of the Menos Sal Portugal project, and with support from the Centro de Medicina Laboratorial Germano de Sousa. The sponsors did not play a role in the study design or the interpretation of the results. The study was also promoted by the CINTESIS@RISE (UIDB/4255/2020 and UIDP/4255/2020), NOVA Medical School of Universidade NOVA de Lisboa and supported by national funds through FCT Fundação para a Ciência e a Tecnologia, I.P., within the scope of the project “RISE-LA/P/0053/2020”. Publisher Copyright: Copyright © 2023 Moreira-Rosário, Ismael, Barreiros-Mota, Morais, Rodrigues, Castela, Mendes, Soares, da Costa, Oliveira, Henriques, Pinto, Pita, de Oliveira, Maciel, Serafim, Araújo, Rocha, Pestana, Silvestre, Marques, Faria, Polonia and Calhau.Introduction: Empowerment lifestyle programs are needed to reduce the risk of hypertension. Our study compared the effectiveness of two empowerment-based approaches toward blood pressure (BP) reduction: salt reduction-specific program vs. healthy lifestyle general program. Methods: Three hundred and eleven adults (median age of 44 years, IQR 34–54 years) were randomly assigned to a salt reduction (n = 147) or a healthy lifestyle program (n = 164). The outcome measures were urinary sodium (Na+) and potassium (K+) excretion, systolic (SBP) and diastolic (DBP) blood pressure, weight, and waist circumference. Results: There were no significant differences in primary and secondary outcomes between the two program groups. When comparing each program to baseline, the program focused on salt reduction was effective in lowering BP following a 12-week intervention with a mean change of −2.5 mm Hg in SBP (95% CI, −4.1 to −0.8) and − 2.7 mm Hg in DBP (95% CI, −3.8 to −1.5) in the intention-to-treat (ITT) analysis. In the complete-case (CC) analysis, the mean change was −2.1 mm Hg in SBP (95% CI, −3.7 to −0.5) and − 2.3 mm Hg in DBP (95% CI, −3.4 to −1.1). This effect increases in subjects with high-normal BP or hypertension [SBP − 7.9 mm Hg (95% CI, −12.5 to −3.3); DBP − 7.3 mm Hg (95% CI, −10.2 to −4.4)]. The healthy lifestyle group also exhibited BP improvements after 12 weeks; however, the changes were less pronounced compared to the salt reduction group and were observed only for DBP [mean change of −1.5 mm Hg (95% CI, −2.6 to −0.4) in ITT analysis and − 1.4 mm Hg (95% CI, −2.4 to −0.3) in CC analysis, relative to baseline]. Overall, improvements in Na+/K+ ratio, weight, and Mediterranean diet adherence resulted in clinically significant SBP decreases. Importantly, BP reduction is attributed to improved dietary quality, rather than being solely linked to changes in the Na+/K+ ratio. Conclusion: Salt-focused programs are effective public health tools mainly in managing individuals at high risk of hypertension. Nevertheless, in general, empowerment-based approaches are important strategies for lowering BP, by promoting health literacy that culminates in adherence to the Mediterranean diet and weight reduction.publishersversionpublishe

PREVENÇÃO E TRATAMENTO DAS PRINCIPAIS COMPLICAÇÕES PÓS-CIRURGICAS EM TRANSPLANTES CARDÍACOS: UMA REVISÃO DE LITERATURA

The aim of this article is to take a look at the current medical literature on ways of preventing and treating possible post-surgical complications in heart transplants. The Scientific Electronic Library Online (SciELO), Virtual Health Library (VHL), Medline and LILACS were used as search engines. The terms "Heart Transplant", "Prevention", "Treatment" and "Complications" were chosen as the study keywords. It was concluded that the main acute manifestations are humoral and cellular responses, generally managed with immunosuppressive therapy. In the case of late manifestations, the therapy instituted varies according to the patient's degree of involvement. In terms of prevention, the first measure is the appropriate choice of donor.  Este artigo tem por objetivo realizar uma abordagem da literatura médica vigente sobre os meios de prevenção e tratamento de possíveis complicações pós-cirúrgicas em transplantes cardíacos. Foram utilizados como motores de busca os indexadores Scientific Electronic Library Online (SciELO), Biblioteca Virtual em Saúde (BVS), Medline e LILACS. Optou-se pelos termos “Transplante Cardíaco”, “Prevenção”, “Tratamento” e “Complicações” como palavras-chave do estudo. Conclui-se que as principais manifestações agudas são resposta humoral e celular, geralmente manejadas com terapia imunossupressora. No caso das manifestações tardias, a terapêutica instituída varia de acordo com o grau de acometimento do paciente. Em termos de prevenção, a primeira medida é a escolha adequada do doador

Empowerment-based nutrition interventions on blood pressure: a randomized comparative effectiveness trial

IntroductionEmpowerment lifestyle programs are needed to reduce the risk of hypertension. Our study compared the effectiveness of two empowerment-based approaches toward blood pressure (BP) reduction: salt reduction-specific program vs. healthy lifestyle general program.MethodsThree hundred and eleven adults (median age of 44 years, IQR 34–54 years) were randomly assigned to a salt reduction (n = 147) or a healthy lifestyle program (n = 164). The outcome measures were urinary sodium (Na+) and potassium (K+) excretion, systolic (SBP) and diastolic (DBP) blood pressure, weight, and waist circumference.ResultsThere were no significant differences in primary and secondary outcomes between the two program groups. When comparing each program to baseline, the program focused on salt reduction was effective in lowering BP following a 12-week intervention with a mean change of −2.5 mm Hg in SBP (95% CI, −4.1 to −0.8) and − 2.7 mm Hg in DBP (95% CI, −3.8 to −1.5) in the intention-to-treat (ITT) analysis. In the complete-case (CC) analysis, the mean change was −2.1 mm Hg in SBP (95% CI, −3.7 to −0.5) and − 2.3 mm Hg in DBP (95% CI, −3.4 to −1.1). This effect increases in subjects with high-normal BP or hypertension [SBP − 7.9 mm Hg (95% CI, −12.5 to −3.3); DBP − 7.3 mm Hg (95% CI, −10.2 to −4.4)]. The healthy lifestyle group also exhibited BP improvements after 12 weeks; however, the changes were less pronounced compared to the salt reduction group and were observed only for DBP [mean change of −1.5 mm Hg (95% CI, −2.6 to −0.4) in ITT analysis and − 1.4 mm Hg (95% CI, −2.4 to −0.3) in CC analysis, relative to baseline]. Overall, improvements in Na+/K+ ratio, weight, and Mediterranean diet adherence resulted in clinically significant SBP decreases. Importantly, BP reduction is attributed to improved dietary quality, rather than being solely linked to changes in the Na+/K+ ratio.ConclusionSalt-focused programs are effective public health tools mainly in managing individuals at high risk of hypertension. Nevertheless, in general, empowerment-based approaches are important strategies for lowering BP, by promoting health literacy that culminates in adherence to the Mediterranean diet and weight reduction

Perspectivas atuais sobre Síndrome dos Ovários Policísticos: abordagens diagnósticas e terapêuticas

Introduction: Polycystic ovarian syndrome (PCOS) is a complex endocrine condition characterized by ovarian dysfunction and androgen hypersecretion. Objective: To evaluate the pathophysiological bases associated with polycystic ovary syndrome, highlighting its multifactorial complexity, and to examine therapeutic strategies. Methodology: This is a bibliographic review that included original articles and systematic reviews in English and Portuguese, which addressed pathophysiological aspects and PCOS management, published between 2016 and 2024, selected from the PubMed, Scopus and SciELO databases. After careful selection, 18 articles were chosen to compose this bibliographic review. Results: PCOS is influenced by epigenetic mechanisms, exposure to toxic compounds, hyperinsulinemia and hyperandrogenism, which directly affect ovulation and metabolism. Obesity also contributes to PCOS. Treatment involves lifestyle changes and medications to control symptoms and restore ovulation. Considerations: PCOS is a complex condition, involving genetic, epigenetic, environmental and metabolic factors. Treatment aims to address underlying symptoms and mechanisms, with lifestyle changes and individualized pharmacological therapy. A multidisciplinary approach is essential to improve patients' quality of life.Introdução: A síndrome do ovário policístico (SOP) é uma condição endócrina complexa caracterizada por disfunção ovariana e hipersecreção de andrógenos. Objetivo: Avaliar as bases fisiopatológicas e tratamentos associados à síndrome do ovário policístico. Metodologia: Trata-se de uma revisão bibliográfica que incluiu artigos originais e revisões sistemáticas em inglês e português, que abordaram aspectos fisiopatológicos e manejo SOP, publicados entre 2016 e 2024, selecionados nas bases de dados PubMed, Scopus e SciELO. Após a seleção criteriosa, foram escolhidos 18 artigos para compor esta revisão bibliográfica. Resultados: A SOP é influenciada por mecanismos epigenéticos, exposição a compostos tóxicos, hiperinsulinemia e hiperandrogenismo, que afetam diretamente a ovulação e metabolismo. A obesidade também contribui para a SOP. O tratamento envolve mudanças no estilo de vida e medicamentos para controlar sintomas e restaurar ovulação. Considerações: A SOP é uma condição complexa, envolvendo fatores genéticos, epigenéticos, ambientais e metabólicos. O tratamento visa abordar sintomas e mecanismos subjacentes, com mudanças no estilo de vida e terapia farmacológica individualizada. Uma abordagem multidisciplinar é essencial para melhorar a qualidade de vida dos pacientes

Discrimination based on sexual orientation against MSM in Brazil : a latent class analysis

Introdução: A discriminação por orientação sexual (DPOS) pode influenciar a vulnerabilidade ao HIV aumentando a exposição a comportamentos sexuais de risco entre homens que fazem sexo com homens (HSH). Objetivos: Examinar dados utilizando a análise de classes latentes (ACL) para identificar grupos de indivíduos com padrões específicos de DPOS. Métodos: Estudo transversal com entrevistados recrutados pelo processo amostral respondent driven sampling em 12 cidades brasileiras em 2016. A ACL foi usada para caracterizar o DPOS entre HSH com base em 13 variáveis do bloco de discriminação do questionário da pesquisa. As proporções de DPOS e das variáveis de interesse, bem como seus intervalos de confiança (95%) foram ponderados usando o estimador de Gile. Resultados: A maioria era de jovens, solteiros, com alguma religião, escolaridade média ou superior, cor da pele preta ou parda e com nível socioeconômico médio. Mais da metade referiu ter sido discriminado nos últimos 12 meses por sua orientação sexual (65%), mais de um terço referiu ter tido medo de andar em lugares públicos nos últimos 12 meses e em torno de um quinto dos participantes reportaram ter sofrido agressão física ou sexual na vida. A DPOS foi classificada em 4 classes latentes, “muito alta”, “alta”, “média” e “baixa”, com estimativas de 2,2%, 16,4%, 35,1% e 46,19%, respectivamente. Conclusão: Observou-se alta proporção de discriminação entre os HSH participantes deste estudo. A utilização da ACL discriminou de maneira parcimoniosa as classes de DPOS.Introduction: Discrimination based on sexual orientation can influence vulnerability to HIV, increasing exposure to risky sexual behavior among men who have sex with men (MSM). Objectives: To analyze data using latent class analysis (LCA) to identify groups of individuals with specific patterns of discrimination based on sexual orientation (DSO). Methods: Cross-sectional study using respondent-driven sampling in 12 Brazilian cities in 2016. LCA was used to characterize discrimination among MSM based on 13 variables in the survey questionnaire. The proportions of men reporting DSO and other variables of interest were estimated using Gile’s Successive Sampling estimator. Results: Most MSM were young, single, had a religion, had a high school or college degree, black or brown skin color, and socioeconomic status classified as average. More than half of the participants reported that they had been discriminated against during the last 12 months due to their sexual orientation (65%), more than a third said they had felt afraid of walking in public places during the past 12 months, and about one-fifth of participants reported having been victims of physical or sexual assault due to DSO. DSO was classified into four latent classes: “very high”, “high”, “moderate” and “low”, with estimates of 2.2%, 16.4%, 35.1%, and 46.19%, respectively. Conclusion: We observed a high proportion of discrimination against MSM in this study. The use of LCA differentiated parsimoniously classes of discrimination

SARS-CoV-2 introductions and early dynamics of the epidemic in Portugal

Genomic surveillance of SARS-CoV-2 in Portugal was rapidly implemented by the National Institute of Health in the early stages of the COVID-19 epidemic, in collaboration with more than 50 laboratories distributed nationwide. Methods By applying recent phylodynamic models that allow integration of individual-based travel history, we reconstructed and characterized the spatio-temporal dynamics of SARSCoV-2 introductions and early dissemination in Portugal. Results We detected at least 277 independent SARS-CoV-2 introductions, mostly from European countries (namely the United Kingdom, Spain, France, Italy, and Switzerland), which were consistent with the countries with the highest connectivity with Portugal. Although most introductions were estimated to have occurred during early March 2020, it is likely that SARS-CoV-2 was silently circulating in Portugal throughout February, before the first cases were confirmed. Conclusions Here we conclude that the earlier implementation of measures could have minimized the number of introductions and subsequent virus expansion in Portugal. This study lays the foundation for genomic epidemiology of SARS-CoV-2 in Portugal, and highlights the need for systematic and geographically-representative genomic surveillance.We gratefully acknowledge to Sara Hill and Nuno Faria (University of Oxford) and Joshua Quick and Nick Loman (University of Birmingham) for kindly providing us with the initial sets of Artic Network primers for NGS; Rafael Mamede (MRamirez team, IMM, Lisbon) for developing and sharing a bioinformatics script for sequence curation (https://github.com/rfm-targa/BioinfUtils); Philippe Lemey (KU Leuven) for providing guidance on the implementation of the phylodynamic models; Joshua L. Cherry (National Center for Biotechnology Information, National Library of Medicine, National Institutes of Health) for providing guidance with the subsampling strategies; and all authors, originating and submitting laboratories who have contributed genome data on GISAID (https://www.gisaid.org/) on which part of this research is based. The opinions expressed in this article are those of the authors and do not reflect the view of the National Institutes of Health, the Department of Health and Human Services, or the United States government. This study is co-funded by Fundação para a Ciência e Tecnologia and Agência de Investigação Clínica e Inovação Biomédica (234_596874175) on behalf of the Research 4 COVID-19 call. Some infrastructural resources used in this study come from the GenomePT project (POCI-01-0145-FEDER-022184), supported by COMPETE 2020 - Operational Programme for Competitiveness and Internationalisation (POCI), Lisboa Portugal Regional Operational Programme (Lisboa2020), Algarve Portugal Regional Operational Programme (CRESC Algarve2020), under the PORTUGAL 2020 Partnership Agreement, through the European Regional Development Fund (ERDF), and by Fundação para a Ciência e a Tecnologia (FCT).info:eu-repo/semantics/publishedVersio