Power analysis of multi-legged systems

This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes the optimization indices. For that objective the precribed motion of the robot is completely characterized in terms of several locomotion variables such, gait, duty factor, body height, step length, stroke pitch, foot clearance, leg links length, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the foot locomobility index, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.N/

The role of bacteria in pine wilt disease: insights from microbiome analysis.

Pine Wilt Disease (PWD) has a significant impact on Eurasia pine forests. The microbiome of the nematode (the primary cause of the disease), its insect vector, and the host tree may be relevant for the disease mechanism. The aim of this study was to characterize these microbiomes, from three PWD-affected areas in Portugal, using Denaturing Gradient Gel Electrophoresis, 16S rRNA gene pyrosequencing, and a functional inference-based approach (PICRUSt). The bacterial community structure of the nematode was significantly different from the infected trees but closely related to the insect vector, supporting the hypothesis that the nematode microbiome might be in part inherited from the insect. Sampling location influenced mostly the tree microbiome (P < 0.05). Genes related both with plant growth promotion and phytopathogenicity were predicted for the tree microbiome. Xenobiotic degradation functions were predicted in the nematode and insect microbiomes. Phytotoxin biosynthesis was also predicted for the nematode microbiome, supporting the theory of a direct contribution of the microbiome to tree-wilting. This is the first study that simultaneously characterized the nematode, tree and insect-vector microbiomes from the same affected areas, and overall the results support the hypothesis that the PWD microbiome plays an important role in the disease's development

Gait Selection for Quadruped Legged Robots

This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables for different robot velocities based on the system dynamics during walking. In this perspective, several performance measures are formulated and a set of experiments reveals the influence of the gait and locomotion variables upon those proposed indices. The results show that the locomotion parameters (β, LS and HB) should be adapted to the walking velocity in order to optimize the robot performance. Furthermore, for the case of a quadruped robot, we concluded that the gait should be adapted to VF

Gait Analysis of Natural and Artificial Walking Systems

This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices

On an integrated DSM package associated to a solar thermal obligation. The ProSTO EU project and the Portuguese experience

Based on the work that it is running within the ProSTO EU project (http://www.solarordinances.eu/), this paper presents a tentative approach to an integrated demand side measures (DSM) package that must be associated to a solar thermal obligation (STO) in a community. All the complete set of measures that must be taken to succeed will be presented. The experience shows that it is necessary to get an integrated “policy package” in the way of “zero building emissions”, around the kernel key point of clear requirements, aiming energy savings, namely for energy demand limitation, and energy efficiency of thermal installations. A parent kernel key point of this “policy package” is quality: certification of thermal solar system and components; planner, designer and installer certification; technical mandatory requirements in the regulations; mandatory guarantee (maintenance contract). All relevant documents of these quality items must be integrated in the Building Use Manual for easy management. Another kernel key point, this one with focus on overcoming barriers, is public awareness, throughout on-line information (lists of certified equipments, installers, technical description of the equipments, manual of good practices, scholar materials (class notes, computer codes, homework assignments, etc.), etc.), and the implementation of training courses for al

On the Best Practice Implementation of Solar Thermal Obligations. The ProSTO EU Project and the Portuguese experience

Based on the work that it is running within the ProSTO EU project (http://www.solarordinances.eu/), this paper presents a tentative approach to the best way for a successful implementation of a solar thermal obligation (STO) in a community. The EU framework, and base line assessment – including success factors and performance indicators were presented by the ProSTO coordinator elsewhere [1]. The Portuguese case was presented elsewhere too [2]. Here, all the complete set of measures that must be taken to succeed, will be presented. The experience shows that it is necessary to get an integrated “policy package” in the way of “zero building emissions”, around the kernel key point of clear requirements, aiming energy savings, namely for energy demand limitation, and energy efficiency of thermal installations. A parent kernel key point of this “policy package” is quality: certification of thermal solar system and components – solar collectors, factory made systems, and custom built systems; planner, designer and installer certification; technical impositions in the regulations (supported by a very consistent manual of actual good practices for solar thermal applications, with a flexible method to follow new developments); guarantee impositions (maintenance contract). All relevant documents of these quality items must be integrated in the Building Use Manual for easy management. Another kernel key point, this with focus on overcoming barriers, is that of public awareness, aiming to create an understanding that the implementation of a STO is not another awful bureaucratic burden, throughout on-line information (lists of certified equipments, installers, technical description of the equipments, manual of good practices, scholar materials (class notes, computer codes, homework assignments, etc.), etc.), and the implementation of training courses for all stakeholders

THE IMPACT OF INFORMAL CAREGIVERS DURING CANCER PATIENTS’ TRAJECTORY IN ECONOMIC HEALTH OUTCOMES

In the trajectory of the person with cancer, the presence of uncontrolled symptoms are the main and frequent cause of demand for health services, which increases with the advanced stage of the disease. The modernization of health systems advocates the domiciliation of health care, with proximity assistance, where informal caregivers assume a role of relevance. Persons with cancer prefer this typology of service, as well have positive impact in economic health outcomes. However, it is essential to reflect in the shapes of the professional support, health policies and incentives, which are needed with the finality to prevent burnout of the caregiver. As ensure the resources to certify the self-care and quality of life of the person with cancer and informal caregivers

Rhapsody in Fractional

This paper studies several topics related with the concept of “fractional” that are not directly related with Fractional Calculus, but can help the reader in pursuit new research directions. We introduce the concept of non-integer positional number systems, fractional sums, fractional powers of a square matrix, tolerant computing and FracSets, negative probabilities, fractional delay discrete-time linear systems, and fractional Fourier transform

Development of photocatalytic poly(vinylidenefluoride-trifluoroethylene)/TiO₂ porous membranes

Photocatalysis has become an attractive process to remove contaminants from aquatic environments1. Photocatalysis consists on the use of solar light to generate highly oxidizing species, most often the hydroxyl radical (•OH), to destroy harmful compounds 2. Catalysts are required in this process and, due to its significant oxidizing properties under UV irradiation, TiO2 is the most widely used photocatalyst [ref?=6]. One disadvantage of the UV/photocatalyst process is the fast recombination rate of the electron-hole pairs3. Doping the photocatalysts with other elements is an effective approach to overcome this problem[ref]. Nevertheless, one of the largest drawbacks of the use of photocatalyst particles is the recycling and reutilization of the nanoparticles, which is time consuming and requires expensive processes2. In order to overcome this drawback, TiO2 immobilization in several substrates (e.g. glass, zeolite, silica and ceramic) has been explored. This work reports the optimization and photocatalytic activity of poly(vinylidenefluoride - trifluoroethylene) (PVDF-TrFE)/TiO2 nanocomposites.Work supported by FEDER (FCT), project PEST-C/FIS/UI607/2011 and PEST-C/QUI/UIO686/2011 and Matepro – Optimizing Materials and Processes”, ref. NORTE-07-0124-FEDER-00003

Extinction revisited: Alee effect and irreversibility in schooling fisheries

Important results of Colin Clark’s research in the 70s are used again in the discussion of the limits to the privatization of the fisheries. Those results highlighted the possibility of species extinction motivated by special forms of the natural growth function. This paper revisits the situation in which the growth function exhibits a non-feedback, or depensation, curve. The existence of non-shrinkage curves poses problems in determining the sustainable yield and has important implications for resource management. The so-called "Allee Effect" may explain the difficulties of recovery of certain stocks, even when there are a set of limitations to the fishing effort. Ultimately, it explains the extinction of some species: if we face a situation of non-critical feedback, an effect of irreversibility is introduced. These effects are considered in the schooling species fisheries case