Inverse Kinematics and Trajectory Planning Analysis of a Robotic Manipulator

In this work, we pretended to show and compare three methodologies used to solve the inverse kinematics of a 3 DOF robotic manipulator. The approaches are the algebraic method through Matlabreg; solve function, Genetic Algorithms (GAs), Artificial Neural Networks (ANNs). Another aspect considered is the trajectory planning of the manipulator, which allows the user to control the desired movement in the joint space. We compare polynomials of third, fourth and fifth orders for the solution of the chosen coordinates. The results show that the ANN method presented best results due to its configuration to show only feasible joint values, as also do the GA. In the trajectory planning the analysis lead to the fifth-order polynomial, which showed the smoothest solution

Ferramentas e Aspectos Práticos da TV Digital Técnica Projectos / Tools and Practical Aspects of Digital TV Technical Projects

A TV aberta é um importante ator de comunicação na sociedade contemporânea com alguns padrões de sucesso, entre eles o Sistema Brasileiro de Televisão Digital Terrestre (SBTVD-T). Este artigo discute aspectos relacionados à construção de um projeto técnico para obtenção de outorgas para o serviço de televisão e seus serviços ancilares no Brasil. Apresentamos algumas ferramentas de livre acesso que podem ser utilizadas para realizar tal atividade. Por fim, um estudo de caso apresenta a construção do projeto técnico da TV Universitária, uma emissora de TV da Universidade Federal do Rio Grande do Norte, Brasil. Como principal resultado, pretendeu-se preencher a lacuna de material técnico relacionado ao uso de ferramentas abertas e bases de dados governamentais para a construção de projetos técnicos de TV digital no Brasil

Aspectos da Legislação e Procedimentos para a Concessão da TV Digital e dos seus Serviços Auxiliares no Brasil / Legislation and Procedures Aspects for the Grant of Digital TV and Its Ancillary Services in Brazil

O serviço de radiodifusão sonora e de imagens continua sendo um dos principais veículos de mídia e informação da sociedade contemporânea e vem passando por um longo processo de alteração de seus aspectos regulatórios decorrente da implantação do Sistema Brasileiro de Televisão Digital Terrestre (SBTVD-T). Este artigo apresenta e discute os procedimentos para obtenção de outorgas para o serviço de televisão e seus serviços ancilares no Brasil. Como resultado principal, pretendeu-se preencher a lacuna por material técnico relacionado à discussão da legislação da TV digital no Brasil

Red propolis and its dyslipidemic regulator formononetin: evaluation of antioxidant activity and gastroprotective effects in rat model of gastric ulcer

Propolis has various pharmacological properties of clinical interest, and is also considered a functional food. In particular, hydroalcoholic extracts of red propolis (HERP), together with its isoflavonoid formononetin, have recognized antioxidant and anti-inflammatory properties, with known added value against dyslipidemia. In this study, we report the gastroprotective effects of HERP (50–500 mg/kg, p.o.) and formononetin (10 mg/kg, p.o.) in ethanol and non-steroidal anti-inflammatory drug-induced models of rat ulcer. The volume, pH, and total acidity were the evaluated gastric secretion parameters using the pylorus ligature model, together with the assessment of gastric mucus contents. The anti-Helicobacter pylori activities of HERP were evaluated using the agar-well diffusion method. In our experiments, HERP (250 and 500 mg/kg) and formononetin (10 mg/kg) reduced (p < 0.001) total lesion areas in the ethanol-induced rat ulcer model, and reduced (p < 0.05) ulcer indices in the indomethacin-induced rat ulcer model. Administration of HERP and formononetin to pylorus ligature models significantly decreased (p < 0.01) gastric secretion volumes and increased (p < 0.05) mucus production. We have also shown the antioxidant and anti-Helicobacter pylori activities of HERP. The obtained results indicate that HERP and formononetin are gastroprotective in acute ulcer models, suggesting a prominent role of formononetin in the effects of HERP.This work has been funded by the Fundação de ApoioàPesquisa eàInovação Tecnológica do Estadode Sergipe (FAPITEC/SE), by the Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq).R.L.C.d.A.-J., S.M.T., and J.C.C. received CNPq productivity grants. E.B.S. acknowledges the sponsorship of theproject UIDB/04469/2020 (strategic fund), from the Portuguese Science and Technology Foundation, Ministry ofScience and Education (FCT/MEC) through national funds, and was co-financed by FEDER, under the PartnershipAgreement PT2020. E.N. and A.S. acknowledge the support of the research project: Nutraceutica come supporto nutrizionale nel paziente oncologico, CUP: B83D1800014000info:eu-repo/semantics/publishedVersio