Background and objectives: Stress-related illness is a growing public health problem in Sweden and it is the most common reason for sick leave today. Stress-related illness causes suffering on a number of levels and affects the patient’s health and life in the long term. The stress-related ill health also leads to consequences for society, causing high costs for sick leave and health care as well as lost workforce since people partially or entirely lose their capacity to work. Research on stress-related ill health and rehabilitation often underline work-related conditions as crucial in dealing with the problem. There is also research that points out psychosocial factors in understanding stress-related ill health. What we know little about is the existential perspective of clinical burn-out. Therefore, it is of importance to investigate people’s existential experiences of clinical burn-out and the significance of an existential perspective in rehabilitation. Aim: The overall aim of this thesis is to gain insight into the existential experience of clinical burn-out as well as to highlight the significance of an existential perspective in rehabilitation. In addition, the thesis aims to reach a deeper understanding of clinical burn-out from an existential point of view and contribute to the field with knowledge of the existential dimension of health. Methods: The study, conducted in 2011, is based on qualitative interviews made with an inductive hermeneutic approach. Five patients and seven care givers were interviewed, focusing their existential experiences of clinical burn-out as well as their experiences of rehabilitation with an existential approach. A strategic selection was made of informants in the context of a rehabilitation program with an existential approach for people diagnosed with clinical burn-out. The data was analysed in two steps. In the first step the data was interpreted with an inductive hermeneutic approach. In step two of the analysis, the data was interpreted with a deductive hermeneutic approach, using Karl Jasper’s concept of limit situation as a way of interpreting the existential experience. Aaron Antonovsky’s concept sense of coherence was used as a tool for understanding components that can contribute to restoring health. Results: In this study, the patients describe clinical burn-out as a comprehensive existential experience that can be perceived as being in between life and death, in a shadow world, trapped in a dead end. It’s a situation characterized by being powerless. It creates a need to comprehend one’s situation in order to be able to regain control and manage it. It’s a struggle to make sense of the life situation. When not being met with understanding, the patients lose hope. Existential issues in terms of meaning, existence and life choices become urgent. Working with the existential perspective requires trust, openness from both caregiver and patient, distinctness, a way to communicate it and courage to take on the challenge of dealing with existential issues. The perspective also requires that the existential suffering can be contained. Dealing with existential questions leads to self-knowledge and insights that enables a possibility to make different choices and leave negative behavioural patterns. Also, it can lead to a discovery of spirituality and religion as a resource in life. Besides their personal struggle for meaning, the patients see an existential void in society, leaving people without tools to handle existential needs. This is understood as something that affects people’s ability to handle stressful times in life. The care providers understand burn-out as a manifestation of a way of living that is not sustainable. It is an existential experience embodied in body and mind that can be experienced as being drained of life. It’s an existential challenge, causing grief when realizing one’s limitations as a human being. Also, loss of meaning and sense of existential vulnerability due to an experience of being annihilated is crucial for understanding the deep existential crisis that clinical burn-out can induce. This situation makes the patient ask existential questions about identity, meaning, values and direction. In the burnout-process the patients have distanced themselves from their own self and therefore need to reconnect with themselves. This makes the existential questions central in the rehabilitation as a way to reconnect to inner strength and resources, which are prerequisites for starting a health promoting, sustainable process which is empowering, making it possible to see oneself as a human being who experience meaning, not only as a patient with a diagnosis. Instead of finding meaning in the diagnosis, the patient’s existential questions and the existential experience is a key to moving forward, out of the situation. Meaning-making is therefore important in the rehabilitation. A holistic-existential approach and view of man makes it possible to work with the complexity of the situation. The holistic-existential approach creates synergies and offers an extra tool both for the caregiver and the patient. Focusing on the patient’s resources and competence makes it possible to see the crisis as a way to learn from it. The existential perspective in health care and rehabilitation is enabled by competence, openness, reliance, empathy and respect when meeting the patient. It also requires courage to take on the challenge of dealing with existential issues. It can be hard for both the patient and the care giver to confront existential suffering. It is the responsibility of the care giver to enable the existential perspective by acknowledging and making the existential perspective possible to communicate and work it through. The care providers understands values in modern society as contributing to people’s experience of feeling alone with existential needs, which intensifies their existential aloneness. The care providers’ experience is that the biomedical paradigm aggravates an existential perspective. The perspective is not associated with the care situation. There is a lack of knowledge about and understanding of the value of the existential perspective, all the way from the decision-making level to the clinical meeting with the patient. In addition, the paradigm affects how the patients express their illness. Also, the perspective requires time. Existential perspectives, therefore, tend to be concealed in the health care context. Applying Karl Jasper’s concept of limit situation, clinical burn-out can be interpreted as a defining existential experience. It can be understood as a limit situation when humans realize their limitations and at the same time get insights that are crucial for their lives. It’s an experience they wish they had not gone through, but on the other hand, it has led to insights they do not want to be without. The meaning-making process is health promoting by recreating meaning, the fundamental part of sense of coherence, which is crucial for a salutogenic direction. Conclusion: The existential state that the clinical burnout patients go through can, using Karl Jasper’s concept, be understood as a limit situation. According to Jasper’s reasoning, the limit situation can be perceived as facing an abyss, making it clear one has limitations as a human being. At the same time, the experience can be perceived as reaching a limit where humans can get insights about human life that can enhance life. Clinical burn-out, using Aaron Antonovsky’s concept, can be understood as a loss of the components that create sense of coherence. Loss of meaning is particularly central for understanding burn-out. Consequently, it is crucial to acknowledge the existential challenge that the patient is facing, as well as the importance of the meaning-making process for facilitating a movement in a health promoting manner. It gives a deeper understanding of the challenges and needs of patients suffering from clinical burn-out. The existential dimension of health has been highlighted in health promotion, but gets little attention in practice. This is especially significant in the health care context. This points out the need for a discussion about how the existential health dimension can be used as a resource in health care and rehabilitation and how this resource for health can be applied in a better way in health promotion and public health.

Im Rahmen dieser Arbeit wurde das Umformverhalten der gieß- und warmgewalzten Magnesiumlegierung des Mg-Al-Zn-Systems (AZ31) unter einachsiger Zugbeanspruchung in Abhängigkeit von Temperatur, Dehnrate und Entnahmerichtung untersucht. Weiterhin wurde das richtungsabhängige Grenzformänderungsverhalten im statischen sowie erstmalig im dynamischen Lastfall bei verschiedenen Temperaturen bewertet. Für die dynamischen Versuche wurde ein eigens konstruiertes Prüfmodul entwickelt und eingesetzt. Die Ergebnisse zeigen, dass sich bei einer Variation der Beanspruchungsbedingungen die Ausprägung der Versetzungsbewegung, der mechanischen Zwillingsbildung sowie der Hochtemperaturmechanismen signifikant verändert. Die Verknüpfung der sich dadurch ändernden mechanischen Eigenschaften mit der Mikrostrukturentwicklung konnte mit der Licht- und Rasterelektronenmikroskopie sowie der Texturbestimmung mit der Röntgenbeugung (XRD) nachgewiesen werden.

The world is slowly moving into increased human-robot interaction where both humans and robots can co-exist in the same domain. For the robot to be able to operate effectively in a man’s designed environment, it becomes necessary to model the robot with human capabilities as humans are seen as more capable. Replicating human becomes a huge challenge due to numerous degrees-of-freedom (DOFs) that human possess resulting into too many variables and nonlinear equations. Other challenges do occur like singularities.   In this thesis, the singularity challenge of a redundant humanoid arm is explored while maintaining a simple 7 DOF serial chain structure. As opposed to the 30 DOF human arm, a simpler 7 DOF humanoid arm is adopted and studied to eliminate the singularity challenges. The singularity problem mainly comes from the elbow and the spherical joints at the shoulder and wrist. A step-by-step review of available inverse kinematics techniques is made with more focus on the iterative Jacobian-based methods. A step-by-step approach is adopted so as to identify the source of singularities while using the iterative Jacobian-based techniques that are able to handle the nonlinearities of the equations.   The Singular Value Filtering (SVF) technique coupled with Selectively Damped Least Squares (SDLS) is employed. Without any restrictions to the stretch of the arm or end-effector pose, the method demonstrates, in conjunction with Euler angle singularity avoidance method, the elimination of singularity problems. This is achieved with no adjustment to kinematic model of the manipulator.

A novel concept of multiple deterministic analyses is proposed to design safer and more damage-tolerant structures, particularly when excited by dynamic including seismic loading in time domain. Since the presence of numerous sources of uncertainty cannot be avoided or overlooked, the underlying risk is estimated to compare design alternatives. To generate the implicit performance functions explicitly, the basic response surface method is significantly improved. Then, several surrogate models are proposed. The advanced factorial design and Kriging method are used as the major building blocks. Using these basic schemes, seven alternatives are proposed. Accuracies of these schemes are verified using basic Monte Carlo simulations. After verifying all seven alternatives, the capabilities of the three most desirable schemes are compared using a case study. They correctly identified and correlated damaged states of structural elements in terms of probability of failure using only few hundreds of deterministic analyses. The modified Kriging method appears to be the best technique considering both efficiency and accuracy. Estimating the probability of failure, the post-Northridge seismic design criteria are found to be appropriate. After verifying the proposed method, a Site-Specific seismic safety assessment method for nonlinear structural systems is proposed to generate a suite of ground excitation time histories. The information of risk is used to design a structure more damage-tolerant. The proposed procedure is verified and showcased by estimating risks associated with three buildings designed by professional experts in the Los Angeles area satisfying the post-Northridge design criteria for the overall lateral deflection and inter-story drift. The accuracy of the estimated risk is again verified using the Monte Carlo simulation technique. In all cases, the probabilities of collapse are found to be less than 10% when excited by the risk-targeted maximum considered earthquake ground motion satisfying the intent of the code. The spread in the reliability indexes for each building for both limit states cannot be overlooked, indicating the significance of the frequency contents. The inter story drift is found to be more critical than the overall lateral displacement. The reliability indexes for both limit states are similar only for few cases. The author believes that the proposed methodology is an alternative to the classical random vibration and simulation approaches. The proposed site-specific seismic safety assessment procedure can be used by practicing engineers for routine applications. The proposed reliability methodology is not problem-specific. It is capable of handling systems with different levels of complexity and scalability, and it is robust enough for multi-disciplinary routine applications. In order to show the multi-disciplinary application of the proposed methodology, the probability of failure of lead-free solders in Ball Grid Array 225 surface-mount packaging for a given loading cycle is estimated. The accuracy of the proposed methodology is verified with the help of Monte Carlo simulation. After the verification, probability of failure versus loading cycles profile is calculated. Such a comprehensive study of its lifetime behavior and the corresponding reliability analyses can be useful for sensitive applications.

[pt] Esta dissertação propõe uma perspectiva alternativa acerca da modernidade e da política moderna. Para tanto, divide-se em cinco grandes partes: além da introdução e da conclusão, há três capítulos centrais dedicados a textos de cinco pensadores considerados clássicos. O primeiro dos capítulos centrais se lança à problematização do sujeito moderno, através de alguns textos de Montaigne e Descartes. O capítulo seguinte parte das fronteiras do sujeito para as fronteiras do Estado moderno: com Maquiavel e Hobbes, a discussão se volta à produção do Estado nas articulações espaço-temporais. Em seguida, o capitulo dedicado a Kant defende que sujeito, Estado e sistema são epicentros da modernidade e que nele as aporias entre Montaigne e Descartes e entre Maquiavel e Hobbes estão expressas com ainda maior complexidade. Operando nos limites, origens e fins, desses epicentros, a interpretação aqui proposta das três críticas e dos escritos políticos de Kant busca interpretá-lo como a máxima expressão das insolúveis contradições da modernidade na relação entre o universal e o particular. A perspectiva deste texto opera na íntima imbricação entre sujeito, Estado e sistema internacional modernos. Somente dessa forma é que se pode consolidar sua reivindicação central, que poderia ser formulada da seguinte maneira: a política é a produção de limites, fronteiras e subjetividades na interação com a alteridade. Ao final do texto, pretende-se que muitas aberturas tenham sido feitas, consciente e inconscientemente, não se perdendo de vista, no entanto, que muitos fechamentos terão sido promovidos, consciente e inconscientemente. / [en] This dissertation proposes an alternative perspective on modernity and modern politics. To that task, it is divided in five major parts: in addition to the introduction and the conclusion, there are three central chapters devoted to texts from five thinkers considered classics. The first of these chapters problematizes the modern subject through some of Montaigne’s and Descartes’ texts. The next one goes from the boundaries of the modern subject to the boundaries of the modern State: with Machiavelli and Hobbes, it is discussed the production of the State in spatio-temporal articulations. Then, the chapter dedicated to Kant claims that subject, State and system are epicenters of modernity and that in Kant are expressed, in even more complexity, both the aporias between Montaigne and Descartes and between Machiavelli and Hobbes. Working in the limits, origins and ends, of these epicenters, the interpretation proposed of the Kant’s three critiques and of his political writings aims at interpreting him as the highest expression of modernity’s insoluble contradictions in the relation between the universal and the particular. This text’s perspective works in the intimate imbrications among modern subject, modern State and modern international system. Only this way can consolidate its central claim that could be formulated as follows: politics is the production of limits, boundaries and subjectivities in the interaction with otherness. At the end, the text intends to provide with many conscious and unconscious openings, without losing sight that many closures will also be promoted, consciously and unconsciously

A conversão de vibração em energia elétrica tem sido investigada por diversos grupos de pesquisa na última década. A principal motivação é a prospecção de fontes alternativas de energia elétrica para sistemas eletroeletrônicos remotamente operados e com fontes limitadas de energia. Diferentes mecanismos de transdução são investigados na literatura para a coleta de energia, entretanto, o piezelétrico tem se destacado devido à densidade de energia que proporciona e também facilidade de uso. Uma alternativa promissora que começa a ser estudada por alguns grupos de pesquisas é a conversão de energia de oscilações aeroelásticas em energia elétrica. Apesar da natureza destrutiva da maioria dos fenômenos aeroelásticos, eles apresentam um grande potencial para o estudo de novos mecanismos e sistemas para coleta de energia. A conversão piezelétrica de energia a partir de oscilações aeroelásticas lineares tem sido investigada. Entretanto, a geração piezoaeroelástica de energia pode se tornar mais atrativa e prática se realizada a partir sistemas aeroelásticos não lineares. A conversão se daria a partir de oscilações persistentes e com amplitude limitada (oscilações em ciclo limite – LCO) ocorrendo em um amplo intervalo de velocidades de escoamento. Define-se o objetivo deste projeto como a investigação numérica da conversão piezelétrica de energia a partir de oscilações aeroelásticas não lineares. Um modelo por elementos finitos para placa plana com piezocerâmicas é desenvolvido, respeitando-se as hipóteses de uma placa de von Kàrmàn. O carregamento aerodinâmico não estacionário é determinado a partir do método de malha de dipolos e uma aproximação do domínio do tempo obtida a partir da formulação apresentada por Roger. Os resultados eletroaeroelásticos são apresentados para asas com diferentes razões de aspecto investigadas em uma ampla faixa de velocidades e considerando-se diversos valores de resistores no domínio elétrico. / The converting of vibration into usable electrical energy has been investigated by several researches groups in the last decade. The main motivation is the possibility of obtaining alternatives electrical energy sources to power electronic system remotely operated and with limited energy sources. Different transduction mechanism has been presented in the energy harvesting literature. However the piezoelectric has been gained more attention because not only of its power density but also its ease of use. A promissory alternative that is becoming studied is the converting of aeroelastic oscillation into electrical energy. Despite of the destructive nature of unstable aeroelastic phenomena (such as, flutter), they present a great potential to the study of innovative mechanism to harvest energy. Although the piezoelectric energy conversion using linear aeroelastic has been investigated in the literature, the use of non linear aeroelastic system can be more practical and attractive. The non linear aeorelastic harvesting occurs by persistent oscillation and with limited amplitudes (Limited Cycle Oscillation – LCO) and can be performed by considerable velocity interval greater than the linear flutter speed. The objective of this work is to investigate the energy harvesting by non linear aeroelastic oscillation. A finite element model of a thin plate (with piezoceramics) is developed), using the non linear hypothesis of von Karman. The unstable aerodynamic loading is obtained by a doublet-lattice method (DLM) and with its time domain conversion using the Roger approximation. The eletroaeroelastic results are presented for several wings with different aspect ratios, and with different resistance values in the electrical domain. The eletroaeroelastic results of the generator wing are investigated for several airspeed greater than its linear flutter speed.

Os dispositivos robóticos bípedes tem um grande potencial de aplicações tanto comerciais como para pesquisa. Dentre as presentes lacunas existentes que limitam a sua aplicabilidade prática tem um destaque especial a incapacidade de realizar uma marcha estável, robusta, versátil e eficiente no ponto de vista energético. No presente estado da arte, existem três principais estratégias de abordagem para o problema e algumas de suas implementações obtiveram sucesso em satisfazer pelo menos um dos requisitos listados, porém nunca todos eles de forma simultânea. Dentro deste cenário, este trabalho se propôs desenvolver um novo critério de estabilidade para marcha bípede que possibilite marchas versáteis, robustas e eficientes. Inicialmente foi realizada uma avaliação de diversos simuladores de código aberto e o Simbody foi definido como o mais apropriado para ser utilizado no desenvolvimento das simulações dinâmicas realizadas nesta Tese. Uma toolbox de MATLAB para auxiliar nos cálculos cinemáticos e dinâmicos foi desenvolvida em conjunto com um módulo de Inter Process Communication para realizar a comunicação entre o MATLAB e o simulador. Foi realizado um estudo da marcha bípede, implementando e avaliando as estratégias do Zero Moment Point e do Limit CycleWalking. Este estudo resultou numa proposta de controlador não linear comutado para robôs em Ciclo Limite. Na procura de um novo critério de estabilidade foi abordado o estudo da marcha humana. Um procedimento para identificar os mecanismos que controlam a estabilidade da marcha humana é analisar a mesma sob perturbações, como tropeços, ou na ultrapassagem de obstáculos. Na literatura existiam bastantes referências sobre este tema, porém, faltou uma comparação da marcha humana sob diferentes condições de visão com a marcha de robôs que utilizam o ZMP. Foi descoberto que os seres humanos privados de visão têm uma estratégia de ultrapassagem de obstáculos semelhante a um robô com ZMP. A partir do conhecimento adquirido deste estudo é proposto e formulado um novo critério de estabilidade, o Step Viability, inspirado na marcha humana e no conceito de N-Step Capturability. O Step Viability baseia-se na definição de restrições que garantem a viabilidade de realizar passos futuros que garantam a convergência para um ponto fixo em tempo finito. O critério foi implementado utilizando-se uma otimização de trajetória multi-fase. Múltiplos testes foram realizados utilizando-se o modelo Compass Gait com diferentes parâmetros (distribuição de massa, torque máximo disponível), com diferentes inclinações e com vários padrões de marcha desejados (periódico, aumento uniforme e até aleatório não periódico). Adicionalmente o critério foi testado em um modelo de 5 segmentos, sintetizando uma marcha com variação tanto linear quanto aleatória. O critério foi bem-sucedido na geração de uma marcha estável em todos os testes e os resultados foram consistentes. A marcha pode ser sintetizada completamente desacoplada do critério de estabilidade, e o modelo renunciou automaticamente do padrão desenhado em favor da estabilidade. / Bipedal robots present a great potential for both commercial and research applications. However, there are some drawbacks that limit their applicability in the real world. The most prominent is the inability to perform a stable, robust, versatile and efficient gait. There are three main state of the art strategies to approach this problem. However, none of them has been successful in satisfying all the listed requirements simultaneously. In this context, this work conducted a study of bipedal gait, both in humans and robots, in order to implement and evaluate existing stability strategies. As a first step, an evaluation of several open source simulators was performed and Simbody was chosen as the most adequate for the dynamic simulations carried out in this Thesis. A MATLAB toolbox to help in the kinematic and dynamic calculations was developed in conjunction with a module of an Inter Process Communication to perform the communication between MATLAB and the simulator. A bipedal gait study was carried out, implementing and evaluating Zero Moment Point and Limit Cycle Walking strategies. This study resulted in a proposed nonlinear switched controller for Limit Cycle robots. In the search for a new stability criterion, human gait was analyzed. A procedure to identify the mechanisms controlling human gait stability is to analyze gait under disturbances such as stumbling or overcoming obstacles. In the literature, there were many references on this subject, however, there was a lack of comparison of the human gait under different vision conditions with the gait of robots that use the ZMP. It was found that vision-deprived humans have an obstacle crossing strategy similar to robots with ZMP. From the knowledge acquired from this study, it is proposed a novel stability criterion, the Step Viability, inspired on human gait and the N-Step Capturability concept. The Step Viability is based on the definition of constraints that ensure the viability of performing future steps that guarantee convergence to a fixed point in finite time. The criterion was implemented using a multi-phase trajectory optimization. Multiple tests were performed using the Compass Gait model with different parameters (mass distribution, maximum available torque), with different slopes and with several desired gait patterns (periodic, uniform increase and even random non-periodic). Additionally, the criterion was tested in a 5-links model, synthesizing a gait with both linear and random velocity variation. The criterion was successful on generating a stable gait in all the tests and the results presented consistent data. The gait could be designed completely uncoupled from the stability criterion, yet the model automatically renounced to follow the desired pattern in favor of maintaining stability.

Nesta tese estudamos um dos principais problemas na teoria qualitativa das equações diferenciais planares: o problema de determinar a bacia de atração de um ponto de equilíbrio. Damos uma prova rigorosa de que para sistemas lineares por partes de costura com duas zonas no plano, definidas por matrizes Hurwitz o único ponto de equilíbrio na reta de separação é globalmente assintoticamente estável. Por outro lado, provamos que nesta classe de sistemas, podemos ter um ponto de equilíbrio instável na origem quando uma curva poligonal separa as zonas, levando a um resultado contra-intuitivo do comportamento dinâmico de sistemas lineares por partes no plano. Além disso, estudamos os ciclos limites em perturbações suaves por partes de centros Hamiltonianos. Neste cenário, é comum adaptar resultados clássicos de sistemas suaves, como funções de Melnikov, para sistemas não-suaves. No entanto, existe pouca justificativa para este procedimento na literatura. Ao utilizar o método de regularização damos uma prova que suporta o uso de funções de Melnikov diretamente do problema não-suave original. / In this thesis we study one of the main problems in the qualitative theory of planar differential equations: the problem of determining the basin of attraction of an equilibrium point. We give a rigorous proof that for planar sewing piecewise linear systems with two zones, defined by Hurwitz matrices the unique equilibrium point in the separation straight line is globally asymptotically stable. On the other hand, we prove that sewing piecewise linear systems with two zones in the plane, defined by Hurwitz matrices can have one unstable equilibrium point at the origin allowing a broken line to separate the zones, leading to counterintuitive dynamical behaviors of simple piecewise linear systems in the plane. Furthermore, we study limit cycles in piecewise smooth perturbations of Hamiltonians centers. In this setting it is common to adapt classical results for smooth systems, like Melnikov functions, to non-smooth ones. However, there is little justification for this procedure in the literature. By using the regularization method we give a proof that supports the use of Melnikov functions directly from the original non-smooth problem.

Nesta tese, o limite não re1ativistico em teorias quânticas de campos em 2+1 dimensões é discutido1 perturbativamente, através da introdução de um corte intermediário que permite 0 cálculo de.expansão /P/m das amplitudes quânticas. especificando a origem, no espaço dos estados intermediários, de cada uma. das contribuições. Este procedimento é aplicado à teoria 4 e um esquema de redução a nível das amplitudes, que identifica a contribuição do setor de baixas energias com 0 resultado da teoria não re1ativistica, é proposto. Quando aplicado á teoria de Chern-Simons escalar, este procedimento sugere correlações relativísticas para o espalhamento Aharonov-Bohm. / n this thesis, the nonrelativistic limit of quantum field theories in 2 + 1 dimensions is discussed, perturbatively, through the introduction of an intermediate cutoff which generates the /p/m expansion of the quantum amplitudes and specifies the origin of each contribution in the space of the intermediary states. This scheme is applied to the theory 4 and a reduction procedure for the amplitudes that identify the low energy sector contribution with the results of the nonrelativistic theory is proposed. When applied to the scalar Chern-Simons theory, this procedure gives relativistic corrections to the Aharonov- Bohm scattering.

This work presents an alternative method for 3D bipedal gait design using independent controllers for the plane of motion frontal and sagittal. The use of virtual constraints to design a stable gait for the frontal system is fully developed and studied in this work and the resulting gait simulated. The results, although not definitive, are promising. / Esta tese apresenta um método alternativo de síntese de marcha bípede 3D usando controladores independentes projetados para os planos de movimento frontal e sagital. O uso de restrições virtuais no projeto de uma marcha estável para o plano frontal é completamente desenvolvido e estudado neste trabalho. A marcha resultante é simulada e os resultados, apesar de ainda não definitivos, são promissores.