O objetivo do presente estudo foi comparar as respostas cardiorrespiratórias, neuromusculares e cinemáticas durante o exercício de corrida estacionária com a flexão e extensão de cotovelo em diferentes cadências com e sem equipamento. A amostra desse estudo foi composta por 15 mulheres jovens que realizaram o exercício nas situações sem equipamento (SEM), com equipamento flutuante em ambos os membros (FLU-MSs/MIs) e com equipamento resistivo em ambos os membros (RES-MSs/MIs), nas cadências de 80 bpm, 100 bpm e no máximo esforço. Para as cadências submáximas o exercício foi realizado durante 4 min em cada situação e no máximo esforço o mesmo foi realizado durante 15 s. Utilizou-se ANOVA de 2 e 3 fatores, com post-hoc de Bonferroni (p < 0,05) (SPSS vs 15.0). Os resultados da frequência cardíaca e do consumo de oxigênio mostraram haver diferenças significativas entre as situações FLUMSs/ MIs e RES-MSs/MIs em comparação a SEM, com valores significativamente maiores para as situações de exercício com equipamento. Além disso, houve diferença entre as cadências de 80 e 100 bpm, com valores maiores e significativos para a cadência de 100 bpm. Para as variáveis de amplitude de movimento houve diferenças entre as cadências, com valores maiores de amplitude de movimento do quadril e joelho, conforme o incremento da cadência. Todavia, para a amplitude de movimento do cotovelo com o incremento da cadência houve uma diminuição da amplitude de movimento. Em relação a velocidade angular média de movimento do cotovelo, quadril e joelho houve diferenças significativas entre as cadências, com valores maiores para o máximo esforço. A velocidade angular média do quadril foi menor nas situações FLUMSs/ MIs e RES-MSs/MIs em comparação a SEM. Para as variáveis neuromusculares, não houve diferenças entre as situações, com exceção do percentual da contração isométrica voluntária máxima (%CVM) do tríceps braquial, que foi maior na situação FLU-MSs/MIs. Entre as diferentes cadências submáximas não houve diferenças para todos os músculos analisados, todavia entre essas e o máximo esforço houve diferenças, com maiores %CVM para o máximo esforço. O %CVM do bíceps femoral foi o único que demonstrou diferenças entre todas as cadências testadas nesse estudo. Entre as fases de movimento não houve diferença, com exceção do %CVM do reto femoral, o qual foi maior na fase de extensão. Em suma, o exercício de corrida estacionária com a flexão e extensão de cotovelo apresentou maiores respostas cardiorrespiratórias com o uso de equipamento (flutuante e resistivo) e também com o aumento da cadência de execução. Todavia, as respostas neuromusculares não diferiram entre as cadências submáximas, mas essas foram significativamente maiores no máximo esforço. / The purpose of the present study was to compare the cardiorespiratory, neuromuscular and kinematic responses during the stationary running with the elbow flexion/extension in different cadences with and without equipment. The sample was consisted of fifteen young women that performed the exercise without equipment (NO-E), with floating equipment in upper and lower limbs (FLO-LLs/ULs) and with resistive equipment in upper and lower limbs (RES-LLs/ULs) at three cadences (80 bpm, 100 bpm and maximal effort). For submaximal cadences the exercise was performed during 4 min and during 15 s at maximal effort in each situation. The results were analyzed using repeated measures ANOVA (factors: cadence, situation, phase of movement) with the Bonferroni correction for post-hoc comparisons (p < 0,05) (SPSS vs 15.0). The heart rate and oxygen uptake showed significant differences between FLO-LLs/ULs and RES-LLs/ULs compared with NO-E and higher values of these variables was found in the situations with equipment. In addition, the results for cardirespiratory responses demonstrated significant difference between submaximal cadences (80 and 100 bpm) with higher values of heart rate and oxygen uptake at 100 bpm. For the range of motion significant differences between cadences was showed with higher values of this variable for hip and knee according to the increment of the cadence. However, the range of motion for elbow decreased with the increment of the cadence. The angular velocity for elbow, hip and knee presented significant differences between cadences with higher values at maximal effort. Besides, the angular velocity for hip was minor in the situations FLU-LLs/Uls and RES-LLs/ULs compared with NO-E. For neuromucular responses no significant differences were showed between situations, except the percentage of maximal voluntary contraction (%MVC) for triceps brachii that was major in FLO-LLs/ULs. Between the different submaximal cadences no significant differences was found for all muscles analyzed, however, between these submaximal cadences and maximal effort were found significant differences with higher values of the %MVC at maximal effort. The unique %MVC that demonstrated significant differences between all cadences analyzed in this study was for biceps femoris. Between the phases of movement (flexion and extension) no significant difference was showed for all muscles investigated, except for the %MVC for rectus femoris that was higher in extension phase. In conclusion, the stationary running with the elbow flexion/extension presented higher cardiorespiratory responses with equipment (floating and resistive) and also with the enhance at the cadence of execution. Nevertheless, neuromuscular responses showed no significant difference between submaximal cadences, but these responses were significantly higher at maximal effort.

O objetivo do presente estudo foi comparar as respostas cardiorrespiratórias, neuromusculares e cinemáticas durante o exercício de corrida estacionária com a flexão e extensão de cotovelo em diferentes cadências com e sem equipamento. A amostra desse estudo foi composta por 15 mulheres jovens que realizaram o exercício nas situações sem equipamento (SEM), com equipamento flutuante em ambos os membros (FLU-MSs/MIs) e com equipamento resistivo em ambos os membros (RES-MSs/MIs), nas cadências de 80 bpm, 100 bpm e no máximo esforço. Para as cadências submáximas o exercício foi realizado durante 4 min em cada situação e no máximo esforço o mesmo foi realizado durante 15 s. Utilizou-se ANOVA de 2 e 3 fatores, com post-hoc de Bonferroni (p < 0,05) (SPSS vs 15.0). Os resultados da frequência cardíaca e do consumo de oxigênio mostraram haver diferenças significativas entre as situações FLUMSs/ MIs e RES-MSs/MIs em comparação a SEM, com valores significativamente maiores para as situações de exercício com equipamento. Além disso, houve diferença entre as cadências de 80 e 100 bpm, com valores maiores e significativos para a cadência de 100 bpm. Para as variáveis de amplitude de movimento houve diferenças entre as cadências, com valores maiores de amplitude de movimento do quadril e joelho, conforme o incremento da cadência. Todavia, para a amplitude de movimento do cotovelo com o incremento da cadência houve uma diminuição da amplitude de movimento. Em relação a velocidade angular média de movimento do cotovelo, quadril e joelho houve diferenças significativas entre as cadências, com valores maiores para o máximo esforço. A velocidade angular média do quadril foi menor nas situações FLUMSs/ MIs e RES-MSs/MIs em comparação a SEM. Para as variáveis neuromusculares, não houve diferenças entre as situações, com exceção do percentual da contração isométrica voluntária máxima (%CVM) do tríceps braquial, que foi maior na situação FLU-MSs/MIs. Entre as diferentes cadências submáximas não houve diferenças para todos os músculos analisados, todavia entre essas e o máximo esforço houve diferenças, com maiores %CVM para o máximo esforço. O %CVM do bíceps femoral foi o único que demonstrou diferenças entre todas as cadências testadas nesse estudo. Entre as fases de movimento não houve diferença, com exceção do %CVM do reto femoral, o qual foi maior na fase de extensão. Em suma, o exercício de corrida estacionária com a flexão e extensão de cotovelo apresentou maiores respostas cardiorrespiratórias com o uso de equipamento (flutuante e resistivo) e também com o aumento da cadência de execução. Todavia, as respostas neuromusculares não diferiram entre as cadências submáximas, mas essas foram significativamente maiores no máximo esforço. / The purpose of the present study was to compare the cardiorespiratory, neuromuscular and kinematic responses during the stationary running with the elbow flexion/extension in different cadences with and without equipment. The sample was consisted of fifteen young women that performed the exercise without equipment (NO-E), with floating equipment in upper and lower limbs (FLO-LLs/ULs) and with resistive equipment in upper and lower limbs (RES-LLs/ULs) at three cadences (80 bpm, 100 bpm and maximal effort). For submaximal cadences the exercise was performed during 4 min and during 15 s at maximal effort in each situation. The results were analyzed using repeated measures ANOVA (factors: cadence, situation, phase of movement) with the Bonferroni correction for post-hoc comparisons (p < 0,05) (SPSS vs 15.0). The heart rate and oxygen uptake showed significant differences between FLO-LLs/ULs and RES-LLs/ULs compared with NO-E and higher values of these variables was found in the situations with equipment. In addition, the results for cardirespiratory responses demonstrated significant difference between submaximal cadences (80 and 100 bpm) with higher values of heart rate and oxygen uptake at 100 bpm. For the range of motion significant differences between cadences was showed with higher values of this variable for hip and knee according to the increment of the cadence. However, the range of motion for elbow decreased with the increment of the cadence. The angular velocity for elbow, hip and knee presented significant differences between cadences with higher values at maximal effort. Besides, the angular velocity for hip was minor in the situations FLU-LLs/Uls and RES-LLs/ULs compared with NO-E. For neuromucular responses no significant differences were showed between situations, except the percentage of maximal voluntary contraction (%MVC) for triceps brachii that was major in FLO-LLs/ULs. Between the different submaximal cadences no significant differences was found for all muscles analyzed, however, between these submaximal cadences and maximal effort were found significant differences with higher values of the %MVC at maximal effort. The unique %MVC that demonstrated significant differences between all cadences analyzed in this study was for biceps femoris. Between the phases of movement (flexion and extension) no significant difference was showed for all muscles investigated, except for the %MVC for rectus femoris that was higher in extension phase. In conclusion, the stationary running with the elbow flexion/extension presented higher cardiorespiratory responses with equipment (floating and resistive) and also with the enhance at the cadence of execution. Nevertheless, neuromuscular responses showed no significant difference between submaximal cadences, but these responses were significantly higher at maximal effort.

Padel involves repetitive and high-velocity upper limb movements, which can be associated with overuse injuries. There is a lack of evidence regarding injury prevention in padel and a necessity of developing and evaluating ways to monitor workload. The objective of this study was to use a new mobile measurement method (Delsys Trigno Light System) to evaluate muscle activation and movement of the forearm during padel. The percentage of MVC (%MVC) of Mm. Extensor carpi radialis (ECR) longus et brevis and M. flexor carpi radialis (FCR), angular velocities of the wrist and co-contraction between ECR and FCR were measured and analyzed. The main results showed a relatively low general muscle activation; 1.42 (0.44 – 2.33) %MVC of FCR and 8.02 (4.23 – 12.62) %MVC of ECR, with significantly greater muscle activation of the ECR than the FCR (p&lt;0.001), high angular wrist velocities; 17.0 (13.2 – 34.6) °/s, and a weak positive correlation for co-contraction with peak values of FCR &gt; 0.15 V and concurrent ECR, Spearman’s r = 0.326, p&lt;0.001 and peak values of ECR &gt; 0,15 V and concurrent FCR, Spearman’s r = 0.181, p&lt;0.001. This study indicates that this mobile measurement method may be used to evaluate biomechanical workload on the forearm during padel play and may serve as an injury preventive tool.

No description available.

O objetivo do presente estudo foi analisar as respostas cardiorrespiratórias, cinemáticas e neuromusculares de mulheres jovens realizando o exercício de corrida estacionária em diferentes cadências nos meios aquático e terrestre. Doze mulheres jovens, experientes na prática de hidroginástica, foram amostras voluntárias do estudo. Cada uma participou de duas sessões experimentais: 1) coleta dos dados de caracterização da amostra e realização de um teste de esforço máximo; 2) coleta das variáveis cardiorrespiratórias (freqüência cardíaca (FC), consumo de oxigênio (VO2), percentual da FC máxima (%FCmáx) e percentual do VO2 máximo (%VO2máx)), cinemáticas (velocidade angular média (VAMQ) e de pico do quadril (VAPQ)) e neuromusculares (amplitude do sinal eletromiográfico (EMG) dos músculos vasto lateral (VL), bíceps femoral (BF), reto femoral (RF) e semitendinoso (ST)). Para a coleta de tais variáveis, dois protocolos de testes foram realizados, um no meio terrestre e outro no meio aquático, com um intervalo de duas horas entre eles. Para cada um dos meios, o exercício de corrida estacionária foi realizado durante 4 min em 3 cadências submáximas (60, 80 e 100 bpm) e durante 15 s no máximo esforço, com um intervalo de 5 min entre cada situação. Utilizamos análise de variância com bloqueamento, considerando o efeito do sujeito como mais uma fonte de variação para a análise estatística, com os dados processados nos programas SPSS versão 13.0 e R-project. Como resultados, as variáveis VAMQ e VAPQ foram significativamente mais elevadas quando o exercício foi executado no meio terrestre, e maiores quanto maior a cadência de execução, sugerindo um padrão cinemático distinto entre os meios. Da mesma forma, as respostas cardiorrespiratórias foram maiores para o exercício no meio terrestre e aumentaram significativamente com o aumento da cadência de execução. Já as respostas neuromusculares não apresentaram um comportamento semelhante, visto que o sinal EMG dos músculos VL, BF, RF e ST não aumentou significativamente com o incremento da cadência de execução, exceto das cadências submáximas para o máximo esforço. Na comparação entre os meios, o meio terrestre apresentou respostas significativamente maiores para o sinal EMG de todos os músculos nas cadências submáximas, exceto para o músculo ST que apresentou respostas semelhantes. Entretanto, no máximo esforço todos os grupos musculares analisados apresentaram respostas similares entre os meios. Em suma, a realização do exercício de corrida estacionária no meio aquático em cadências de execução submáximas apresenta respostas cardiorrespiratórias e neuromusculares menores do que o mesmo executado no meio terrestre, para as cadências fixas do presente estudo. Todavia, em intensidades máximas, a amplitude do sinal EMG pode apresentar padrões de ativação muscular semelhante entre os meios. / The aim of the present study was to analyze the cardiorespiratory, kinematic and neuromuscular response of young women performing stationary running exercise at different cadences in aquatic and terrestrial environments. The study sample consisted of twelve young women, experienced in hydrogymnastics. Each one took part in two experimental sessions: 1) collection of sample characterization data and the performance of a maximum effort test; 2) collection of the cardiorespiratory (heart rate, (HR), oxygen uptake (VO2), percentage of maximum HR (%HRmax) and percentage of maximum VO2 (%VO2max)), kinematic (mean hip angular velocity (MHAV) and peak hip angular velocity (PHAV)), and neuromusuclar variables (electromyographic signal amplitude (EMG) of the vastus lateralis (VL), biceps femoris (BF), rectus femoris (RF) and semitendinosus (ST) muscles). In order to collect these variables, two test protocols were carried out, one land-based and the other water-based, with a two-hour interval between them. The stationary running exercise was performed in each of these environments during 4 min at 3 submaximal cadences (60, 80, and 100 bpm) and during 15 s at maximum effort, with a 5 min-interval between each situation. We used blocked variance analysis, in which the effect of the subject was considered an additional source of variation for the statistical analysis. The data was processed using the SPSS (version 13.0) and R-project programs. The findings showed that the MHAV and PHAV were significantly higher when the exercise was performed on land, and higher the greater the cadence of execution, suggesting distinct kinematic patterns for the two environments. Similarly, the cardiorespiratory responses were higher with the land-based exercise and increased significantly with increased cadence. The neuromuscular responses, however, showed no such behavior, with the EMG signal from the VL, BF, RF and ST muscles showing no significant increase with greater cadence of execution, except from the sub-maximum cadences to the maximum effort. When comparing the environments, the terrestrial environment presented significantly greater EMG signal responses from all the muscles at the sub-maximum cadences, except for the ST muscle which presented similar responses in both environments. However, at the maximum effort, all the analyzed muscle groups showed similar responses in both environments. In summary, at the cadences used in the present study, the performance of the stationary running exercise in an aquatic environment at a sub-maximum cadences presents lower cardiorespiratory and neuromuscular responses than the same exercise performed on land. Yet, at maximum intensities, the amplitude of the EMG signal may present similar muscular activation patterns in the two environments.

O objetivo do presente estudo foi analisar as respostas cardiorrespiratórias, cinemáticas e neuromusculares de mulheres jovens realizando o exercício de corrida estacionária em diferentes cadências nos meios aquático e terrestre. Doze mulheres jovens, experientes na prática de hidroginástica, foram amostras voluntárias do estudo. Cada uma participou de duas sessões experimentais: 1) coleta dos dados de caracterização da amostra e realização de um teste de esforço máximo; 2) coleta das variáveis cardiorrespiratórias (freqüência cardíaca (FC), consumo de oxigênio (VO2), percentual da FC máxima (%FCmáx) e percentual do VO2 máximo (%VO2máx)), cinemáticas (velocidade angular média (VAMQ) e de pico do quadril (VAPQ)) e neuromusculares (amplitude do sinal eletromiográfico (EMG) dos músculos vasto lateral (VL), bíceps femoral (BF), reto femoral (RF) e semitendinoso (ST)). Para a coleta de tais variáveis, dois protocolos de testes foram realizados, um no meio terrestre e outro no meio aquático, com um intervalo de duas horas entre eles. Para cada um dos meios, o exercício de corrida estacionária foi realizado durante 4 min em 3 cadências submáximas (60, 80 e 100 bpm) e durante 15 s no máximo esforço, com um intervalo de 5 min entre cada situação. Utilizamos análise de variância com bloqueamento, considerando o efeito do sujeito como mais uma fonte de variação para a análise estatística, com os dados processados nos programas SPSS versão 13.0 e R-project. Como resultados, as variáveis VAMQ e VAPQ foram significativamente mais elevadas quando o exercício foi executado no meio terrestre, e maiores quanto maior a cadência de execução, sugerindo um padrão cinemático distinto entre os meios. Da mesma forma, as respostas cardiorrespiratórias foram maiores para o exercício no meio terrestre e aumentaram significativamente com o aumento da cadência de execução. Já as respostas neuromusculares não apresentaram um comportamento semelhante, visto que o sinal EMG dos músculos VL, BF, RF e ST não aumentou significativamente com o incremento da cadência de execução, exceto das cadências submáximas para o máximo esforço. Na comparação entre os meios, o meio terrestre apresentou respostas significativamente maiores para o sinal EMG de todos os músculos nas cadências submáximas, exceto para o músculo ST que apresentou respostas semelhantes. Entretanto, no máximo esforço todos os grupos musculares analisados apresentaram respostas similares entre os meios. Em suma, a realização do exercício de corrida estacionária no meio aquático em cadências de execução submáximas apresenta respostas cardiorrespiratórias e neuromusculares menores do que o mesmo executado no meio terrestre, para as cadências fixas do presente estudo. Todavia, em intensidades máximas, a amplitude do sinal EMG pode apresentar padrões de ativação muscular semelhante entre os meios. / The aim of the present study was to analyze the cardiorespiratory, kinematic and neuromuscular response of young women performing stationary running exercise at different cadences in aquatic and terrestrial environments. The study sample consisted of twelve young women, experienced in hydrogymnastics. Each one took part in two experimental sessions: 1) collection of sample characterization data and the performance of a maximum effort test; 2) collection of the cardiorespiratory (heart rate, (HR), oxygen uptake (VO2), percentage of maximum HR (%HRmax) and percentage of maximum VO2 (%VO2max)), kinematic (mean hip angular velocity (MHAV) and peak hip angular velocity (PHAV)), and neuromusuclar variables (electromyographic signal amplitude (EMG) of the vastus lateralis (VL), biceps femoris (BF), rectus femoris (RF) and semitendinosus (ST) muscles). In order to collect these variables, two test protocols were carried out, one land-based and the other water-based, with a two-hour interval between them. The stationary running exercise was performed in each of these environments during 4 min at 3 submaximal cadences (60, 80, and 100 bpm) and during 15 s at maximum effort, with a 5 min-interval between each situation. We used blocked variance analysis, in which the effect of the subject was considered an additional source of variation for the statistical analysis. The data was processed using the SPSS (version 13.0) and R-project programs. The findings showed that the MHAV and PHAV were significantly higher when the exercise was performed on land, and higher the greater the cadence of execution, suggesting distinct kinematic patterns for the two environments. Similarly, the cardiorespiratory responses were higher with the land-based exercise and increased significantly with increased cadence. The neuromuscular responses, however, showed no such behavior, with the EMG signal from the VL, BF, RF and ST muscles showing no significant increase with greater cadence of execution, except from the sub-maximum cadences to the maximum effort. When comparing the environments, the terrestrial environment presented significantly greater EMG signal responses from all the muscles at the sub-maximum cadences, except for the ST muscle which presented similar responses in both environments. However, at the maximum effort, all the analyzed muscle groups showed similar responses in both environments. In summary, at the cadences used in the present study, the performance of the stationary running exercise in an aquatic environment at a sub-maximum cadences presents lower cardiorespiratory and neuromuscular responses than the same exercise performed on land. Yet, at maximum intensities, the amplitude of the EMG signal may present similar muscular activation patterns in the two environments.

abstract: Head movement is a natural orienting behavior for sensing environmental events around us. Head movement is particularly important for identifying through the sense of hearing the location of an out-of-sight, rear-approaching target to avoid danger or threat. This research aims to design a portable device for detecting the head movement patterns of common marmoset monkeys in laboratory environments. Marmoset is a new-world primate species and has become increasingly popular for neuroscience research. Understanding the unique patterns of their head movements will improve its values as a new primate model for uncovering the neurobiology of natural orienting behavior. Due to their relatively small head size (5 cm in diameter) and body weight (300-500 g), the device has to meet several unique design requirements with respect to accuracy and workability. A head-mount wireless tracking system was implemented based on inertial sensors that are capable of detecting motion in the Yaw, Pitch and Roll axes. The sensors were connected to the encoding station, which transmits wirelessly the 3-axis movement data to the decoding station at the sampling rate of ~175 Hz. The decoding station relays this information to the computer for real-time display and analysis. Different tracking systems, based on the accelerometer and Inertial Measurement Unit is implemented to track the head movement pattern of the marmoset head. Using these systems, translational and rotational information of head movement are collected, and the data analysis focuses on the rotational head movement in body-constrained marmosets. Three stimulus conditions were tested: 1) Alert, 2) Idle 3) Sound only. The head movement patterns were examined when the house light was turned on and off for each stimulus. Angular velocity, angular displacement and angular acceleration were analyzed in all three axes. Fast and large head turns were observed in the Yaw axis in response to the alert stimuli and not much in the idle and sound-only stimulus conditions. Contrasting changes in speed and range of head movement were found between light-on and light-off situations. The mean peak angular displacement was 95 degrees (light on) and 55 (light off) and the mean peak angular velocity was 650 degrees/ second (light on) and 400 degrees/second (light off), respectively, in response to the alert stimuli. These results suggest that the marmoset monkeys may engage in different modes of orienting behaviors with respect to the availability of visual cues and thus the necessity of head movement. This study provides a useful tool for future studies in understanding the interplay among visual, auditory and vestibular systems during nature behavior. / Dissertation/Thesis / Masters Thesis Bioengineering 2015

O objetivo do presente estudo foi analisar as respostas cardiorrespiratórias, cinemáticas e neuromusculares de mulheres jovens realizando o exercício de corrida estacionária em diferentes cadências nos meios aquático e terrestre. Doze mulheres jovens, experientes na prática de hidroginástica, foram amostras voluntárias do estudo. Cada uma participou de duas sessões experimentais: 1) coleta dos dados de caracterização da amostra e realização de um teste de esforço máximo; 2) coleta das variáveis cardiorrespiratórias (freqüência cardíaca (FC), consumo de oxigênio (VO2), percentual da FC máxima (%FCmáx) e percentual do VO2 máximo (%VO2máx)), cinemáticas (velocidade angular média (VAMQ) e de pico do quadril (VAPQ)) e neuromusculares (amplitude do sinal eletromiográfico (EMG) dos músculos vasto lateral (VL), bíceps femoral (BF), reto femoral (RF) e semitendinoso (ST)). Para a coleta de tais variáveis, dois protocolos de testes foram realizados, um no meio terrestre e outro no meio aquático, com um intervalo de duas horas entre eles. Para cada um dos meios, o exercício de corrida estacionária foi realizado durante 4 min em 3 cadências submáximas (60, 80 e 100 bpm) e durante 15 s no máximo esforço, com um intervalo de 5 min entre cada situação. Utilizamos análise de variância com bloqueamento, considerando o efeito do sujeito como mais uma fonte de variação para a análise estatística, com os dados processados nos programas SPSS versão 13.0 e R-project. Como resultados, as variáveis VAMQ e VAPQ foram significativamente mais elevadas quando o exercício foi executado no meio terrestre, e maiores quanto maior a cadência de execução, sugerindo um padrão cinemático distinto entre os meios. Da mesma forma, as respostas cardiorrespiratórias foram maiores para o exercício no meio terrestre e aumentaram significativamente com o aumento da cadência de execução. Já as respostas neuromusculares não apresentaram um comportamento semelhante, visto que o sinal EMG dos músculos VL, BF, RF e ST não aumentou significativamente com o incremento da cadência de execução, exceto das cadências submáximas para o máximo esforço. Na comparação entre os meios, o meio terrestre apresentou respostas significativamente maiores para o sinal EMG de todos os músculos nas cadências submáximas, exceto para o músculo ST que apresentou respostas semelhantes. Entretanto, no máximo esforço todos os grupos musculares analisados apresentaram respostas similares entre os meios. Em suma, a realização do exercício de corrida estacionária no meio aquático em cadências de execução submáximas apresenta respostas cardiorrespiratórias e neuromusculares menores do que o mesmo executado no meio terrestre, para as cadências fixas do presente estudo. Todavia, em intensidades máximas, a amplitude do sinal EMG pode apresentar padrões de ativação muscular semelhante entre os meios. / The aim of the present study was to analyze the cardiorespiratory, kinematic and neuromuscular response of young women performing stationary running exercise at different cadences in aquatic and terrestrial environments. The study sample consisted of twelve young women, experienced in hydrogymnastics. Each one took part in two experimental sessions: 1) collection of sample characterization data and the performance of a maximum effort test; 2) collection of the cardiorespiratory (heart rate, (HR), oxygen uptake (VO2), percentage of maximum HR (%HRmax) and percentage of maximum VO2 (%VO2max)), kinematic (mean hip angular velocity (MHAV) and peak hip angular velocity (PHAV)), and neuromusuclar variables (electromyographic signal amplitude (EMG) of the vastus lateralis (VL), biceps femoris (BF), rectus femoris (RF) and semitendinosus (ST) muscles). In order to collect these variables, two test protocols were carried out, one land-based and the other water-based, with a two-hour interval between them. The stationary running exercise was performed in each of these environments during 4 min at 3 submaximal cadences (60, 80, and 100 bpm) and during 15 s at maximum effort, with a 5 min-interval between each situation. We used blocked variance analysis, in which the effect of the subject was considered an additional source of variation for the statistical analysis. The data was processed using the SPSS (version 13.0) and R-project programs. The findings showed that the MHAV and PHAV were significantly higher when the exercise was performed on land, and higher the greater the cadence of execution, suggesting distinct kinematic patterns for the two environments. Similarly, the cardiorespiratory responses were higher with the land-based exercise and increased significantly with increased cadence. The neuromuscular responses, however, showed no such behavior, with the EMG signal from the VL, BF, RF and ST muscles showing no significant increase with greater cadence of execution, except from the sub-maximum cadences to the maximum effort. When comparing the environments, the terrestrial environment presented significantly greater EMG signal responses from all the muscles at the sub-maximum cadences, except for the ST muscle which presented similar responses in both environments. However, at the maximum effort, all the analyzed muscle groups showed similar responses in both environments. In summary, at the cadences used in the present study, the performance of the stationary running exercise in an aquatic environment at a sub-maximum cadences presents lower cardiorespiratory and neuromuscular responses than the same exercise performed on land. Yet, at maximum intensities, the amplitude of the EMG signal may present similar muscular activation patterns in the two environments.

There is a need for objective methods for wrist angular velocity measurements for accurate risk assessments because there is a high frequency of musculoskeletal disorder in workers. The goal of this project was to validate the accuracy of inertial measurement unit sensors to measure the angular velocity. More specifically, the purpose of this master thesis project was to apply an alternative algorithm to compute the markers velocity, other than the one from the optical system that Jenny Wingqvist, and Josephine Lantz used. The project used an experimental data of 10 participants from the previous project done by Jenny Wingqvist and Josephine Lantz. To validate the accuracy, the data of angular velocity of the sensors was compared with the data of angular velocity of markers. The lowest mean value of the root mean square differences value was 23.5 degrees/s during flexion and deviation standard movements at 40 BPM (Beats Per Minute) and the maximum value was 110.5 degrees/s at 140 BPM. The mean value of the correlation coefficients between markers and sensors angular velocities in standard movements of flexion and deviation were 0.85, 0.88, and 0.89 at 40 BPM, 90 BPM, and 140 BPM, respectively. The smallest and the largest mean value of the absolute difference in 50th percentile was found in 40 BPM (19.4±11.3), and 140 BPM (51.2±28.5) respectively. The decorrelation coefficient between the subjects 50th percentile of the angular velocity was 0.91 for the standard movements. The upper limit of agreement for the standard movements was 78.36 degrees/s, while the lower limit of agreement was -13.76 degrees/s.  The results show that the error was too large, so there is a need of further research to measure the wrist angular velocity using IMU sensors.

With the rising popularity of ROVs and other UV solutions, more robust and high performance controllers have become a necessity. A model of the ROV or UV can be a valuable tool during control synthesis. The main objective of this thesis was to use a model in design and development of controllers for an ROV. In this thesis, an ROV from Blue Robotics was used. The ROV was equipped with 6 thrusters placed such that the ROV was capable of moving in 6-DOFs. The ROV was further equipped with an IMU, two pressure sensors and a magnetometer. The ROV platform was further developed with EKF-based sensor fusion, a control system and manual control capabilities. To model the ROV, the framework of Fossen (2011) was used. The model was estimated using two different methods, the prediction-error method and an EKF-based method. Using the prediction-error method, it was found that the initial states of the quaternions had a large impact on the estimated parameters and the overall fit to validation data. A Kalman smoother was used to estimate the initial states. To circumvent the problems with the initial quaternions, an \abbrEKF was implemented to estimate the model parameters. The EKF estimator was less sensitive to deviations in the initial states and produced a better result than the prediction-error method. The resulting model was compared to validation data and described the angular velocities well with around 70 % fit. The estimated model was used to implement feedback linearisation which was used in conjunction with an attitude controller and an angular velocity controller. Furthermore, a depth controller was developed and tuned without the use of the model. Performance of the controllers was tested both in real tests and simulations. The angular velocity controller using feedback linearisation achieved good reference tracking. However, the attitude controller could not stabilise the system while using feedback linearisation. Both controllers' performance could be improved further by tuning the controllers' parameters during tests. The fact that the feedback linearisation made the ROV unstable, indicates that the attitude model is not good enough for use in feedback linearisation. To achieve stability, the magnitude of the parameters in the feedback linearisation were scaled down. The assumption that the ROV's center of rotation coincides with the placement of the ROV's center of gravity was presented as a possible source of error. In conclusion, good performance was achieved using the angular velocity controller. The ROV was easier to control with the angular velocity controller engaged compared to controlling it in open loop. More work is needed with the model to get acceptable performance from the attitude controller. Experiments to estimate the center of rotation and the center of gravity of the ROV may be helpful when further improving the model.