[pt] O equilíbrio corporal é uma importante habilidade física e um aspecto fundamental para a saúde dos idosos, sendo as quedas a principal causa de lesões não intencionais que levam a perda de autonomia e ao óbito neste grupo. Com o envelhecimento da população mundial e sendo os déficits de equilíbrio uma das maiores causas de atendimentos fisioterapêuticos, o uso de instrumentos portáveis de baixo custo e confiáveis para avaliação do equilíbrio são de extrema relevância. Diversos estudos avaliaram a validade concorrente e/ou confiabilidade do Microsoft Kinect (Kinect) e do Nintendo Wii Balance Board (WBB) durante testes de equilíbrio. Estes estudos foram favoráveis ao uso destes equipamentos nestas avaliações em posições semi-estáticas. Este estudo examinou a confiabilidade teste-reteste com o uso concorrente do Kinect e do WBB durante um teste de equilíbrio em três posições semi-estáticas, analisando variáveis do centro de pressão (CoP) e do centro de gravidade (CoG) em manequins e em 70 indivíduos saudáveis. Cada participante executou dois testes na mesma sessão. Os equipamentos demonstraram sensibilidade para identificar diferentes padrões de oscilação corporal. As variáveis mais confiáveis foram a velocidade média e o percurso total em todas as direções e tarefas. A confiabilidade foi considerada de fraca a boa nos testes com pessoas e nos testes com manequins, excelente. Porém, os resultados com as variáveis das pessoas baseadas em dados consolidados das três tarefas alcançaram confiabilidade excelente. Propriedades do CoP demonstraram ser mais confiáveis do que as do CoG, sugerindo que o WBB seja superior ao Kinect nesta tarefa. O presente trabalho corrobora estudos anteriores, podendo, estes dispositivos, prover informações quantitativas confiáveis, aprimorando avaliações qualitativas do equilíbrio. / [en] Body balance is an important physical skill and it is fundamental for elderly´s health, considering that falls are a major cause of unintentional injuries leading to the loss of autonomy and death in this group. Growth of aging in world population and being balance impairment one of the major causes of physiotherapeutic attendance, simple, affordable, portable, and reliable devices for evaluating body balance are of great relevance. Several studies have been examining concurrent validity and reliability of Microsoft Kinect (Kinect) and Nintendo Wii Balance Board (WBB) during balance tests. The majority of these studies suggested that those devices could be used as reliable and valid tools for assessing balance in semi-static positions. Based on that, this study investigated test-retest reliability using Kinect and WBB, concurrently, in three standing positions, and analyzed variables related to center of pressure (CoP) and center of gravity (CoG), in static manikins and in 70 healthy subjects. Each participant performed the set of tests twice in the same day. Our solution demonstrated sensibility to identify different body sway patterns. Tests showed that the most reliable variables were average speed and total path length in all directions and tasks. Despite tests with static manikin signalized excellent reliability, tests with individuals were considered poor to good. However, variables of consolidated data based on different tasks achieved excellent scores. CoP properties outperformed those related to CoG, suggesting that WBB was superior when compared to Kinect in providing more reliable body sway information. This study reinforced that these devices may provide reliable quantitative information that enhances qualitative body balance assessments.

Electrospray ionization mass spectrometry (ESI-MS) with induced collision energy was used to carry out a comprehensive study on the interaction energies between cations and anions of dicationic ionic liquids. The influence of the anion ([Br]-, [NO3]-, [BF4]-, [SCN]- and [Cl]-) and the size of alkyl chain (n = 4,6,8 and 10) in the interaction energy of ionic liquids derived from the 1, n-bis (3-methylimidazolyl-1-yl) alkane with n = 4,6,8 and 10, in the gas phase was investigated. Three experiments were carried out to determine the cation-anion interaction energy: (i) ESI-MS of binary (1:1) mixtures of ionic liquids with different anions or cations; (Ii) ESI-MS of ionic liquid individually with variation of the applied collision energy and determination of the center of mass energy (Ecm) using the relation between the intensity of the precursor ion and the sum of the ions; (iii) the rate of variation of the intensity of the precursor ion as a function of collision energy at different concentrations of all ionic liquids was obtained. From this correlation, the cation-anion dissociation constant of the dicationic ionic liquids was obtained. The results showed the appearance of mixed species (example: [Bis-C8(MIM)22XY]- and [C8(MIM)XY]-) in the binary mixtures. The application of the induced collision energy in the mixtures allowed estimating which anion interacts more effectively with the cation. Also for this experiments, the dicationic ionic liquids with the anions [Cl]-, [Br]- and [NO3]- presented higher cation-anion interaction energy. The increasing order of interaction energy was [BF4]- <[SCN]- <[NO3]- <[Br]- <[Cl]-. The Ecm values for ionic liquids with different anions did not indicate trends in the interaction energy in relation to structural factors such as ionic radius and molecular volume. Thus, for the anions, it was found that the interaction increases in the following order: [SCN]- <[Cl]- <[NO3]- <[Br]- <[BF4]-. On the other hand, increasing the size of the spacer alkyl chain caused an increase in cation-anion interaction energy. As the concentration of the ionic liquid increased, an increase in the precursor ion intensity was observed. / A espectrometria de massa com ionização por electrospray (ESI-MS) com energia de colisão induzida foi utilizada para realizar um estudo compreensivo sobre as energias de interação entre cátions e ânions de líquidos iônicos dicatiônicos. Foi avaliada a influência do ânion ([Br]-, [NO3]-, [BF4]-, [SCN]- e [Cl]-) e o tamanho da cadeia alquílica espaçadora (n=4,6,8 e 10) na energia de interação dos líquidos iônicos dicatiônicos, derivados do 1,n-bis(3-metilimidazolil-1-íneo)alcano em fase gasosa. Três experimentos foram realizados para a determinação da energia de interação cátion-ânion: (i) ESI-MS de misturas binárias (1:1) de líquidos iônicos com diferentes ânions ou cátions; (ii) ESI-MS de cada líquido iônico individualmente com variação da energia de colisão aplicada e determinação da energia de centro de massa (Ecm) usando a relação entre intensidade do íon precursor e somatório dos íons. (iii) Por fim, foi obtida a taxa de variação da intensidade do íon precursor em função energia de colisão de todos os líquidos iônicos. A partir desta correlação, foi obtida a constante de dissociação cátion-ânion dos líquidos iônicos dicatiônicos. Os resultados mostraram o aparecimento de espécies mistas (exemplo: [Bis-C8(MIM)22XY]- e [C8(MIM)XY]-) nos experimentos das misturas. A aplicação da energia de colisão induzida nas misturas também permitiu estimar qual ânion interage mais efetivamente com o cátion. Ainda para este experimentos, os líquidos iônicos dicatiônicos com os ânions [Cl]-, [Br]- e [NO3]- apresentaram maior energia de interação cátion-ânion. A escala em ordem crescente de energia de interação foi [BF4]-< [SCN]- < [NO3]- < [Br]- < [Cl]-. Os valores de Ecm para os líquidos iônicos com diferentes ânions não indicou tendências na energia de interação em relação fatores estruturais tais como raio iônico e volume molecular. Dessa forma, para os ânions, foi encontrado que a interação aumenta na seguinte ordem: [SCN]-<[Cl]-<[NO3]-<[Br]-<[BF4]-. Por outro lado, o aumento do tamanho da cadeia alquílica espaçadora causou um aumento na energia de interação cátion-ânion. Com o aumento da concentração do líquido iônico, foi observado um aumento na intensidade do íon precursor.

CATD was not only adequate for analyzing the pursuit of erratically moving prey but also worked well when analyzing the pursuit of prey that remained stationary. It cannot be fully concluded that bats utilize the CATD strategy to successfully capture erratically flying prey. The angle remains relatively constant but does not exhibit a zero change in angle as by definition. The large forces experienced by the bat were seen when the bat began to rotate its body about its pitch axis or when the bat made a large turn. Moments were seen specifically when the bat began to bank into its last and final turn towards its target.; Digital recordings of three different species of bats were studied in this thesis to determine the forces and moments that were experienced throughout the bat's flight. The recordings were also studied to determine the pursuit strategies that were most effective for the bat to quickly capture its prey. A pursuit strategy is a strategic way to travel that will allow a pursuer to capture/approach their target the quickest. Therefore when a bat utilizes a particular pursuit strategy, it will adjust its position/ direction vector in a particular way that will allow it to approach its target very quickly. Data was collected directly from the video by manual collection utilizing Microsoft Visual Studio to extract frames, collect and record the data. This research was conducted to determine when throughout the flight the bat would experience significant forces and moments. The location and magnitude of the forces were reported along with an explanation of why the bat was experiencing a peak at each specific time. The forces and moments that the bat experienced thought-out the flight pursuit were calculated by relative velocity and acceleration calculations. In all four scenarios the bat experienced forces in relation to rotating its body about its center of mass. Forces were specifically seen when the bat periodically began to rotate its body before the final plunge to capture its prey. Prey avoidance and pursuit strategies were also studied and observed in this thesis which included the constant bearing and the constant absolute target direction. The intent was to determine which pursuit strategy bats use to quickly capture their prey. The constant bearing strategy is utilized to pursue prey moving along a smooth path, on the other hand the Constant Absolute Target Direction (CATD) pursuit strategy is utilized to capture erratically moving prey. For most of the bats analyzed, it was seen that the CATD strategy proved to be the preferred pursuit strategy.

Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller erzeugbaren Lasten wird dieser auf sogenannte Stützvektoren reduziert. Als Stützvektoren dienen dabei die für den Schwebeflug nötige Schubkraft, die garantierte Mindestkraft in horizontaler Richtung und das garantierte Mindestmoment um eine beliebige Achse, zu deren Berechnung zusätzlich analytische Formeln hergeleitet werden. Aufbauend auf die Beschreibung durch Stützvektoren wird die Formuliernung von Metriken vorgestellt, die die Bewertung einer Drohnengeometrie durch eine einzige skalare Maßzahl ermöglichen, wodurch die je nach Anwendung optimale Drohnengeometrie ermittelt werden kann. Zur Regelung des Systems aus Drohne und Manipulator wurde ein Regelungskonzept entwickelt, welches durch eine Entkopplung der Bewegungsgleichungen eine virtuelle Verschiebung des Schwerpunkts in das Drohnenzentrum realisiert und so eine präzise Regelung unabhängig von der tatsächlichen Schwerpunktlage ermöglicht. / This thesis’ subject is the geometrical design and control of a fully actuated drone, intended to be used as a flying operating-platform for a manipulator. Starting with the general geometrical description of a symmetric drone with six rotors, methods for the application specific design of a fully actuated drone are developed. Furthermore general influencing principles of geometric parameters on the forces and torques that can be generated by the drone, are pointed out. To characterize the drone's wrench-space, it is reduced to so called support vectors, which are given by the hovering thrust, the minimum guaranteed force in a horizontal direction and the minimum guaranteed torque in any direction. Additionally, analytic formulas are derived for the mentioned support vectors. Based on the description by the support vectors, a formulation of metrics is introduced, to enable the assessment of a specific drone geometry by a single scalar measure, to determine the ideal drone geometry for a specific application. Targeting the issue of controlling the flight system, consisting of the drone and the manipulator, a concept is developed that realizes a virtual dissplacement of the center of mass by decoupling the equations of motion and therby facilitates a precise control, independent of the actual location of the system's center of mass.

This thesis work comprises the working and simulation procedures being involved in simulating motion capture data in AnyBody Modeling System. The motion capture data used in this thesis are ballet movements from dancers of Östgöta ballet and dance academy. The ballet movements taken into consideration are the arabesque on demi-pointe and pirouette. The arabesque on demi-pointe was performed by two dancers but the pirouette is performed by only one dancer. The method involved recording ballet movements by placing markers on the dancer's body and using this motion capture data as input to AnyBody Modeling System to create a musculoskeletal simulation. The musculoskeletal modeling involved creating a very own Qualisys marker protocol for the markers placed on the ballet dancers. Then implementing the marker protocol onto a human model in AnyBody Modeling System by making use of the AnyBody Managed Modeling Repository (TM) and obtain the kinematics from the motion capture. To best fit the human model to the dancer's anthropometry, scaling of the human model is done, environmental conditions such as the force plates are provided. An optimization algorithm is conducted for the marker positions to best fit the dancer's anthropometry by running parameter identification. From the kinematics of the motion capture data, we simulate the inverse dynamics in AnyBody Modeling System. The simulations explain a lot of parameters that describe the ballet dancers. Results such as the center of mass, the center of pressure, muscle activation, topple angle are presented and discussed. Moreover, we compare the models of the dancers and draw conclusions about body balance, effort level, and muscles activated during the ballet movements.

Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller erzeugbaren Lasten wird dieser auf sogenannte Stützvektoren reduziert. Als Stützvektoren dienen dabei die für den Schwebeflug nötige Schubkraft, die garantierte Mindestkraft in horizontaler Richtung und das garantierte Mindestmoment um eine beliebige Achse, zu deren Berechnung zusätzlich analytische Formeln hergeleitet werden. Aufbauend auf die Beschreibung durch Stützvektoren wird die Formuliernung von Metriken vorgestellt, die die Bewertung einer Drohnengeometrie durch eine einzige skalare Maßzahl ermöglichen, wodurch die je nach Anwendung optimale Drohnengeometrie ermittelt werden kann. Zur Regelung des Systems aus Drohne und Manipulator wurde ein Regelungskonzept entwickelt, welches durch eine Entkopplung der Bewegungsgleichungen eine virtuelle Verschiebung des Schwerpunkts in das Drohnenzentrum realisiert und so eine präzise Regelung unabhängig von der tatsächlichen Schwerpunktlage ermöglicht. / This thesis’ subject is the geometrical design and control of a fully actuated drone, intended to be used as a flying operating-platform for a manipulator. Starting with the general geometrical description of a symmetric drone with six rotors, methods for the application specific design of a fully actuated drone are developed. Furthermore general influencing principles of geometric parameters on the forces and torques that can be generated by the drone, are pointed out. To characterize the drone's wrench-space, it is reduced to so called support vectors, which are given by the hovering thrust, the minimum guaranteed force in a horizontal direction and the minimum guaranteed torque in any direction. Additionally, analytic formulas are derived for the mentioned support vectors. Based on the description by the support vectors, a formulation of metrics is introduced, to enable the assessment of a specific drone geometry by a single scalar measure, to determine the ideal drone geometry for a specific application. Targeting the issue of controlling the flight system, consisting of the drone and the manipulator, a concept is developed that realizes a virtual dissplacement of the center of mass by decoupling the equations of motion and therby facilitates a precise control, independent of the actual location of the system's center of mass.