Title: Assessment of the timing of tennis strokes using kinematic analysis and surface electromyography Aims: Assess the timing of tennis forhand, service and appropriate training exercises using kinematic analysis. Describe the activation of muscles in time for the chosen execution of the strokes by recording surface electromyography (SEMG). Compare the results of various executions and describe the differences between using the racquets with different parameters and between executions of various training exercises. Method: Case study using kinematic analysis and surface electromyography was made. Results: We have found out that the execution of the strokes using the players own racquet was the most stable. We have found the differences in timing while using various racquets. The heavier the equipment we are using in training exercise is the more different is the timing of this movement. We concluded that the chosen training exercises are inappropriate as the special exercises to improve coordination. Key words: tennis, timing, service, forhand, electromyographic analysis, kinematic analysis

Title: Experimental motion analysis of human locomotion Objectives: The aim of this work is verification of the hypothesis that it is possible to identify humans using measurement of parameters of their gait taken from surveillance camera's records. Methods: In our thesis we used the method of comparison. The aim of the experiment is comparison of parameters measured in different trials of each subject under different conditions (different walking speeds, with or without clothes on, and using either 2D or 3D record), as well as comparison across different subjects. Results: We found that using a 3D record of human gait, it is possible to improve our capability of identifying them. We also found that it is necessary to compare either dressed subjects strictly among themselves or stripped subjects strictly among themselves, because otherwise the comparison is not meaningful. Furthermore, we found that using our geometrical methods, it is possible to deduce gait parameters from a 2D camera record when it comes to height of the subject, but not so for length of their step. Keywords: gait, identification, kinematic analysis, forensic biomechanics

Title: Analysis of the toss and impact in the tennis serve Objectives: The objective of our work is to analyse the phase of toss and hit in tennis serve and to compare the results between the players themselves. Methods: As the main method of data collection we used kinematic 3D analysis. Additional method was semi-structured interview with selected players for research. Results: We found that more stable performance at the phase of toss and hit achieves the player with the higher position on the tennis ranking. Furthermore we found that the ball in all serves was hit in front of the players body. The largest range of variation (most unstable) in both players was width M, that means hitting ball in a frontal plane in consideration of the vertical axis Y established by left foot tip designed by the server's. Conversely the most stable in both players was height of shoulders when hit. Keywords: tennis serve, toss, hit, kinematic 3D analysis

Title Gait Analysis in Adolescents with Idiopathic Scoliosis: A Systematic Review. Aim The role of spine is vital as a gait stabilizer. Gait analysis may provide a more holistic view of how the body behaves to idiopathic scoliosis among adolescents. The aim of this thesis is to review the effectiveness and validity of gait analysis in examining AIS, and secondly to assess how the gait of AIS patients differ from adolescents without scoliosis. Method A systematic review of the topic was conducted. Information was gathered from six e-databases, and seventeen articles were selected, of which seven focusing solely on AIS subjects (i.e. non-comparative) and ten were focusing on AIS in relation to control subjects (i.e. comparative). Results Spatio-temporal (STP), kinematic, kinetic and EMG parameters show significant changes in AIS subjects during walking. But variations between results, lack of data for certain parameters and no significant relationship between gait parameters and scoliosis was also seen. Furthermore, AIS subjects differ in performance compared to non-scoliosis adolescents in at least one gait parameter across all studies. This includes abnormalities in muscle activity, less economical use of the body, poorer performance in kinematic parameters and differences in STP such as step...

>Magister Scientiae - MSc / In the standard (‘concordance’) model of Cosmology, there is a fundamental assumption that the Universe is statistically isotropic and homogeneous on large scales, known as the Cosmological Principle. The Cosmological Principle requires that the dipole anisotropy apparent in the CMB should also be observed in galaxy number counts if this signal occurs due to the aberration and Doppler effects from our peculiar motion. This thesis will investigate the accuracy with which the cosmic kinematic dipole can be determined by comparing real data from NRAO VLA Sky Survey (NVSS) catalog with the simulated sky maps following its specifications. The mock maps are generated using FLASK code which assumes a lognormal distribution for the radio count density field from z=0 to z =4 and taking as an entry an angular power spectrum from CAMB which assumed a flat ΛCDM cosmology and a redshift distribution. After analising the kinematic dipole, we turn to the analysis of statistical isotropy in the catalog. We used ANalysis Of Variance (ANOVA) test on patches in the sky of different radii as one of the statistical tools for the analysis. We found that as we go to a higher radius for the patches, we have a better agreement between the theory and the observation as expected. We also saw that the more we are rigorous on the rejection criteria, the smaller is the discrepancy between the observed and simulated number count distribution in the sky. We found an optimum choice of 25◦ as patch size, and if the accepted patches have a maximum of 30% of their pixels masked. Therefore, we find that the NVSS data agrees with the fundamental assumption of statistical isotropy at angular scales > 20◦.

Manipuladores paralelos são aqueles que possuem mais de uma cadeia cinemática que liga a base ao efetuador final. Esta característica proporciona vantagens sobre os manipuladores em série, como maior robustez, maior carga útil e maior velocidade. Por outro lado, as singularidades presentes nos manipuladores paralelos diminuem a área de trabalho prejudicando o desempenho dos mesmos. Uma técnica para evitar as singularidades é a redundância cinemática, que consiste em adicionar atuadores às cadeias cinemáticas possibilitando a reconfiguração do manipulador. Além disso, a redundância cinemática pode melhorar também a rigidez, a robustez, a precisão do sistema, entre outras características, provando ser uma boa alternativa para melhorar o desempenho de manipuladores. Entretanto, alguns dos problemas encontrados em manipuladores paralelos com níveis de redundância altos são os modelos com dinâmica acoplada, que dificultam a implementação de simulações, e o controle ainda mais complexo do que manipuladores paralelos não redundantes. Portanto, esta tese apresenta um estudo sobre o controle de um manipulador paralelo versátil redundante e o impacto dos níveis de redundância cinemática sobre seu desempenho dinâmico. O protótipo consiste de um manipulador paralelo planar atuado por três motores rotacionais e três guias lineares acionadas por motores rotacionais. O acionamento ou não do movimento da guia linear define a redundância do sistema garantindo a versatilidade do protótipo, que pode apresentar de nenhum a três níveis de redundância cinemática. Essa variação permite a avaliação do impacto de diferentes níveis de redundância cinemática no manipulador. Além disso, dois controles baseados no modelo do manipulador, o controle torque calculado e o controle com linearização por retroalimentação, foram implementados para minimizar o impacto da dinâmica acoplada e não linearidades. Estes controles foram comparados com um controle tradicional como referência de comparação. Os resultados demonstraram que o desempenho do manipulador é melhorado utilizando três níveis de redundância e o controle torque calculado em termos de erro de posição e torques executados. / Parallel manipulators are those that have more than one kinematic chain linking the base to the end-effector. This feature provides advantages over serial manipulators, such as greater robustness, higher payload and higher speed. On the other hand, the singularities present in the parallel manipulators decrease the workspace and impair their performance. One technique to avoid the singularities is the kinematic redundancy, which consists of adding actuators to the kinematic chains allowing the reconfiguration of the manipulator. In addition, kinematic redundancy can also improve stiffness, robustness, accuracy, and other features proving to be a good alternative to improve the performance of manipulators. However, some of the problems encountered in parallel manipulators with high levels of redundancy are models with coupled dynamics, that hamper simulations, and even more complex control than non-redundant parallel manipulators. Therefore, this thesis presents a study on the control of a versatile redundant parallel manipulator and the impact of kinematic redundancy levels on its dynamic performance. The prototype consists of a parallel planar manipulator actuated by three rotational motors and three linear guides driven by rotational motors. Whether or not linear motion is triggered defines the redundancy of the robotic system, ensuring the versatility of the prototype, which can vary from no to three levels of kinematic redundancy. This variation allows the impact evaluation of different levels of kinematic redundancy in the manipulator. In addition, two controls based on the manipulator model, the computed torque control and the feedback linearization control were implemented to minimize the impact of coupled dynamics and nonlinearities. These controls were compared with a traditional control as reference. The results demonstrated that the manipulator performance is improved by using three levels of redundancy and the computed torque control in terms of position error and executed torques.

Introdução: As órteses são recursos terapêuticos auxiliares indicados para alívio da dor, melhora do padrão funcional ou aplicação de forças para correção de deformidades. Existe uma carência de estudos que analisem as alterações biomecânicas promovidas pelas órteses no padrão funcional do membro superior. O objetivo do presente estudo foi analisar os efeitos biomecânicos do ombro e do cotovelo com o uso de órteses funcionais em pacientes com disfunções decorrentes de traumas do sistema musculoesquelético. Métodos: O estudo analisou as alterações do padrão de movimento com o uso das órteses dinâmicas e estáticas por meio da análise cinemática e eletromiográfica do membro superior durante a realização de uma tarefa funcional padronizada, sendo que os controles serão os próprios pacientes. Os movimentos analisados foram flexão-extensão de ombro, abdução-adução de ombro, rotação interna-rotação externa de ombro, flexão-extensão de cotovelo, pronação-supinação. Na eletromiografia foi analisada a integral normalizada dos músculos trapézio superior, bíceps braquial e tríceps braquial. Além disso foi realizada dinamometria isométrica de preensão e pinças, bem como a aplicação do questionário QuickDASH sobre sintomatologia e funcionalidade. Foram incluídos 6 pacientes, maiores de 18 anos, com disfunções decorrentes de lesões nervosas periféricas e deformidades musculoesqueléticas decorrentes de artrite reumatóide, que tiveram indicação do uso de órtese. Resultados: embora as órteses estáticas sejam indicadas para correção de desvio ulnar e para bloqueio de garra mista, de acordo com os resultados deste estudo, não agregaram em termos de funcionalidade. Neste último modelo, um voluntário apresentou diferença clinicamente importante de 22,7 pontos, sinalizando piora da função na situação com órtese. Além disso, as órteses para bloqueio de garra mista demandaram maior recrutamento de trapézio superior e bíceps braquial. As órteses dinâmicas para lesão do nervo radial parecem favorecer a força de preensão estática, porém, promoveram compensações proximais durante a execução de tarefas dinâmicas, que envolveram elevação e deslocamento do membro superior, em termos de amplitude de movimento de abdução de ombro, flexão e pronação de cotovelo / Introduction: Orthoses are therapeutic resources that are indicated for pain relief, improvement of the functional pattern and / or to correct deformities. There is a lack of studies that analyze the biomechanical alterations promoted by the orthoses in the functional pattern of the upper limb. The aim of the present study was to analyze the biomechanical effects in shoulder and elbow promoted by orthoses in patients with upper extremity dysfunctions due to trauma of the musculoskeletal system. Methods: The range of motion and muscle activation was collected simultaneously during the performance of a standardized functional task with and witho no orthosis. The movements analyzed were shoulder flexion-extension, shoulder abduction-adduction, shoulder internal-external rotation, elbow flexion-extension, pronation-supination and the integrated electromyography signal of the upper trapezius, brachial bíceps and brachial triceps muscles were analyzed. In addition, isometric dynamometry of gripping and pinch, besides the application of the questionnaire QuickDASH about symptomatology and functionality. Were included six patients, older than 18 years, with peripheral nerve dysfunction and musculoskeletal deformities due to rheumatoid arthritis, who had indication of the use of orthosis. Results: although the static orthosis are indicated for correction of ulnar deviation and MCP extension-blocking, according to the results of this study, they did not add in terms of functionality. MCP extension-bloking orthosis promoted a clinically important difference of 22,7 points, suggesting worsing of the funtion. In addition, this model demanded greater proximal muscular recruitment of upper trapezius and brachial biceps. Dynamic orthoses for radial nerve injury seem to favor static grip strength, but they promoted proximal compensations during the execution of dynamic tasks, that involved elevation and displacement of the upper limb in terms of shoulder abduction, flexion and pronation of elbow

Estrelas centrais de nebulosas planetárias (ECNPs) têm um intervalo de massa relativamente grande na fase da sequência principal, por isso espera-se que elas também tenham diferentes idades, tipicamente acima de 1 Gano. Além de necessárias para o conhecimento das propriedades das ECNPs, a determinação das idades é também importante no contexto da evolução química da Galáxia, como no estudo da variação temporal dos gradientes radiais de abundâncias químicas. Entretanto, não há um método único e confiável que possa ser aplicado para estimar a idade de todos os tipos de estrelas. Neste projeto, desenvolvemos dois métodos de idades cinemáticas baseados na relação idade-dispersão de velocidade do disco da Galáxia encontrada pelo recente levantamento Geneva-Copenhagen. O primeiro método compara a velocidade de rotação esperada da ECNP com a velocidade predita pela curva de rotação da Galáxia em sua posição, e interpreta a diferença entre elas como a dispersão de velocidade do objeto, relacionada com a idade. O segundo método consiste em calcular as componentes da velocidade espacial, com algumas hipóteses, e estimar diretamente as dispersões das velocidades, inferindo uma idade pela relação adotada. Duas amostras foram escolhidas, contendo 234 e 866 nebulosas planetárias, para as quais velocidades radiais precisas estão disponíveis na literatura. Os resultados sugerem que a maioria das ECNPs no disco Galáctico tem idade abaixo de 5 Gano, e um pico ente 0 e 3 Gano. Esses resultados são comparados com algumas distribuições recentes de idades baseadas em correlações independentes envolvendo as abundâncias químicas das nebulosas planetárias. / Central stars of planetary nebulae (CSPN) have a relatively large mass interval on the main sequence, so that it is expected that these stars also have different ages, typically above 1 Gyr. Apart from the properties of the CSPN themselves, the problem of age determination is also important in the context of the chemical evolution of the Galaxy, as in the understanding of the time variation of chemical abundance gradients. However, there are no unique and reliable methods that can be applied to estimate the age of all types of stars. In this work, we developed two methods of kinematic ages based on the age-velocity dispersion relation of the Galactic disk derived by the recent Geneva-Copenhagen survey. The first method compares the expected rotation velocity of CSPN with the predicted velocity by the Galactic rotation curve at its position, and interprets the difference between them as the velocity dispersion of the star, which is related to the stellar age. The second method consists in calculating the U, V, W velocity components of CSPN, with some hypotheses, and estimating directly the velocity dispersions, so that the age can be derived. Two samples were chosen, containing 234 and 866 nebulae, for which accurate radial velocities are available in the literature. The results suggest the most CSPN in the Galactic disk have ages under 5 Gyr with a distribution peaked between 0 and 3 Gyr. These results are also compared with some recent age distributions based on independent correlations involving the nebular chemical abundances.

As características intermitentes do futebol exigem a aplicação de testes específicos à modalidade. O teste Yo-yo intermitente recuperativo nível 1 (YYIR1) é considerado um teste específico e confiável na avaliação de jogadores de futebol. Contudo, as variáveis de desempenho que o influenciam são pouco conhecidas. O presente estudo, teve como objetivo verificar as variáveis determinantes do desempenho final do teste YYIR1 em jogadores de futebol de campo. Para tanto, dez jogadores de futebol de campo da categoria sub-20 foram submetidos a três sessões de avaliação onde foram determinadas as seguintes variáveis: a) composição corporal (%G) e força dinâmica máxima (1RM) no exercício agachamento; b) economia de corrida (EC) e as variáveis relacionadas a potência (VO2max e vVO2max) e capacidade aeróbia (Limiar anaeróbio LAn-3,5mM) em esteira rolante e c) no teste YYIR1, determinação de forma direta das variáveis respiratórias e análise cinemática do deslocamento determinando a média da aceleração pico (AP-média) e a média da velocidade pico (VP-média) durante os estágios. Antes e após o teste em esteira (TE) e o teste YYIR1 foram determinadas a altura de salto vertical (Alt-jump), o tempo de contato com o solo (TC-jump) e o índice de força reativa (IFR-jump) através da técnica Drop Jump. Além disso, em ambos os testes foram determinadas as participações energéticas. Os principais resultados foram: a) houve diferença significante entre o VO2max determinado em esteira (57,33 ± 3,4ml/kg/min) e no teste YYIR1 (53,57 ± 2,67ml/kg/min) e estes não se correlacionaram; b) a participação energética tanto no TE (92,31 ± 1,79%) quanto no YYIR1 (74,08 ± 6,88%) é predominantemente aeróbia, porém, o YYIR1 apresenta maior participação anaeróbia quando comparado ao TE (25,91 ± 6,88 e 7,67 ± 1,79%, respectivamente); c) as variáveis determinadas no Drop Jump não foram influenciadas pela realização do TE e o YYIR1; d) nenhuma variável relacionada à capacidade de força (1RM, 1RM/MCT; Alt-jump, TC-jump e IFR-jump) apresentou correlação com o desempenho final do YYIR1; e) a %G (r = -0,63), VO2max (r = 0,74), vVO2max (r = 0,86), LAn-3,5mM (r = 0,76), AP-média (r = 0,77) e a participação anaeróbia alática no YYIR1(r = -0,65) apresentaram correlação significante com o desempenho final no YYIR1; f) destas apenas a vVO2max e a participação anaeróbia alática no YYIR1 foram determinantes no desempenho final do teste. Conclui-se que, embora correlacionado com outras variáveis, o desempenho final do YYIR1 é influenciado pela maior vVO2max determinada no TE e menor participação do metabolismo anaeróbio alático no YYIR1 / The intermittents characteristics of the soccer require the application of specific tests to this game. The Yo-yo intermittent recovery level 1 test (YYIR1) is considered a reliable and specific test in the evaluation of soccer players. However, the variables that influence their performance is little known. The present study aimed at finding out the variables which determine the final YYIR1 performance test in the soccer field. Therefore ten soccer players in the U-20 field underwent three evaluation sessions in which the following variables were determined: a) body composition (% BF) and maximal dynamic strength (1RM) in the squat exercise; b) running economy (RE) and the variables related to power (VO2max and vVO2max), aerobic capacity (anaerobic threshold - AT-3,5mM) on treadmill, and c) determining directly in the YYIR1 test the respiratory variables and analysing the displacement kinematic that causes the average peak acceleration (PA-average) and the average peak velocity (VP-average) during the stages. Before and after the treadmill test (ET) and the YYIR1 test there were determined the height of the vertical jump (Alt-jump), the time of contact with the ground (TC-jump) and reactive strength index (RSI-jump) through Drop Jump technique. Additionally, in both tests there were determined energy holdings. The main results were: a) there was a significant difference between the indicated treadmill VO2max (57.33 ± 3.4 ml/kg/min) and the YYIR1 test (53.57 ± 2.67 ml/kg/min) and these indicators were not correlated; b) the energy participation in TE (92.31 ± 1.79%) and in the YYIR1 (74.08 ± 6.88%) was predominantly aerobic; however the YYIR1 test had a greater anaerobic participation compared to TE (25.91 ± 6 , 7.67 ± 1.79 and 88%, respectively); c) the variables evaluated in the Drop Jump were not affected by the ET, and the YYIR1; d) no variable related to the power capacity (1RM 1RM/MCT; Alt-jump, TC-jump and IFR-jump) was correlated to the YYIR1 final performance; e) the % BF (r = -0.63), VO2max (r = 0.74), vVO2max (r = 0.86), AT-3,5mM (r = 0.76), AP-average (r = 0 , 77) and anaerobic alactic participation in the YYIR1 (r = -0.65) showed significant correlation with the final performance in the YYIR1; f) among these only the vVO2max and anaerobic alactic participation in the YYIR1 were determinant in the final performance. The conclusion is that, although correlated with other variables, the final YYIR1 was influenced by the greater vVO2max determined in the TE and the lower participation of the anaerobic alactic metabolism in the YYIR1

Esta pesquisa foi realizada com o intuito de descrever o protocolo de obtenção da imagem termográfica, definir o padrão térmico normal da coluna vertebral e também descrever os valores cinemáticos durante a locomoção em 17 cães condrodistróficos da raça Dachshund. Foram analisadas as imagens tomográficas de toda a extensão da coluna; e também foram avaliadas as regiões dorsal e lateral de todos as regiões da coluna vertebral por meio da termografia. Para a realização da análise cinemática, foram aderidos em pontos anatômicos específicos de cada um dos cães marcadores reflexivos e foram obtidos os valores de máxima extensão, mínima flexão e a amplitude articular durante a locomoção das articulações dos membros torácicos e pélvicos do lado direito e esquerdo do animal. Foi testada a normalidade dos dados e comparados os lados direito e esquerdo, e as regiões da coluna vertebral de cada cão. Nenhum dos 17 cães mostrou evidencia tomográfica de compressão extradural da medula espinhal. Houve diferença estatística entre os pontos da região cervical e torácica e entre a região cervical e toracolombar; o ponto médio de maior temperatura encontrado foi na região toracolombar. Foram obtidos os dados cinemáticos de 5 passagens válidas de cada animal, a velocidade foi mantida entre 1,2 e 1,5m/seg. Os valores cinemáticos apresentaram uma distribuição normal e a simetria entre os lados de cada uma das articulações foi constatada. O mapa térmico em cães da raça Dachshund hígidos se caracteriza por apresentar uma maior temperatura na região torácica e toracolombar. Em toda a extensão da coluna o mapa térmico se caracteriza por uma zona central mais quente com diminuição simétrica da temperatura nas áreas mais laterais. A análise cinemática da locomoção permitiu a obtenção dos valores simétricos do movimento de flexão, extensão e amplitude articular da articulação coxofemoral, joelho, tibiotársica, ombro e cotovelo bilateral. Não foi possível a obtenção dos valores da articulação radiocárpica. Conclui-se que a termografia é uma ferramenta útil e não invasiva para medir a temperatura da coluna vertebral em cães da raça Dachshund e que estes apresentam um padrão de movimento articular simétrico durante a locomoção. / This research was conducted with the purpose of describing the protocol to obtain the thermographic image, to define the normal thermal pattern of the spine and to describe the kinematic data during locomotion in 17 Dachshund breed dogs. The tomographic images of the entire spine were analyzed; and the dorsal and lateral view of all the regions of the spine were also evaluated using thermography. To perform the kinematic analysis, reflective markers were attached to specific anatomical landmarks and the numeric values of maximum extension, minimum flexion and range of motion were obtained during locomotion for the joints of the fore and hind limbs of the right and left side of the animal. The normality of the data was tested and the right and left side, and the regions of the spine of each dog were compare. None of the 17 dogs showed tomographic evidences of extradural compression of the spinal cord. There was statistical difference between the points of the cervical and thoracic region and between the cervical and thoracolumbar region; the midpoint with the highest temperature was found in the thoracolumbar region. Kinematic data of 5 valid passages of each animal were obtained, velocity was maintained between 1.2 and 1.5 m/sec. The kinematic data had normal distribution and the symmetry between the sides of each joint was verified. The thermal map in healthy Dachshund dogs is characterized by presenting the higher temperature in the thoracic and thoracolumbar regions. Throughout the whole extension of the spine the thermal map is characterized by a warmer central zone with symmetrical decrease of temperature in the lateral areas. The kinematic gait analysis allowed us to obtain the symmetrical bilateral values of flexion, extension and range of motion of the hip, knee, tibiotarsal, shoulder and elbow joints. It was not possible to obtain the values of the radiocarpal joint. It was concluded that thermography is a useful and non-invasive tool to measure the spinal temperature in Dachshund breed dogs and that they have a pattern of symmetrical joint movement during locomotion.