Le syndrome des impatiences musculaires de l’éveil (SIME) est un trouble sensitivo-moteur causant des perturbations du sommeil. Il fut décrit que ce syndrome est plus fréquent chez les sujets vivant avec la sclérose en plaques (SEP) que dans la population générale. L’objectif principal de ce travail est de décrire l’impact du SIME sur le sommeil des sujets avec la sclérose en plaques, comparé au sommeil de sujets avec la SEP, mais sans SIME. Des questionnaires validés et des études de polysomnographie seront utilisés pour réaliser nos objectifs. Les études de PSG de nos 49 sujets révèlent qu’indépendamment de la présence ou de l’absence du SIME, le sommeil des sujets avec la SEP est grandement perturbé. De plus, même en l’absence du SIME, les sujets avec la SEP présentent des mouvements périodiques des jambes. Cette étude démontre que le SIME se manifeste différemment dans la SEP. De plus amples recherches sont nécessaires pour mieux caractériser le SIME en SEP. / The Restless legs syndrome is a sleep related movement disorder. It causes sleep disruptions, affecting sleep quality. It has been described as being more frequent in an MS population than in the general population. Our main objective was to evaluate its impact on MS subjects’ sleep in comparison to MS subjects without RLS Validated questionnaires and polysomnography was used to achieve our objective. PSG studies of our 49 subjects revealed that independently of RLS status, MS subjects experience bad sleep quality, based on various sleep quality markers. Moreover, MS subjects without RLS also have periodic leg movements. This study reveals that RLS in MS manifests itself differently. Further research is needed to characterise RLS in MS.

This dissertation argues that in Renaissance discourses of the body the body is progressively evacuated of the spirit, as we move from texts of the late Medieval period to texts of the Jacobean period. Where New Historicists have suggested that the practice of “self-fashioning,” which dictates behaviour, speech and dress, takes place in the Renaissance, I argue that there was a material self-fashioning of the body occurring simultaneously. Such corporeal fashioning, motivated by desire for physical improvement, frustrates the extent to which the soul shapes the body. My Introduction lays theoretical and historical groundwork, situating the body/soul relationship in relation to Christian theology, Senecan-Stoicism, Epicureanism and philosophical materialism. Discourses of artistic creation, informed by neo-Platonism, also influence corporeal fashioning in that the most radical bodily modifications are imagined through literature, where artificers are often privileged as creators. Chapter One examines “The Miracle of the Black Leg,” a transplant, by the doctor-Saints Cosmas and Damian, of a Moor’s black leg to a white Sacristan, whose gangrenous leg is amputated. In written and pictorial representations Cosmas and Damian, initially figured as Saints, are later presented as doctors who perform a medical procedure. Alongside the doctors’ increasing agency, the black leg itself, inflected by Renaissance notions of Moors and Moorishness, troubles the soul’s immanence in the body. Chapter Two examines Elizabeth I’s practices of bodily fashioning through her wigs, dentures and cosmetics. I argue that Elizabeth’s symbolic value, which includes components of monarchical rule, as well as attitudes toward female beauty, is always already pre-empted by her body. In Book III of The Faerie Queene, moreover, Edmund Spenser writes an alternative history of England through Britomart’s body to provide an heir to Elizabeth’s otherwise heirless throne. Chapters Three and Four perform close readings of Book II of The Faerie Queene, Thomas Tomkis’s Lingua, Thomas Middleton’s The Maiden’s Tragedy and Revenger’s Tragedy, and John Webster’s The Duchess of Malfi. I argue that both the allegorical and theatrical modes demand a level of materialism that paradoxically makes the body the centre of attention, and anticipates Cartesian mechanistic dualism. / Thesis (Ph.D, English) -- Queen's University, 2008-09-25 22:59:31.67

La sécrétion de mélatonine chez des patients atteints du syndrome d’impatience musculaire de l’éveil (SIME) débute approximativement 2 heures avant l’aggravation des symptômes en soirée (Michaud et al., 2004). Le but de ce projet était de préciser le rôle de la mélatonine dans l’augmentation de la sévérité des symptômes en soirée. Huit sujets atteints de SIME primaire ont été étudiés dans trois conditions : contrôle, avec administration de mélatonine, avec exposition à la lumière vive. La sévérité des symptômes a été évaluée par l’administration de tests d’immobilisation suggérée (TIS). Les résultats ont démontré une augmentation significative des mouvements périodiques des jambes durant l’éveil (MPJE) lorsque de la mélatonine avait été administrée comparativement à la condition contrôle et celle où les sujets étaient exposés à la lumière vive. La lumière vive n’a pas eu d’effet significatif sur les symptômes moteurs comparativement à la condition contrôle mais elle a amélioré significativement les symptômes sensoriels comparativement à la condition contrôle. Ainsi, bien que la mélatonine exogène ait un effet aggravant sur les symptômes moteurs du SIME, l’augmentation de la sécrétion endogène au cours de la soirée ne saurait expliquer à elle seule les variations de la sévérité des symptômes du SIME. / A close temporal relationship was shown between the onset of melatonin secretion at night and the worsening of restless legs syndrome (RLS) symptoms, suggesting that melatonin may play a role in the genesis of this phenomenon. Thus, we studied the effects of the administration of exogenous melatonin and the suppression of endogenous melatonin secretion by bright light exposure on the severity of RLS symptoms. Eight RLS subjects were studied in three conditions: at baseline, after administration of melatonin and during bright light exposure. The severity of RLS symptoms was assessed by the Suggested Immobilization Test (SIT), which allows quantification of both sensory and motor manifestations (SIT-PLM – periodic leg movements) of RLS. Analyses showed a significant increase of SIT-PLM index when subjects received exogenous melatonin compared to both baseline and bright light conditions, but bright light exposure had no effect on leg movements compared to the baseline condition. Analyses also revealed a small but significant decrease in sensory symptoms with bright light exposure compared to baseline. Although that exogenous melatonin may have a detrimental effect on motor symptoms, the augmentation of endogenous secretion during the evening is insufficient to explain the variations of the severity of the RLS symptoms.

Amputation is the traumatic or surgical loss of one or more limbs. Amputation causes physical, psychological and social damages which result in a decrease in quality of life (QV). Sports have been considered important tools for rehabilitation and social integration of amputees. The aim of this research was to assess quality of life, occupational performance, muscle strength and range of motion of adults with lower limb amputation athlete and non-athlete. The sample consisted of 45 amputees, divided into two groups: Athlete (GE, n = 23) and non-Athlete (GNE, n = 22). The collection was made in the cities of Curitiba, Aracaju and Maceió on December 2013, January and March of 2014. The tools used were The Short Form Health Survey Questionnaire (SF-36), the Canadian Occupational Performance Measure (COPM), the goniometry, and the Kendall´s muscle strength test. The tests Shapiro-Wilk, chi-squared and Mann-Whiney (p < 0.05) were used for statistical analysis. The quality of life variable showed significant differences in all eight areas tested: functioning, role limitations due to mental health emotional bodily pain, general health, vitality, social functioning, and between the groups, with the GE presented the best results, indicating better quality of life that the GNE. The Athlete group showed significant higher rates in occupational performance, muscle strength (flexor and extensor muscles of the hip) and range of motion (flexion and hip abduction). Therefore, it was concluded that there was a higher quality of life, occupational performance, muscle strength and range of motion for amputees who practice any sport. / Amputação consiste na perda ou remoção total ou parcial de um ou mais membros, de forma traumática ou cirúrgica, acarretando danos físicos, psicológicos e/ou sociais, que resultam em redução da qualidade de vida (QV). O esporte tem sido apontado como relevante ferramenta para a reabilitação e reintegração social de indivíduos amputados. O objetivo desta pesquisa foi analisar a qualidade de vida, desempenho ocupacional, força muscular e amplitude de movimento de adultos com amputação dos membros inferiores praticantes e não praticantes de esportes. A amostra foi constituída por 45 amputados, divididos em dois grupos: Esportista (GE, n = 23) e Não Esportista (GNE, n = 22). A coleta foi realizada em Curitiba, Aracaju e Maceió, no período de dezembro/2013, janeiro e março de 2014. Os instrumentos utilizados foram o questionário The Short Form Health Survey (SF-36), a Medida Canadense de Desempenho Ocupacional (COPM), a goniometria e o teste de força muscular de Kendall. Para a análise estatística, foram utilizados os testes de Shapiro-Wilk, qui-quadrado, T de Student e de Mann-Whitney (p < 0.05). Para a variável qualidade de vida, houve diferença significante em todos os oito domínios da avaliação SF-36: capacidade funcional, limitação por aspectos físicos, dor, estado geral de saúde, vitalidade, aspectos sociais, emocional e saúde mental entre os grupos, tendo o GE apresentado os melhores resultados, indicando melhor qualidade de vida que o GNE. O GE apresentou índices significantemente mais elevados de desempenho ocupacional, força muscular (para os músculos flexores e extensores do quadril) e amplitude de movimento (para flexão e abdução do quadril). Concluiu-se, portanto, que houve maior qualidade de vida, desempenho ocupacional, força muscular e amplitude de movimento para amputados que praticam alguma modalidade esportiva.

Made available in DSpace on 2014-07-29T15:27:26Z (GMT). No. of bitstreams: 1 Dissertacao Regys Rodrigues da Mota.pdf: 501416 bytes, checksum: 0e81f8c14b69ee88f9f30d8e22bd1a3f (MD5) Previous issue date: 2011-08-08 / The goal of this research is to analyze the process of democratization of political elites observing changes and continuities in the profile of the parliamentarians in the composition of the Legislative Assembly of Goiás during the period 1982 to 2010. / A dissertação tem como objetivo analisar a elite política goiana observando mudanças e continuidades no perfil dos parlamentares presentes na composição da Assembléia Legislativa de Goiás durante o período de 1982 a 2010. Para tanto, o estudo foi desenvolvido por meio de pesquisa bibliográfica para aprofundamento teórico a respeito do tema Teoria das Elites e mediante pesquisa documental com a finalidade de analisar dados referentes ao perfil socioeconômico dos deputados da Assembléia Legislativa de Goiás.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2017-10-06T12:04:38Z No. of bitstreams: 2 Dissertação - Lázaro Rubens Araújo Pinto - 2017.pdf: 16272237 bytes, checksum: 9f3d1693d0282cbf28a35702c1a9cf17 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2017-10-06T12:04:51Z (GMT) No. of bitstreams: 2 Dissertação - Lázaro Rubens Araújo Pinto - 2017.pdf: 16272237 bytes, checksum: 9f3d1693d0282cbf28a35702c1a9cf17 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2017-10-06T12:04:52Z (GMT). No. of bitstreams: 2 Dissertação - Lázaro Rubens Araújo Pinto - 2017.pdf: 16272237 bytes, checksum: 9f3d1693d0282cbf28a35702c1a9cf17 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2017-08-07 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This work proposes an analysis of the closed-loop operation of a distributed generation system connected to a three-phase four-wire AC power system by a three-phase four-leg inverter. The modulation strategy adopted for this inverter is determined by the Model Predictive Control (MPC) method. Reasons for the use of this topology and the control method are discussed. The chosen structure for the MPC predictive control aims to supply of active and reactive power by the inverter in order to maximize the power factor measured by the four-wire AC source (Y-n). Four possible cases of operation are reported for the analysis of the proposal in the three-phase four-leg inverter and other two cases for a three-phase full-bridge inverter (3F) for comparison purposes. Based on the monitoring of the active powers involved and the other variables of interest, it was possible to exemplify the achievement of the proposed objectives and validate the adopted method, at least under modeling and software simulation level. / Este trabalho propõe uma análise da operação em malha fechada de um sistema de geração distribuída para conexão em um sistema trifásico a quatro fios, a partir do controle de um inversor trifásico a quatro braços. A estratégia de modulação adotada para este inversor é determinada pelo método de controle preditivo baseado em modelo (MPC - Model Predictive Control). Justificativas para a utilização dessa topologia e do método de controle são discutidas. A estrutura escolhida para o controle preditivo MPC objetiva o fornecimento de potência ativa e reativa pelo inversor tendo em vista a maximização do fator de potência medido a partir da fonte pela fonte CA a quatro fios (Y-n). Quatro casos são abordados para análise da proposta no inversor trifásico a quatro braços e dois casos para um inversor trifásico em ponte completa (3F) para efeito de comparação. Baseando-se no monitoramento das potências elétricas envolvidas e nas demais grandezas de interesse, foi possível concluir que os resultados de simulações exemplificam o alcance dos objetivos propostos e validam o método adotado, pelo menos em relação à modelagem matemática empregada e à simulação do sistema de geração proposto em ambiente computacional.

Submitted by Fabiana Gonçalves Pinto (benf@ndc.uff.br) on 2015-12-07T14:06:03Z No. of bitstreams: 1 Luciana Miranda Rodrigues.pdf: 2906831 bytes, checksum: c63fff07e6a85a3c8689b9aadbab96a2 (MD5) / Made available in DSpace on 2015-12-07T14:06:03Z (GMT). No. of bitstreams: 1 Luciana Miranda Rodrigues.pdf: 2906831 bytes, checksum: c63fff07e6a85a3c8689b9aadbab96a2 (MD5) Previous issue date: 2010 / Mestrado Acadêmico em Ciências do Cuidado em Saúde / Este estudo teve como objetivos avaliar a efetividade do hidrogel 2% em pacientes com úlceras de perna; estimar o custo médio do uso do hidrogel 2% num período de 90 dias e comparar o custo do uso do hidrogel 2% em pacientes com úlceras de perna com hidrogéis industrializados disponíveis no mercado nacional. Trata-se de um estudo de intervenção terapêutica, prospectivo, do tipo ensaio clínico não controlado sobre a avaliação do uso do hidrogel 2% produzido na farmácia universitária para o tratamento de feridas em pacientes com úlceras de perna. A amostra constou de 20 voluntários, de ambos os sexos, para 90 dias de tratamento com o hidrogel a 2%, totalizando 250 consultas durante o período de fevereiro a outubro de 2010. Este estudo foi encaminhado ao Comitê de Ética em Pesquisa do Hospital Universitário Antônio Pedro sob o parecer CAAE n0 0154.0.258.000-08 e os termos de consentimento livre e esclarecido e de fotografia encontram-se de acordo com as Resoluções n0 196/96 e 251/97 do Conselho Nacional de Saúde. Do grupo amostral, pôde-se identificar que 62,5% dos voluntários eram predominantemente do sexo feminino. A idade média variou de 60,5 anos ± 11,4 e que 52,25% residiam no município de Niterói. Em relação à análise da evolução clínica das úlceras de perna, pôde-se observar que surgiram dois grupos distintos com relação ao tamanho da área da lesão, sendo estas classificadas no estudo como, área 1 – para lesões com tamanho acima de 100 cm 2 e área 2 – para lesões com tamanho abaixo de 100 cm 2. O tecido de maior prevalência na avaliação inicial foi o tecido de esfacelo que apresentou uma média de 3,75 ± 1,2 de presença no leito da lesão dos voluntários do estudo. Destaca-se ainda, que após 90 dias de tratamento com o hidrogel a 2%, foram observadas alterações teciduais importantes para a cicatrização e/ou redução da área lesional (p=0,0416). A presença do tecido de granulação passa a prevalecer com uma média de 3,12 ± 1,0 e 25% dos voluntários obtiveram cicatrização total (100% de tecido de epitelização). Em relação à análise dos custos do tratamento com o hidrogel a 2% destacou-se inicialmente que o tratamento das úlceras pertencentes à área 1 foi maior que a das úlceras da área 2, sendo esta variação de R$114,40 a R$393,23 (M= R$227,55 e Dp=72). Ao comparar o tratamento das úlceras de perna com hidrogel 2% 100 gramas com outros hidrogéis disponíveis no mercado nos valores proporcionais a 100 gramas observou-se uma diferença significativa (p= 0,0003) para os valores referentes às áreas 1 e 2 em todas as perspectivas estudadas. Os valores variaram de acordo com o tamanho das áreas da lesão. A área 1 teve uma variação de preço de R$ 112,85 a R$ 912,11 nas três esferas estudas e a área 2 variou de R$ 70,75 a R$ 558,88 nas três perspectivas do estudo. Ao analisar os custos e a efetividade do uso dessa terapêutica, verificou-se que o hidrogel a 2% apresenta uma efetividade significante assim como os seus custos, não sendo justificável a sua não utilização nos serviços de saúde. O hidrogel a 2% manipulado magistralmente numa farmácia universitária representa uma alternativa para essa situação, uma vez que promove melhora das taxas de cicatrização, com diminuição do tempo de tratamento dessas úlceras, além de ser um tratamento de baixo custo, se comparado a outros hidrogéis industrializados disponíveis no mercado nacional, trazendo menores gastos para os serviços de saúde e órgãos de financiamento. / This study aimed to evaluate the effectiveness of hydrogel 2% in patients with leg ulcers, estimate the average cost of using the hydrogel 2% within 90 days and compare the cost of the use of hydrogel 2% with others hydrogels industrialized. This is a study of therapeutic intervention, prospective clinical trial, uncontrolled on evaluating use of hydrogel 2% produced in the pharmacy college in the treatment of wounds in patients with leg ulcers. The sample consisted of 20 volunteers of both sexes, during 90 days of treatment with the hydrogel to 2% to 250 consultations during the period from February to October 2010. This study was submitted to Committee on Research Ethics at University Hospital on advice CAAE number 0154.0.258.000-08 and terms of consent and photography are in accordance with Resolutions 196/96 and 251/97 of the National Health Council. Of this sample group, could be identified that 62.5% of the volunteers were predominantly female. The mean age ranged from 11.4 ± 60.5 years and 52.25% lived in Niterói. On the analysis of clinical outcome of leg ulcers, it was observed that emerged two distinct groups with respect to the size of the lesion area, which are classified in this study: area1 - for lesions with a size greater than 100 cm2 and area 2 - for lesions with size below 100 cm2. About these group it was noted that the tissue with the highest prevalence at baseline was the desvitalization tissue that showed presence an average 3.75 ± 1.2 of the wound bed. After 90 days by treatment with hydrogel 2%, it has obtained tissue with an important changes to healing and / or reduction area lesion (p = 0.0416). The granulation tissue presence begins to prevail with an average 3.12 ± 1.0 and 25% these volunteers had total healing (100% epithelization tissue). On the costs analysis with hydrogel 2% treatment it has initially the ulcers belonging area 1 was higher than the second area of ulcers, and this variation was the R$ 114.40 to R$ 393, 23 (mean = R$ 227.55 and dv = 72). When comparing the treatment of leg ulcers with hydrogel 2% 100 grams with other commercially available hydrogels in proportionate amounts to 100 grams there was a significant difference (p = 0.0003) for the values related to areas 1 and 2 in all perspectives studied. The values ranged with the size of the lesion areas. The area 1 had a variation in price from R$ 112.85 to R$ 912.11 and the area 2 ranged from R$ 70.75 to R$ 558.88 on the three perspectives of the study. Analyzed the costs and effectiveness using this therapy, it was found that hydrogel 2% shows a significant efficacy as well as their costs are not justified in not using health services. The hydrogel 2% manipulated in a pharmacy college represents an alternative to this situation, since it promotes improved healing rates, decreased treatment time of these ulcers, as well as being a low-cost treatment, as compared to other hydrogels industrialized in the national sale, bringing lower costs to health services.

Syfte: Syftet med studien var att beskriva distriktssköterskors erfarenheter av vad som underlättade och hindrade evidensbaserad vård av ben- och fotsår inom primärvården. Metod: En kvalitativ intervjustudie med semistrukturerade intervjuer genomfördes med åtta distriktssköterskor. Samtliga arbetade på hälsocentraler i södra Hälsingland. Intervjuerna transkriberades och analyserades med kvalitativ innehållsanalys. Som teoretisk referensram användes PARIHS modellen. Huvudresultat: I studien framkom olika faktorer som underlättar respektive hindrar distriktssköterskor inom primärvården att arbeta efter en rutin för ben- och fotsår. Det som underlättade var ett välfungerande teamarbete på arbetsplatsen, att rutinen var anpassad så att den var lätt att arbeta efter och att den fanns lättillgänglig i datasystemet, specifik kunskap om sårvård och ett engagemang för patienten och för ämnet sårvård samt att patienten behöver stöd och utbildning för att kunna medverka i vården. Det som hindrade var bristande förståelse och engagemang från chef och kollegor, svårigheter att motivera patienterna till att medverka till behandling samt att journalsystemet inte var anpassat efter ben- och fotsårsrutinen. Slutsats: I studien framkom olika faktorer som underlättade och hindrade distriktssköterskor att använda sig av evidensbaserad vård av ben- och fotsår i det dagliga arbetet. Det som påverkade distriktssköterskornas användning av rutinen var i störst utsträckning faktorer i omgivningen. För att underlätta för distriktssköterskor att kunna arbeta enligt evidensbaserad sårvård måste ansträngningar göras för att undanröja hinder. PARIHS modellen kan användas som stödjande verktyg före, under och efter implementeringsprocessen. / Purpose: The purpose of the study was to describe district nurses' experiences of the facilitating and preventative factors that influence the use of evidence-based wound care in primary healthcare. Method : A qualitative interview study with semi-structured interviews was conducted with eight district nurses. All worked at health centers in southern Hälsingland. The interviews were transcribed and analyzed by qualitative content analysis. As a theoretical reference frame, the PARIHS model was used. Main outcome : The study revealed different factors that facilitate or prevent district nurses in primary healthcare to work for a routine for leg and foot ulcers. What facilitated was a well-functioning team work at the workplace, that the routine was adapted so that it was easy to work after and was easily accessible in the computer system, specific knowledge about wound care and commitment to the patient and on the subject of wound care and that the patient needs support and education to be able to participate in healthcare. What was prevented was insufficient understanding and commitment from the boss and colleagues, difficulty in motivating patients to participate in treatment and that the journal system was not adapted to the leg and foot routine. Conclusion : The study identified various factors which facilitated and prevented district nurses from using evidence-based care of leg and foot ulcers in their daily work. What influenced the use of the routine by district nurses was to the greatest extent factors in the environment. In order to facilitate district nurses to work according to evidence-based wound care, efforts must be made to eliminate obstacles. The PARIHS model can be used as a supporting tool before, during and after the implementation process.

Wheeled systems are energy efficient on prepared surfaces like roads and tracks. Legged systems are capable of traversing different terrains but can be lossy. At low speeds and on off-road surfaces, legged systems using dynamic walking can be energy efficient. Towards this objective, the dynamics of the walker needs to be modelled and controlled. In addition, the braking and ground impact losses need to be minimized. This thesis presents analysis and experiments on the dynamics and control of a rimless-spoked-wheel based mobile robot (Chatur ∗) that belongs to a category between wheeled and legged systems. This rolling rimless wheel is effectively a 2D dynamic walker that serves as a platform for investigating the dynamics and energetics of inverted pendulum walking with constant step angle. A pulsed actuation torque is proposed for the system resulting in four torque regimes defined by the ratio of energy losses to available actuator torque. Five physical constraints that impose fundamental limits on the choice of operating points of a generic inverted pendulum walker are expounded and a method for locating optimal operating points is discussed. Chatur’s hardware design is elaborated and a control topology is proposed for pulsed actuation of the dual brushless dc (BLDC) motor driven platform with wheel synchronization. Various actuator torque profiles can be used to achieve dynamic ‘walking’ in a hub-actuated rimless wheel. The proposed pulsed actuation torque gives rise to four torque regimes that achieve sustained walking and a fifth regime where the walker keeps slowing down with each step. The regimes can be identified based on the fraction of stance phase for which the actuator is energized. Theoretical analysis and experimental results are presented. A simple closed-form analytical solution, using hyperbolic functions, is proposed for the stance phase inverted pendulum dynamics considering planar motion. Ground impacts are assumed to cause abrupt drop in velocity. A constant braking torque that lumps together the effect of several loss phenomena is also considered. Based on whether the CoM is rising or falling and whether or not there is an actuating torque, a stance phase can have four types of sub-phases — actuated rise, unactuated rise, actuated fall, unactuated fall. These are concatenated in four different ways to form repeating cycles yielding the four regimes. The experimental set-up is a fixed step-angle walker constructed using two synchronized adjacent rimless wheels independently actuated at the hub. Varying the magnitude and duty ratio of the torque pulse, the four proposed regimes are experimentally shown. The mechanical power consumption and cost of transport are computed from measured motor currents for different average forward speeds. Videos of the walks are also taken. The space of operating points for an inverted pendulum based bipedal dynamic walker in terms of constraints and optimality is investigated. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. Not all operating points lead to a realizable steady-state gait. Using basic mechanics, a framework of physical constraints that limit the choice of operating points is proposed. The constraint lines thus obtained delimit the valid region of operation of the walker in the v0–φm plane. Within this allowable region, sub-regions that result in various regimes of walking are identified. A given average forward velocity vx,avg can be achieved by several combinations of v0 and φm. Only one of these combinations results in the minimum mechanical power consumption and can be considered the opti-mum operating point for the given vx,avg. A method is proposed for obtaining this optimal operating point based on tangency of the power and velocity contours. Putting together all such operating points for various vx,avg, a family of optimum operating points, called the optimal locus, is obtained. For the energy loss and internal energy models chosen, the optimal locus obtained has a largely constant step angle with increasing speed but tapers off at non-dimensional speeds close to unity. Thus, choosing the right step angle and keeping it fixed over a broad range of speeds could lead to an inverted pendulum walker that is close to optimal from a mechanical energy perspective. The complete hardware design for Chatur and the caveats associated with reliable performance of the mechanical and electrical subsystems are elaborated. In order to en-sure lateral stability, the system uses two contralateral wheels each driven by a separate BLDC hub motor. From a motor drive perspective, the mechanical load belongs to a unique class of dynamic loads whose reflected torque has a characteristic cyclic varia-tion that repeats several times within a mechanical revolution. The proposed control topology has two hierarchical levels, an inner loop for torque control of BLDC motor implemented using a standard proportional-integral controller, and an outer loop for torque reference generation that uses the information on the ground impact instants and the motor position feedback. Ground impacts of the spokes are detected by an accelerometer to initiate the application of torque. The torque pulse magnitude can be set internally or by a manual operator via radio control. The pulse duration is programmable and enables attainment of various torque regimes at different steady state speeds. The wheels are synchronized so that corresponding spokes on both wheels move in unison. This is achieved by including a wheel synchronization loop that compensates for any lag between the wheels. Lag is detected based on number of sector changes in the hall-effect position sensor data received from both motors. An improved BLDC motor drive is developed wherein non-commutating current feedback is used to reduce current spikes during sector transitions. Experimental waveforms for controller validation are shown.

Syfte: Motviktad enbenscykling är en ny träningsmetod som kan användas för att öka intensiteten. Tidigare studier har påvisat att det finns skillander mellan dominant och icke-dominant ben vid cykling med två ben. Syftet med denna studie var att undersöka fysiologiska assymetrier vid motviktad enbenscykling. Metod: Åtta undersökningsdeltagare (ålder 24,1 ± 4,2 år, längd 177,0 ± 5,5 cm, vikt 74,6 ± 9,0 kg, vo2max 69,0 ± 6,4 ml/kg/min) deltog i studien. Undersökningsdeltagarna delades in slumpmässigt i två grupper (dominant eller icke-dominant). För att bestämma undersökningsdeltagarens dominanta ben användes Waterloo Footedness Questionnaire. Den dominanta gruppen utförde första intervallen vid testtillfälle två med sitt dominanta ben och den icke-dominanta gruppen med sitt icke-dominanta ben.Vid testtillfälle ett utfördes ett standardiserat nivåtest till utmattning på cykel. Testtillfälle två, som utfördes minst 48 timmar senare, bestod av fyra stycken tio minuters intervaller av motviktad enbenscykling, varannat ben. Testtillfälle två kördes blint. Resultat: Skillnader kunde observeras men dock inga signifikanta skillnader. Tendensen var att man uppmätte en högre effekt med dominant ben (dominant ben 168 ±18,9 W, icke-dominant ben 162 ±18,1W), men en högre kadens med icke-dominant ben (dominant ben 93 ± 12,7 rpm, icke-dominant ben 95 ± 10,3 rpm). Slutsats: Skillnader finns mellan dominant och icke-dominant ben vid motviktad enbenscykling, dock inga signifikanta skillnader. Vår slutsats är att inlärningseffekten påverkade resultatet i denna studie. För att motverka detta i framtida studier angående motviktad enbenscykling bör undersökningsdeltagarna genomgå en invänjningsperiod med träningsmetoden. / Purpose: Counterweighted single-leg cycling is a new training method that can be used to increase intensity. Studies have shown differences between dominant and non-dominant leg during normal cycling. The purpose of this study was to analyse physiological assymetries during counterweighted single-leg cycling. Method: Eight volunteers (age 24,1 ± 4,2 years, height 177,0 ± 5,5 cm , weight 74,6 ± 9,0 kg, vo2max 69,0 ± 6,4 ml/kg/min) participated in this study. Participants were randomly divided into two groups (dominant or non-dominant). Waterloo Footedness Questionnaire was used to decide participants dominant leg. The dominant group used their dominant leg in the first interval at the second test, and the non-dominant group used their non-dominant leg in the first interval. At the first test a standarized incremental cycling test was performed until exhaustion. The second test , &gt;48 hours later, consisted of four ten-minute intervals of counterweighted single-leg cycling, alternating legs.The second test was blinded. Results: Differences were observed, but no significant differences. Tendencies showed a higher power-output with the dominant leg (dominant leg 168 ±18,9 W, non-dominant leg 162 ±18,1W), but a higher cadence with the non-dominant leg (dominant leg 93 ± 12,7 rpm, non-dominant leg 95 ± 10,3 rpm). Conclusion: Differences exist between dominant and non-dominant leg in counterweighted single-legged cycling, but no significant differences. Our conclusion is that the learning effect affected the results in this study. To counteract this in future studies concerning counterweighted single-legged cycling the studies should include a learning period with the training method.