There is growing evidence to suggest that vascular disease plays an important role in late life depressive disorder. The aim of this study was to characterize vascular impairment in late life depression. Assessment of endothelial function, arterial stiffness, and atherosclerosis in a variety of vessel beds was carried out in 25 subjects with late life depression and 21 nondepressed control subjects. All study subjects underwent wave velocity, pulse wave analysis, carotid intima media thickness analysis, and magnetic resonance imaging of the brain and a subset gluteal fat biopsy and direct assessment of small artery endothelial function. There were no baseline differences in demographics or a range of vascular risk factors between the groups. There was a generalised vascular dysfunction in depressed subjects with significantly more atherosclerosis, poorer endothelial function and increased arterial stiffness. On neuroimaging, depressed subjects had significantly more dilated Virchow-Robin spaces in the basal ganglia. White matter lesion volumes in all regions were higher in depressed subjects but not significantly so. Furthermore, subjects with late onset depression (onset >60years) had greater vascular impairment when compared to those with early onset illness. Lastly, depressed subjects who did not respond to antidepressant monotherapy showed more vascular dysfunction compared to responders. The study has a number of limitations including the small sample size and as the study was cross sectional, the observed relationship between vascular dysfunction and depression is associative rather than causal. Further research in larger samples is required to address the methodological limitations of this study. If the study results are confirmed, the use of vasoprotective drugs to improve vascular function or retard atherosclerosis as diasease modifying agents in late life depression would be a rational development.

The technology of haptics rendering has greatly enriched development in Multimedia applications, such as teleoperation, gaming, medical and etc., because it makes the virtual object touchable by the human operator(s) in real world. Human head stiffness rendering is significant in haptic interactive applications as it defines the degree of reality in physical interaction of a human avatar created in virtual environment. In a similar research, the haptic rendering approach has two main types: 1) Haptic Information Integration and 2) Deformation Simulation. However, the complexity in anatomic and geometric structure of a human head makes the rendering procedure challenging because of the issues of accuracy and efficiency. In this work, we propose a hybrid method to render the appropriate stiffness property onto a 3D head polygon mesh of an individual user by firstly studying human head's sophisticated deformation behaviour and then rendering such behaviour as the resultant stiffness property on the polygon mesh. The stiffness property is estimated from a semantically registered and shape-adapted skull template mesh as a reference and modeled from soft tissue's deformation behaviour in a nonlinear Finite Element Method (FEM) framework. To render the stiffness property, our method consists of different procedures, including 3D facial landmark detection, models semantic registration using Iterative Closest Point (ICP) technique, adaptive shape modification processed with a modified Weighted Free-Form Deformation (FFD) and FEM Simulation. After the stiffness property is rendered on a head polygon mesh, we perform a user study by inviting participants to experience the haptic feedback rendered from our results. According to the participants' feedback, the head polygon mesh's stiffness property is properly rendered as it satisfies their expectation.

An analytical and numerical investigation is conducted for the lateral torsional buckling analysis of wooden beam with a mid-span lateral brace subjected to symmetrically distributed loading. Two models are developed; one for the case of a rigid brace and another one for the case of a flexible brace. The analytical solutions are based on the principle of stationary potential energy and a Fourier expansion of the buckling displacement fields and bending moments. The validity of both models are verified against 3D finite element analyses in ABAQUS. Where applicable, verifications were also conducted against available solutions from previous studies. Parametric studies were conducted to investigate the effect of geometric and material parameters on the critical moments. The results indicate the presence of two separate groups of potential buckling modes, symmetric and anti-symmetric, with fundamentally different behavioural characteristics. The governing buckling mode is shown to depend on the bracing height, load height and lateral brace stiffness. The study shows that beyond a certain threshold bracing height, the critical moment is governed by the antisymmetric mode of buckling. Also, above a certain optimum bracing stiffness, no increase is observed in the critical moments. The models developed are used to construct a comprehensive database of parametric investigations which are then employed for developing simplified equations for determining the threshold heights, associated critical moments, and optimum stiffness.

Vibration-based energy harvesting using piezoelectric materials have been investigated by several research groups with the aim of harvesting maximum energy and providing power to low-powered wireless electronic systems for their entire operational life. The electromechanical coupling effect introduced by the piezoelectric vibration energy harvesting (PVEH) mechanism presents modelling challenges. For this reason, there has been a continuous effort to develop different modelling techniques to describe the PVEH mechanism and its effects on the dynamics of the system. The overall aims of this thesis are twofold: (1) a thorough theoretical and experimental analysis of a PVEH beam or assembly of beams; (2) an in-depth analytical and experimental investigation of the novel concept of a dual function piezoelectric vibration energy harvester beam/tuned vibration absorber (PVEH/TVA) or 'electromechanical TVA' and its potential application to vibration control. The salient novel contributions of this thesis can be summarised as follows: (i) An in-depth experimental validation of a PVEH beam model based on the analytical modal analysis method (AMAM), with the investigations conducted over a wider frequency range than previously tested. (ii) The precise identification of the electrical loads that harvest maximum power and that induce maximum electrical damping. (iii) A thorough investigation of the influence of mechanical damping on PVEH beams. (iv) A procedure for the exact modelling of PVEH beams, and assemblies of such beams, using the dynamic stiffness matrix (DSM) method. (v) A procedure to enhance the power output from a PVEH beam through the application of a tip rotational restraint and the use of segmented electrodes. (vi) The theoretical basis for the novel concept of a dual function PVEH beam/TVA, and its realisation and experimental validation for a prototype device. A thorough experimental validation of a cantilever piezoelectric bimorph energy harvester without a tip mass is presented under random excitation. The study provided a deep insight into the effect of PVEH on the dynamics of the system for variations in electrical load. An alternative modelling technique to AMAM, based on the DSM, is introduced for PVEH beams. Unlike AMAM, the DSM is exact, since it is based on the exact solution to the bending wave equation. It also readily lends itself to the modelling of beams with different boundary conditions or assemblies of beams of different crosssections. AMAM is shown to converge to DSM if a sufficiency of modes is used. Finally, an in-depth theoretical and experimental investigation of a prototype PVEHbeam/TVA device is presented. This device comprises a pair of bimorphs shunted by R-L-C circuitry and can be used as a tuned mass damper (TMD) to attenuate a vibration mode of a generic structure. The optimal damping required by this TMD is generated by the PVEH effect of the bimorphs. Such a device combines the advantages of conventional mechanical and electrical TVAs, overcoming their relative disadvantages. The results demonstrate that the ideal degree of attenuation can be achieved by the proposed device through appropriate tuning of the circuitry, thereby presenting the prospect of a novel class of 'electromechanical' tuned vibration absorbers.

abstract: It has been repeatedly shown that females have lower stability and increased risk of ankle injury when compared to males participating in similar sports activities (e.g., basketball and soccer), yet sex differences in neuromuscular control of the ankle, including the modulation of ankle stiffness, and their contribution to stability remain unknown. To identify sex differences in human ankle stiffness, this study quantified 2- dimensional (2D) ankle stiffness in 20 young, healthy men and 20 young, healthy women during upright standing over a range of tasks, specifically, ankle muscle co-contraction tasks (4 levels up to 20% maximum voluntary co-contraction of ankle muscles), weight-bearing tasks (4 levels up to 90% of body weight), and ankle torque generation tasks accomplished by maintaining offset center-of-pressure (5 levels up to +6 cm to the center-of-pressure during quiet standing). A dual-axial robotic platform, capable of perturbing the ankle in both the sagittal and frontal planes and measuring the corresponding ankle torques, was used to reliably quantify the 2D ankle stiffness during upright standing. In all task conditions and in both planes of ankle motion, ankle stiffness in males was consistently greater than that in females. Among all 26 experimental conditions, all but 2 conditions in the frontal plane showed statistically significant sex differences. Further analysis on the normalized ankle stiffness scaled by weight times height suggests that while sex differences in ankle stiffness in the sagittal plane could be explained by sex differences in anthropometric factors as well as neuromuscular factors, the differences in the frontal plane could be mostly explained by anthropometric factors. This study also demonstrates that the sex differences in the sagittal plane were significantly higher as compared to those in the frontal plane. The results indicate that females have lower ankle stiffness during upright standing thereby providing the neuromuscular basis for further investigations on the correlation of ankle stiffness and the higher risk of ankle injury in females. / Dissertation/Thesis / Masters Thesis Biomedical Engineering 2020

O texto normativo NBR 7190/1997, da Associação Brasileira de Normas Técnicas (ABNT), adota três ciclos de carregamento nos ensaios para a determinação de propriedades de rigidez e resistência da madeira. A partir das recomendações de tal documento foram realizados ensaios de compressão normal às fibras, compressão paralela às fibras, flexão estática e tração paralela às fibras com corpos-de-prova de Cambará Rosa (Erisma sp), Eucalipto Grandis (Eucalyptus grandis), Envira (Xylopia sp), Champanhe (Dipteryx odorata), Pinus Caribaea (Pinus caribaea var. caribaea), Pinus Elliottii (Pinus elliottii var. elliottii) e Pinus Hondurensis (Pinus caribaea var. hondurensis). Os valores dos módulos de elasticidade (E) obtidos mostraram-se estatisticamente equivalentes no segundo e terceiro ciclos de carregamento. Esta análise sugere, então, que o terceiro ciclo de carregamento é desnecessário. Foram comparados, também, os valores dos módulos de elasticidade de trinta e quatro espécies de madeiras tropicais brasileiras, obtidos nos ensaios de compressão paralela às fibras, tração paralela às fibras e flexão estática. Concluiu-se que estes são estatisticamente equivalentes. / The NBR 7190/1997, adopted by of Brazilian Technical Standard Association (ABNT), indicates three loading cycles for tests to determine wood stiffness and strength. Based on recommendations of ABNT methods tests were carried out in compression perpendicular to grain, compression parallel to grain, static bending and tension parallel to grain, with Cambará Rosa (Erisma sp), Eucalipto Grandis (Eucalyptus grandis), Envira (Xylopia sp), Champanhe (Dipteryx odorata), Pinus Caribaea (Pinus caribaea var. caribaea), Pinus Elliottii (Pinus elliottii var. elliottii) and Pinus Hondurensis (Pinus caribaea var. hondurensis) species. Modulus of elasticity values (E) obtained were statistically equivalent in second and third loading cycles. This analysis suggests that the third loading cycle is not necessary. Modulus of elasticity values of thirty four Brazilian tropical wood species were compared in compression parallel to grain, tension parallel to grain and static bending. The analysis showed that these values are statistically equivalent.

Continuum manipulators which are robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research. They are well known for their compliance, as they can conform to the shape of objects they interact with. Furthermore, they also benefit from improved dexterity and reduced weight compared to traditional rigid manipulators. The current state of the art continuum robots typically consists of a bulky pneumatic or tendon-driven actuation system at the base, hindering their scalability. Additionally, they tend to sag due to their own weight and are weak in the torsional direction, limiting their performance under external load. This work presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, light-weight, and is inherently safe for human-robot interaction. This dissertation includes contributions in the design of the modular and torsionally strong continuum robot, the motion planning and control of the system, and finally the embedded sensing to close the loop providing robust feedback.

BACKGROUND Vascular calcification is a major risk factor for cardiovascular morbidity and mortality in patients with end stage renal disease (ESRD). In Western countries, Blacks with ESRD appear to have lesser degrees of vascular calcification compared to non-Blacks. However, there is no published data on the association of ethnic differences in vascular calcification and survival in ESRD from Sub-Saharan Africa. METHODS This study assessed the 5-year change in vascular calcification and mortality in a previously published cohort of patients with ESRD. Vascular calcification was assessed by abdominal aortic calcification score (lateral abdominal radiograph) and vascular stiffness by pulse wave velocity. RESULTS Sixty-six of the original 74 participants, studied a baseline, were identified. The median age was 46.6 years (37.6-59.2) and 57.6% were women. Abdominal aortic calcification showed no progression among Blacks [baseline range 0-5, follow up range 0-8 (p=1.00)], but a nonsignificant trend to progression among non-Blacks [baseline range 0-19, follow up range 0-22 (p=0.066)]. Black participants did not display a survival advantage (p=0.870). Overall, sepsis was the most common cause of mortality (64% of those with an identifiable cause of death). Non-Blacks had higher parathyroidectomy rates than Blacks with 9/30 cases compared to 2/36 (p=0.036). After adjustment for parathyroidectomy at follow up, the odds ratio of having abdominal vascular calcification score of ≥1 amongst non-Blacks was 8.6-fold greater compared to Blacks (p= 0.03). Central aortic systolic pressures (CASP) and pulse wave velocities (PWV) were higher in the study population than age matched normative values. At follow up, a positive correlation (r=0.3) was observed between PWV and abdominal aortic calcification (p=0.04). Elevated baseline coronary artery calcification score and FGF-23 level at baseline were not associated with a difference in mortality. CONCLUSION There was no significant progression in vascular calcification among Blacks. After adjusting for increased parathyroidectomy rates, there was a greater progression of vascular calcification amongst non-Blacks compared to Blacks highlighting possible ethnic differences in calcium phosphate metabolism in patients with ESRD. The lack of vascular calcification progression in Blacks was not however associated with improved survival, but the sample size was small.

京都大学 / 0048 / 新制・課程博士 / 博士(人間健康科学) / 甲第22387号 / 人健博第73号 / 新制||人健||5(附属図書館) / 京都大学大学院医学研究科人間健康科学系専攻 / (主査)教授 黒木 裕士, 教授 山田 重人, 教授 松田 秀一 / 学位規則第4条第1項該当 / Doctor of Human Health Sciences / Kyoto University / DFAM

京都大学 / 0048 / 新制・課程博士 / 博士(人間・環境学) / 甲第22671号 / 人博第957号 / 新制||人||227(附属図書館) / 2020||人博||957(吉田南総合図書館) / 京都大学大学院人間・環境学研究科相関環境学専攻 / (主査)教授 川本 卓男, 教授 宮下 英明, 教授 高田 穣 / 学位規則第4条第1項該当 / Doctor of Human and Environmental Studies / Kyoto University / DFAM