The major part of this thesis has been devoted to path and motion generation synthesis of spatial mechanisms. For the first time kinematic synthesis methods have been developed based on the algebra of exponential rotation matrices. Besides modeling spatial pairs such as spheric, cylindric and Hook&#039 / s joints by combinations of revolute and prismatic joints and applying Denavit-Hartenberg&#039 / s convention, general loop closure equations have been presented for path and motion generation synthesis of any spatial mechanism with lower kinematic pairs. In comparison to the existing synthesis methods the main advantage of the methods presented in this thesis is that, general loop closure equations have been presented for any kind of spatial mechanism with lower kinematic pairs. Besides these methods enable the designer to benefit the advantages of the algebra of exponential rotation matrices. In order to verify the applicability of the synthesis methods presented in this thesis, the general loop closure equations of RSHR, RCCR and RSSR-SC mechanisms have been determined and then using these equations six numerical examples have been solved. Some tables have been presented based on the determined loop closure equations which reveal useful information about the number of precision points or positions that can be considered for the kinematic synthesis of the above mentioned mechanisms and the number of free parameters. In numerical examples, the mechanisms have been synthesized based on the general loop closure equations and the synthesis algorithms presented in the thesis. Although in some cases semi-analytical solutions have been obtained, in most of the cases, the loop closure equations were solved by computer programs written by Mathcad. The input angle-output angle diagrams drawn at the end of each numerical example illustrate the motion continuity of the mechanisms and that branching has been avoided. Detailed information has been given about the computer programs and the difficulties which may arise while synthesizing spatial mechanisms. In addition to the above mentioned points, a mobility analysis has been done for the RCCR mechanism and some inequalities have been obtained in terms of the link lengths. The swing angle diagram of the RCCR linkage has been drawn too.

Resumo: A escrita é uma forma de comunicação importante que se desenvolve com a idade e com a escolarização. Algumas crianças apresentam dificuldade em desenvolver uma escrita proficiente. Do ponto de vista do controle motor, uma escrita não proficiente pode estar vinculada à dificuldade da criança ativar adequadamente as sinergias motoras que dão suporte a esta habilidade. Portanto, estimular as sinergias motoras dos dedos pode proporcionar melhora na cinética e cinemática da escrita e, conseqüentemente, na qualidade da escrita. O objetivo do presente trabalho foi verificar os efeitos de um programa de intervenção, para crianças com dificuldades na escrita, composto por atividades manipulativas e pré-caligráficas que estimularam as sinergias motoras dos dedos por meio da variação da produção de força dos dedos. Trinta e duas crianças foram indicadas por suas professoras de classe para participarem do estudo. Dezesseis crianças, de 7 a 12 anos de idade, com baixa qualidade na escrita, formaram o Grupo Experimental (GE), e outras 16 crianças com boa qualidade na escrita, e com idade, gênero e preferência manual correspondentes ao GE, formaram o Grupo Controle (GC). O desempenho motor de todos os participantes foi avaliado pelo Movement Assessment Battery for Children, M-ABC (HENDERSON; SUDGEN, 1992). Todos os participantes tiveram a qualidade da escrita avaliada pelo Minnesota Handwriting Assessment (REISMAN, 1999) adaptado à língua portuguesa. Além disso, todos os participantes foram testados na produção gráfica e escrita sobre uma mesa digitalizadora (Wacom, Intuos2). Ambos, o Minnesota Handwriting Assessment adaptado e a produção gráfica e escrita sobre uma mesa digitalizadora foram administrados antes (pré-teste) e após (pós-teste) o programa de intervenção. Somente o GE foi submetido ao programa de intervenção. O programa de intervenção... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: Handwriting is an essential manner of human communication which develops with the process of aging and schooling. Some children present difficulties in developing a proficient handwriting. From the motor control perspective, a non-proficient handwriting may be associated with the difficulty to appropriately activate specific motor synergies. Thus, the stimulation of motor synergies of the fingers can improve the kinetic, and kinematic parameters of handwriting, and consequently the quality of the product of handwriting. The purpose of the present study was to examine the effect of an intervention program involving manipulative and pre-calligraphic activities. The intervention activities were based on variation in the force production of the fingers for children with handwriting difficulties. A total of 32 children aged between 7 and 12 years were selected to participate in the study by the classroom teachers. The Experimental Group (EG) was composed by 16 children displaying poor quality of handwriting, and other 16 children matched by age, gender and handedness showing high quality of handwriting composed the Control Group (CG). The motor performance of the participants was assessed by the Movement Assessment Battery for Children, M-ABC (HENDERSON; SUDGEN, 1992). All participants had the quality of the handwriting assessed by the Minnesota Handwriting Assessment (REISMAN, 1999) adapted to the Portuguese language. Furthermore, participants were tested in the handwriting and graphic production on a digitizing tablet (WACOM - Intuos2). Both the Minnesota Handwriting Assessment adapted and the handwriting and graphic production on a digitizing tablet were administered before (i.e., pretest) and after (i.e., post test) the intervention program. Only the EG was submitted to the intervention program. The intervention program consisted of 27 sessions... (Complete abstract click electronic access below) / Orientador: Ana Maria Pellegrini / Coorientador: Cynthia Yukiko Hiraga / Banca: Luis Eduardo P.B.T. Dantas / Banca: Livia de Castro Magalhães / Doutor

Planejamento de movimento tem o propósito de determinar quais movimentos o robô deve realizar para que alcance posições ou configurações desejadas no ambiente sem que ocorram colisões com obstáculos. É comum na robótica móvel simplificar o planejamento de movimento representando o robô pelas coordenadas do seu centro e desconsiderando qualquer restrição cinemática e dinâmica de movimento. Entretanto, a maioria dos robôs móveis possuem restrições cinemáticas não-holonômicas, e para algumas tarefas e robôs, é importante considerar tais restrições juntamente com o modelo dinâmico do robô na tarefa de planejamento. Assim é possível determinar um caminho que possa ser de fato seguido pelo robô. Nesse trabalho é proposto um método de planejamento cinemático-dinâmico que permite planejar trajetórias para robôs móveis usando malhas de estados. Essa abordagem considera a cinemática e a dinâmica do robô para gerar trajetórias possíveis de serem executadas e livre de colisões com obstáculos. Quando obstáculos não representados no mapa são detectados pelos sensores do robô, uma nova trajetória é gerada para desviar desses obstáculos. O planejamento de movimento utilizando malhas de estados foi associado a um algoritmo de desvio de obstáculos baseado no método da janela dinâmica (DWA). Esse método é responsável pelo controle de seguimento de trajetória, garantindo a segurança na realização da tarefa durante a navegação. As trajetórias planejadas foram executadas em duas plataformas distintas. Essas plataformas foram utilizadas em tarefas de navegação em ambientes simulados interno e externo e em ambientes reais. Para navegação em ambientes internos utilizou-se o robô móvel Pioneer 3AT e para navegação em ambientes externos utilizou-se o veículo autônomo elétrico CaRINA 1 que está sendo desenvolvido no ICMC-USP com apoio do Instituto Nacional de Ciência e Tecnologia em Sistemas Embarcados Críticos (INCT-SEC). / Motion planning aims to determine which movements the robot must accomplish to reach a desired position or configuration in the environment without the occurrence of collisions with obstacles. It is common in mobile robotics to simplify the motion planning representing the robot by the coordinates of its center of gravity and ignoring any kinematic and dynamic constraint motion. However, most mobile robots have non-holonomic kinematic constraints, and for some tasks and robots, it is important to consider these constraints together with the dynamic model of the robot in task planning. Thus it is possible to determine a path that can actually be followed by the robot. Here we propose a method for kinematic-dynamic path planning using lattice states. This approach considers the kinematic and dynamic of the robot to generate generate feasible trajectories free of collisions with obstacles. When obstacles not represented on the map are detected by the sensors of the robot, a new trajectory is generated to avoid these obstacles. The motion planning using lattice state was associated with an obstacle avoidance algorithm based on the dynamic window approach (DWA). This method is responsible for trajectory tracking to ensure safety in navigation tasks. This method was applied in two distinct platforms. These platforms were used for navigation tasks in both indoor and outdoor simulated environments, as well as, in real environments. For navigation in indoor environments we used a Pioneer 3AT robot and for outdoor navigation we used the autonomous electric vehicle CaRINA1 being developed at ICMC-USP with support National Institute of Science and Technology in Critical Embedded Systems (INCT-SEC).

Submitted by Ronildo Prado (ronisp@ufscar.br) on 2017-09-05T19:45:54Z No. of bitstreams: 1 DissNTSS.pdf: 3402830 bytes, checksum: 00ff2b842c3bea94aa14e85bf96cd5fd (MD5) / Approved for entry into archive by Ronildo Prado (ronisp@ufscar.br) on 2017-09-05T19:46:07Z (GMT) No. of bitstreams: 1 DissNTSS.pdf: 3402830 bytes, checksum: 00ff2b842c3bea94aa14e85bf96cd5fd (MD5) / Approved for entry into archive by Ronildo Prado (ronisp@ufscar.br) on 2017-09-05T19:46:21Z (GMT) No. of bitstreams: 1 DissNTSS.pdf: 3402830 bytes, checksum: 00ff2b842c3bea94aa14e85bf96cd5fd (MD5) / Made available in DSpace on 2017-09-05T19:46:29Z (GMT). No. of bitstreams: 1 DissNTSS.pdf: 3402830 bytes, checksum: 00ff2b842c3bea94aa14e85bf96cd5fd (MD5) Previous issue date: 2017-02-13 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Aims: To identify the level of trunk control and to analyse the influence of sitting posture in a ring and seated with flexion at 90º in infants born late preterm infants with corrected age, and at term between 6 and 8 months with the support manual exact of trunk during reaching. Methods: A longitudinal study was performed with 36 full- term infants and 20 infants born preterm infants at 6-8 months of corrected age. The infants were submitted to three evaluations monthly: 1) Segmental Assessment of Trunk Control (SATCo), to identify the exact level of trunk control of infants; 2) assesssment of reaching movement, using kinematics; And 3) Alberta Infant Motor Scale (AIMS) to assess motor control of infants and to ensure the minimum 25th percentile for full-term infants. For the kinematic analysis, the infants were placed on a table in the sitting posture in a ring and seated with flexion at 90º of hip, knee and ankle. All infants during the reaching analysis received the exact and necessary manual support in the trunk according to the control level of each infant evaluated through the SATCo. To elicit reaching, an attractive, malleable or rigid object was presented on the midline, 45 ° to the right and 45 ° to the left of the infant's body. The total time of evaluation in each sitting posture was 2 minutes. It was considered variable full reaching frequency on the right, left and midline, and spatio-temporal variables to the right, left and midline (movement unit, straightness index, deceleration index, duration of movement, mean velocity, velocity peak, and trunk displacement. Results: Late preterm infants with corrected age were found to have lower trunk control compared to full-term infants at all ages evaluated. The level of trunk control presented a progressive and descending (cephalo-caudal) order with increasing age in both groups. The reaching frequency was greater at 6 months in the seated ring posture and at 7 and 8 months in the seated posture with 90 ° flexion in both groups. The sitting posture in a ring and with 90 ° flexion did not influence the kinematic variables, except for the right and midline velocity peak, and the trunk displacement to the right. On the other hand, significant differences between group and time were observed. The preterm group presented a higher number of movement units, lower, straightness index, higher average velocity and peak velocity, and lower trunk displacement in comparison to infants full term. In both groups, the spatio-temporal reaching variables improved over time, that is, older infants (8 months) presented lower number of movement units and higher straightness índex compared to younger infants (6 months). Conclusion: Late preterm infants had lower levels of trunk control compared to full-term infants. The postures seated in a ring and seated with 90 ° flexion did not influence the reaching behavior in the late term and preterm infants, since, the exact and necessary manual support was provided in the trunk of the infants, according to the level of control, evaluated through of SATCo. Thus, when the infant received the necessary manual trunk support, the different sitting postures did not influence the reaching behavior. Finally, preterm infants with corrected age, had less rectilinear, non-fluid and immature reaches compared to full-term infants at all ages evaluated. Reaches have become more mature over time, especially in full- erm infants. / Objetivo: Identificar o nível de controle de tronco e analisar a influência da postura sentada em anel e sentada em flexão a 90° em lactentes nascidos pré-termo tardios com idade corrigida, e a termo entre 6 e 8 meses de idade com o suporte manual exato de tronco durante o alcance. Métodos: Foi realizado um estudo longitudinal, com 36 lactentes nascidos a termo e 20 lactentes nascidos pré-termo tardios com idade corrigida aos 6-8 meses de idade. Os lactentes foram submetidos a três avaliações mensalmente: 1) Segmental Assessment of Trunk Control (SATCo), para identificar o nível exato de controle de tronco dos lactentes; 2) avaliação do movimento de alcance, por meio da análise cinemática; e 3) Alberta Infant Motor Scale (AIMS) para avaliar o controle motor dos lactentes e assegurar o percentil mínimo de 25 para os lactentes nascidos a termo. Para a análise cinemática, os lactentes foram posicionados em um tablado na postura sentada em anel e sentada com flexão a 90º de quadris, joelhos e tornozelos. Todos os lactentes durante a análise do alcance receberam o suporte manual exato e necessário no tronco de acordo com o nível de controle de cada lactente avaliado por meio da SATCo. Para eliciar o alcance um objeto atrativo, maleável ou rígido foi apresentado na linha média, 45º à direita e 45° à esquerda do corpo do lactente. O tempo total da avaliação em cada postura sentada foi de 2 minutos. Foi considerada variável frequência total de alcance à direita, esquerda e linha média, e as variáveis espaço-temporais à direita, esquerda e linha média (unidade de movimento, índice de retidão, índice de desaceleração, duração do movimento, velocidade média, pico de velocidade, e deslocamento do tronco. Resultados: constatou-se que lactentes pré-termo tardios, com a idade corrigida, apresentaram menor nível de controle de tronco em comparação aos lactentes a termo em todas as idades avaliadas. O nível de controle de tronco apresentou uma ordem progressiva e descendente (céfalo-caudal) com o aumento da idade em ambos os grupos. A frequência de alcance foi maior aos 6 meses na postura sentada em anel e aos 7 e 8 meses na postura sentada com flexão a 90° em ambos os grupos. A postura sentada em anel e flexão a 90° não influenciou as variáveis cinemáticas do alcance, exceto o pico de velocidade à direita e linha média, e o deslocamento do tronco à direita. Por outro lado, observou-se diferenças significativas entre os grupos e tempo. O grupo pré-termo tardio apresentou maior número de unidades de movimento, menor índice de retidão, maior velocidade média e pico de velocidade, e menor deslocamento de tronco em comparação aos lactentes a termo. Em ambos os grupos, as variáveis espaço-temporais do alcance melhoraram com o tempo, ou seja, lactentes mais velhos (8 meses de idade) apresentaram menor número de unidades de movimento e maior índice de retidão em comparação a lactentes mais novos (6 meses de idade). Conclusão: lactentes pré-termo tardios apresentaram menor nível de controle de tronco em comparação aos lactentes a termo. As posturas sentada em anel e sentada com flexão a 90° não influenciaram no comportamento do alcance nos lactentes a termo e pré-termo tardios, uma vez que, foi fornecido o suporte manual exato e necessário no tronco dos lactentes, de acordo com o nível de controle, avaliado por meio SATCo. Desta forma, quando o lactente recebeu o suporte manual de tronco necessário, as diferentes posturas sentadas não influenciaram no comportamento do alcance. Por fim, lactentes pré-termo tardios, com a idade corrigida, apresentaram alcances menos retilíneos, não fluentes e imaturos em comparação aos lactentes a termo em todas as idades avaliadas. Os alcances se tornaram mais maduros ao longo do tempo, principalmente nos lactentes a termo.

Orientador: José Corrêa de Lacerda Neto / Banca: José Wanderley Cattelan / Banca: Fabiana Garcia Christovão / Resumo: As irregularidades da superfície de oclusão dentária causam restrições dos movimentos mandibulares em equinos durante a mastigação, além de contribuir para a queda do desempenho durante o exercício, devido a dor oral. O objetivo deste trabalho foi quantificar, mediante análise cinemática tridimensional, a amplitude dos movimentos caudo-rostrais, latero-laterais e dorso-ventrais da mandíbula de equinos durante a mastigação de feno antes e após o ajustamento oclusal por desgaste dentário. Para tal, foram utilizados sete equinos da raça Puro Sangue Árabes. Os animais foram filmados mastigando feno por duas vezes consecutivas antes da realização do ajustamento oclusal. Neste procedimento utilizou-se três câmeras de vídeo digitais e sete marcadores esféricos reflexivos posicionados na face. Após as primeiras filmagens os cavalos passaram por ajustamento oclusal mediante desgaste dentário e foram novamente a submetidos a duas filmagens em dias consecutivos. As imagens obtidas foram utilizadas foram utilizadas para análise cinemática do movimento. Utilizando o programa Dvideow, as imagens foram sincronizadas, segmentadas, procedendo-se à reconstrução tridimensional. Em ambiente Matlab, aplicaram-se funções matemáticas para a obtenção dos valores das amplitudes dos movimentos. Os resultados da análise biomecânica da mastigação permitem-nos afirmar que o ajustamento oclusal aumenta a amplitude dos movimentos mandibulares em equinos / Abstract: The alterations of the dental occlusion surface in equines originate restrictions of the jaw's movement during chewing, besides being a cause of pain during exercise. The endpoint of this article was to quantify, using tridimensional kinematic analysis, the amplitude of caudo-rostral, lateral-lateral and dorso-ventral movements during hay chewing before and after occlusion adjustment by dental floating. Seven Arabian horses were analyzed. These animals were filmed chewing hay for two consecutive times before dental occlusion adjustment. For this procedure was used tree digital video cameras and seven reflexive spherical markers that were placed at these horses faces. After the first shootings, the animals were submitted to dental occlusion adjustment by dental floating and, then, they were once more submitted to two consecutive shootings to the tridimensional kinematic analysis of the movement. Using the Dvideo program, the images were synchronized, divided into segments and tridimensional reconstructed. In Matlab environment, mathematical functions were applied to get the movements amplitude. The final result of this trial was: significant increase of the amplitude of caudo-rostral, lateral-lateral and dorso-ventral movements after dental occlusion adjustment by dental floating during hay chewing / Mestre

L'hétérogénéité inter-patients des altérations motrices consécutives aux lésions cérébrales rend nécessaire le besoin d'individualiser la prise en charge du patient après AVC. Afin d'apporter une thérapie adaptée aux besoins du patient au moment opportun, il est nécessaire de prendre en compte plusieurs considérations théoriques afin de comprendre comment la rééducation influence la plasticité cérébrale. La récupération motrice est un phénomène complexe et non-linéaire, et identifier ses composantes caractéristiques est délicat. Au travers d'une étude observationnelle, nous avons investigué la récupération de la fonction motrice en condition unimanuelle (membre non-parétique, parétique) et bimanuelle chez des patients cérébro-lésés en phase subaigüe, sans interférer sur leur programme de rééducation classique. Nous avons d'abord validé l'analyse cinématique pour l'évaluation motrice des mouvements d'atteinte d'objets après AVC, en complément des tests cliniques. L'analyse cinématique permet de fournir des indicateurs de la récupération en temps réel de manière plus sensible que les échelles cliniques. En condition unimanuelle, la récupération du membre non-parétique progresse avant de se stabiliser après 9-10 semaines après AVC. En condition bimanuelle, la dynamique de récupération des coordinations bimanuelles change 6 semaines après AVC. Ces périodes pourraient être des fenêtres temporelles clés à prendre en compte en établissant des protocoles de rééducation. L'identification complète et précise de ces patterns naturels de récupération après AVC pourrait permettre de mieux comprendre les réseaux nerveux spécifiques qui sous-tendent les altérations du membre supérieur. A partir de ces indications cliniques prometteuses, proposer une rééducation adaptée au patient et au meilleur moment devient le challenge des travaux futurs. / Poststroke characteristics vary significantly between patients and over time, necessitating the introduction of individualized care. To provide to patients an appropriate and timely therapy, theoretical considerations must be taken into account to understand how a therapy may influence underlying neuroplasticity. Motor recovery is a nonlinear and complex function of time, and identifying its representative features remains intricate. Through observational analysis, we investigated in this thesis the time-related changes in unimanual (nonparetic, paretic upper-limb) and bimanual motor function in subacute poststroke patients, without interfering with standard rehabilitation. Overall, our results firstly validated the relevance of kinematics to assess recovery of reaching movements following stroke, in complement to clinical scores. Kinematics provides accurate real-time indicators of patients' recovery in a more sensitive way to current clinical scales. In unimanual reaching, motor function of nonparetic upper-limb recovered and then leveled off 9-10 weeks poststroke. In bimanual reaching, the dynamic of the recovery pattern of between-hands coordination changed after 6 weeks poststroke. These time-windows might be key periods to consider into designing rehabilitation protocols. Our results contribute to a better understanding of the natural pattern of motor recovery poststroke and could be of interest to understand specific neural network underlying upper-limb impairment. From these promising therapeutic guidelines, next challenge in future research includes tailoring rehabilitation training to patients at the most opportune time.

Human movements are remarkably adaptive, such that we are capable of completing movements in a novel environment with similar accuracy to those performed in a typical environment. Our ability to perform in these environments involves accurate processing of sensory feedback for online and offline control. These processes of control have been widely studied for well learned actions, but not for actions in a novel visuomotor environment. In two experiments, we examined control processes underlying reaches when participants were first introduced to a visuomotor rotation (Experiment 1) and then following visuomotor adaptation (Experiment 2). All participants completed 150 reach training trials when (1) a cursor accurately represented their hand motion (i.e., aligned cursor) and (2) a cursor was rotated 45 degrees clockwise relative to their hand motion (i.e., rotated cursor). In Experiment 1, we sought to determine if the control processes underlying movements in typical and novel visuomotor conditions were comparable. Participants (n = 16) received either continuous visual feedback or terminal visual feedback regarding movement endpoint during reach training. Analyses revealed that participants were able to demonstrate similar outcomes (i.e., movement time and endpoint errors) regardless of visual or cursor feedback, but also demonstrated more offline control (i.e., took more time planning and were less consistent in initiating their movements) when reaching with a rotated cursor compared to an aligned cursor, even at the end of training. Together, the results suggest a greater contribution of offline control processes and less effective online corrective processes when reaching in a novel environment compared to when reaching in a typical environment. In attempt to promote online corrective processes, participants (n = 16) in Experiment 2 first completed the training trials with continuous visual feedback and then completed an additional 45 reaches under (1) slow movement time (i.e., Slow MT: 800-1000 ms) and (2) fast movement time (i.e., Fast MT: 400-500ms) constraints. Results showed a shift to online control (i.e., greater endpoint accuracy) when reaching with an aligned and rotated cursor, when sufficiently more time was provided (i.e., Slow MT). Specifically, participants were able to more effectively utilize visual feedback for online control under the Slow MT constraint compared to when reaching quickly (i.e., Fast MT). Together, these experiments demonstrate a flexibility in control processes underlying reaches with rotated visual feedback of the hand. In that reaches first engage in offline control processes during adaptation to a visuomotor rotation, and then shift to online corrective processes following visuomotor adaptation.

A Estenose de Canal Lombar (ECL) é caracterizada pela redução do espaço de elementos neurais ou vasculares da coluna lombar. Os sintomas incluem dor e/ou parestesia em membros inferiores, região lombar, e glúteos e Claudicação Intermitente Neurogênica. O tratamento conservador é a escolha inicial para o manejo de pacientes com ECL, por isso é importante a identificação de diferentes estratégias para o tratamento conservador, e a compreensão das alterações em parâmetros funcionais que estes tratamentos geram. O presente estudo objetivou comparar os efeitos de 24 sessões de Fisioterapia Aquática (GFA) e de Fisioterapia Solo (GFS) nos parâmetros espaço-temporais de marcha, equilíbrio, nível de dor percebida, incapacidade, capacidade física funcional, medo de movimento e níveis de depressão em indivíduos com ECL. Para observação das diferenças entre os grupos e momentos foi realizado o teste de Equações de Estimativa Generalizada no software SPSS versão 20.0. Para todas as análises o índice de significância adotado foi de 95% (α=0,05). Os níveis de incapacidade, dor, e estados depressivos reduziram, bem como a velocidade de caminhada autosselecionada e o índice de reabilitação locomotora aumentaram após as intervenções sem diferenças entre os grupos. O GFA apresentou melhora dos parâmetros espaço-temporais de marcha em velocidade fixa, redução da ingesta de medicação analgésica, e redução da média semanal de dor mais cedo que o GFS. O GFS demonstrou maior melhora da mobilidade funcional indicando um melhor equilíbrio após a intervenção em comparação ao GFA. Tratamentos fisioterapêuticos estruturados com associação de exercícios de estabilização de tronco, alongamentos e terapia manual mostram-se eficazes para melhora da incapacidade, dor, depressão e parâmetros de marcha em indivíduos com Estenose da Canal Lombar, sendo o meio aquático potencializador da resposta analgésica e da melhora em parâmetros espaço temporais de marcha e o solo potencializador da melhora do equilíbrio. / Lumbar Spinal Stenosis (LSS) is characterized by a reduction in the space of vascular and neuronal elements of the spinal canal space. Symptoms include pain and/or paresthesia in lower limbs, lumbar region and buttocks, and Neurogenic Intermittent Claudication. Conservative treatments are the choice for initial management of patients with LSS, therefore it is important to identify different conservative treatments strategies and understanding of the changes in functional parameters that those treatments cause. The present study aimed to compare the effects of 24 physiotherapy sections of Aquatic Physiotherapy (GFA) and Ground Physiotherapy (GFS) in spatiotemporal gait parameters, balance, perceived level of pain, disability, functional exercise capacity, fear of movement, and clinical depression in individuals with LSS. Generalized Estimating Equations were made to observe the differences between groups and moments on SPSS software version 20.0. For all tests, the significance level was 95% (α = 0,05). Disability, pain and depressive symptoms reduced and selfselected walking speed and locomotor rehabilitation index increased after interventions with no differences between groups. GFA improve spatiotemporal gait parameter in fixed speed, reduced analgesic medication, and show an earlier reduction in weekly pain. GFS improve functional mobility indicating a better balance in comparison to GFA. Physiotherapeutic treatments structured with the association of stabilization exercises, stretching exercises and manual therapy are efficient in improving disability, pain, depression and gait parameters in Lumbar Spinal Stenosis patients, water environment potentiate analgesic and spatiotemporal improvements, and land potentiate balance improvements.

O dimensionamento de fundações apoiadas sobre solos reforçados por colunas representa um desafio devido à natureza composta do mesmo e à grande quantidade de inclusões envolvidas no processo de reforço. Do ponto de vista do cálculo da capacidade de carga, as metodologias de dimensionamento propostas na literatura tratam ou de cálculos empíricos, ou de cálculos analíticos para carregamentos puramente verticais, ou utilizam o método de elementos finitos através de análises elasto-plásticas incrementais. No presente trabalho estuda-se, através da análise limite, a capacidade de carga de fundações superficiais apoiadas sobre solos argilosos reforçados por colunas submetidas a cargas inclinadas. Assim, este trabalho constitui uma primeira referência em analisar o efeito do reforço no diagrama de interação que relaciona às componentes da carga. Inicialmente, realizou-se uma análise em estado plano de deformação para um solo reforçado por uma coluna isolada. Foram construídos campos de tensões lineares por trecho, estaticamente admissíveis e que satisfazem o critério de resistência, determinando limites inferiores da capacidade de carga. Trata-se da abordagem estática da análise limite. Na sequência, através da utilização de mecanismos de ruptura cinematicamente admissíveis, foram encontrados limites superiores da capacidade de carga. Trata-se da abordagem cinemática da análise limite. A construção de ábacos permitiu realizar um estudo paramétrico da melhora da capacidade de carga em função dos parâmetros adimensionais, definidos pela geometria e propriedades de resistência. Finalmente, realizou-se uma generalização à situação de um solo reforçado por um grupo de colunas, em estado plano de deformação, mediante a aplicação da abordagem estática e cinemática da análise limite e posterior estudo paramétrico. Os resultados mostraram que, a medida que aumenta a componente horizontal da força, a componente vertical de ruptura diminui. Este fato constitui um risco na edificação de estruturas submetidas a carregamentos inclinados. Os parâmetros adimensionais que controlam a capacidade de carga são: o ângulo de atrito interno do material de reforço e a relação entre o intercepto coesivo do reforço e do solo. Foi encontrado que, para fins práticos, a carga limite é independente da quantidade de colunas, sempre que o volume de reforço seja mantido. / From a practical engineering viewpoint, design of column-reinforced foundations turns to be a challenging task owing to the strong heterogeneity of the geo-composite resulting from the association of native soft soil and the reinforcing soil columns. The design procedures conceived to estimate bearing capacity improvement from this reinforcement technique have mainly dealt with foundations under vertical loading. The purpose of the present work is to investigate the ultimate bearing capacity problem of column-reinforced foundations under inclined loading, within the framework of limit analysis theory. Special emphasis is given to the effect of reinforcement on the interaction diagram relating the foundation load components. Starting from the situation of an isolated column, a lower bound solution for the bearing capacity is derived, in plain strain analysis, by considering statically admissible piecewise linear stress fields that comply with the failure condition everywhere in the foundation soil. On the other hand, the kinematic approach of limit analysis makes it possible, through the implementation of failure mechanisms on the column-reinforced structure, to derive upper bound estimates of the bearing capacity for each value of the inclination angle of applied load. The semi-analytical expressions of both lower and upper bound estimates allow for a parametric study on the improvement of the bearing capacity as a function of dimensionless parameters, which are defined from geometrical and strength properties. In this context, design charts are presented to provide an insight into the reinforcement mechanism. Finally, the generalization of the approaches to the situation of a soil reinforced by a group of columns is presented, considering plain strain analysis. As soon as the horizontal component of the force increases, the vertical component of the bearing capacity decreases. This fact constitutes a risk for structures submitted to inclined loading. The dimensionless parameters that control the bearing capacity are: the reinforcement material friction angle and the relation between the coesion intercept of the reinforcement and the soil. For practical purposes, the bearing capacity doesn’t depend on the column number, but on the reinforcement volume.

This work thesis is dealing with planar mechanisms. It?s concentrated on definition the topic, enumeration methods of mathematical description of mechanisms and occasion of simulation with usage information technology. It?s going mainly on GeoGebra program, in which were created most of schemes and models mechanisms. Created models are recorded on attached CD. Important charter of this theses are mechanisms used to draving planar curves, ending with mechanisms used to drawing straight line.