The Mount Isa and May Downs Faults are part of a network of significant faults that define, control, or partition deformation in the Early to mid-Proterozoic Mount Isa Inlier. The middle Proterozoic deformation history includes at least two extensional basin-forming events (Leichhardt Superbasin: ~1800 Ma to ~1700 Ma and Isa Superbasin: ~1700 Ma to ~ 1600 Ma) and a major protracted contractional orogenic event (Isan Orogeny: ~1585 Ma to ~ 1500 Ma). Uplift between the Mount Isa and May Downs Faults during the Isan Orogeny has exposed mid to upper amphibolite facies rocks of the structurally deeper levels of the early rift systems. Also exposed is the Sybella Granite, a composite batholith of variably deformed gneissic granite, which, at ~1660 Ma, is broadly coeval with inception of the Isan Superbasin basin. Two prevailing kinematic models had been proposed for the fault systems during Isan Superbasin formation. The traditionally accepted model involves episodic E-W or NW-SE extension with the N-S Mount Isa Fault, but Southgate et al (2000b) presented an alternative sinistral strike-slip model in which the May Downs Fault acted as a releasing bend fault associated with motion on the Mt Isa Fault. In the Southgate model, the Sybella Granite was interpreted as syn-tectonically filling the dilational releasing bend. This study provides a detailed structural analysis of the 100 km by 40 km area west of Mount Isa City lying between the Mount Isa and May Downs Faults. The aim was to resolve a number of outstanding issues, including those outlined above. The resultant 1:250 000 structural map of the area is based on: reconnaissance-scale mapping; aerial photography, satellite, magnetic and radiometric image interpretation; field observations at locations throughout the area; and local detailed mapping (1:12000 scale or less). The mapping and associated geometrical analysis of the area has shown that the Sybella Batholith consists of two granite sills and a more globular body of microgranite. The deepest, gneissic, sill is up to 5 km thick and was emplaced at about 15 km below the basal Mount Isa Group unconformity (palaeosurface). The other, less deformed, sill formed higher in the crust, and the microgranite intruded to within 1-2 km of the palaeosurface. The two sills are located between two major fault systems (Mount Isa and May Downs Faults) that developed from inherited basin margin faults. The fault systems dip toward each other and the rocks between them have been folded into a single large antiform and uplifted as a wedge. Previous interpretations of the area have suggested that the batholith consists of a single sill folded by tighter, shorter wavelength folds. A cross-sectional reconstruction of the study area suggests that thin-skinned processes dominated much of the Isan Orogeny, contrary to previous interpretations. A three-dimensional reconstruction of the area, evaluated by comparing the predicted strain and amount of shortening with measured strain and shortening estimates, suggests deformation was driven by a rigid block to the west of the May Downs Fault moving toward the northeast. In the restored pre-Isan geometry, both the margins of the lowermost gneissic granite sill and its immediate country rocks have a strong, horizontal, layer-parallel, shear foliation with top-to-the-east asymmetry. The fabrics are strongly constrictional and 2 Abstract the stretching lineation trends east-west. Field observations and thin sectional analysis of these fabrics provide positive evidence that the Sybella Batholith was syn-tectonically emplaced in a basin-forming environment. A kinematic model is presented to show that these features are consistent with granite emplacement into a dilational jog in a sub-horizontal shear zone with a top-to-the-east shear sense. A component of east-west directed horizontal simple shear across the dilating zone explains the strongly constrictional fabrics in the granite. Under these conditions significant north-south shortening in the deforming zone leads to the initiation of folds parallel to the stretching direction (as observed). The shear zone into which the granite was emplaced developed at about fifteen kilometres depth and was probably at or near the brittle-ductile transition. The consistent shear sense, very high strains and implied 30 km of translation required to accommodate the sill indicates that this was a major crustal structure, rather than a simple detachment at the brittle-ductile transition in a crustal pure shear extension. The results are consistent with the east-west extensional model for basin development and totally inconsistent with the sinistral strike-slip model.

The purpose of this thesis was to study the outcome of Single Event Multilevel Surgery (SEMLS) on the gait pattern known as crouch gait in children with spastic diplegic cerebral palsy. The term “crouch gait” in the literature has been defined by many authors to mean a flexed knee coupled with many different combinations of posture at the ankle. Consequently it was necessary to provide a robust definition of crouch gait before the outcome study could proceed. Crouch gait was defined in the context of a classification of sagittal gait patterns in spastic diplegia. In the cross-sectional study on the classification of sagittal gait patterns, 187 children with spastic diplegia were categorised according to visual recognition of their gait pattern and sagittal plane kinematic data. Six gait patterns in spastic diplegia were identified, one of which was crouch gait. A pattern of increasing age, severity and biomechanical incompetency in maintaining an extended posture was seen across the gait patterns and crouch gait appeared to be the “end” gait pattern. A longitudinal study documented how the identified gait patterns evolved over time. Thirty-four children were followed for more than one year and the results indicated that the stability of the gait pattern was variable. The reliability of the classification was found to be acceptable. (For complete abstract open document)

The Mount Isa and May Downs Faults are part of a network of significant faults that define, control, or partition deformation in the Early to mid-Proterozoic Mount Isa Inlier. The middle Proterozoic deformation history includes at least two extensional basin-forming events (Leichhardt Superbasin: ~1800 Ma to ~1700 Ma and Isa Superbasin: ~1700 Ma to ~ 1600 Ma) and a major protracted contractional orogenic event (Isan Orogeny: ~1585 Ma to ~ 1500 Ma). Uplift between the Mount Isa and May Downs Faults during the Isan Orogeny has exposed mid to upper amphibolite facies rocks of the structurally deeper levels of the early rift systems. Also exposed is the Sybella Granite, a composite batholith of variably deformed gneissic granite, which, at ~1660 Ma, is broadly coeval with inception of the Isan Superbasin basin. Two prevailing kinematic models had been proposed for the fault systems during Isan Superbasin formation. The traditionally accepted model involves episodic E-W or NW-SE extension with the N-S Mount Isa Fault, but Southgate et al (2000b) presented an alternative sinistral strike-slip model in which the May Downs Fault acted as a releasing bend fault associated with motion on the Mt Isa Fault. In the Southgate model, the Sybella Granite was interpreted as syn-tectonically filling the dilational releasing bend. This study provides a detailed structural analysis of the 100 km by 40 km area west of Mount Isa City lying between the Mount Isa and May Downs Faults. The aim was to resolve a number of outstanding issues, including those outlined above. The resultant 1:250 000 structural map of the area is based on: reconnaissance-scale mapping; aerial photography, satellite, magnetic and radiometric image interpretation; field observations at locations throughout the area; and local detailed mapping (1:12000 scale or less). The mapping and associated geometrical analysis of the area has shown that the Sybella Batholith consists of two granite sills and a more globular body of microgranite. The deepest, gneissic, sill is up to 5 km thick and was emplaced at about 15 km below the basal Mount Isa Group unconformity (palaeosurface). The other, less deformed, sill formed higher in the crust, and the microgranite intruded to within 1-2 km of the palaeosurface. The two sills are located between two major fault systems (Mount Isa and May Downs Faults) that developed from inherited basin margin faults. The fault systems dip toward each other and the rocks between them have been folded into a single large antiform and uplifted as a wedge. Previous interpretations of the area have suggested that the batholith consists of a single sill folded by tighter, shorter wavelength folds. A cross-sectional reconstruction of the study area suggests that thin-skinned processes dominated much of the Isan Orogeny, contrary to previous interpretations. A three-dimensional reconstruction of the area, evaluated by comparing the predicted strain and amount of shortening with measured strain and shortening estimates, suggests deformation was driven by a rigid block to the west of the May Downs Fault moving toward the northeast. In the restored pre-Isan geometry, both the margins of the lowermost gneissic granite sill and its immediate country rocks have a strong, horizontal, layer-parallel, shear foliation with top-to-the-east asymmetry. The fabrics are strongly constrictional and 2 Abstract the stretching lineation trends east-west. Field observations and thin sectional analysis of these fabrics provide positive evidence that the Sybella Batholith was syn-tectonically emplaced in a basin-forming environment. A kinematic model is presented to show that these features are consistent with granite emplacement into a dilational jog in a sub-horizontal shear zone with a top-to-the-east shear sense. A component of east-west directed horizontal simple shear across the dilating zone explains the strongly constrictional fabrics in the granite. Under these conditions significant north-south shortening in the deforming zone leads to the initiation of folds parallel to the stretching direction (as observed). The shear zone into which the granite was emplaced developed at about fifteen kilometres depth and was probably at or near the brittle-ductile transition. The consistent shear sense, very high strains and implied 30 km of translation required to accommodate the sill indicates that this was a major crustal structure, rather than a simple detachment at the brittle-ductile transition in a crustal pure shear extension. The results are consistent with the east-west extensional model for basin development and totally inconsistent with the sinistral strike-slip model.

[Truncated abstract] This thesis consists of five experimental studies from seven data collection periods. The first two studies quantitatively analyse children with and without cerebral palsy using upper limb three dimensional (3D) motion analysis. Upper limb angular kinematics and sub-structures were measured and analysed, both of which were utilised during subsequent studies. The final three studies assess the efficacy of lycra® arm splints using clinical assessments, 3D dimensional upper limb kinematics and 3D sub-structures. Study 1 analysed 3D movement sub-structures in children with and without cerebral palsy ... The aim of the study was to quantitatively analyse movement sub-structures in children with and without cerebral palsy during four functional tasks taken from the Melbourne Assessment of Unilateral Upper Limb Function (Melbourne Assessment - Randall, Johnson & Reddihough, 1999) ... Results demonstrated significant differences in angular kinematics in children with and without cerebral palsy, while the methodology developed in this study provided improved insight into the movement of the upper limb and trunk during functional tasks. Study 3 reported a randomised controlled trial of lycra® arm splints in children with cerebral palsy across all levels of the International Classification of Functioning Disability and Health (ICF) ... Lycra® arm splints were shown to have a statistically significant impact at the level of participation, whereas no significant difference was seen at the level of impairment and activity. Study 4 reported a randomised controlled trial of the effects of lycra® arm splints on 3D movement sub-structures during functional tasks in children with cerebral palsy ... This research demonstrated that movement sub-structures (including movement time) can be quantified and are amenable to change with intervention. Study 5 reported a randomised controlled trial of the effects of lycra® arm splints on angular kinematics (thorax, shoulder and elbow) during functional tasks in children with cerebral palsy ... The benefits of the splint on angular kinematics were only apparent when worn for the 3 month period, as minimum evidence was established for the short-term (1hour) and long term (3 month post splint wear) carry-over effects.

Submitted by RICARDO FERNANDO NUNES null (ricardofnes@gmail.com) on 2016-05-09T19:20:22Z No. of bitstreams: 1 Ricardo_Nunes_Pos_Defesa_FINAL.pdf: 4578185 bytes, checksum: 7d5f2601e5d33327aef16ab69587d77f (MD5) / Approved for entry into archive by Felipe Augusto Arakaki (arakaki@reitoria.unesp.br) on 2016-05-12T19:25:25Z (GMT) No. of bitstreams: 1 nunes_rf_me_ilha.pdf: 4578185 bytes, checksum: 7d5f2601e5d33327aef16ab69587d77f (MD5) / Made available in DSpace on 2016-05-12T19:25:25Z (GMT). No. of bitstreams: 1 nunes_rf_me_ilha.pdf: 4578185 bytes, checksum: 7d5f2601e5d33327aef16ab69587d77f (MD5) Previous issue date: 2016-03-31 / Neste trabalho apresenta-se uma abordagem para o mapeamento da cinemática inversa utilizando Redes Neurais Artificiais do tipo Perceptron Multicamadas na configuração em paralelo, tendo como referência o protótipo de um manipulador robótico de 5 graus de liberdade, composto por sete servomotores controlado pela plataforma de desenvolvimento Intel® Galileo Gen 2. As equações da cinemática inversa, normalmente apresentam múltiplas soluções, desta forma, uma solução interessante e frequentemente encontrada na literatura são as Redes Neurais Artificiais (RNA) em razão da sua flexibilidade e capacidade de aprendizado por meio do treinamento. As Redes Neurais são capazes de entender a relação cinemática entre o sistema de coordenadas das juntas e a posição final da ferramenta do manipulador. Para avaliar a eficiência do método proposto foram realizadas simulações no software MATLAB, as quais demostram pelos resultados obtidos e comparações a uma RNA do tipo MLP simples, aproximadamente redução das médias dos erros das juntas em até 87,8% quando aplicado à trajetória e 80% quando aplicado a pontos distribuídos no volume de trabalho. / This paper presents an approach to the mapping of inverse kinematics using Artificial Neural Networks Multilayer Perceptron in parallel configuration, in the prototype of a robotic manipulator 5 degrees of freedom, as reference, composed of seven servomotors controlled by development board Intel® Galileo Gen 2. The equations of inverse kinematics, usually have multiple solutions, therefore, an interesting solution and often found in the literature are the Artificial Neural Networks (ANN) because of their flexibility and learning capacity through training. Neural Networks are able to understand the kinematic relationship between the coordinate system of the joints and the final position of the manipulator tool. To evaluate the efficiency of the proposed, simulations in MATLAB software are performaded, that demonstrate by the results obtained and compared to a simple MLP type RNA, one reduction in mean errors of the joints by up to 87.8% when applied to the path and 80% when applied to points distributed in the work space.

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Orientador: José angelo Barela / Banca: Ana Maria Pellegrini / Banca: Cláudia Regina Sgobbi de Faria / Banca: Paula Hentschel Lobo da Costa / Banca: Rúben de Faria Negrão Filho / Resumo: O objetivo deste estudo foi avaliar as alterações estáticas e dinâmicas em pacientes com escoliose idiopática na posição ortostática, sem e com inclinação lateral com restrição associadas ou não as mudanças unilaterais de calços. O grupo experimental foi constituído por pacientes com escoliose idiopática com curva dupla (³ 10°) e o grupo controle por participantes sem escoliose na mesma faixa etária (13-24 anos). Foram utilizadas três câmeras de vídeo, 18 marcadores fixados em referências anatômicas dos participantes, dois calços, de 1 e de 3 cm de altura e uma escala para restrição e padronização da inclinação lateral. As tentativas foram realizadas aleatoriamente, nas condições sem calço ou com calço baixo ou alto sob o pé direito e esquerdo e nas tarefas, estática (15 segundos) ou dinâmica (5 movimentos de inclinação lateral para direita ou esquerda). Foram calculados os ângulos posturais: alfa 1 (torácico alto), alfa 2 (torácico médio), alfa 3 (tóraco-lombar) e alfa 4 (lombar) e os ângulos segmentares: beta 1 (ombros), beta 2 (escápulas), beta 3 (pelves) e beta 4 (joelhos). Na situação estática, os grupos e os calços tiveram uma maior influência nos ângulos posturais tóracolombar e lombar e nos ângulos segmentares da pelve e do joelho. Na situação dinâmica sem calço, nenhuma diferença foi observada entre grupos, porém o calço associado aos movimentos de inclinação lateral provocou ajustes posturais compensatórios nos ângulos posturais alfas e segmentares betas, sendo que as diferenças foram maiores com o calço alto nos pacientes com escoliose, indicando um possível mecanismo corretivo. Estas alterações posturais tanto estáticas como dinâmicas, indicam a busca de uma nova organização estrutural e equilíbrio do tronco, sendo que os segmentos superiores foram mais influenciados na condição dinâmica... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The purpose of this study was to evaluate static and dynamic changes in patients with idiopathic scoliosis in the orthostatic position, with and without restricted lateral inclination associated with or not unilateral changes of shoe lifting. The experimental group was constituted by patients with idiopathic scoliosis with double curve (³ 10°) and the control group by participants without scoliosis with the same age (13-24 years). Three video cameras were used, with 18 markers fixed on the participants' anatomical references, along with two shoe lifts, 1 and 3 cm of height, and a scale for restriction and standardization of the lateral inclination. The trails were accomplished randomly, in the conditions without or with shoe lift (low or high) under the right and left foot and in the tasks, static (15 seconds) or dynamic (5 movements of lateral inclination for right or left). Postural angles: alpha 1 (thoracic high), alpha 2 (thoracic medium), alpha 3 (thoracolumbar) and alpha 4 (lumbar); and segmental angles: beta 1 (shoulders), beta 2 (scapulas), beta 3 (pelvis) and beta 4 (knees) were calculated. In the static condition, group and shoe lift mostly influenced the postural angles, thoracic-lumbar and lumbar, and the segmental angles of the pelvis and knee. In the dynamic condition without shoe lift, no difference was observed between groups, however, with shoe lift.and lateral inclination compensatory postural adjustments were observed in the postural alpha angles and segmental beta angles, with the largest differences observed in the condition with the high shoe lifting in the patients with scoliosis, indicating a possible corrective mechanism. These, static and dynamics, postural changes suggest a new structural organization and equilibrium of the trunk, with the trunk upper segments being the ones more influenced by the dynamic condition with low and high shoe lifting whereas... (Complete abstract click electronic access below) / Doutor

During space missions, real time tele-operation of a rover is not practical because of significant signal latencies associated with inter planetary distances, making some degree of autonomy in rover control desirable. One of the challenges to achieving autonomy is the determination of terrain traversability. As part of this field, the determination of motion state of a rover on rough terrain via the estimation of wheel-terrain contact angles is proposed. This thesis investigates the feasibility of estimating the contact angles from the kinematics of the rover system and measurements from the onboard inertial measurement unit (IMU), joint angle sensors and wheel encoders. This approach does not rely on any knowledge of the terrain geometry or terrain mechanical properties. An existing framework of rover velocity and wheel slip estimation for flat terrain has been extended to additionally estimate the wheel-terrain contact angle along with a side slip angle for each individual wheel, for rough terrain drive. A random walk and a damped model are used to describe the evolution of the contact angle and side slip angle over an unknown terrain. A standard strapdown algorithm for the estimation of attitude and velocity from IMU measurements, is modified to incorporate the 3D kinematics of the rover in the implementation of a nonlinear Kalman filter to estimate the motion states. The estimation results from the filter are verified using tests performed on the ExoMars BB2. The obtained contact angle estimates are found to be consistent with the reference values.