Conception et validation d’un nouvel outil d’évaluation de la stabilité posturale en position érigée(SAP3D : Système d’Analyse Postural 3D)La stabilité posturale en position debout est la capacité d'un sujet à maintenir un état d'équilibre ou à le retrouver en cas de perturbation. De nombreux organes sont mis à contribution par le système nerveux central afin d'aider l'organisme à maintenir sa stabilité. L'atteinte d'une ou plusieurs de ces structures (suite à un traumatisme, une pathologie, ou tout simplement du fait du vieillissement) modifie le comportement du sujet et altèrent sa capacité à maintenir sa stabilité. Les outils d’évaluation posturale actuels reposent essentiellement sur des mesures du centre des pressions et/ou du centre de masse, négligeant le comportement postural inter-segmentaire : les outils capables de les prendre en compte sont souvent inaccessibles, car complexes et coûteux. Le SAP3D a été développé comme un nouvel outil d’évaluation de la stabilité posturale, il permet une reconstruction tridimensionnelle multi-segmentaire et du centre de masse à partir d’une seule caméra bon marché. La validation du SAP3D comparativement à un système de référence optoélectronique met en évidence une excellente corrélation et un faible résidu moyen entre les deux systèmes. En situation clinique, le SAP3D confirme que les mécanismes de stabilisation posturale sont i) moins efficaces en condition yeux fermés ; ii) influencés négativement par le vieillissement ; iii) influencés positivement par la pratique régulière d’une activité telle que de la danse, au moins chez les jeunes femmes ; iv) altérés par plusieurs antécédents traumatiques et/ou pathologiques. Bien que des améliorations techniques soient envisagées, le SAP3D constitue une alternative clinique fiable, rapide, accessible et peu coûteuse aux systèmes d'analyse posturographique existants.Mots-clés : équilibre ; contrôle moteur ; analyse cinématique ; centre de masse ; personnes âgées ; vieillissement ; danse ; faible coût / Design and validation of a new tool for assessing postural stability in quiet standing(SAP3D: 3D Postural Analysis System)Postural stability in quiet standing is a subject’s ability to maintain its balance or to regain it after a perturbation. Multiple organs contribute to ensure postural stability, under a regulation ensured by the central nervous system. The alteration of one or several of these organs (following a trauma, a pathology or simply due to ageing) modifies the subject’s behavior and its ability to maintain stability. Current systems for postural evaluation rely mostly on center of pressure and/or center of mass assessment, disregarding the intersegmental postural behavior: such measurements are possible, but most tools are complex and expensive. The SAP3D system was developed as a new tool for postural stability assessment, allowing for center of mass and multi-segmental three dimensional modeling based on a single inexpensive camera. Validation of the SAP3D system compared to a standard optoelectronic system shows excellent agreement and a satisfyingly low average residue between the two systems. In a clinical setup, the SAP3D system confirms that postural steadiness mechanisms are i) less efficient with eyes closed than eyes opened; ii) negatively affected by ageing; iii) positively affected by regular practice of an activity such as dancing, at least for young women; iv) altered in pathological or injured patients. Although many technical improvements are being considered, the SAP3D system is a reliable, quick, accessible and low-cost clinical alternative to the existing systems for postural evaluation.Keywords: balance; steadiness; motor control; kinematics; center of mass; elderly; ageing; dance; low-cost

Introdução: A doença de Parkinson (DP), caracterizada por ser crônica, progressiva e neurodegenerativa, é uma das enfermidades neurológicas mais frequentes na atualidade. Pacientes com DP apresentam prejuízos motores, como rigidez muscular, tremor de repouso, lentidão de movimentos, instabilidade postural, e alterações na marcha e no equilíbrio; e distúrbios não-motores, como fatores cognitivos e neuropsiquiátricos, depressão, e uma consequente diminuição da qualidade de vida (QV). Apesar de a caminhada ser considerada tradicionalmente uma recomendação médica no tratamento não farmacológico da DP, a dança vem surgindo como uma importante ferramenta no tratamento complementar destes pacientes, quando somada a terapias medicamentosas tradicionais. Objetivo: Verificar e comparar os efeitos de um programa de dança e de caminhada na mobilidade funcional, nos parâmetros motores e na QV de pessoas com DP. Métodos: foi elaborado um protocolo de aulas de dança inspirado em ritmos musicais brasileiros: forró e samba. A amostra foi composta por 18 participantes com DP, divididos de forma não randomizada, em dois grupos: grupo dança (GD; n = 12) e grupo caminhada (GC; n = 6), expostos a 24 aulas de dança ou caminhada, com duração de uma hora e frequência de duas vezes por semana. Os instrumentos de coletas de dados utilizados foram uma ficha de dados pessoais dos pacientes, a Escala de Hoehn e Yahr (H&Y), o teste Timed Up and Go (TUG), a parte motora da Escala Unificada de Avaliação da DP (UPDRS III), o Índice de reabilitação (IR), a análise cinemática da caminhada e o Parkinson Disease Questionnaire (PDQ-39). A normalidade dos dados descritivos no momento inicial da pesquisa foi verificada através do Teste Shapiro-Wilk, foi utilizado o Teste Wilcoxon para dados não paramétricos e o Teste t pareado para dados paramétricos. Para os desfechos da pesquisa foram utilizados a análise de Equações de Estimativas Generalizadas (GEE), para a comparação entre os grupos GD e GC, os tempos PRÉ e PÓS intervenção, e interação tempo*grupo. Foi utilizado um posthoc de Bonferroni, para identificar as diferenças entre as médias em todas as variáveis. Para a análise dos dados foi utilizado o software Statistical Package for Social Sciences (SPSS) versão 20.0. O nível de significância adotado para ambos os testes foi de α<0,05. Resultados: Foi realizado um protocolo detalhado das intervenções. Os dois grupos apresentaram melhorias significativas após a intervenção em relação a mobilidade funcional na velocidade autosselecionada (VAS) (p = 0,02) e na velocidade rápida (VR) (p = 0,02), ao tempo de contato (TC) (perna esquerda VAS, p = 0,0028; perna direita VR, p = 0,009; perna esquerda, VR p = 0,025), ao tempo de balanço (TB) (perna esquerda VAS, p = 0,0028), a fase de duplo apoio (FDA) (perna direita VR, p < 0,001), a QV geral (p = 0,004), e aos domínios de bemestar emocional (p = 0,001), cognição (p = 0,020) e desconforto corporal (p = 0,008). O GD apresentou melhores resultados em comparação com o GC para os desfechos de Frequência de passos (FP) (p = 0,011) e o domínio de atividades de vida diária (AVDs) (p = 0,049). Conclusão: Ambos os grupos, GD e GC, apresentaram melhorias significativas após o período de intervenção, demonstrando que a dança é tão eficiente quanto a caminhada para a mobilidade funcional, parâmetros motores e a qualidade de vida de indivíduos com DP. / Background: Parkinson's disease (PD), characterized as progressive and neurodegenerative, is one of the most frequent neurological diseases of the present time. Patients with PD present motor impairment, such as muscle stiffness, rest tremor, slow movements, postural instability, and gait and balance alterations; And non-motor factors, such as cognitive and neuropsychiatric disorders, depressive symptoms, and a consequent decrease in quality of life (QL). Although walking is traditionally considered a medical recommendation in the non-pharmacological treatment of PD, dance has emerged as an important tool in the complementary treatment of these patients when added to traditional drug therapies.Objective: Verify and compare the effects of a program of dance and walking in functional mobility, motor parameters and QL of people with PD. Methods: the sample was composed of 18 participants with PD, divided into two non-randomized groups: dance group (DG; n = 12) and walking group (WG; n = 6). The data collection instruments used were be a personal data sheet of the patients, the Hoehn and Yahr Scale (HY), the Timed Up and Go test (TUG), the motor part of the Unified PD Rating Scale (UPDRS III), locomotor rehabilitation index (LRI), the kinematic walk analysis and the Parkinson's Disease Questionnaire (PDQ- 39). The normality of the descriptive data at the initial time of the research was verified through the Shapiro-Wilk Test, using the Wilcoxon Test for non-parametric data and the paired t-test for parametric data. For the research outcomes, the Generalized Estimating Equations (GEE) analysis was used to compare the GD and GC groups, the pre and post intervention moments, and the time group interaction. A Bonferroni post-hoc was used to identify the differences between means in all variables. Statistical Package for Social Sciences (SPSS) software version 20.0 was used to analyze the data. The significance level adopted for both tests was α <0.05. Results: A detailed protocol of interventions was performed. The two groups showed significant improvements after the intervention in relation to functional mobility in comfortable velocity (CV) (p = 0.02) and in fast velocity (FV) (p = 0.02), at stance time (StT) (Left leg CV, p = 0.0028); right leg FV, p = 0.009; left leg, FV p = 0.025), and swing time (SwT) (left leg CV, p = 0,0028), at double support phase (DSF) (rigth leg FV, p < 0,001), a general QL (p = 0,004), and to emotional well-being (p = 0.001), cognition (p = 0.020) and body discomfort (p = 0.008). The DG presented better results in comparison to the WG for the outcomes of Frequency of steps (FS) (p = 0.011) and the domain of activities of daily living (ADLs) (p = 0.049). The two interventions showed significant improvements regarding functional mobility, time of contact (TC), time of balance (TB), the perception of general QL, and domains of emotional well-being, cognition and body discomfort. The DG presented better results compared to the WG for the step frequency, double support phase and the domain of daily living activities. Conclusion: Both groups, DG and WG, showed significant improvements after the intervention period, demonstrating that dance is as efficient than walking for functional mobility, motor parameters and the QL for individuals with PD.

Submitted by Andrea Pereira (andrea.pereira@unipampa.edu.br) on 2017-03-13T18:05:13Z No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertação_Luiz.Dworakowski.pdf: 3947753 bytes, checksum: ef26a020040d30a70fe5410eb6f0e9e2 (MD5) / Approved for entry into archive by Andrea Pereira (andrea.pereira@unipampa.edu.br) on 2017-03-13T18:05:33Z (GMT) No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertação_Luiz.Dworakowski.pdf: 3947753 bytes, checksum: ef26a020040d30a70fe5410eb6f0e9e2 (MD5) / Made available in DSpace on 2017-03-13T18:05:33Z (GMT). No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertação_Luiz.Dworakowski.pdf: 3947753 bytes, checksum: ef26a020040d30a70fe5410eb6f0e9e2 (MD5) Previous issue date: 2015-01-12 / A ideia do presente trabalho ocorreu a partir de estudos da literatura da área de Educação em Ciências sobre as dificuldades enfrentadas pelos estudantes da Educação Básica na construção e interpretação de gráficos e da experiência profissional do autor, professor de Física da Educação Básica. O projeto foi desenvolvido na Escola Estadual de Ensino Médio Jerônimo Mércio da Silveira, em Candiota-RS, com o objetivo de superar dificuldades de aprendizagem dos estudantes e promover melhores condições para o uso de gráficos em outras áreas do conhecimento. A proposta foi vinculada às aulas de Seminário Integrado, componente introduzido no currículo a partir da reestruturação do Ensino Médio, pela Secretaria Estadual de Educação do Rio Grande do Sul (SEDUC-RS), na modalidade de Ensino Médio Politécnico em 2011. Nesse sentido, entende-se que o trabalho com gráficos possui grande potencial integrador, pois é comum encontrar diversos tipos de dados e informações do cotidiano representado na forma de gráficos, atinentes a diversas áreas de conhecimento como Economia, Biologia, Sociologia entre outras. Além disso, é conhecida a importância que o domínio de conceitos básicos de Matemática, entre eles a construção e interpretação de gráficos, tem para o bom entendimento dos conteúdos de Física. O trabalho em questão foi desenvolvido à luz das orientações curriculares descritas em documentos oficiais de ensino e alicerçado em teorias contemporâneas sobre aprendizagem e desenvolvimento baseadas no construtivismo e interacionismo. Em especial as que enfatizam as ideias defendidas por David Ausubel e Lev Vigotski. Foram privilegiadas situações de ensino-aprendizagem fundamentadas nos conceitos de diferenciação progressiva e reconciliação integrativa proposta por Ausubel, e de zona de desenvolvimento proximal, por Vigotski. A produção técnica foi elaborada na forma de uma Unidade Didática composta de dois módulos e desenvolvida em duas turmas de 1º ano do Ensino Médio do turno da manhã. O primeiro módulo enfatizou o estudo do plano cartesiano, conhecimento necessário para o entendimento e o estudo de gráficos da Cinemática. No segundo módulo, aborda-se a construção e interpretação de gráficos em Cinemática, com ênfase no uso de tecnologias como recurso didático. Foi realizado também o acompanhamento dos trabalhos dos seminários integrados verificando-se o potencial de emprego de gráficos para expressar dados de diferentes áreas de conhecimento do currículo do Ensino Médio, analisando a articulação interdisciplinar ocorrida através do emprego de gráficos. Os resultados evidenciam que as atividades propostas na Unidade Didática constituem uma possibilidade eficaz para introdução ao estudo de gráficos, principalmente da Cinemática, pois durante sua realização os alunos desenvolveram habilidades para locar pontos no plano cartesiano, fizeram a aplicação do conhecimento abstrato em uma situação concreta (reificação de conceitos), coletaram corretamente dados de tempo e deslocamento, alocando em tabelas e construíram gráficos do movimento a partir dos dados tabelados. Além disso, os alunos demonstraram capacidade para interpretar e analisar dados de tempo, deslocamento e velocidade constantes em gráficos do movimento uniforme e reproduzir esse movimento através de um carrinho automatizado e de um sensor de movimento. No entanto, ao analisar os trabalhos apresentados nos seminários constatou-se que o uso de gráficos foi adotado apenas por um grupo de alunos de um total de dez grupos. Aponta-se como perspectiva futura um novo estudo reaplicando o primeiro módulo e adaptando o segundo módulo em outras áreas da Física e em outros componentes curriculares no contexto das aulas de Seminário Integrado do Ensino Médio Politécnico. / The idea of the current research occurred from studies of Literature in the Science Education field regarding the difficulties faced by Basic Education students in drawing and interpreting graphs and also from the professional experience of the author, a Physics teacher of Basic Education. The project was conducted at Escola Estadual de Ensino Médio Jerônimo Mércio da Silveira, in Candiota-RS. Aiming to overcome students’ learning difficulties and to provide better conditions in the use of graphs in different areas of knowledge, this proposal was connected to Integrated Seminar classes, a component introduced into the curriculum in the Polytechnic High School modality since the reformation of High School by the State Department of Education of Rio Grande do Sul (Secretaria Estadual de Educação do Rio Grande do Sul - SEDUC-RS) in 2011. Therefore, it is understood that there is a great potential of integration when working with graphs as it is common to find various types of data and everyday life information presented in this form, related to many areas of knowledge such as Economics, Biology, Sociology, and others. Furthermore, it is known the importance that the domain of basic mathematics concepts - including the construction and interpretation of graphs– has for a good understanding of Physics contents. The work in question was developed according to curricular orientation described in official education documents and grounded on contemporary learning and development theories based on constructivism and interactionism. In particular the theories which emphasize the ideas defended by David Ausubel and Lev Vigotski. Priority was given to teaching-learning situations based on the concepts of progressive differentiation and integrative reconciliation proposed by Ausubel, and of zone of proximal development, by Vigotski. The technical production was created as a Didactic Unit consisting of two modules and applied in two classes of the first year of High School from the morning shift. The first module emphasized the study of the Cartesian plan, necessary knowledge for understanding and studying graphs. In the second module, it was approached the construction and the interpretation of graphs in Kinematics, emphasizing the use of technologies as didactic resource. The work done in the integrated seminars has also been monitored by verifying the potential in the employment of graphs to express data from different areas of knowledge of the High School curriculum, and analyzing the interdisciplinary articulation occurred through the use of graphs. The results demonstrated that the activities proposed in the Didactic Unit consist in an effective possibility for the introduction to graphs study, of Kinematics mainly, as after its realization the students developed abilities to locate points in the Cartesian Plan, applied the abstract knowledge in a concrete situation (rectification of concepts), collected time and motion data correctly, located them in tables, and constructed graphs of this motion by using the tabulated data. In addition, the students demonstrated capacity to interpret and analyze constant time, motion and velocity data in graphs of the uniform motion and reproduce this motion by using an automated car and a motion sensor. Nevertheless, by analyzing the work presented in the Seminars we concluded that the use of graphs was adopted by only one of the ten groups. We indicate as future perspective a new study, reapplying the first module and adapting the second to different areas in the Physics field and also in different curricular components in the context of Integrated Seminar classes of the Polytechnic High School.

Tang Wai Sum. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 68-70). / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Redundant Manipulators --- p.1 / Chapter 1.2 --- Inverse Kinematics of Robotic Manipulators --- p.2 / Chapter 1.3 --- Inverse Dynamics of Robotic Manipulators --- p.4 / Chapter 1.4 --- Redundancy Resolutions of Manipulators --- p.5 / Chapter 1.5 --- Motivation of Using Neural Networks for these Applications --- p.9 / Chapter 1.6 --- Previous Work for Redundant Manipulator Inverse Kinematics and Inverse Dynamics Computation by Neural Networks --- p.9 / Chapter 1.7 --- Advantages of the Proposed Recurrent Neural Networks --- p.11 / Chapter 1.8 --- Contribution of this work --- p.11 / Chapter 1.9 --- Organization of this thesis --- p.12 / Chapter 2 --- Problem Formulations --- p.14 / Chapter 2.1 --- Constrained Optimization Problems for Inverse Kinematics Com- putation of Redundant Manipulators --- p.14 / Chapter 2.1.1 --- Primal and Dual Quadratic Programs for Bounded Joint Velocity Minimization --- p.14 / Chapter 2.1.2 --- Primal and Dual Linear Programs for Infinity-norm Joint Velocity Minimization --- p.15 / Chapter 2.2 --- Constrained Optimization Problems for Inverse Dynamics Com- putation of Redundant Manipulators --- p.17 / Chapter 2.2.1 --- Quadratic Program for Unbounded Joint Torque Mini- mization --- p.17 / Chapter 2.2.2 --- Primal and Dual Quadratic Programs for Bounded Joint Torque Minimization --- p.18 / Chapter 2.2.3 --- Primal and Dual Linear Programs for Infinity-norm Joint Torque Minimization --- p.19 / Chapter 3 --- Proposed Recurrent Neural Networks --- p.20 / Chapter 3.1 --- The Lagrangian Network --- p.21 / Chapter 3.1.1 --- Optimality Conditions for Unbounded Joint Torque Min- imization --- p.21 / Chapter 3.1.2 --- Dynamical Equations and Architecture --- p.22 / Chapter 3.2 --- The Primal-Dual Network 1 --- p.24 / Chapter 3.2.1 --- Optimality Conditions for Bounded Joint Velocity Min- imization --- p.24 / Chapter 3.2.2 --- Dynamical Equations and Architecture for Bounded Joint Velocity Minimization --- p.26 / Chapter 3.2.3 --- Optimality Conditions for Bounded Joint Torque Mini- mization --- p.27 / Chapter 3.2.4 --- Dynamical Equations and Architecture for Bounded Joint Torque Minimization --- p.28 / Chapter 3.3 --- The Primal-Dual Network 2 --- p.29 / Chapter 3.3.1 --- Energy Function for Infinity-norm Joint Velocity Mini- mization Problem --- p.29 / Chapter 3.3.2 --- Dynamical Equations for Infinity-norm Joint Velocity Minimization --- p.30 / Chapter 3.3.3 --- Energy Functions for Infinity-norm Joint Torque Mini- mization Problem --- p.32 / Chapter 3.3.4 --- Dynamical Equations for Infinity-norm Joint Torque Min- imization --- p.32 / Chapter 3.4 --- Selection of the Positive Scaling Constant --- p.33 / Chapter 4 --- Stability Analysis of Neural Networks --- p.36 / Chapter 4.1 --- The Lagrangian Network --- p.36 / Chapter 4.2 --- The Primal-Dual Network 1 --- p.38 / Chapter 4.3 --- The Primal-Dual Network 2 --- p.41 / Chapter 5 --- Simulation Results and Network Complexity --- p.45 / Chapter 5.1 --- Simulation Results of Inverse Kinematics Computation in Re- dundant Manipulators --- p.45 / Chapter 5.1.1 --- Bounded Least Squares Joint Velocities Computation Using the Primal-Dual Network 1 --- p.46 / Chapter 5.1.2 --- Minimum Infinity-norm Joint Velocities Computation Us- ing the Primal-Dual Network 2 --- p.49 / Chapter 5.2 --- Simulation Results of Inverse Dynamics Computation in Redun- dant Manipulators --- p.51 / Chapter 5.2.1 --- Minimum Unbounded Joint Torques Computation Using the Lagrangian Network --- p.54 / Chapter 5.2.2 --- Minimum Bounded Joint Torques Computation Using the Primal-Dual Network 1 --- p.57 / Chapter 5.2.3 --- Minimum Infinity-norm Joint Torques Computation Us- ing the Primal-Dual Network 2 --- p.59 / Chapter 5.3 --- Network Complexity Analysis --- p.60 / Chapter 6 --- Concluding Remarks and Future Work --- p.64 / Publications Resulted from the Study --- p.66 / Bibliography --- p.68

Submitted by JOSIANE SANTOS DE OLIVEIRA (josianeso) on 2018-11-09T12:49:49Z No. of bitstreams: 1 Luiz Ricardo Bertoldi de Oliveira_.pdf: 1661331 bytes, checksum: f12138d995d58da8ed2a061c78f62d58 (MD5) / Made available in DSpace on 2018-11-09T12:49:49Z (GMT). No. of bitstreams: 1 Luiz Ricardo Bertoldi de Oliveira_.pdf: 1661331 bytes, checksum: f12138d995d58da8ed2a061c78f62d58 (MD5) Previous issue date: 2018-07-19 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / A simulação de figuras articuladas em computação gráfica que representam animais, pessoas ou robôs, normalmente, são compostas por uma cadeia de segmentos rígidos conectados por juntas dispostas de maneira hierárquica. Quando estas figuras possuem muitos segmentos, e precisam ser animadas por cinemática inversa, sua configuração de movimento pode apresentar múltiplas soluções ou soluções não-lineares além de singularidades de movimento. Este trabalho propõe uma nova topologia de juntas de hierarquia variável , generalista o suficiente para se aplicar a qualquer modelo articulado. Além disto, propõe um algoritmo de cinemática inversa que supra a não-linearidade dos modelos propostos até o momento. Um modelo como este, formaliza a animação de figuras articuladas que não precisam ter uma hierarquia de juntas rígida ou que possuam muitas juntas e segmentos. Para validação do modelo foi usada a Distância de Hausdorff para cálculo da similaridade do end-effector e um conjunto de pontos ideais com uma precisão 91.23%. O movimento foi suavizado em comparação a outros modelos por meio da minimização de 8,7% nos ângulos nas juntas. / The simulation of articulated figures in computer graphics that represents animals, people or robots is usually composed of a chain of rigid segments connected by joints arranged in a hierarchical way. When these figures have many segments and need to be animated by inverse kinematics, their motion configuration may present multiple solutions or nonlinear solutions and motion singularities. This work proposes a new topology of joints of a variable hierarchy, general enough to apply to any articulated model. In addition, it proposes an inverse kinematics algorithm to supply the non linearity of the models already proposed A model like this generalizes the animation of articulated figures because it do not need to have a rigid joints topology and works to figures with many joints and segments. Hausdorff Distance was used to calculate the end-effector similarity with an ideal set of points. The accuracy achieved is 91,23% of similarity. Motion of all joints is smoother when compared to other models by minimizing 8,7% of the angles.

A análise das variáveis associadas à fadiga muscular durante protocolos de ciclismo até a exaustão (incremental e carga constante), ou mesmo simulados (contrarrelógio), e suas implicações em parâmetros cinéticos e cinemáticos, têm sido descritas na literatura em modelos experimentais. Alterações encontradas nas articulações do quadril, joelho e tornozelo, associadas a mudanças no direcionamento das forças aplicadas ao pedal (melhora da técnica de pedalada) durante testes de ciclismo incrementais e/ou constantes, parecem estar relacionados a estratégias musculares intrínsecas para manutenção do trabalho e postergar os efeitos da fadiga. Entretanto, evidências suportam que a aplicação de Laserterapia de Baixa Potência (LBP) reduz os efeitos da fadiga muscular sobre o desempenho, principalmente em modalidades esportivas com um grande componente aeróbico, tal como o ciclismo. Entretanto, ainda não está claro na literatura qual a dosagem ideal de LBP a ser utilizada nessas atividades. Portanto, o objetivo deste estudo foi investigar os efeitos de diferentes dosagens de LBP sobre o desempenho em teste de tempo de exaustão em ciclistas. Além disso, foi analisado os efeitos do LBP sobre o conteúdo de frequências dos sinais de EMG e a cinética de VO2 durante os testes de exaustão. Vinte ciclistas competitivos do sexo masculino participaram de um estudo, randomizado, duplocego e placebo-controlado. Os atletas realizaram teste incremental de ciclismo até a exaustão (dia 1) para determinar o consumo máximo de oxigênio (VO2MÁX) e a potência máxima (POMÁX), seguido de outros quatro testes até a exaustão (dias 2 a 5) na POMÁX do teste incremental. Antes de cada teste de exaustão, diferentes dosagens de LBP (3, 6 e 9 J/diodo, ou 135, 270 e 405 J/coxa, respectivamente) ou placebo. Aumento do desempenho nos testes de exaustão foi observado com a LBP-3J (~22 s; p < 0,01), LBP-6J (~13 s; p = 0,03) e LBP- 9J (~13 s; p = 0,02), comparado com o placebo (149 ± 23 s). Embora LBP-6J e LBP-9J não aumentaram a ativação muscular em comparação com o placebo, a LBP-3J, aumentou a ativação das bandas de alta frequência em comparação com o placebo no final do teste de exaustão, em ambos os membros inferiores (p ≤ 0,03). Os resultados na cinética de VO2, resultaram e redução do constante de tempo (Tau) e déficit de O2 com a aplicação de LBP comparado ao placebo (p < 0,05). Não foram encontradas diferenças (p > 0,05) entre as condições experimentais para amplitude de VO2 e tempo de atraso do VO2. Em conclusão, nosso estudo demonstrou que a fototerapia pode ser um agente ergogênico eficaz para aumentar o desempenho de ciclistas (independente da dose utilizada), e isto se deve ao aumento da ativação das bandas de alta frequência (LBP-3J), bem como da redução do Tau e déficit de O2 (LBP-3 6 e 9J), durante testes máximos de ciclismo até a exaustão. / The analysis of muscle fatigue variables during cycling protocols to exhaustion (incremental and constant load) or simulated (time trial), and its implications on kinetic and kinematic parameters, has been described in the literature for experimental models. Changes in hip, knee and ankle joints (such as increased range of motion and reduced ankle contribution to the total joint torque), associated with changes in the direction of the forces applied to the pedal (improved pedaling technique) during cycling tests, seems to be related to strategies for maintaining muscle work in order to postpone fatigue effects. However, evidences supports that application of low-level laser therapy (LLLT) minimizes fatigue effects on muscle performance. However, the ideal LLLT dosage to improve athletes’ performance during sports activities, such as cycling, is still unclear. Therefore, the goal of this study was to investigate the effects of different LLLT dosages on cyclists’ performance during a time-to-exhaustion test. In addition, we looked at the effects of LLLT on the frequency content of the EMG signals and kinetics of VO2 to assess fatigue mechanisms. Twenty male competitive cyclists participated in a crossover, randomized, double-blind and placebo controlled trial. They performed an incremental cycling test to exhaustion (day 1) determine maximal oxygen output (VO2MAX) and maximal power output (POMAX) followed by four time-to-exhaustion tests (days 2 to 5) at their individual POMAX. Before each time to exhaustion test, different LLLT dosages (3, 6 and 9 J/diode; or 135, 270 and 405 J/thigh, respectively) or placebo were applied at the quadriceps muscle bilaterally. Power output and muscle activation from both lower limbs were acquired throughout the tests. Increased performance at the exhaustion tests was observed with the LLLT-3J (~22 s; p < 0.01), LLLT-6J (~13 s; p = 0.03) and LLLT-9J (~13 s; p = 0.02) compared to placebo (149 ± 23 s). Although LLLT-6J and LLLT-9J did not show significant differences in muscle activation compared to placebo, LLLT-3J led to an increased high frequency content compared to placebo in both limbs at the end of the exhaustion test (p ≤ 0.03). The results in kinetics VO2, resulting in reduction of time constant (Tau) and deficit O2 with LLLT applications compared to the placebo condition (p < 0.05). No differences (p > 0.05) were found between the experimental conditions for VO2 amplitude and VO2 delay time. In conclusion, this study has shown that the phototherapy can be an effective ergogenic agent to increase cycling performance (regardless of the dose used), and this is due to increased activation of the high frequency bands (LLLT-3J) as well as the reduction of Tau and deficit of O2 (LLLT-3, 6 and 9J), during maximum cycling exhaustion test.

Made available in DSpace on 2014-06-11T19:30:53Z (GMT). No. of bitstreams: 0 Previous issue date: 2009-08-21Bitstream added on 2014-06-13T20:40:47Z : No. of bitstreams: 1 ferreira_dma_dr_rcla.pdf: 659123 bytes, checksum: baf4d8518bae6e1d0b27e68eae1725f9 (MD5) / 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... / 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)

Os programas de computador têm apoiado o estudo de sistemas biomédicos em que um volume considerável de dados são empregados. Na biomecânica, a análise das influências entre as articulações pode melhorar o conhecimento das lesões relacionadas à corrida associadas ao uso excessivo durante a atividade de corrida. Compreender os padrões de interação entre diferentes articulações anatômicas, durante o movimento, pode contribuir para o aprimoramento de programas de treinamento, reabilitação e prevenção a lesões. Neste trabalho, um software personalizado foi desenvolvido para implementar a Coerência Parcial Direcionada (PDC), uma abordagem no domínio da freqüência da Causalidade de Granger (GC), adequado às especificidades da fisioterapia. Com entradas independentes e padronizadas, modularização e parametrização, as rotinas investigaram a direção de interação entre diferentes canais, registrando e salvando arquivos intermediários. Separados nos três planos anatômicos, sagital, frontal e transverso, foram utilizados dados cinemáticos para analisar as interações entre tornozelo, joelho, quadril, pelve e tronco durante a corrida. Três modificações de técnica de corrida foram abordadas: com aterrissagem iniciada com o antepé, com aumento de 10% na taxa de passo e com aumento de flexão de tronco, além da habitual. As análises foram realizadas para o ciclo completo (apoio e balanço) e com separação da fase de apoio, e revelaram que essas duas estratégias de processamento são complementares. Comparando as influências proximal e distal, os procedimentos sugeriram uma predominância das interações proximal a distal, mostrando uma origem central de movimentos. Dessa forma, destaca-se a relevância em controlar e fortalecer tronco e quadril para a minimização de lesões. Considerando os resultados e a oportunidade de configuração, o software pode ser empregado para estudar outras articulações e aplicações, bem como evoluir para um sistema automatizado de apoio à decisão. / Computer programs have supported the study of biomedical systems in which a considerable amount of data is employed. In biomechanics, analysis of influences between joints can improve the knowledge of the Running-Related-Injuries (RRI) associated to overuse during running activity. Understanding the patterns of interaction among anatomical joints during movement can contribute to the improvement of training, rehabilitation and injury prevention programs. In this work, a customized software was developed to implement Partial Directed Coherence (PDC), an approach in the frequency domain of Granger Causality (GC), adapted to the physical therapy specificities. With independent and standardized inputs, modularization and parameterization, the routines investigated the interaction direction between different channels, logging and saving intermediate files. Separated in the three anatomical planes, sagittal, frontal and transverse, kinematic data were employed to analyze the interactions between ankle, knee, hip, pelvis and trunk during running. Three running technique modifications were addressed: forefoot strike landing pattern, increasing 10% of the step rate and increasing trunk flexion, in addition to usual running. The analyzes were performed for the complete cycle (stance and swing) and with separation of the stance phase, and revealed that these two processing strategies are complementary. Comparing proximal and distal influences, procedures suggested a predominance of proximal to distal interactions, showing a central origin of movements. In this way, the importance of controlling and strengthening trunk and hip to minimize injuries is highlighted. Considering the results and the processing configuration opportunity, the software can be employed to study other joints and applications, as well as evolve to an automated decision support system.

Path-following is a primary task for most marine, air or space crafts, especially during autonomous operations. Research on autonomous underwater vehicles (AUV) has received large interests in the last few decades with research incentives emerging from the safe, cost-effective and practical solutions provided by their applications such as search and rescue, inspection and monitoring of pipe-lines ans sub-sea structures. This thesis presents a novel guidance system based on the popular line-of-sight (LOS) guidance law for path-following (PF) of underwater vehicles (UVs) subject to environmental disturbances. Mathematical modeling and dynamics of (UVs) is presented first. This is followed by a comprehensive literature review on guidance-based path-following control of marine vehicles, which includes revised definitions of the track-errors and more detailed illustrations of the general PF problem. A number of advances on relative equations of motion are made, which include an improved understanding of the fluid FLOW frame and expression of its motion states, an analytic method of modeling the signs of forces and moments and the proofs of passivity and boundedness of relative UV systems in 3-D. The revision in the relative equations of motion include the concept of state relativity, which is an improved understanding of relativity of motion states expressed in reference frames and is also useful in incorporating environmental disturbances. In addition, the concept of drift rate is introduced along with a revision on the angles of motion in 3-D. A switching mechanism was developed to overcome a drawback of a LOS guidance law, and the linear and nonlinear stability results of the LOS guidance laws have been provided, where distinctions are made between straight and curved PF cases. The guidance system employs the unique formulation and solution of the speed allocation problem of allocating a desired speed vector into x and y components, and the course control that employs the slip angle for desired heading for disturbance rejection. The guidance system and particularly the general course control problem has been extended to 3-D with the new definition of vertical-slip angle. The overall guidance system employing the revised relative system model, course control and speed allocation has performed well during path-following under strong ocean current and/or wave disturbances and measurement noises in both 2-D and 3-D scenarios. In 2-D and 3-D 4 degrees-of-freedom models (DOF), the common sway-underactuated and fully actuated cases are considered, and in 3-D 5-DOF model, sway and heave underactuated and fully actuated cases are considered. Stability results of the LOS guidance laws include the semi-global exponential stability (SGES) of the switching LOS guidance and enclosure-based LOS guidance for straight and curved paths, and SGES of the loolahead-based LOS guidance laws for curved paths. Feedback sliding mode and PID controllers are applied during PF providing a comparison between them, and simulations are carried out in MatLab.

Simulating realistic human behavior on a virtual avatar presents a difficult task. Because the simulated environment does not adhere to the same scientific principles that we do in the existent world, the avatar becomes capable of achieving infeasible postures. In an attempt to obtain realistic human simulation, real world constraints are imposed onto the non-sentient being. One such constraint, and the topic of this thesis, is self-collision avoidance. For the purposes of this topic, a posture will be defined solely as a collection of angles formed by each joint on the avatar. The goal of self-collision avoidance is to eliminate the formation of any posture where multiple body parts are attempting to occupy the exact same space. My work necessitates an extension of this definition to also include collision avoidance with objects attached to the body, such as a backpack or armor. In order to prevent these collisions from occurring, I have implemented an effort-based approach for correcting afflicted postures. This technique specifically pertains to postures that are sequenced together with the objective of animating the avatar. As such, the animation's coherence and defining characteristics must be preserved. My approach to this problem is unique in that it strategically blends the concept of keyframe interpolation with an optimization-based strategy for posture prediction. Although there has been considerable work done with methods for keyframe interpolation, there has been minimal progress towards integrating a realistic collision response strategy. Additionally, I will test this optimization-based approach through the use of a complex kinematic human model and investigate the use of the results as input to an existing dynamic motion prediction system.