A detecção é um fator que afeta a magnitude estimada de fauna atropelada, informação relevante nos estudos e trabalhos de biologia da conservação. Em rodovias, a estimativa da detecção é afetada por diferentes elementos, como os tipos de pavimento; os atributos das carcaças; as particularidades dos diferentes observadores e o método utilizado para aferição. Nosso trabalho avalia essas questões, especifica o esforço amostral e corrige a estimativa de fauna atropelada em relação à detecção. Encontramos diferença na estimativa de detecção entre os diferentes pavimentos; entre as carcaças similares e contrastantes ao substrato; entre os diferentes observadores e verificamos que através do monitoramento a pé não se detecta a totalidade das carcaças. Esses resultados e a estimativa de fauna atropelada corrigida comprovam a importância da aferição da detecção antes e depois da pavimentação das rodovias, através de método experimental. Sendo que o experimento deve contemplar a implantação de diferentes carcaças e ser realizado pelas equipes que participaram dos monitoramentos de fauna. / Detection is a factor that affects the estimated magnitude of the roadkill and is relevant information in biological conservation studies. In roads, the detection estimation is affected by many factors, such as type of paving, the carcasses traits, the particularities of different observers and the method used for measurement. Our study evaluates these questions, specify the sample effort and correct the roadkill magnitude in relation to detection. We found differences in the estimation of detection between the different kinds of paving, between carcasses similar to the paving and between those contrasting to the substrate. We also found differences between different observers and thus monitoring by walking does not detect all carcasses. These results and the roadkill magnitude corrected demonstrate the importance of the standardization of the detection before and after the paving of roads, via experimental methods. However, the experiment should include the implementation of different substrates and should be carried out by the teams that have already participated in the monitoring of fauna.

Utilizando-se entre a perna e a coxa os princípios da Teoria dos Sistemas Dinâmicos, foi estudada a coordenação intra-membros durante o andar em 16 sujeitos do sexo feminino. Os movimentos da perna e da coxa e suas relações foram analisados dinamicamente como sistemas acoplados de ciclo limite. Os sujeitos foram filmados lateralmente executando o andar em duas situações experimentais: normal e com uma sandália na perna direita na proporção de 5% do comprimento do segmento inferior. Os dados transformados em variáveis cinemáticas possibilitaram a análise da coordenação em termos de ângulos de fase, ponto de coordenação e fase relativa. Através dos dados angulares, foram testadas as propriedades dos osciladores não-lineares de ciclo limite. Os resultados indicaram que os segmentos apresentam uma órbita atrativa específica para cada um deles, que se mantém invariante ao longo das idades. Esta órbita atrativa representa a organização espaço-temporal do segmento durante o andar, servindo também para a visualização da quantidade de energia dissipada por parte de cada segmento. A análise dos ângulos de fase no momento da reversão, do ponto de coordenação e da fase relativa possibilitaram a identificação do treinamento mútuo e da estabilidade estrutural. / Based on the principles of the Theory of Dynamic Systems, 16 female subjects were studied as to their intra-limb coordination during walk. The movements of lower leg and thigh have been dynamically analised, - as well as their relation, - as limit-cycle coupled systems. Subjects were video-taped laterally, as they performed natural walking movements under two experimental situations: barefoot and with a sandal on the right foot with a thickness of 5% the length of the lower segment. Converted into kinematic variables, the data allowed the analysis of the coordination in terms of phase angle, point of coordination and relative coordination. The angular data made it possible to test the properties of the non-linear limit-cycle oscilator. Results pointed out that each segment involved in walking draws a specific attractive orbit, which is kept invariable throughout the ages. This attractive orbit represents the limb’s spacetemporal organization during walk, being, furthermore, an indication as to how much energy is being dissipated by each segment. The analysis of phase angles at the moment of limb reversion, the point of coordination and the relative phase made it possible to identify mutual training and structural stability.

A detecção é um fator que afeta a magnitude estimada de fauna atropelada, informação relevante nos estudos e trabalhos de biologia da conservação. Em rodovias, a estimativa da detecção é afetada por diferentes elementos, como os tipos de pavimento; os atributos das carcaças; as particularidades dos diferentes observadores e o método utilizado para aferição. Nosso trabalho avalia essas questões, especifica o esforço amostral e corrige a estimativa de fauna atropelada em relação à detecção. Encontramos diferença na estimativa de detecção entre os diferentes pavimentos; entre as carcaças similares e contrastantes ao substrato; entre os diferentes observadores e verificamos que através do monitoramento a pé não se detecta a totalidade das carcaças. Esses resultados e a estimativa de fauna atropelada corrigida comprovam a importância da aferição da detecção antes e depois da pavimentação das rodovias, através de método experimental. Sendo que o experimento deve contemplar a implantação de diferentes carcaças e ser realizado pelas equipes que participaram dos monitoramentos de fauna. / Detection is a factor that affects the estimated magnitude of the roadkill and is relevant information in biological conservation studies. In roads, the detection estimation is affected by many factors, such as type of paving, the carcasses traits, the particularities of different observers and the method used for measurement. Our study evaluates these questions, specify the sample effort and correct the roadkill magnitude in relation to detection. We found differences in the estimation of detection between the different kinds of paving, between carcasses similar to the paving and between those contrasting to the substrate. We also found differences between different observers and thus monitoring by walking does not detect all carcasses. These results and the roadkill magnitude corrected demonstrate the importance of the standardization of the detection before and after the paving of roads, via experimental methods. However, the experiment should include the implementation of different substrates and should be carried out by the teams that have already participated in the monitoring of fauna.

Cette étude théorique et pratique aborde, dans une perspective transdisciplinaire, les recherches contemporaines sur la traversée et l'image-mouvement. Marcher/filmer est une pratique structurellement instable, discontinue et arythmique ancrée sur le principe de l'entre-deux. Gradiva,celle qui marche et celle dont on suit le pas et la silhouette, est le mythe fondateur d'une recherche qui convoque présences transitoires, seuils, frontières, danses en miroir, empreintes et débordements. Avec Gradiva, la marche se dédouble et l'intervalle des corps détermine un autre espace topologique, parcellaire et troué : des fragments d'images, de sons et d'espaces. Marcher/filmer s'incarne alors entre les corps, entre les images, entre les rythmes, dans le montage d'une verticalité suspendue. C'est un récit du quotidien, de l'ordinaire et de l'acception particulière du temps que sont l'occasion, l'accident et l'imprévu : un discours de l'altération, de l'incertitude et du mouvement. La marche, "c'est un savoir qui se tait" écrit Michel de Certeau dans l'Invention du quotidien. Basée sur l'attente et la répétition des traversées, marcher/filmer est une pratique de l'accumulation, de la liste et de l'et caetera. Par sa cartographie lacunaire et trouée et son rythme spatio-temporel hors-norme, montage de temporalités hétérogènes et simultanées, Rome a été le territoire privilégié de cette recherche et de la réalisation du court-métrage Attraversare Roma (à travers Rome) qui l'accompagne. / This theoretical and practical study addresses the contemporary investigations about the crossing and the image-movement via a cross-disciplinary approach. Walking/filming is a practice structurally unstable, discontinuous, arrhythmic and strongly tied to the principle of the spaces inbetween. Gradiva, the one who walks and whom we follow the steps and silhouette, is the founder myth of a research that summons transitory presences, thresholds, boundaries, mirror dances, footsteps and excesses. With Gradiva, walking splits and the interval of bodies determines another topological space, fragmented and with holes: fragments of images, sounds and spaces. Walking/filming thus appears between the bodies, between the images, between the rhythms, in the assembly of a suspended vertical height. lt is a tale of everyday life, of the ordinary, and of the specific acceptance of times such as the opportunity, the accident and the unexpected : a tale of change, uncertainty and movement. As written by Michel de Certeau in L'Invention du quotidien, walking " is a knowledge that remains quiet". Based on the expectation and the repetition of crossings, walking/filming is a practice of accumulation, listing and the et caetera. With its patchy and pierced cartography and its nonstandard spatiotemporal rhythm made of simultaneous and heterogeneous temporalities, Rome was the priviledged territory of the present work and thema king of the associated short film Attraversare Roma (à travers Rome).

Este trabalho consiste no projeto mecânico de um exoesqueleto robótico para paraplégicos com lesões medulares entre T2 a L1, ou seja, sem mobilidade da cintura para baixo e com mobilidade do peito para cima, inclusive das mãos. A utilização do equipamento necessita da utilização de muletas ou andadores. O mecanismo possui seis graus de liberdade, sendo quatro atuados por motorredutores (joelhos e quadris) e dois suportados por molas (tornozelos). Os motorredutores são projetados especialmente para o exoesqueleto, sendo compostos de um motor de corrente continua de imã permanente e um redutor harmônico do tipo panqueca acoplados de forma adequada para minimizar peso e volume. Para calcular os esforços solicitados em cada articulação foi desenvolvido um modelo dinâmico do corpo humano para simular os movimentos que o exoesqueleto é capaz de realizar, que são: marchar, sentar, levantar e subir e descer escadas. O modelo utilizado do corpo humano possui cinco ligamentos rígidos e é capaz de simular movimentos no plano vertical. Os resultados obtidos da simulação são comparados com resultados experimentais da literatura e são considerados satisfatórios. / This work presents a mechanical design of a robotic exoskeleton for paraplegics with spinal cord injuries between T2 to L1, that means, without mobility from the waist down and with mobility from the chest up, including the hands. For using the equipment the paraplegic needs the aid of crutches or walkers. The mechanism has six degrees of freedom, with four degrees actuated by gear motors (knees and hips), and two degrees supported by springs (ankles). The gear motors are designed especially for the exoskeleton. They are composed by an permanent magnet brushless electric motor conveniently coupled with an pancake harmonic speed reducer to minimize weight and volume. For calculating the efforts in each joint a model for the human body is developed to simulate the movements the exoskeleton can perform, which are: walk, sit, standup and climb up and down stairs. The human body model has five rigid links and it is capable to simulate movements in the vertical plane. The results obtained in the simulations are compared very well with experimental results from the literature.

Orientador: Marconi Kolm Madrid / Dissertação (mestrado) - Unversidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação / Made available in DSpace on 2018-08-17T22:30:04Z (GMT). No. of bitstreams: 1 Miyadaira_AlbertoNoboru_M.pdf: 4061096 bytes, checksum: d94eea78c872e2328bd1dd9780329b0a (MD5) Previous issue date: 2011 / Resumo: O objetivo deste trabalho foi desenvolver, construir e controlar um robô bípede dotado de oito Graus de Liberdade (GDL), sendo três GDL para cada perna e dois para o tronco. As características desta estrutura permitiram realizar uma marcha dinâmica no plano sagital, cuja trajetória das pernas foi definida por um modelo matemático baseado na geometria da estrutura. Além disso, foi utilizado um acelerômetro para informar a inclinação da pelve durante a movimentação da estrutura através de uma interface serial de comunicação (RS-232) entre o microcontrolador e o programa de monitoramento desenvolvido em LabVIEW. Os resultados deste trabalho demonstram ser possível realizar uma marcha dinamicamente estável utilizando a estrutura proposta. Aplicando-se o conceito de ZMP (em português: Ponto de Momento Zero, em inglês: Zero Moment Point) como parâmetro de estabilidade, também constatou-se que o microcontrolador LPC2138 de arquitetura ARM7, com frequência de clock igual a 60MHz, foi eficaz no controle da posição angular dos oito servomotores, além de fornecer a inclinação da pelve quando solicitada / Abstract: The subject of this work was to develop, build and control a biped robot equipped with eight degrees of freedom (DOF), three DOF for each leg and two for the trunk. The features of this structure allowed to accomplish a dynamic walk in the sagittal plane, whose the legs trajectory was defined by a mathematical model based on the structure geometry. An accelerometer was used as tilt sensor, which allow you to check the tilt of the pelvis during structure movement through a serial interface (RS-232) between the microcontroller and the monitoring program developed in LabVIEW. The results of this work demonstrated that it is possible to achieve a dynamically stable gait using the proposed structure. Applying the concept of ZMP (Zero Moment Point) as criterion of stability, it was checked that the LPC2138 microcontroller, with ARM architecture running at 60MHz, was effective in controlling the angular position of the eight actuators and sending information about the pelvis tilt when requested / Mestrado / Automação / Mestre em Engenharia Elétrica

Utilizando-se entre a perna e a coxa os princípios da Teoria dos Sistemas Dinâmicos, foi estudada a coordenação intra-membros durante o andar em 16 sujeitos do sexo feminino. Os movimentos da perna e da coxa e suas relações foram analisados dinamicamente como sistemas acoplados de ciclo limite. Os sujeitos foram filmados lateralmente executando o andar em duas situações experimentais: normal e com uma sandália na perna direita na proporção de 5% do comprimento do segmento inferior. Os dados transformados em variáveis cinemáticas possibilitaram a análise da coordenação em termos de ângulos de fase, ponto de coordenação e fase relativa. Através dos dados angulares, foram testadas as propriedades dos osciladores não-lineares de ciclo limite. Os resultados indicaram que os segmentos apresentam uma órbita atrativa específica para cada um deles, que se mantém invariante ao longo das idades. Esta órbita atrativa representa a organização espaço-temporal do segmento durante o andar, servindo também para a visualização da quantidade de energia dissipada por parte de cada segmento. A análise dos ângulos de fase no momento da reversão, do ponto de coordenação e da fase relativa possibilitaram a identificação do treinamento mútuo e da estabilidade estrutural. / Based on the principles of the Theory of Dynamic Systems, 16 female subjects were studied as to their intra-limb coordination during walk. The movements of lower leg and thigh have been dynamically analised, - as well as their relation, - as limit-cycle coupled systems. Subjects were video-taped laterally, as they performed natural walking movements under two experimental situations: barefoot and with a sandal on the right foot with a thickness of 5% the length of the lower segment. Converted into kinematic variables, the data allowed the analysis of the coordination in terms of phase angle, point of coordination and relative coordination. The angular data made it possible to test the properties of the non-linear limit-cycle oscilator. Results pointed out that each segment involved in walking draws a specific attractive orbit, which is kept invariable throughout the ages. This attractive orbit represents the limb’s spacetemporal organization during walk, being, furthermore, an indication as to how much energy is being dissipated by each segment. The analysis of phase angles at the moment of limb reversion, the point of coordination and the relative phase made it possible to identify mutual training and structural stability.

Class of 2011 Abstract / OBJECTIVES: To identify the pharmacy service needs of providers and staff at the San Luis Walk-In Clinic, and to evaluate whether the addition of a dispensing pharmacy to the clinic will benefit the community of San Luis. METHODS: Two focus groups were conducted with employees of the clinic: one with providers and another with supportive staff. Subjects discussed included major health issues at the clinic, where patients received health care products and information, barriers to receiving health care, beneficial pharmacy services and products, and the role of pharmacists in health care. Data was collected regarding whether participants were providers or staff members and whether they lived within or outside of San Luis. These sessions were audio-recorded, transcribed, and analyzed for recurrent themes and patterns. RESULTS: The first focus group consisted of three providers, one of whom was living within San Luis, and the second group was comprised of six supportive staff members, five of whom were from the community. In regards to pharmacy service needs, providers cited medication management, patient education, and treatment recommendations as beneficial resources. Both groups identified the top four major health problems seen in their clinic as hypertension, diabetes, allergies, and dyslipidemia, and barriers to adequate healthcare included financial issues, time constraints, transportation, and lack of education. CONCLUSION: There is a need for pharmacy services, including medication therapy management and disease state education, at the San Luis Walk-In Clinic. This need likely extends to many rural communities throughout the nation.

Graph embedding, aiming to learn low-dimensional representations for nodes in graphs, has attracted increasing attention due to its critical application including node classification, link prediction and clustering in social network analysis. Most existing algorithms for graph embedding only rely on the topology information and fail to use the copious information in nodes as well as edges. As a result, their performance for many tasks may not be satisfactory. In this thesis, we proposed a novel and general framework for graph embedding with rich text information (GERI) through constructing a heterogeneous network, in which we integrate node and edge content information with graph topology. Specially, we designed a novel biased random walk to explore the constructed heterogeneous network with the notion of flexible neighborhood. Our sampling strategy can compromise between BFS and DFS local search on heterogeneous graph. To further improve our algorithm, we proposed semi-supervised GERI (SGERI), which learns graph embedding in an discriminative manner through heterogeneous network with label information. The efficacy of our method is demonstrated by extensive comparison experiments with 9 baselines over multi-label and multi-class classification on various datasets including Citeseer, Cora, DBLP and Wiki. It shows that GERI improves the Micro-F1 and Macro-F1 of node classification up to 10%, and SGERI improves GERI by 5% in Wiki.

This thesis concerns applications of some probabilistic tools to phylogeny reconstruction and population genetics. Modelling the evolution of species by continuous-time random walks on the signed permutation groups, we study the asymptotic medians of a set of random permutations sampled from simple random walks at time 0.25cn, for c> 0. Running k independent random walks all starting at identity, we prove that the medians approximate the ancestor (identity permutation) up to time 0.25n, while there exists a constant c>1 after which the medians loose credibility as an estimator. We study the median of a set of random permutations on the symmetric group endowed with different metrics. In particular, for a special metric of dissimilarity, called breakpoint, where the space is not geodesic, we find a large group of medians of random permutations using the concept of partial geodesics (or geodesic patches). Also, we study the Fleming-Viot process in random environment (FVRE) via martingale and duality methods. We develop the duality method to the case of time-dependent and quenched martingale problems. Using a family of dual processes we prove the convergence of the Moran processes in random environments to FVRE in Skorokhod topology. We also study the long-time behaviour of FVRE and prove the existence of equilibrium for the joint annealed-environment process and prove an ergodic theorem for the latter.