26 research outputs found
Instrumentering, Modellering og Regulering af AAU-BOT1
No full textThe aim of this master's thesis is to equip the humanoid robot AAU-BOT1 with sensors, model and control it such that it can obtain static gait. AAU-BOT1 has human proportions and features 17 actuated degrees of freedom. To enable AAU-BOT1 to obtain static gait, an instrumentation strategy has been proposed and implemented. Furthermore a software platform is developed to complete the instrumentation. Models of the DC-motors, kinematics, inverse kinematics and the dynamics of AAU-BOT1 have been made. By utilizing the inverse kinematic model, static gait trajectories are developed. The remaining models are utilized to create two different control strategies. The first control strategy is based on a Linear Quadratic Gaussian controller(LQG), which controls the posture of the robot based on the dynamic model. The second control strategy is based on classical PID controllers, and utilizes the build in features of the digital DC motor amplifiers. Both control strategies contains a balance controller, that is used to maintain stability during walk. It is furthermore decided to develop a virtual representation of the AAU-BOT1 for test purposes. The LQG controller strategy with the proposed trajectories was tested on the virtual AAU-BOT1 but the controller could not stabilize the robot sufficiently. The second control strategy was successful and the virtual robot is able to walk with the proposed trajectories and maintain stability at the same time. The second control strategy was only partially implemented on the physical AAU-BOT1 and showed promising results of obtaining static walk
Cut-elimination, substitution and normalisation
No full textDate of Acceptance: 01/2015We present a proof (of the main parts of which there is a formal version, checked with the Isabelle proof assistant) that, for a G3-style calculus covering all of intuitionistic zero-order logic, with an associated term calculus, and with a particular strongly normalising and confluent system of cut-reduction rules, every reduction step has, as its natural deduction translation, a sequence of zero or more reduction steps (detour reductions, permutation reductions or simplifications). This complements and (we believe) clarifies earlier work by (e.g.) Zucker and Pottinger on a question raised in 1971 by Kreisel.Peer reviewe
Canyons, deltas and plains: towards a unified sculptural model of location-based hypertext
No full textWith the growing ubiquity of mobile devices, new ways of sensing context and the emergence of the mobile Web, digital storytelling is escaping the confines of the desktop and intertwinging in new and interesting ways with the physical world. Mobile, location aware, narrative systems are being applied to a range of areas including tour guides, educational tools and interactive fiction. Despite this there is little understanding of how these applications are related or how they link with existing hypertext models and theory.We argue that location aware narrative systems tend to follow three patterns (canyons, deltas and plains) and that it is possible to represent all of these patterns in a conceptual sculptural hypertext model. Our model builds on a general sculptural mechansim (of pre-conditions and behaviours) to include locality and narrative transitions as first class elements, opening the possibility of standardised viewers, formats, and hybrid stories. We show how existing structures can be mapped onto this conceptual sculptural model, and how narratives defined in the model can take advantage of open data sources and sensed contextual data. To demonstrate this we present the GeoYarn system, a prototype which implements the model to create interactive, location aware narratives, using all three patterns
Identifying Land Use and Land-Use Changes (LULUC):A Global LULUC Matrix
No full textLand use and land-use changes (LULUC) information is essential to determine the environmental impacts of anthropogenic land-use and conversion. However, existing data sets are either local-scale or they quantify land occupation per land-use type rather than providing information on land-use changes. Here we combined the strengths of the remotely sensed MODIS land cover data set and FAOSTAT land-use data to obtain a database including a collection of 231 country-specific LULUC matrixes, as suggested by the IPCC. We produced two versions of each matrix: version 1, identifying forestland based on canopy cover criteria; version 2, distinguishing primary, secondary, planted forests and permanent crops. The outcome was a first country-based, consistent set of spatially explicit LULUC matrixes. The database facilitates a more holistic assessment of land-use changes, quantifying changes that occur between land classes from 2001 to 2012, providing crucial information for assessing environmental impacts caused by LULUC. The data allow global-scale land-use change analyses, requiring a distinction between land types based not only on land cover but also on land uses. The spatially explicit data set may also serve as a starting point for further studies aiming at determining the drivers of land-use change supported by spatial statistical modeling.</p
Avaliação do recém-nascido segundo a postura materna no momento do parto
No full textTrabalho de Conclusão de Curso - Universidade Federal de Santa Catarina. Curso de Medicina. Departamento de Pediatria
Disparity in health care in end-of-life among patients with lung cancer and pre-existing mental disorders:A nationwide cohort study
No full textBackground: Research focusing on health care in end-of-life among cancer patients with mental disorders is limited and presents inconsistent findings. Aim: To investigate disparities in health care in end-of-life among patients who died from lung cancer according to pre-existing mental disorders. Design: A Danish nationwide cohort study linking nationwide registries on health care in end-of-life including specialist palliative care (including hospice admissions), ‘drug reimbursement for terminal illness’, high-intensity-treatment during the last 30 days before death and death at hospital, analysed using Poisson regression, adjusted for sociodemographic and clinical factors. Setting/participants: All adult decedents who died of lung cancer in Denmark from 2011 through 2020, including individuals with mental diagnoses prior to their cancer diagnosis. Results: Among 36,323 patients dying from lung cancer, 12% had pre-existing mental disorders. Patients with mental disorders were less likely to receive specialist palliative care (adjusted risk ratio (RR) 0.90; 95% CI: 0.87; 0.94), hospice admissions (RR: 0.86; 95% CI: 0.80; 0.94), chemotherapy (RR: 0.66; 95% CI: 0.57; 0.76), radiotherapy (RR: 0.82; 95% CI: 0.74; 0.92), surgery (RR: 0.47; 95% CI: 0.22; 1.00), hospital admissions (RR: 0.96; 95% CI: 0.92; 0.99) and to die in a hospital (RR: 0.88; 95% CI: 0.85; 0.91), compared to patients without mental disorders. No disparities were observed in receiving drug reimbursement, admissions to intensive care units or emergency care. Conclusion: Pre-existing mental disorders were associated with a lower probability of specialist palliative care, but also some high-intensity-treatments in end-of-life. These patients may be deprived of optimal palliative care but also appeared less subjected to possible overtreatment in end-of-life compared to patients without mental disorders.</p
A pragmatic effectiveness randomized controlled trial of the duration of psychiatric hospitalization in a trans-diagnostic sample of patients with acute mental illness admitted to a ward with either blue-depleted evening lighting or normal lighting conditions
No full textBackground
There is increasing recognition of the need to stabilize sleep-wake cycles in individuals with major mental disorders. As such, clinicians and researchers advocate the use of interventions targeted at sleep and circadian dysrhythmias as an adjunct to the standard treatments offered for acute illness episodes of a broad range of diagnoses. To determine the trans-diagnostic generalizability of chronotherapy, we explore the benefits of admitting individuals with an acute illness episode to a psychiatric inpatient unit where changes in light exposure are integrated into the therapeutic environment.
Methods/design
A two-arm, pragmatic effectiveness, randomized controlled treatment trial, where individuals admitted for acute inpatient psychiatric care will be allocated to a ward with blue-depleted evening light or to a ward with the same layout and facilities but lacking the new lighting technology. The trial will test whether the experimental lighting conditions offer any additional benefits beyond those associated with usual treatment in an acute psychiatric inpatient unit. The main objectives are to examine any differences between groups in the mean duration of hospitalization in days. Additional analyses will compare group differences in symptoms, functioning, medication usage, and side effects and whether length of stay is associated with stability of sleep-wake cycles and circadian rhythms. Ancillary investigations should determine any benefits according to diagnostic subgroups and potential drawbacks such as any adverse effects on the well-being of professionals working across both wards.
Discussion
This unit offers a unique opportunity to explore how exposure to different lighting conditions may modify sleep-wake cycles and how any changes in sleep-wake cycle may impact on the clinical and functional outcomes of individuals experiencing an acute episode of a severe mental disorder that requires inpatient care. The findings could influence the future design of hospital units offering care to patients with mental or physical disorders.publishedVersion© The Author(s). 2019 Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/
Behandlingsrådets rapport vedrørende ulighed i somatisk behandling af patienter med psykiske lidelser
No full textAuthor Correction: The power of genetic diversity in genome-wide association studies of lipids
No full textCorrection to "The power of genetic diversity in genome-wide association studies of lipids
The power of genetic diversity in genome-wide association studies of lipids (Author Correction: vol 600, pg 675, 2021)
No full text
