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Integração de um modelo digital baseado em cinemática híbrida e aprendizado de máquina em um manipulador robótico didático de 5 juntas rotativas

Thu, 01 Jan 2026 00:00:00 GMT

Título: Integração de um modelo digital baseado em cinemática híbrida e aprendizado de máquina em um manipulador robótico didático de 5 juntas rotativas Autor(es): Lima, Luan Gomes Magalhães Abstract: Industry 4.0 redefines production paradigms by promoting the transition from traditional automated systems to intelligent and interconnected environments, through technologies such as the Internet of Things (IoT), Cyber-Physical Systems (CPS), and Artificial Intelligence (AI). In this context, robotic manipulators stand out by enabling the execution of critical tasks with precision and repeatability, although their high production and operational costs represent a relevant constraint. In light of this, the development of virtual models that represent these physical devices enables computational testing in a controlled environment, reducing both costs and operational risks. Based on this premise, the present work proposes the evolution of a Digital Model of a 5-Degree-of-Freedom (5 DOF) educational robotic manipulator, developed in a previous work by the same author, into an educational CPS architecture. The main contributions include: (i) a Hybrid Kinematics architecture for solving inverse kinematics, combining analytical geometric formulation with Machine Learning (ML) models for the autonomous estimation of the endeffector orientation (pitch); (ii) wireless connectivity between the physical and digital domains via an ESP32 microcontroller, using the TCP/IP protocol; and (iii) the integrated educational graphical interface Manipula.EDU, developed in the MATLAB App Designer environment. The data flow is unidirectional, from the digital domain to the physical domain, which characterizes the current system as a Digital Model with actuation capability. The implementation of bidirectional flow, incorporating sensors, is proposed as future work. The predictive model selection was performed through exhaustive Grid Search with five-fold cross-validation (K-Fold, K = 5), evaluating MLP, RBF, and SVR architectures. The MLP model achieved the best performance, with a Mean Absolute Error (MAE) of 3.53◦ and a coefficient of determination R2 of 0.9946. Validation results showed a maximum Euclidean error of 0.025 cm for the tested points, with visually confirmed correspondence between the physical and digital models for the evaluated configurations. Tipo: Dissertação

Análise da associação entre parâmetros laboratoriais sanguíneos e a gravidade da pré-eclâmpsia em gestantes do nordeste brasileiro

Thu, 01 Jan 2026 00:00:00 GMT

Título: Análise da associação entre parâmetros laboratoriais sanguíneos e a gravidade da pré-eclâmpsia em gestantes do nordeste brasileiro Autor(es): Bezerra, Geane Sales Abstract: Preeclampsia (PE) is a pregnancy-specific hypertensive condition that represents one of the main causes of maternal and perinatal morbidity and mortality, especially in developing countries. In this sense, blood laboratory tests have been widely used to support the investigation and evaluation of the disease, encompassing hematological, hepatic, and renal markers. The objective was to analyze the association between blood laboratory parameters and the occurrence of preeclampsia in pregnant women from Northeast Brazil. This analytical cross-sectional study, with a quantitative approach, involved pregnant women attended at the Maternity Ward of the Santa Casa de Misericórdia de Sobral (CE). Data were analyzed using GraphPad Prism® 9.0, applying the Shapiro-Wilk, Student’s t-test, Mann-Whitney, and Pearson’s chi-square tests, according to the nature of the variables. A significance level of 5% (p<0.05) was adopted. The results showed a significant elevation of lactate dehydrogenase (LDH) in pregnant women with pre-eclampsia compared to the control group (517.1 vs. 385.5 U/L; p=0.0002), as well as significantly higher blood pressure levels (SBP: 148.8 vs. 112.4 mmHg; DBP: 93.33 vs. 71.2 mmHg; p<0.0001) and a higher frequency of clinical manifestations, especially headache (43%) and scotomas (20%). The other hematological, hepatic, and renal markers did not show a statistically significant difference between the groups. These findings reinforce the role of LDH as a marker of tissue damage in pre-eclampsia and point to the importance of conventional laboratory markers in the context of regional public health. Tipo: Dissertação

Avaliação da toxicidade aguda e subcrônica da torta e farelo de mamona destoxificados em ratos

Sun, 01 Jan 2023 00:00:00 GMT

Título: Avaliação da toxicidade aguda e subcrônica da torta e farelo de mamona destoxificados em ratos Autor(es): Carvalho, Thaiane Vasconcelos Abstract: This study aimed to evaluate the acute and subchronic toxicity of the by-products of Ricinus communis (castor oil plant) detoxified by CaO and the desolventized castor oil plant bran in female and male Wistar rats, in order to verify their viability as animal feed. The detoxified castor bran and castor cake were supplied by EMBRAPA. The processing of these byproducts was performed in order to extract the soluble proteins to perform the treatment. Wistar rats (150g), male and female, were used. Acute toxicity test (2,000 mg/kg) was performed in females, according to OECD 423 protocol. Subchronic tests were performed in males and females divided in control (NaCl 0.9%) and subchronic groups (5, 50 and 300 mg/kg of castor meal and castor cake), according to OECD 407. Weight, hypocratic screening, AST, ALT, Urea, Creatinine of all animals and complete blood count of males were evaluated. The results showed that the survival rate was 94.56 %, with gradual weight gain, without significant differences between the groups. No significant changes were observed in the evaluation of the hypocratic screening. Regarding biochemical and hematological evaluations, it was observed that AST levels in females treated with the bran increased in the acute group (P<0.0172) compared to the control group and with the subchronic treatments: 5 mg/kg (P<0.0001), 50 mg/kg (P<0.0006) and 300 mg/kg (P<0.0001). In females treated with the pie, AST increased in the acute group when compared to the control group (P<0.0002) and also in relation to the subchronic, 5 mg/kg (P<0.0001), 50 mg/kg (P<0.0001) and 300 mg/kg (P<0.0001), similar result was obtained with ALT in the acute group (63.3 ± 10.4), which increased when compared to the control group (P< 0.0016). Urea in females treated with the acute bran (2000 mg/kg) showed an increase when compared to the control group (P< 0.0001) and with the subchronic treatments. No significant changes were observed in hematological parameters in the pie or bran treated groups when compared to the control group. The changes observed in the treated animals, although significant compared to the control animals, did not exceed the reference levels, thus not demonstrating toxicity of the detoxified cake and bran compounds, at the doses and acute and subchronic treatments tested Tipo: Dissertação

Avaliação pré-clínica da nanoemulsão de sm-2: toxicidade e efeito antinociceptivo em dor inflamatória temporomandibular

Wed, 01 Jul 2026 00:00:00 GMT

Título: Avaliação pré-clínica da nanoemulsão de sm-2: toxicidade e efeito antinociceptivo em dor inflamatória temporomandibular Autor(es): Herculano, Ana Beatriz Rodrigues Abstract: Orofacial pain is one of the most serious health problems worldwide, with a prevalence affecting nearly 25% of the population, and there are limitations in available therapies. Given the rich Brazilian biodiversity, previous studies demonstrated the antinociceptive effect of Stemodia maritima, its diterpene stemodine (SM-1), and the semisynthetic compound SM-2 in inflammatory pain of the temporomandibular joint (TMJ). The aim of this study was to develop a nanoemulsion formulation of SM-2 (nanoSM-2), investigate its toxicity, and evaluate its antinociceptive and anti-inflammatory effects. A stable nanoemulsion containing SM-2 was developed following the standardization of the formulation's physicochemical parameters. Specific details regarding the nanoemulsion preparation process and composition have been omitted from this version of the study due to an ongoing intellectual property protection process. For the experimental studies, 24 mice (Mus musculus), 12 males and 12 females (25–30 g, n=6), and 20 female rats (Rattus norvegicus) (180–240 g, n=5) were used. In the acute toxicity study in mice, the animals received saline (0.9%) or nanoSM-2 (20 μg/kg), and the following parameters were evaluated during or after the 14-day period: behavior, body weight, mortality, serum levels of urea, creatinine, alanine aminotransferase (ALT), and aspartate aminotransferase (AST), as well as organ weight and histopathology of the heart, stomach, liver, and kidneys. To evaluate the effect of locally administered nanoSM-2 in the TMJ (i.art) on formalin-induced acute inflammatory nociception in female rats, the animals received saline (0.9%) or nanoSM-2 (0.0002 or 0.002 μg/TMJ), and after 15 minutes, they received saline (0.9%) or formalin (1.5%, 15 μL, i.art) in the left TMJ. The following parameters were assessed: nociceptive behavioral analysis and total leukocyte count in the articular lavage. Pharmacological safety of nanoSM-2 was observed through analyses of body weight, organ weight, serum parameters, and histopathological findings when compared to the saline groups. In addition, nanoSM-2 demonstrated antinociceptive and anti-inflammatory effects at both tested doses by reducing behavioral nociceptive responses and decreasing leukocyte influx in the articular lavage of rats. In conclusion, nanoSM-2 demonstrated safety, as well as antinociceptive and anti-inflammatory effects in acute TMJ pain in female rats. Tipo: Dissertação