Velocity observer design for the consensus in delayed robot networks

The consensus problem for networks of multiple agents consists in reaching an agreement between certain coordinates of interest using a distributed controller. It may be desirable that all the agents find a consensus at a given desired leader coordinate (Leader Follower Consensus Problem LFCP), or it may be only necessary that they agree at a certain coordinates value (Leaderless Consensus Problem LCP). Consensus has many practical applications in robot networks systems, where the interconnection of the agents may present variable time delays, hence rendering the stability analysis and control design more complex. Another problem that may arise is the possible lack of velocity measurements. In this work, a Proportional plus damping injection (P + d) controller together with a linear velocity observer is introduced. Our approach is able to solve both the LFCP and the LCP in networks of robots modeled as undirected weighted graphs with unknown asymmetric (bounded) variable time delays. Local (semi global) asymptotic stability is proven and simulation results are provided to test the performance of the proposed scheme.     

Effects of weightlifting exercise,traditional resistance and plyometric training on countermovement jump performance: a meta-analysis

Jump performance is considered an important factor in many sports. Thus, strategies such as weightlifting (WL) exercises, traditional resistance training (TRT) and plyometric training (PT) are effective at improving jump performance. However, it is not entirely clear which of these strategies can enable greater improvements on jump height. Thus, the purpose of the meta-analysis was to compare the improvements on countermovement jump (CMJ) performance between training methods which focus on WL exercises, TRT, and PT. Seven studies were included, of which one study performed both comparison. Therefore, four studies comparing WL exercises vs. TRT (total n = 78) and four studies comparing WL exercises vs. PT (total n = 76). The results showed greater improvements on CMJ performance for WL exercises compared to TRT (ES_diff: 0.72 ± 0.23; _95%CI: 0.26, 1.19; P = 0.002; Δ % = 7.5 and 2.1, respectively). The comparison between WL exercises vs. PT revealed no significant difference between protocols (ES_diff: 0.15 ± 0.23; _95%CI: ?0.30, 0.60; P = 0.518; Δ % = 8.8 and 8.1, respectively). In conclusion, WL exercises are superior to promote positive changes on CMJ performance compared to TRT; however, WL exercises and PT are equally effective at improving CMJ performance.     

Exploring the perspectives of physically active and inactive adolescents: how does physical education influence their lifestyles?

Based on a socio-ecological framework for physical education (PE), this study explored and analysed the perspectives of physically active and inactive adolescent boys and girls with different socioeconomic status (SES), regarding the meanings that PE had on their physical activity (PA) lifestyles throughout childhood and adolescence. An interpretative and qualitative design was adopted and operationalised through an individual two-hours in-depth interview. Thematic analysis identified five main themes that distinguish active from inactive adolescents: ‘Early experiences of PE at primary school’; ‘PE experiences in middle and secondary school’; ‘Friendly, professional and pedagogue. That’s what I want from my PE teacher’; ‘Friends in PE and PA’; ‘Active lifestyles? Are schools and PE ready for making a difference?…’. Regardless of the lifestyle, girls revealed more PE negative experiences, related to uninteresting and competitive activities, groups’ constitution and logistic factors. SES played a major role on their PA and PE experiences, with low SES adolescents having limited opportunities inclusively within the primary school PE context. This study provides evidence for the importance of promoting positive PE and PA experiences in early years. Based on adolescents’ voices, several recommendations are discussed that can be considered for improving PE professionals’ effectiveness in promoting active lifestyles.     

Effect of wetted surface area on friction,pressure, wave and total drag of a kayak

Using theoretical principles, the components of drag (friction D _F, pressure D _PR and wave D _W) of a single-seat kayak were analysed. The purpose was to examine the effect of changes in wetted surface area due to changes in kayaker’s weight and the relative contribution of D _F, D _PR and D _W to the total passive drag as function of velocity. The total passive drag values were based on experimental data collected in a single-seat kayak. Three different kayaker simulated weights were tested – 65, 75 and 85 kg. D _F was the drag component that contributed the greatest percentage (between 60 and 68% at 5.56 m/s the top velocity tested) to the total passive drag for all the velocities tested and simulated weights. D _W was the most affected by the increase in kayaker’s simulated weight, mainly when comparing 65/75 to 85 kg. Results support the importance of a kayak design selection that minimises the kayak’s drag for the individual weight of the kayaker. Also, the results suggest that the path for better hydrodynamic kayak performance should seek changes that can reduce D _F, D _PR and D _W with D _F offering the most potential to reduce passive drag.     

Sodium bicarbonate ingestion increases glycolytic contribution and improves performance during simulated taekwondo combat

Purpose: To investigate the effect of sodium bicarbonate (NaHCO₃) on performance and estimated energy system contribution during simulated taekwondo combat. Methods: Nine taekwondo athletes completed two experimental sessions separated by at least 48?h. Athletes consumed 300?mg/kg body mass of NaHCO₃ or placebo (CaCO₃) 90?min before the combat simulation (three rounds of 2 min separated by 1 min passive recovery), in a double-blind, randomized, repeated-measures crossover design. All simulated combat was filmed to quantify the time spent fighting in each round. Lactate concentration [La^?] and rating of perceived exertion (RPE) were measured before and after each round, whereas heart rate (HR) and the estimated contribution of the oxidative (W_OXI), ATP (adenosine triphosphate)-phosphocreatine (PCr) (W_PCR), and glycolytic (W_{[ La^? ]}) systems were calculated during the combat simulation. Results: [La^?] increased significantly after NaHCO₃ ingestion, when compared with the placebo condition (+14%, P?=?0.04, d?=?3.70). NaHCO₃ ingestion resulted in greater estimated glycolytic energy contribution in the first round when compared with the placebo condition (+31%, P?=?0.01, d?=?3.48). Total attack time was significantly greater after NaHCO₃ when compared with placebo (+13%, P?=?0.05, d?=?1.15). W_OXI, W_PCR, VO₂, HR and RPE were not different between conditions (P?>?0.05). Conclusion: NaHCO₃ ingestion was able to increase the contribution of glycolytic metabolism and, therefore, improve performance during simulated taekwondo combat.     

Ignoring taboos: Maria Lenk, Latin American inspirationalist

Maria Lenk is widely recognized as an exceptional athlete who participated in women's sport from around 1930 until 1950. In 1932, at the age of seventeen, she was the first woman to be included in a Latin American delegation to the Olympic Games. As a swimmer, she still sets world records at the age of eighty-six. This super-champion's sporting achievements and her persistent dedication to the advancement of sport still impress and surprise todays professional swimmers and researchers. Contextualised in the male-dominated society of Brazil during the first half of the twentieth century, this chapter traces the achievement, and rise to international fame, of Maria Lenk. It examines the factors that enabled her to emerge not only as an important figure in sport but also as an icon of female emancipation in Brazilian and Latin American society. The focus is on Lenk's influence on the issues which affected the development of women's sport in Latin America. It also highlights the significance of Lenk's contribution to the changing place of women in Brazilian and South American society.     

Formation d'Ingénieurs en Génie Sanitaire: un exemple de collaboration entre deux universités

For eight years, the Federal Institute of Technology of Lausanne (EPFL), Switzerland and the Ecole Inter-Etats d'Ingénieurs de I'Equipement Rural (EIER) at Ouagadougou Burkina Faso, have collaborated in the postgraduate education and training of university engineers, offering a course in Sanitary Engineering, comprising 8 months in Ouagadougou, followed by 3 months in Lausanne. Successful students receive a diploma confered by the two Engneering Schools. Such collaboration is productive only if planned on a long-trem basis forcing some of the limiting principles of technical development programmes to be sidestepped. The better students may continue their studies towards an MSc or a PhD, developing the EIER's research facilities, working on topics directly related to Afircan needs and may benefit fiom EPFL's facilities and scientific experience.