José Romão

InchwormClimber: A light-weight biped climbing robot with a switchable magnet adhesion unit

This article presents an inchworm climbing robot that is designed with switchable magnets and a single DOF arm. The InchwormClimber works on ferromagnetic structures and consumes little energy when climbing and can descend safely with almost zero energy consumption. Furthermore, considering the critical role of the adhesion unit in the overall functionality of the robot (weight, climbing speed and the payload), we optimized the switchable magnet unit for a higher adhesion force per mass unit.

Neck Pain and Acute Dysphagia

The acute tendinitis of the longus colli muscle is an unusual diagnosis in the cases of acute dysphagia with cervical pain. Is a self-limiting condition caused by abnormal calcium hydroxyapatite deposition in the prevertebral space and can cause pharyngeal swelling with impaired swallow. It is absolutely critical to make the differential diagnosis with deep cervical infections in order to avoid invasive treatments.

Switchable magnets for robotics applications

The goal of this work is to study the application of switchable magnets (SM) for climbing robots. A switchable magnet is a device which uses moving permanent magnets to change the magnetic flux path and switch on or off the magnetic attraction force. In our work we used Comsol Multiphysics, a physics simulation software in order to simulate the flow of the magnetic flux on switchable magnets on its different states and study the effect of different design and material parameters on the attraction force of the unit. Bearing in mind the lessons learned from this study, we developed a novel device in a smaller scale with the best holding force/mass ratio, for using in climbing robot applications. As a case study, three of these optimized SM units are then equipped with an actuator that can rotate the moving magnets, turning the device on and off. This new device is employed in a novel adaptive adhesion unit for the OmniClimber robot, replacing its previous system which was relying on electromagnets magnets. We demonstrate this novel device application on a climbing robot and the advantages relative to electromagnet or permanent magnet based devices.

S293 – Does Tobacco Smoking Influence Smell Function?

Objectives Many diseases with great prevalence in the population occur with disorders of smell funtction. However, assessment of olfactory function in patients with disorders of smell is frequently neglected in the otolaryngology routine consultation. One of the effects of tobacco consumption is a change in the nasal mucosa. It has been hypothesized that tobacco smoke consumption modifies olfactory levels of these people. Methods Prospective clinical study with 56 consecutive healthy volunteers, submitted to a previously validated protocol of olfactometry composed by a quantitative and a threshold test. Our population was constituted of an equal number of tobacco smokers and controls, between 16 and 78 years old (average 38,3 years), age and sex paired. Results The substance more frequently identified was naphthalene (94%), followed by menthol (88%), while the least times correctly identified had been the cinnamon and talcum (65%). The test of butanol showed a statistically significant difference (3.73±0.50 in smokers vs 4.34±1.00 in nonsmoking, p=0.02). This test presented a significant correlation with the smoking habit (r=-0.59, p< 0.01). The supraliminary test showed no significant differences between the 2 groups. There was no significant difference between genders. Conclusions We observed a significant statistical correlation between the tobacco smoking and the test of butanol, which confirms the subjective sense of former smokers when experiencing again the aromas that have been altered. Our study showed the quantitative difference imposed by tobacco smoking. Smokers presented lower olfaction levels than non-smokers, keeping, however, a similar discriminative ability.

Pediatric Tympanoplasties: Anatomical and Functional Results

Objective The purpose of this study was to analyze the anatomical and functional results in 167 tympanoplasties performed in children. Methods A retrospective study of the anatomical and functional results of 167 tympanoplasties in children was performed. 91 ears had full records and were included in the study. Age, gender, size and site of perforation, status of operated and contralateral ear, underlying cause of the perforations, surgical technique, preoperative and postoperative hearing levels, postoperative follow-up time, and postoperative complications were recorded. Hearing results were reported using a 5-frequency (500,1,000, 2,000, 3,000, 4000 Hz) pure-tone average air-bone gap. Results Anatomical success was achieved in 85% of cases. 71% of the reperforations occurred during the first year of follow-up. The anatomical and functional success was 76% after a mean follow-up of 26.4 ± 16.2 months. The mean postoperative air conduction threshold significantly improved in the successful cases, with a mean audiological improvement of 12.54 ±7.3dB (p<0.05). The maximum mean postoperative gain was seen at 500 Hz 14.9 ±10.1 dB (P<.05). No postoperative sensorineural hearing loss was observed. 18% of minor postoperative complications were seen. Surgeon experience, intact and mobile ossicular chain, dry ear, and follow-up longer than 12 months (p<0.05) improves functional outcome. Conclusions We conclude that tympanoplasty in children is safe with anatomical and functional results comparable to that reported for adults. Dry ear over 6 months, surgeon experience, intact and mobile ossicular chain and follow-up >12 months significantly improves functional outcome.