3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs

In this paper we show that for an observer moving in the plane with no other information than the measurement of relative bearing to three known landmarks, it is possible to completely reconstruct its position and velocity. In particular this applies to the case where no model of the vehicle, nor odometry or acceleration measurements are available. Furthermore, in the same hypotheses, the position of any further landmark can be reconstructed from its bearing only. These results are more general than what is currently known on nonlinear observability of the SLAM problem, which relies on known observer velocities. Our results are also more general than the 2D version of known structure-from-motion observability results, which assume unknown but constant velocities. The proposed method is used to build a nonlinear observer directly applicable to a range of problems from computer vision to autonomous visual navigation

Yarrowia lipolytica : an industrial workhorse

Yarrowia lipolytica is one of the most extensively studied ‘‘non-conventional’’ yeasts, being a strictly aerobic microorganism capable of producing important metabolites and having an intense secretory activity, which justifies efforts to use it in industry (as a biocatalyst), in molecular biology and in genetics studies. Moreover, Y. lipolytica has been considered an adequate model for dimorphism studies in yeasts. Yarrowia lipolytica presents the ability to grow on Olive Mill Wastewater (OMW) as well as to degradate organic compounds, including aliphatic and aromatic hydrocarbons, often accompanied by biosurfactants production. One of the most important products secreted by this microorganism is lipase which can be exploited for several applications in the detergent, food, pharmaceutical, and environmental industries. In addition, Y. lipolytica is able to produce citric acid and aroma from a variety of carbon sources, including sugars, alkanes, plant oils, starch hydrolysates, ethanol, and glycerol. Thus, this chapter presents an overview of Yarrowia lipolytica features and its major biotechnological applications

Undifferentiated Sarcoma of the Liver in the Adult

Os AA apresentam um caso clínico de sarcoma indiferenciado do fígado no adulto com metástases pulmonares, cardíacas e com recidiva local hepática. Salienta-se a contribuição dos exames complementares de diagnóstico, com especial relevo para a ecocardiografia no diagnóstico precoce de metástases intracardiacas. Não encontrámos qualquer outro caso descrito na literatura portuguesa

A Comparative Proteomic Analysis of Praziquantel-Susceptible and Praziquantel-Resistant Schistosoma mansoni Reveals Distinct Response Between Male and Female Animals

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Biometria de frutos em um plantio de açaí em Porto Velho, Rondônia.

O objetivo deste trabalho foi realizar a biometria de frutos em um plantio de açaí em Porto Velho, Rondônia

Recombinant human erythropoietin therapy has beneffical cardio-renal effects on moderate stages of chronic renal failure in the rat

This study aimed to assess the cardio-renal effects of rhEPO therapy on an animal model of moderate chronic renal failure (CRF). Four groups (n =7) of male rat were evaluated during a 12-week follow up period: control; rhEPO: 50 IU/Kg/wk; CRF: two-stage 3/, nephrectomy; CRF+ rhEPO (start after the 3'd wk of surgery). Renal function, haematology and serum inflammation and redox status were assessed. rhEPO treatment was able to partially attenuate renal function markers, totally correct anaemia, also showing a proliferative and antioxidant action, due to increased serum TGF-13I and decreased 3-NT. In conclusion, rhEPO therapy might be recommended in moderate CRF stages in order to efficiently correct not only the underlying anaemia but also the deleterious cardio-renal effects, due to a proliferative and antioxidant renoprotective action