Sistema de Localização de Robôs Móveis Baseado em Filtro de Kalman Extendido

: Na robótica móvel uma localização exacta é essencial pan o correctodesempenho por parte dos Robots das tarefas que lhe estão destinadas. Esteproblema não é de resolução elementar principalmente quando se pretender evitarcustos elevados. Neste artigo propomos uma método de localização baseado emimagens captadas por uma câmara presente no Robot e nas quais são identificadosmarcadores cujo posição é conhecida. Executam-se algumas simulaç6es onde sãotestados algoritmos baseados no filtro de Kalman extendido e é verificada aviabilidade dos mesmos

El Proyecto Más Médicos para Brasil : desafíos y contribuciones para la atención básica en la visión de los médicos cooperados

O Projeto Mais Médicos para o Brasil (PMMB) foi criado em 2013 visando prover médicos para áreas de difícil fixação de profissionais e oferecer treinamento em Saúde da Família para médicos brasileiros e estrangeiros. Neste artigo, são analisados aspectos relacionados às motivações, ao processo e condições de trabalho na Atenção Básica, à situação de saúde nos municípios, ao funcionamento do Sistema Único de Saúde (SUS) e à relação com os gestores, a partir de entrevistas com 44 médicos cubanos, trabalhando em 32 municípios de todas as regiões do Brasil. As falas mostram que os cooperados têm um agudo senso de observação e conseguem fazer um detalhado diagnóstico situacional de suas áreas de atuação, demonstrando a precariedade ainda prevalente na Atenção Básica nos municípios. Porém, eles também evidenciam que, com a adequada formação, é possível fazer atenção primária de qualidade, mesmo diante de grandes adversidades.The More Doctors in Brazil Project (MDBP) was created in 2013 in order to supply physicians for areas where it is difficult to retain professionals and to provide training in family and community medicine for Brazilian and foreign physicians. This paper examines aspects related to motivations and work processes and conditions in primary health care; the health situation in cities, operation of the of the Brazilian National Health System (SUS), and the relationship with managers. This study is based on interviews with 44 Cuban physicians who are working in 32 cities in all regions of the country. The results showed that the affiliated physicians have an acute sense of observation and are able to make a detailed situational analysis of the areas where they work. The findings also indicated that primary care is still precarious in these cities. However, they also demonstrated that with adequate training it is possible to provide quality primary care, even in the midst of major challenges.El Proyecto Más Médicos para Brasil (PMMB) fue creado en 2013 con el objetivo de proporcionar médicos para áreas en donde es difícil la fijación de profesionales y ofrecer capacitación en Salud de la Familia para médicos brasileños y extranjeros. En este artículo se analizan aspectos relacionados a las motivaciones, al proceso y condiciones de trabajo en la Atención Básica, a la situación de salud en los municipios, al funcionamiento del Sistema Brasileño de Salud (SUS) y a la relación con los gestores a partir de entrevistas con 44 médicos cubanos que trabajan en 32 municipios de todas las regiones del país. Los diálogos muestran que los cooperados tienen un aguzado sentido de observación y consiguen hacer un diagnóstico detallado de la situación de las áreas en las que actúan, mostrando la precariedad todavía prevalente en la Atención Básica en los municipios. No obstante, ellos también dejan claro que, con una formación adecuada, es posible proporcionar atención primaria de calidad, incluso enfrentando grandes adversidades

Percepciones de gestores municipales de salud sobre la provisión y actuación de lós médicos del Programa Más Médicos

No Brasil, o desafio da redistribuição de médicos foi alvo de diversas intervenções governamentais. Objetivou-se analisar o provimento de médicos do Programa Mais Médicos, segundo as percepções de gestores municipais de Saúde. Trata-se de um estudo qualitativo realizado com 63 gestores em 32 municípios do Brasil. As entrevistas foram submetidas à análise de conteúdo com a ajuda do software ATLAS.ti. Destacam-se as contribuições dos médicos do programa na melhoria da Atenção à Saúde, nas práticas clínicas humanizadas e diferenciadas e nas mudanças na rede de Atenção à Saúde, após a implementação do programa. Os gestores reafirmam a importância da implementação, no que concerne ao provimento e à fixação de médicos na Atenção Básica, em municípios vulneráveis e de difícil acesso.In Brazil, the challenge of redistributing physicians has been the subject of several government interventions. The objective of this paper was to analyze the provision of physicians through the More Doctors Program, according to city health managers. This was a qualitative study carried out with 63 managers in 32 Brazilian cities. The interviews were submitted to content analysis using Atlas.it software. It is noteworthy to highlight the contributions of the program physicians to improvements in health care, humanized and differentiated clinical practices, and changes to health care networks after implementation of the program. The managers reiterated the importance of the program in providing and securing physicians in primary health care in vulnerable and hard-to-access cities.En Brasil, el desafío de la redistribución de médicos fue objeto de diversas intervenciones gubernamentales. El objetivo fue analizar la provisión de médicos del Programa Más Médicos, según las percepciones de gestores municipales de Salud. Se trata de un estudio cualitativo realizado con 63 gestores en 32 municipios de Brasil. Las entrevistas se sometieron a análisis de contenido con la ayuda del software Atlas.ti. Se subrayan las contribuciones de los médicos del programa en la mejora de la atención a la salud, en las prácticas clínicas humanizadas y diferenciadas y en los cambios en la red de atención a la salud, después de la implementación del Programa. Los gestores reafirman la importancia de la implementación del programa en lo que se refiere a la provisión y a la fijación de médicos en la atención básica en municipios vulnerables y de difícil acceso

The historical ecology of subsistence and early commercial fisheries in mangrove systems in Brazil

Human population growth and the technological advancements of the 20th and 21st centuries have significantly altered human-environment interactions and led to unprecedented anthropogenic footprints on coastal and ocean systems. Despite thousands of years of exploitation for subsistence and, later, commercial purposes, the ecology of mangrove fisheries along the Brazilian coast and the consequences of these activities remain poorly understood. This is largely due to a pervasive lack of historical baselines, and highlights the conservation crises affecting some of the world's biodiversity hotspots. In this study, we used otolith metrics and stable isotope analysis to investigate changes in the body length and trophic ecology of several demersal species recovered from pre-colonial (4500 cal BP to 1500 AD) and historical (late 19th and early 20th centuries AD) archaeological sites in Babitonga Bay, the largest mangrove system in southern Brazil. Our results revealed that pre-colonial and historical fisheries exploited a wide range of mangrove habitats, encompassing brackish to marine systems. Pre-colonial subsistence fisheries, however, targeted predominantly small and juvenile individuals in nursery areas, while early commercial fisheries targeted larger adult specimens, likely due to their higher commercial value. Our study shows that some drivers of stock overexploitation, such as the preferential capture of large and adult individuals, were found to be occurring more than 150 years ago along the southern Brazilian coast. Given the deep roots of human footprints in Brazil, our findings underscore the significance of incorporating historical data into the formulation of fisheries management strategies in subtropical and tropical regions

description of the methodological approach

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A ingestão de substâncias cáusticas na infância: A construção e divulgação de vídeo educativo sobre medidas de prevenção / The ingestion of caustic substances in childhood: The construction and dissemination of an educational video on prevention measures

A ingestão de substâncias cáusticas na infância é um problema de saúde pública e acarreta alta morbidade aos pacientes, que geralmente desenvolvem estenose esofágica. Os tratamentos disponíveis para estenose cáustica são pouco satisfatórios e por isso realizamos um trabalho para divulgação de medidas de prevenção. Trata-se de vídeo explicativo sobre os perigos da ingestão de substâncias cáusticas e como evitar tais acidentes com crianças. O vídeo foi produzido a partir do relato de familiares de pacientes vítimas da ingestão acidental de soda cáustica

Genetic Tests for Ecological and Allopatric Speciation in Anoles on an Island Archipelago

From Darwin's study of the Galapagos and Wallace's study of Indonesia, islands have played an important role in evolutionary investigations, and radiations within archipelagos are readily interpreted as supporting the conventional view of allopatric speciation. Even during the ongoing paradigm shift towards other modes of speciation, island radiations, such as the Lesser Antillean anoles, are thought to exemplify this process. Geological and molecular phylogenetic evidence show that, in this archipelago, Martinique anoles provide several examples of secondary contact of island species. Four precursor island species, with up to 8 mybp divergence, met when their islands coalesced to form the current island of Martinique. Moreover, adjacent anole populations also show marked adaptation to distinct habitat zonation, allowing both allopatric and ecological speciation to be tested in this system. We take advantage of this opportunity of replicated island coalescence and independent ecological adaptation to carry out an extensive population genetic study of hypervariable neutral nuclear markers to show that even after these very substantial periods of spatial isolation these putative allospecies show less reproductive isolation than conspecific populations in adjacent habitats in all three cases of subsequent island coalescence. The degree of genetic interchange shows that while there is always a significant genetic signature of past allopatry, and this may be quite strong if the selection regime allows, there is no case of complete allopatric speciation, in spite of the strong primae facie case for it. Importantly there is greater genetic isolation across the xeric/rainforest ecotone than is associated with any secondary contact. This rejects the development of reproductive isolation in allopatric divergence, but supports the potential for ecological speciation, even though full speciation has not been achieved in this case. It also explains the paucity of anole species in the Lesser Antilles compared to the Greater Antilles

Geographic genetic structure of Iberian columbines (gen. Aquilegia)

Southern European columbines (genus Aquilegia)are involved in active processes of diversification, and the Iberian Peninsula offers a privileged observatory to witness the process. Studies on Iberian columbines have provided significant advances on species diversification,but we still lack a complete perspective of the genetic diversification in the Iberian scenario. This work explores how genetic diversity of the genus Aquilegia is geographically structured across the Iberian Peninsula. We used Bayesian clustering methods, principal coordinates analyses, and NJ phenograms to assess the genetic relationships among 285 individuals from 62 locations and detect the main lineages. Genetic diversity of Iberian columbines consists of five geographically structured lineages, corresponding to different Iberian taxa. Differentiation among lineages shows particularly complex admixture patterns at Northeast and highly homogeneous toward Northwest and Southeast. This geographic genetic structure suggests the existence of incomplete lineage sorting and interspecific hybridization as could be expected in recent processes of diversification under the influence of quaternary postglacial migrations. This scenario is consistent with what is proposed by the most recent studies on European and Iberian columbines, which point to geographic isolation and divergent selection by habitat specialization as the main diversification drivers of the Iberian Aquilegia complex

Historical Isolation versus Recent Long-Distance Connections between Europe and Africa in Bifid Toadflaxes (Linaria sect. Versicolores)

Background: Due to its complex, dynamic and well-known paleogeography, the Mediterranean region provides an ideal framework to study the colonization history of plant lineages. The genus Linaria has its diversity centre in the Mediterranean region, both in Europe and Africa. The last land connection between both continental plates occurred during the Messinian Salinity Crisis, in the late Miocene (5.96 to 5.33 Ma). Methodology/Principal Findings: We analyzed the colonization history of Linaria sect. Versicolores (bifid toadflaxes), which includes c. 22 species distributed across the Mediterranean, including Europe and Africa. Two cpDNA regions (rpl32-trnL UAG and trnK-matK) were sequenced from 66 samples of Linaria. We conducted phylogenetic, dating, biogeographic and phylogeographic analyses to reconstruct colonization patterns in space and time. Four major clades were found: two of them exclusively contain Iberian samples, while the other two include northern African samples together with some European samples. The bifid toadflaxes have been split in African and European clades since the late Miocene, and most lineage and speciation differentiation occurred during the Pliocene and Quaternary. We have strongly inferred four events of post-Messinian colonization following long-distance dispersal from northern Africa to the Iberian Peninsula, Sicily and Greece. Conclusions/Significance: The current distribution of Linaria sect. Versicolores lineages is explained by both ancien

Coalescent Simulations Reveal Hybridization and Incomplete Lineage Sorting in Mediterranean Linaria

We examined the phylogenetic history of Linaria with special emphasis on the Mediterranean sect. Supinae (44 species). We revealed extensive highly supported incongruence among two nuclear (ITS, AGT1) and two plastid regions (rpl32-trnLUAG, trnS-trnG). Coalescent simulations, a hybrid detection test and species tree inference in *BEAST revealed that incomplete lineage sorting and hybridization may both be responsible for the incongruent pattern observed. Additionally, we present a multilabelled *BEAST species tree as an alternative approach that allows the possibility of observing multiple placements in the species tree for the same taxa. That permitted the incorporation of processes such as hybridization within the tree while not violating the assumptions of the *BEAST model. This methodology is presented as a functional tool to disclose the evolutionary history of species complexes that have experienced both hybridization and incomplete lineage sorting. The drastic climatic events that have occurred in the Mediterranean since the late Miocene, including the Quaternary-type climatic oscillations, may have made both processes highly recurrent in the Mediterranean flora