Planeamento de trajetórias em ambientes agrícolas

Em Portugal, os terrenos vinícolas de maior valor têm a particularidade de se situarem em encostas de elevada inclinação e com alta pedregosidade, dificultando as tarefas dos robôs agrícolas, que, seja pela forte inclinação ou pela possível má aderência das rodas ao solo, correm o risco de sofrer acidentes que danifiquem o robô e o equipamento que este transporta.Pretende-se, portanto, encontrar uma solução de planeamento de trajetórias seguras que considere o centro de massa do robô e inclinação do terreno. A solução proposta nesta dissertação consiste na adaptação de um algoritmo de planeamento de trajetórias, o Astar, que irá ter em conta quatro variáveis: as coordenadas X e Y que indicam a localização do robô, o orientação do mesmo e a altitude do terreno, dados que serão utilizados para verificar a segurança do caminho, calculando a sua inclinação e verificando se o centro de gravidade do robô não ultrapassa os limites de segurança. Este algoritmo serve para um planeamento global da trajetória, contudo, também se encontra preparado para pequenos ajustes através de um planeamento local, mantendo sempre as condições de segurança do robô

Modelos de Governação na Sociedade da Informação e do Conhecimento

Um Estado mais implementador ou mais regulador, uma soberania única ou partilhada e o papel da sociedade são algumas das visões de governação objecto de reflexão no estudo "Modelos de Governação na Sociedade da Informação e do Conhecimento". Coordenado por Luís Borges Gouveia, este documento apresenta uma visão partilhada que pretende ser diferente, contribuindo para a discussão das opções que valerá a pena fazer na Sociedade da Informação e do Conhecimento em Portugal. O estudo inclui um conjunto de recomendações que se apresentam de forma sucinta.Estudo sobre Modelos de Governação na Sociedade da Informação e do ConhecimentoAPDSI - Associação para a Promoção e Desenvolvimento da Sociedade da Informação

Tumor ovárico, células de la granulomatosa juvenil. A propósito de un caso. Hospital Infantil Dr. Robert Reid Cabral (HIRRC), República Dominicana

Los tumores ováricos de las células de la granulosa son neoplasias raras, que constituyen solo de 2 % a 5 % de los tumores ováricos. Tienen una incidencia de 1 caso/100,000 mujeres por año. Existen dos subgrupos: la forma adulta y la juvenil. Esta última comprende solamente el 5 % del total de casos y se diagnostica en las primeras tres décadas de la vida, con mediana de 8 a 9 años y se han visto hasta los 30 años. La mayoría de las pacientes se presenta con dolor abdominal localizado, distensión abdominal y masa palpable en pelvis o abdomen. El 10 % de los casos puede debutar con abdomen agudo, debido a ruptura del tumor y hemoperitoneo o por torsión del mismo. La mayoría de las pacientes pre-púberes tienen pubertad precoz isosexual. El tumor es bilateral en 3 % de los casos, generalmente está limitado al ovario al momento del diagnóstico. Suelen responder muy bien a la quimioterapia1, 2. Presentamos un caso de una femenina de 5 meses de edad procedente de San José de Ocoa; República Dominicana. La cual presenta historia de aumento progresivo del diámetro mamario desde su segunda semana de vida. A la paciente se le realizó un seguimiento externo en nuestro servicio, donde compaginó la exploración física con un aumento progresivo de la circunferencia abdominal junto con estudios complementarios que evidenciaron líquido libre en la cavidad abdominal

Experiencia acumulada con casos de bezoar por el departamento de Cirugía Pediátrica. Hospital Infantil Doctor Robert Reid Cabral (HIRRC), República Dominicana

La obstrucción intestinal puede ocurrir a cualquier edad, desde recién nacidos hasta adultos. La etiología de la obstrucción varía mucho, dependiendo de la edad y antecedentes quirúrgicos del paciente. Causas congénitas comunes que incluyen atresia, estenosis, malrotación, enfermedad de Hirschsprung, ano imperforado y meconio las enfermedades del recién nacido, pero también pueden ser otras las causas de obstrucción, como la ingestión de varios cuerpos extraños, incluidos cacahuetes, fitobezoares, tricobezoares y pica en personas con discapacidad mental, falta de nutrientes en pacientes con déficit alimentario puede causar obstrucción intestinal parcial o completa en los niños, así como trastornos del crecimiento debido a desnutrición. Las ubicaciones comunes de obstrucción intestinal causada por cuerpos extraños incluyen la salida gástrica; como se evidencia en el síndrome de Rapunzel, y el íleon terminal. La ingestión de múltiples imanes conlleva su propio conjunto de riesgos de obstrucción intestinal, vólvulo y fístulas intestinales y, por lo general, requiere exploración quirúrgica

Self-assembled trityl radical capsules implications for dynamic nuclear polarization

A new class of guest-induced, bi-radical self-assembled organic capsules is reported. They are formed by the inclusion of a tetramethylammonium (TMA) cation between two monomers of the stable trityl radical OX63. OX63 is extensively used in dissolution dynamic nuclear polarization (DNP) where it leads to NMR sensitivity enhancements of several orders of magnitude. The supramolecular properties of OX63 have a strong impact on its DNP properties. An especially relevant case is the polarization of choline-containing metabolites, where complex formation between choline and OX63 results in faster relaxation

Producción de ovino de carne en medio semiárido

Unpublishe

Adjuvant therapy sparing in rectal cancer achieving complete response after chemoradiation

AIM: To evaluate the long-term results of conventional chemoradiotherapy and laparoscopic mesorectal excision in rectal adenocarcinoma patients without adjuvant therapy. METHODS: Patients with biopsy-proven adenocarcinoma of the rectum staged cT3-T4 by endoscopic ultrasound or magnetic resonance imaging received neoadjuvant continuous infusion of 5-fluorouracil for five weeks and concomitant radiotherapy. Laparoscopic surgery was planned after 5-8 wk. Patients diagnosed with ypT0N0 stage cancer were not treated with adjuvant therapy according to the protocol. Patients with ypT1-2N0 or ypT3-4 or N+ were offered 5-fluorouracil-based adjuvant treatment on an individual basis. An external cohort was used as a reference for the findings. RESULTS: One hundred and seventy six patients were treated with induction chemoradiotherapy and 170 underwent total mesorectal excision. Cancer staging of ypT0N0 was achieved in 26/170 (15.3%) patients. After a median follow-up of 58.3 mo, patients with ypT0N0 had five-year disease-free and overall survival rates of 96% (95%CI: 77-99) and 100%, respectively. We provide evidence about the natural history of patients with localized rectal cancer achieving a complete response after preoperative chemoradiation. The inherent good prognosis of these patients will have implications for clinical trial design and care of patients. CONCLUSION: Withholding adjuvant chemotherapy after complete response following standard neoadjuvant chemoradiotherapy and laparoscopic mesorectal excision might be safe within an experienced multidisciplinary team

Heterogeneity in the M. tuberculosis β-Lactamase Inhibition by Sulbactam

15 pags., 7 figs., 1 tab.For decades, researchers have been determined to elucidate essential enzymatic functions on the atomic lengths scale by tracing atomic positions in real time. Our work builds on new possibilities unleashed by mix-and-inject serial crystallography (MISC) 1-5 at X-ray free electron laser facilities. In this approach, enzymatic reactions are triggered by mixing substrate or ligand solutions with enzyme microcrystals 6 . Here, we report in atomic detail and with millisecond time-resolution how the Mycobacterium tuberculosis enzyme BlaC is inhibited by sulbactam (SUB). Our results reveal ligand binding heterogeneity, ligand gating 7-9 , cooperativity, induced fit 10,11 and conformational selection 11-13 all from the same set of MISC data, detailing how SUB approaches the catalytic clefts and binds to the enzyme non-covalently before reacting to a trans- enamine. This was made possible in part by the application of the singular value decomposition 14 to the MISC data using a newly developed program that remains functional even if unit cell parameters change during the reaction.This work was supported by NSF-STC-1231306 (BioXFEL). P.F. was supported by NSF BioXFEL STC grant NSF-1231306 Biology with X-ray Lasers, the NIH grant R01GM095583, and the ASU Biodesign Center for Applied Structural Discovery. A.O. was supported by the US Department of Energy, Office of Science, Basic Energy Sciences under award DESC0002164 (underlying dynamical techniques) and by the US National Science Foundation under awards STC-1231306 (underlying data analytical techniques) and DBI-2029533 (underlying analytical models). K.A.Z. was supported by the Cornell Molecular Biophysics Training Program (NIH T32-GM008267). D.F, L.A., and E.A.S. were supported by NSF STC BioXFEL center award 6227. L.A. training was supported in part by the National Institute of General Medical Sciences (NIGMS) of the National Institutes of Health (NIH) Maximizing Access to Research Careers (MARC) -T34 GM105549 grant. We acknowledge funding from DESY (Hamburg, Germany), a member of the Helmholtz Association HGF; the Cluster of Excellence “Advanced Imaging of Matter” of the Deutsche Forschungsgemeinschaft (DFG) - EXC 2056 - project ID 390715994; the Helmholtz Association Impulse and Networking fund - project InternLabs-0011 “HIR3X”; and the German Federal Ministry of Education and Research (BMBF) - project 05K18CHA. Use of the LCLS, SLAC National Accelerator Laboratory, is supported by the U.S. DOE, Office of Science, BES, under contract no. DE-AC02-76SF00515. The HERA system for in-helium experiments at MFX was developed by Bruce Doak and funded by the Max Planck Institute for Medical Research. One or more of the authors of this paper received support from a program designed to increase minority representation in sciencePeer reviewe

Comprensión conceptual de estadística y métodos de decisión utilizando herramientas de gamificación para la adquisición de competencias en los grados de ciencias económicas y empresariales

El objetivo general del proyecto es mejorar la motivación y la actitud de los alumnos de los grados de ciencias sociales hacia las materias cuantitativas, así como su participación activa en el proceso de enseñanza-aprendizaje, individual y en grupo, con la finalidad última de incrementar su nivel de competencias y rendimiento