Controle da Navegacao de um Robo Movel em um Corredor com Redundancia de Controladores

Este trabalho apresenta uma estratégia de controle para que um robô móvel possa navegar ao longo da linha média de um corredor. A estratégia de controle é baseada na fusão de dois sinais de controle gerados por dois controladores distintos, os quais são redundantes, no sentido de que têm o mesmo objetivo de controle. Estes sinais correspondem a um sistema de controle baseado em visão, que utiliza a técnica de fluxo óptico, e um sistema de controle baseado em sensores ultra-sônicos. Estes sinais de controle são fusionados utilizando um filtro de informação descentralizado, pelas vantagens que tal mecanismo de fusão apresenta

IL-13R alpha 2 reverses the effects of IL-13 and IL-4 on bronchial reactivity and acetylcholine-induced Ca2+ signaling

Background: The interleukins IL-4 and IL-13 play a key role in the pathophysiology of asthma. The interleukin receptor IL-13R alpha 2 is believed to act as a decoy receptor, but until now, the functional significance of IL-13R alpha 2 remains vague. Methods: Bronchial reactivity was quantified in murine lung slices by digital video microscopy and acetylcholine (ACH)-induced Ca2+ signaling was measured in human airway smooth muscle cells (ASMC) using fluorescence microscopy. Results: IL-4 or IL-13 up to 50 ng/ml induced bronchial hyperreactivity. But after incubation with 100 ng/ml this effect was lost and bronchial responsiveness was again comparable to the control level. The effects of IL-4 and IL-13 on bronchial reactivity were paralleled by the effects on ASMC proliferation. Fifty nanograms per milliliter of IL-4 and IL-13 increased the Ca2+ response of human ASMC to ACH. At 100 ng/ml, however, the effects of the cytokines on the Ca2+ response were no longer evident. The expression of IL-13R alpha 2 increased with increasing concentrations of IL-4 or IL-13, reaching its maximum at 100 ng/ml. Blocking IL-13R alpha 2, the loss of the effect of IL-4 and IL-13 at 100 ng/ml on human ASMC proliferation and the ACH-induced Ca2+ response were no longer present. Conclusions: IL-4 and IL-13 induce bronchial hyperreactivity by changing the Ca2+ homeostasis of ASMC. These effects are counteracted by IL-13R alpha 2. The biological significance of IL-13R alpha 2 might be a protective function by regulating IL-13- and IL-4-mediated signal transduction and thereby limiting pathological alterations in Th2-mediated inflammatory diseases. Copyright (c) 2007 S. Karger AG, Basel

Utilización de los indicios en el proceso de extinción de dominio en el Perú (Alcances y cuestionamiento del Decreto Legislativo 1373)

Esta investigación se aborda el tema de la utilización de los indicios en el proceso de extinción de dominio, donde se verifica que, en el Perú, el nivel de conocimiento y de aplicación de los indicios en este tipo de procesos es único; puesto que se le otorga un valor importante. Conforme al problema, el objetivo y la metodología (cualitativa), se puede apreciar que el indicio al estar regulado en la ley del Proceso de Extinción de Dominio difiere de su aplicación (jurisdiccional), ya que goza de un protagonismo tan igual como una prueba. Por lo que es suficiente, el ofrecimiento de indicios por parte del Ministerio público para poder obtener la extinción de dominio de un bien en el Perú, ello conforme a los fines propuestos; asimismo se verifica que su aplicación debe tener límites (lo cual no está señalado en la norma) y de esta forma evitar su uso indebido y la afectación de derechos.This research addresses the use of evidence as a suitable test in the domain extinction process, where it is verified that, in Peru, the level of knowledge and application of the evidence in this type of process is unique; since it is given an important value. According to the problem, the objective and the (qualitative) methodology, it can be seen that the evidence, as it is regulated in the Law of the Domain Extinction Process, differs from its application (jurisdictional), since it enjoys a role as equal as a test . For what is sufficient, the offer of indications by the Public Ministry to be able to obtain the extinction of ownership of a good in Peru, this in accordance with the proposed purposes; It is also verified that its application must have limits (which is not indicated in the norm) and in this way avoid its improper use and the affectation of rights

Kinetics of 5-aminolevulinic acid-induced fluorescence in organ cultures of bronchial epithelium and tumor

Background: 5-Aminolevulinic acid (5-ALA)-induced protoporphyrin IX (PPIX) fluorescence improves the differentiation of tumor and normal tissue in the bladder, skin and brain. Objective: The kinetics of 5-ALA-induced protoporphyrin IX (PPIX) fluorescence in organ cultures of normal human bronchial epithelium and cocultures of bronchial epithelium and tumor have been studied. Methods: Cultured biopsies of bronchial epithelium were exposed for 5 or 15 min, or continuously to 5-ALA. PPIX fluorescence was quantified for up to 300 min by spectroscopy. Cocultures of normal bronchial epithelium and a non-small-cell lung cancer cell line (EPLC-32M1) were incubated with 5-ALA. Space-resolved fluorescence microscopy was used to quantify PPIX fluorescence kinetics in the tumor and normal epithelium. Results: In cultures of normal epithelium, PPIX fluorescence kinetics were shown to depend on the duration of exposure to 5-ALA. There was a trend to higher fluorescence intensities with longer exposure times. In cocultures of bronchial epithelium and tumor, increases of fluorescence intensity were significantly greater in the tumor. Best tumor/normal tissue fluorescence ratios were found between 110 and 160 min after exposure to 5-ALA. Conclusion: Data obtained in this coculture system of bronchial epithelium and tumor is valuable to optimize modalities of fluorescence bronchoscopy for the diagnosis of early bronchial carcinoma. Copyright (C) 2002 S. Karger AG, Basel

Understanding the influence of socioeconomic variables on medicinal plant knowledge in the Peruvian Andes

In this study, we analyze the impact of 18 socioeconomic factors at individual, family, and locality levels to understand their influence on medicinal plant knowledge (MPK) in four provinces and 12 localities of the northern Andes of Peru. We interviewed 50 participants per locality (totaling 600 people) from lowlands and highlands ecoregions. The participants were balanced in terms of generations and gender. We performed multivariate statistical analyses—generalized linear mixed models (GLMMs) and nonmetric multidimensional scaling (NMDS) ordinations—that showed the influence of each socioeconomic variable on the medicinal plant knowledge of people in the different sites. At the individual level, we found that most participants with higher MPK were women, elders, people with lower levels of education and job qualifications, non-migrants, and participants who have lived for a long period in the same region. At the family level, we found that participants living in low economic conditions with few material goods, including their means of transport, tools possession, access to technology, farm size, number of farm animals, and house quality, had higher MPK. At the locality level, we found that people living in more isolated areas with scarce regional services, such as access to paved roads, hospitals, big markets, tourist development, and chlorination of drinking water, had higher MPK. In short, people with less access to modern services and with low economic resources are the main depositaries of MPK. Policy makers and decision makers should consider the significance of MPK in alleviating health problems and diseases in Andean regions, especially for people with rural livelihoods. This local botanical knowledge of medicinal plants should be preserved in the area as a great natural heritage for humanit

Genotoxicity of nitroso compounds and sodium dichromate in a model combining organ cultures of human nasal epithelia and the comet assay

Genotoxic effects of xenobiotics are a possible step in tumor initiation in the mucosa of the upper aerodigestive tract. Using the comet assay, detecting genotoxicity in human tissue has been restricted to single incubations in vitro, but in vivo most xenobiotics harm their target in a repetitive or chronic manner. Therefore, we propose a model, which provides repetitive incubations in human upper aerodigestive tract mucosa cultures. Samples of human inferior nasal turbinate mucosa (n = 25) were cultured according to a modified version of a technique originally described by Steinsvag. On day 1 fresh samples and on days 7, 9 and 11 organ cultures were incubated with N-nitrosodiethylamine (NDEA), sodium dichromate (Na2Cr2O7) and N'-methyl-N-nitro-N-nitrosoguanidine(MNNG). Mucosa samples and organ cultures, respectively, underwent a modified comet assay on days 1, 7 and 11. Genotoxicity could be shown for NDEA, Na2Cr2O7 and MNNG on days 1, 7 and 11. Duration of tissue culture and repetitive incubations did not significantly influence the results for NDEA. Nevertheless, Na2Cr2O7 and MNNG caused higher genotoxic effects on cultures subjected to the comet assay on day 11. This model may help to assess genotoxic hazards posed by environ mental pollutants that have a cumulative character in repetitive or chronic exposure in vivo. Copyright (C) 2001 S. Karger AG, Basel

Sostenibilidad y zenit de producción petrolífera en un curso de profesores y profesoras.

The present article deals with how the problematic of the sustainability, associated to the peak oil production was approached, with a group of teachers, during the development of the subjet of Curricular Intervention in the Education of Sciences, that is distributed in the Faculty of Education of the University of Alicante. This subjet comprises of the degree of Psicopedagogía, studies to which it is acceded from the teacher degree, which also they are attended in the same facultyEl presente artículo trata de cómo se abordó la problemática de la sostenibilidad, asociada al zenit de producción petrolífera (Peak Oil), con un grupo de profesores/as, durante el desarrollo de la asignatura de Intervención Curricular en la Enseñanza de las Ciencias, que se imparte en la Facultad de Educación de la Universidad de Alicante. Esta asignatura forma parte de la licenciatura de Psicopedagogía, estudios a los que se accede desde la titulación de maestro, que también se cursan en la misma facultad

Response to chemotherapy, reexposure to crizotinib and treatment with a novel ALK inhibitor in a patient with acquired crizotinib resistance

The treatment of advanced non-small cell lung cancer (NSCLC) has dramatically changed over the last decade. It has developed from an unspecific approach based on platinum doublet chemotherapy to a personalized, molecularly targeted therapy. Crizotinib is a new tyrosine kinase inhibitor approved for the treatment of NSCLC with gene rearrangement of EML4 and ALK. Despite good initial responses, patients treated with crizotinib relapse after an average of 10 months. In this case report, we present a patient with acquired crizotinib resistance whose adenocarcinoma responded to a second course of crizotinib following a drug holiday and chemotherapy with pemetrexed. This is the second case report to suggest that retreatment with crizotinib is an option for patients with initial benefit from ALK inhibition

Educational needs of ecuadorian students with disabilities for an education of the Sumak Kawsay

El presente trabajo persigue describir las necesidades educativas de los estudiantes con discapacidad en una unidad educativa de Santo Domingo de los Tsáchilas (Ecuador), y contrastar esta realidad definida a partir de su experiencia, con la exigida por el legislador ecuatoriano para la construcción de una educación constitucionalmente definida como del Sumak Kawsay. Se sigue una metodología cualitativa, y se aplica como técnica de recolección de datos la entrevista estructurada a seis estudiantes con distintas discapacidades según el Consejo Nacional de Discapacidad del Ecuador. Entre las conclusiones más relevantes se aprecia una aún incipiente cultura educativa inclusiva, preocupada principalmente por la estructura física más que en la integración de los distintos actores de la comunidad educativa; en especial, se aprecia una necesidad de fortalecer las funciones de los Departamentos de Consejería Estudiantil, así como la formación y apoyo del docente en cuanto al refuerzo de la relación de confianza con los estudiantes, identificación de sus necesidades particulares, y una apreciación del valor de aprendizaje de este colectivo como aderezo de una relación intercultural orientada a la inclusión educativa y al abandono del asistencialismo.The present study aims to describe the educational needs of students with disabilities in an educational unit in Santo Domingo de los Tsachilas (Ecuador), and to contrast this reality defined from his experience with that demanded by the Ecuadorian legislator for the construction of an education constitutionally defined as Sumak Kawsay. A qualitative methodology is followed, and the structured interview is applied as a data collection technique to six students with different disabilities according to the National Disability Council of Ecuador. Among the most relevant conclusions, there is a still an incipient inclusive educational culture, mainly concerned with the physical structure rather than the integration of the different actors of the educational community. In particular, there is a need to strengthen the functions of the Student Counselling Departments, as well as teacher training and support in reinforcing the relationship of trust with students, identification of their particular needs, and an appreciation of the learning value of this group as an intercultural relationship oriented towards educational inclusion and abandonment of welfarism.Grupo de Investigación HUM-672 AREA (Análisis de la Realidad EducativA