xRatSLAM: An Extensible RatSLAM Computational Framework

Simultaneous localization and mapping (SLAM) refers to techniques for autonomously constructing a map of an unknown environment while, at the same time, locating the robot in this map. RatSLAM, a prevalent method, is based on the navigation system found in rodent brains. It has served as a base algorithm for other bioinspired approaches, and its implementation has been extended to incorporate new features. This work proposes xRatSLAM: an extensible, parallel, open-source framework applicable for developing and testing new RatSLAM variations. Tests were carried out to evaluate and validate the proposed framework, allowing the comparison of xRatSLAM with OpenRatSLAM and assessing the impact of replacing framework components. The results provide evidence that the maps produced by xRatSLAM are similar to those produced by OpenRatSLAM when they are fed with the same input parameters, which is a positive result, and that implemented modules can be easily changed without impacting other parts of the framework

Diagnóstico por tomografia computadorizada da extrusão de disco intervertebral em paciente geriatra: Relato de Caso

A doença do disco intervertebral (DDIV) é a causa mais comum de compressão medular em cães, resultando em problemas neurológicos, podendo ser classificada em dois tipos, Hansen tipo I (extrusão de disco) e Hansen tipo II (protrusão de disco), que pressionam os nervos da medula ocasionando quadro de dor, ataxia, paralisia e paraplegia. O tratamento à se indicar deve ser baseado no grau da lesão, podendo ser o tratamento clínico associado à fisioterapia, para casos menos graves, visto que é relatado sucessos na recuperação do quadro, na literatura. O objetivo desse trabalho foi relatar a eficiência da tomografia computadorizada como ferramenta complementar para diagnostico conclusivo da DDIV e o sucesso do tratamento clínico e fisioterápico para esta doença. O animal em questão era um poodle com 11 anos de idade que apresentava quadro de ataxia e incoordenação motora e que foi diagnosticado com uma extrusão de disco intervertebral entre as vertebras T12 e T13 através de tomografia computadorizada. O tratamento eleito foi à base de antiinflamatórios e fisioterapia com enfoque o fortalecimento da musculatura epaxial e hipaxial. Transcorrido 45 dias do início do tratamento, foi observado uma melhora significativa do animal, entretanto, uma futura intervenção cirúrgica não foi descartada

Meloidogyne and Pratylenchus species in sugarcane fields in the state of Alagoas, Brazil

ABSTRACT: The objective of this study was to accomplish a survey on populations of Meloidogyne and Pratylenchus species in sugarcane farming areas in the state of Alagoas, Brazil. Twenty samples of soil and roots were processed to extract and quantify nematodes; however, the identification of Meloidogyne species was performed using only 12 samples. Pratylenchus spp. were reported at moderate population levels of 68-1556 specimens 50g-1 of roots and 2-298 specimens 100cm-3 of soil in twenty analyzed samples. For Meloidogyne spp., these values were of 12-487 specimens 50g-1 of roots and 0-140 specimens 100cm-3 of soil. Based on electrophoresis of esterase isozymes, M. incognita was reported to be the most frequent species, followed by M. javanica and M. arenaria. Pratylenchus species identified through morphometrical and morphological characteristics were P. zeae and P. brachyurus , with predominance for the first species. No significant correlation (P≤0.05) were reported between nematode populations and sugarcane cropping systems

Contribution of fish farming ponds to the production of immature Anopheles spp. in a malaria-endemic Amazonian town

Submitted by sandra infurna ([email protected]) on 2016-03-10T15:46:30Z No. of bitstreams: 1 izabel_reis_etal_IOC_2015.pdf: 1921122 bytes, checksum: a9d37bb1b751e73973f59130437da246 (MD5)Approved for entry into archive by sandra infurna ([email protected]) on 2016-03-10T16:32:12Z (GMT) No. of bitstreams: 1 izabel_reis_etal_IOC_2015.pdf: 1921122 bytes, checksum: a9d37bb1b751e73973f59130437da246 (MD5)Made available in DSpace on 2016-03-10T16:32:12Z (GMT). No. of bitstreams: 1 izabel_reis_etal_IOC_2015.pdf: 1921122 bytes, checksum: a9d37bb1b751e73973f59130437da246 (MD5) Previous issue date: 2015Fundação Oswaldo Cruz. Programa de Computação Científica. Rio de Janeiro, RJ, Brasil / Fundação Oswaldo Cruz. Instituto Oswaldo Cruz. Laboratório de Transmissores de Hematozoários. Rio de Janeiro, RJ, Brasil. / Fundação Oswaldo Cruz. NOSMOVE (Parceria DIRAC-IOC-VPAAPS/FIOCRUZ). Núcleo Operacional Sentinela de Mosquitos Vetores. Rio de Janeiro, RJ, Brasil.Fundação Oswaldo Cruz. Programa de Computação Científica. Rio de Janeiro, RJ, Brasil.Fundação Oswaldo Cruz. Programa de Computação Científica. Rio de Janeiro, RJ, Brasil.Universidade Federal do Acre. Centro Multidisciplinar. Cruzeiro do Sul, AC, Brasil.Fundação Oswaldo Cruz. Instituto Oswaldo Cruz. Laboratório de Transmissores de Hematozoários. Rio de Janeiro, RJ, Brasil.Universidade Federal do Acre. Centro Multidisciplinar. Cruzeiro do Sul, AC, Brasil.Fundação Oswaldo Cruz. Instituto Oswaldo Cruz. Laboratório de Transmissores de Hematozoários. Rio de Janeiro, RJ, Brasil. / Fundação Oswaldo Cruz. NOSMOVE (Parceria DIRAC-IOC-VPAAPS/FIOCRUZ). Núcleo Operacional Sentinela de Mosquitos Vetores. Rio de Janeiro, RJ, Brasil / Fundação Oswaldo Cruz. Instituto Oswaldo Cruz. Laboratório de Doenças Parasitárias. Rio de Janeiro, RJ, Brasil.Secretaria Municipal de Saúde de Cruzeiro do Sul. Cruzeiro do Sul, AC, Brasil.Secretaria Municipal de Saúde de Cruzeiro do Sul. Cruzeiro do Sul, AC, Brasil.Fundação Oswaldo Cruz. NOSMOVE (Parceria DIRAC-IOC-VPAAPS/FIOCRUZ). Núcleo Operacional Sentinela de Mosquitos Vetores. Rio de Janeiro, RJ, Brasil.Secretaria de Estado de Agropecuária de Cruzeiro do Sul. Cruzeiro do Sul, AC, Brasil.Fundação Oswaldo Cruz. Instituto Oswaldo Cruz. Laboratório de Transmissores de Hematozoários. Rio de Janeiro, RJ, Brasil. / Fundação Oswaldo Cruz. NOSMOVE (Parceria DIRAC-IOC-VPAAPS/FIOCRUZ). Núcleo Operacional Sentinela de Mosquitos Vetores. Rio de Janeiro, RJ, Brasil.Background: In the past decade fish farming has become an important economic activity in the Occidental Brazilian Amazon, where the number of new fish farms is rapidly increasing. One of the primary concerns with this phenomenon is the contribution of fishponds to the maintenance and increase of the anopheline mosquito population, and the subsequent increase in human malaria burden. This study reports the results of a 2-year anopheline abundance survey in fishponds and natural water bodies in a malaria-endemic area in northwest Brazil. The objective of this study was to investigate the contribution of natural water bodies (rivers, streams, creeks, ponds, and puddles) and artificial fishponds as breeding sites for Anopheles spp. in Mâncio Lima, Acre and to investigate the effect of limnological and environmental variables on Anopheles spp. larval abundance. Methods: Natural water bodies and fishponds were sampled at eight different times over 2 years (early, mid and late rainy season, dry season) in the Amazonian town of Mâncio Lima, Acre. Anopheline larvae were collected with an entomological dipper, and physical, chemical and ecological characteristics of each water body were measured. Management practices of fishpond owners were ascertained with a systematic questionnaire. Results: Fishponds were four times more infested with anopheline larvae than natural water bodies. Electrical conductivity and the distance to the nearest house were both significant inverse predictors of larval abundance in natural water bodies. The density of larvae in fishponds raised with increasing border vegetation. Fishponds owned by different farmers varied in the extent of anopheline larval infestation but ponds owned by the same individual had similar infestation patterns over time. Commercial fishponds were 1.7-times more infested with anopheline larvae compared to fishponds for family use. Conclusions: These results suggest that fishponds are important breeding sites for anopheline larvae, and that adequate management activities, such as removal of border vegetation could reduce the abundance of mosquito larvae, most importantly Anopheles darlingi