A Model-Predictive Motion Planner for the IARA Autonomous Car

We present the Model-Predictive Motion Planner (MPMP) of the Intelligent Autonomous Robotic Automobile (IARA). IARA is a fully autonomous car that uses a path planner to compute a path from its current position to the desired destination. Using this path, the current position, a goal in the path and a map, IARA's MPMP is able to compute smooth trajectories from its current position to the goal in less than 50 ms. MPMP computes the poses of these trajectories so that they follow the path closely and, at the same time, are at a safe distance of eventual obstacles. Our experiments have shown that MPMP is able to compute trajectories that precisely follow a path produced by a Human driver (distance of 0.15 m in average) while smoothly driving IARA at speeds of up to 32.4 km/h (9 m/s).Comment: This is a preprint. Accepted by 2017 IEEE International Conference on Robotics and Automation (ICRA

Neurociências e Direito Penal: As repercussões dos novos estudos neurocientíficos para a culpabilidade

Este trabajo, de un lado, tiene por objetivo reflexionar sobre la tensión entre libertad, neurociencias y Derecho Penal, sacando a la luz de los experimentos postulados por el universo científico y, de hecho, comprender la repercusión que provoca el adoctrinamiento de los penalistas. De otro lado, guiado por la hipótesis de la razonabilidad de los estudios neurocientíficos, se busca invalidar el Derecho Penal y la responsabilidad penal, investigando si son fuentes de conceptos obsoletos y que poco reflejan las delineaciones del comportamiento humano o si se muestran como fuentes inquebrantables de control social.Este trabalho, de um lado, tem por objetivo refletir sobre a tensão existente entre liberdade, neurociências e Direito Penal, trazendo à baila os experimentos postulados pelo universo científico e, de fato, entender qual a repercussão causada aos penalistas doutrinadores. De outro lado, norteando-se pela hipótese da razoabilidade dos estudos neurocientíficos, objetiva-se infirmar o Direito Penal e a responsabilidade penal, investigando-a, buscando-se saber se se trata de fonte de conceitos ultrapassados e que pouco traduzem os deslindes do comportamento humano, ou se se mostra como fonte inafastável de controle social

Yellow fever virus maintained by Sabethes mosquitoes during the dry season in Cerrado, a Semiarid Region of Brazil, in 2021

In recent decades, waves of yellow fever virus (YFV) from the Amazon Rainforest have spread and caused outbreaks in other regions of Brazil, including the Cerrado, a savannah-like biome through which YFV usually moves before arriving at the Atlantic Forest. To identify the vectors involved in the maintenance of the virus in semiarid environments, an entomological survey was conducted after confirmation of yellow fever (YF) epizootics at the peak of the dry season in the Cerrado areas of the state of Minas Gerais. In total, 917 mosquitoes from 13 taxa were collected and tested for the presence of YFV. Interestingly, mosquitoes of the Sabethes genus represented 95% of the diurnal captured specimens, displaying a peak of biting activity never previously recorded, between 4:30 and 5:30 p.m. Molecular analysis identified three YFV-positive pools, two from Sabethes chloropterus—from which near-complete genomes were generated—and one from Sa. albiprivus, whose low viral load prevented sequencing. Sa. chloropterus was considered the primary vector due to the high number of copies of YFV RNA and the high relative abundance detected. Its bionomic characteristics allow its survival in dry places and dry time periods. For the first time in Brazil, Sa. albiprivus was found to be naturally infected with YFV and may have played a role as a secondary vector. Despite its high relative abundance, fewer copies of viral RNA were found, as well as a lower Minimum Infection Rate (MIR). Genomic and phylogeographic analysis showed that the virus clustered in the sub-lineage YFVPA-MG, which circulated in Pará in 2017 and then spread into other regions of the country. The results reported here contribute to the understanding of the epidemiology and mechanisms of YFV dispersion and maintenance, especially in adverse weather conditions. The intense viral circulation, even outside the seasonal period, increases the importance of surveillance and YFV vaccination to protect human populations in affected areas

Serological evidence of orthopoxvirus infection in neotropical primates in Brazil

The genus Orthopoxvirus (OPXV) of the family Poxviridae comprises several viruses that are capable of infecting a wide range of hosts. One of the most widespread OPXVs is the Vaccinia virus (VACV), which circulates in zoonotic cycles in South America, especially in Brazil, infecting domestic and wild animals and humans and causing economic losses as well as impacting public health. Despite this, little is known about the presence and/or exposure of neotropical primates to orthopoxviruses in the country. In this study, we report the results of a search for evidence of OPVX infections in neotropical free-living primates in the state of Minas Gerais, southeast Brazil. The sera or liver tissues of 63 neotropical primates were examined through plaque reduction neutralization tests (PRNT) and real-time PCR. OPXV-specific neutralizing antibodies were detected in two sera (4.5%) from Callithrix penicillata, showing 55% and 85% reduction in plaque counts, evidencing their previous exposure to the virus. Both individuals were collected in urban areas. All real-time PCR assays were negative. This is the first time that evidence of OPXV exposure has been detected in C. penicillata, a species that usually lives at the interface between cities and forests, increasing risks of zoonotic transmissions through spillover/spillback events. In this way, studies on the circulation of OPXV in neotropical free-living primates are necessary, especially now, with the monkeypox virus being detected in new regions of the planet

POSITIVISMO DESAFIADO: DO CONCEITO DE DIREITO AO PÓS-ESCRITO DE HART E SUA RELAÇÃO COM A CRÍTICA DE DWORKIN

O presente trabalho busca apresentar uma análise argumentativa da resposta do pós-escrito de O Conceito de Direito às críticas formuladas por Dworkin. Primeiramente, será demonstrado que Hart intenta uma teoria descritiva geral do direito, enquanto Dworkin propõe uma teoria liberal do direito. Em seguida, explica-se a teoria de Hart como união de regras primárias e secundárias. Posteriormente serão analisadas as críticas de Dworkin. A metodologia do trabalho baseou-se em pesquisa teórica, com levantamento bibliográfico. Para fundamentar as hipóteses foi utilizado o método dedutivo. Finalmente, defende-se que a posição de Dworkin não apresenta um desafio real para O Conceito de Direito

Diagnóstico de câncer bucal em Sergipe no âmbito do SUS - revisão de literatura

Oral cancer is defined as a group of malignant tumors that affect different anatomical regions of the head and neck, such as lips, tongue, gums, floor of the mouth and hard palate. According to the Orlando Parise Jr, oral cancer is one of the most common in Brazil, especially among the male population. It consists of the proliferation of malignant cells that can begin in the oral mucosa, be the result of distant metastases or background expansion and affect the upper gastrointestinal tract. It is among the 10 most common types of cancer in the world and, as it is associated with late diagnosis in most cases, it is associated with a worse progression and prognosis of the disease. In this literature review, we sought, through research in the most varied and reliable databases, to collect data on oral cancer in Brazil and, mainly, in the state of Sergipe, thus making considerations and analyzes on the subject and considering possible interventions (whether or not they already exist) that could further contribute to the abrupt reduction in cases of oral cancer.El cáncer bucal se define como un grupo de tumores malignos que afectan diferentes regiones anatómicas de la cabeza y el cuello, como labios, lengua, encías, suelo de la boca y paladar duro. Según la Orlando Parise Jr, el cáncer bucal es uno de los más comunes en Brasil, especialmente entre la población masculina. Consiste en la proliferación de células malignas que pueden comenzar en la mucosa oral, ser consecuencia de metástasis a distancia o expansión de fondo y afectar el tracto gastrointestinal superior. Se encuentra entre los 10 tipos de cáncer más comunes en el mundo y, al asociarse a un diagnóstico tardío en la mayoría de los casos, se asocia a una peor progresión y pronóstico de la enfermedad. En esta revisión de la literatura, buscamos, a través de investigaciones en las más variadas y confiables bases de datos, recolectar datos sobre el cáncer oral en Brasil y, principalmente, en el estado de Sergipe, haciendo así consideraciones y análisis sobre el tema y considerando posibles intervenciones (ya sea ya existan o no) que podrían contribuir aún más a la reducción abrupta de los casos de cáncer bucal.O câncer bucal é definido como um grupo de tumores malignos que afetam diferentes regiões anatômicas da cabeça e pescoço, como lábios, língua, gengivas, assoalho da boca e palato duro. Segundo Orlando Parise Jr, o câncer bucal é um dos mais comuns no Brasil, principalmente entre a população masculina. Ele consiste na proliferação de células malignas que podem começar na mucosa oral, ser resultado de metástases à distância ou expansão de fundo e afetar o trato gastrointestinal superior. Está entre os 10 tipos de câncer mais comuns no mundo e, por estar associado ao diagnóstico tardio na maioria dos casos, está associado a uma pior progressão e prognóstico da doença. Na presente revisão de literatura, buscou-se, através de pesquisas nos mais variados e confiáveis bancos de dados, levantar dados sobre o câncer bucal no Brasil e, principalmente, no estado de Sergipe, fazendo assim ponderações e análises sobre o assunto e considerando possíveis intervenções (que já existam ou não) que possam contribuir ainda mais para a diminuição abrupta de casos de câncer bucal

Experimental Implementation of a Two-Stroke Quantum Heat Engine

We put forth an experimental simulation of a stroboscopic two-stroke thermal engine in the IBMQ processor. The system consists of a quantum spin chain connected to two baths at their boundaries, prepared at different temperatures using the variational quantum thermalizer algorithm. The dynamics alternates between heat and work strokes, which can be separately designed using independent quantum circuits. The results show good agreement with theoretical predictions, showcasing IBMQ as a powerful tool to study thermodynamics in the quantum regime, as well as the implementation of variational quantum algorithms in real-world quantum computers. It also opens the possibility of simulating quantum heat transport across a broad range of chains geometries and interactions

Acurácia da mamografia espectral com contraste para seguimento de tumor residual pós-quimioterapia neoadjuvante em pacientes com câncer de mama: um estudo de viabilidade

Objetivo: avaliar a viabilidade da utilização da mamografia espectral com meio de contraste (CESM) na avaliação do tumor residual em mulheres com câncer de mama submetidas a quimioterapia neoadjuvante. Materiais e métodos: foi avaliada a concordância entre a mensuração do tumor residual na CESM e na mamografia digital (FFDM) com os dados histopatológicos de mulheres submetidas a quimioterapia neoadjuvante entre 2011 e 2013. Após as exclusões, três radiologistas analisaram oito CESMs e FFDMs separadamente. A maior dimensão do tumor residual foi considerada para comparação com os resultados histopatológicos. Concordância e correlação da CESM e FFDM com resultados histopatológicos e a concordância interobservador foram avaliadas. Resultados: a CESM teve sensibilidade, especificidade e valores preditivos positivos e negativos maiores que a FFDM - 83,33%, 100%, 100% e 66% versus 50%, 50%, 50% e 25%, respectivamente. A CESM teve correlação boa e consistente com os achados histopatológicos (coeficiente de correlação = 0,76-0,92; coeficiente de correlação intraclasse = 0,692-0,886). A correlação entre FFDM e os achados histopatológicos não foi estatisticamente significante, com consistência questionável (coeficiente de correlação intraclasse = 0,488-0,598). A concordância entre as dimensões do estudo histopatológico foi mais estreita com a CESM do que com a FFDM. A concordância interobservador foi maior na CESM (0,94) do que na FFDM (0,88). Conclusão: a CESM é viável e pode ser utilizada para avaliação de tumor residual após quimioterapia neoadjuvante. A CESM tem boa correlação e concordância com o estudo histopatológico e excelente concordância interobservador.Objective: to assess the feasibility of contrast-enhanced spectral mammography (CESM) of the breast for assessing the size of residual tumors after neoadjuvant chemotherapy (NAC). Materials and methods: in breast cancer patients who underwent NAC between 2011 and 2013, we evaluated residual tumor measurements obtained with CESM and full-field digital mammography (FFDM). We determined the concordance between the methods, as well as their level of agreement with the pathology. Three radiologists analyzed eight CESM and FFDM measurements separately, considering the size of the residual tumor at its largest diameter and correlating it with that determined in the pathological analysis. Interobserver agreement was also evaluated. Results: the sensitivity, specificity, positive predictive value, and negative predictive value were higher for CESM than for FFDM (83.33%, 100%, 100%, and 66% vs. 50%, 50%, 50%, and 25%, respectively). The CESM measurements showed a strong, consistent correlation with the pathological findings (correlation coefficient = 0.76-0.92; intraclass correlation coefficient = 0.692-0.886). The correlation between the FFDM measurements and the pathological findings was not statistically significant, with questionable consistency (intraclass correlation coefficient = 0.488-0.598). Agreement with the pathological findings was narrower for CESM measurements than for FFDM measurements. Interobserver agreement was higher for CESM than for FFDM (0.94 vs. 0.88). Conclusion: CESM is a feasible means of evaluating residual tumor size after NAC, showing a good correlation and good agreement with pathological findings. For CESM measurements, the interobserver agreement was excellent