Hybrid Controller based on Null Space and Consensus Algorithms for Mobile Robot Formation

This work presents a novel hybrid control approach based on null space and consensus algorithms to solve the scalability problems of mobile robot formation and improve leader control through multiple control objectives. In previous works, the training of robots based on the null space requires a rigid training structure based on a geometric shape, which increases the number of agents in the formation. The scheme of the control algorithm, which does not make formation scalability possible, must be changed; therefore, seeking the scalability of training based on null space is a challenge that could be solved with the inclusion of consensus algorithms, which allow the control structure to be maintained despite increasing or decreasing the number of robot followers. Another advantage of this proposal is that the formation of the followers does not depend on any geometric figure compared to previous works based on the null space; this new proposal does not present singularities as if the structure is based on geometric shape, the latter one is crucial since the formation of agents can take forms that cannot be achieved with a geometric structure, such as collinear locations, that can occur in many environments. The proposed hybrid control approach presents three tasks: i) leader position task, ii) leader shape task, and iii) follower formation task. The proposed algorithm is validated through simulations, performing tests that use the kinematic model of non-holonomic mobile robots. In addition, linear algebra and Lyapunov theory are used to analyze the stability of the method. Doi: 10.28991/ESJ-2022-06-03-01 Full Text: PD

Efectos del genotipo, tamaño de la camada y el sexo sobre las características de la canal y el perfil de ácidos grasos en corderos de pelo

The effect of the genotype (Pelibuey vs Katahdin), type of lambing (single vs. double) and sex (males vs. females) on the characteristics of the carcass and its cuts, in addition to the fatty acid profile of the loin were evaluated in 66 lambs slaughtered at weaning. The yield of the carcass and ribs were higher (P<0.05) in the Pelibuey breed. Slaughter weight, carcass weight and rib yield were higher (P<0.01) in single-born lambs, while the yield of shoulder and leg were lower (P<0.01) than in double-born lambs. The proportion of soft tissue of the different cuts was higher (P<0.05), but that of bone was lower (P< 0.05) in single-born lambs than in double-born lambs. Females had a higher (P<0.05) proportion of soft tissue and a lower proportion of bone (P<0.01) than males. The concentrations of C18:1n7 and C20:4n-6 were higher (P<0.05) in the Pelibuey breed than in the Katahdin breed, while the C22:5n-3 and C22:6n-3 were lower. The percentage of monounsaturated fatty acids was higher (P<0.05) in the meat of single-born lambs, while that of total polyunsaturated fatty acids and n-3 was higher (P<0.05) in double-born lambs. The characteristics of the carcass, the tissue composition of the commercial cuts and the fatty acid profile in hair sheep slaughtered at weaning varied more due to the type of lambing than due to the genotype or sex.El efecto del genotipo (Pelibuey vs Katahdin), tipo de parto (simple vs dobles) y sexo (machos vs. hembras) sobre las características de la canal y de sus cortes, además del perfil de ácidos grasos del lomo fueron evaluados en 66 corderos sacrificados al destete. El rendimiento de la canal y del costillar fue mayor (P<0.05) en la raza Pelibuey. El peso al sacrificio, peso de canal y rendimiento del costillar fue mayor (P<0.01) en crías de parto simple, mientras que el rendimiento de paleta y pierna fue menor (P< 0.01) que en crías de parto doble. La proporción del tejido blando de los diferentes cortes fue mayor (P<0.05), pero el de hueso fue menor (P< 0.05) en crías de parto simple que las de parto doble. Las hembras tuvieron mayor (P<0.05) proporción de tejido blando y menor proporción de hueso (P<0.01) que los machos. Las concentraciones de C18:1n7 y C20:4n-6 fueron mayores (P< 0.05) en la raza Pelibuey que, en la Katahdin, mientras que los C22:5n-3 y C22:6n-3 fueron menores. El porcentaje de ácidos grasos monoinsaturados fue mayor (P<0.05) en la carne de crías de partos simples, en tanto que el de los ácidos grasos poliinsaturados totales y n-3 fue mayor (P<0.05) en crías de partos dobles. Las características de la canal, la composición tisular de los cortes comerciales y el perfil de ácidos grasos en ovinos de pelo sacrificados al destete mostraron más cambios por el tipo de parto que por el genotipo o el sexo

SEROPREVALENCE OF LEPTOSPIROSIS IN ALPACAS FROM QUIMSACHATA, PUNO

El objetivo del presente estudio fue determinar la seroprevalencia de leptospirosis en alpacas durante la época de lluvias (enero-marzo) en la localidad Quimsachata, Puno. Se analizaron 344 sueros de alpacas de una estación experimental del Instituto Nacional de Investigación y Extensión Agraria, mediante la prueba de microaglutinación. Se evaluó, además, la asociación de las variables sexo y edad con la reacción a la prueba. El 44.8 ± 5.3% de los animales fueron serorreactores. Los serovares detectados fueron pomona (43.6%), icterohaemorrhagiae (9.9%), y canicola (1.5%), no encontrándose ningún reactor a hardjo. No se encontró ningún suero positivo en tuis; mientras que en adultos no se encontró diferencia significativa entre sexos. Los altos títulos hallados para pomona e icterohaemorrhagiae en estos animales sugieren una infección activa durante la época de lluvia.The objective of this study was to estimate the prevalence of leptospirosis in alpacas reared in the locality of Quimsachata, Puno during the rainy season (January-March). Serum samples (n=344) of alpacas from the experimental station of the Instituto Nacional de Investigación y Extensión Agraria (INIA) were analyzed using the microaglutination test. The association of age and sex with test results was also evaluated. The overall seroprevalence was 44.8 ± 5.3%. The detected serovars were pomona (43.6%), icterohaemorrhagiae (9.9%), canicola (1.5%), and none for hardjo. Positive samples in young animals («tuis») were nil, whereas in adult animals no statistical differences was found due to sex. The high antibody titres in pomona and icterohaemorrhagiae suggested an active infection during the rainy period

Carbapenem resistance in Enterobacterales bloodstream infections among children with cancer or post-haematopoietic stem cell transplant: a retrospective cohort study

Background Risk factors for carbapenem resistance in Enterobacterales bloodstream infections among children with cancer or post-HSCT have not been thoroughly explored. Methods All children with cancer or post-HSCT who developed Enterobacterales bloodstream infections in two cancer referral centres in major Colombian cities between 2012 and 2021 were retrospectively examined. When the infection episode occurred, carbapenem resistance mechanisms were evaluated according to the available methods. Data were divided in a training set (80%) and a test set (20%). Three internally validated carbapenem-resistant Enterobacterales (CRE) prediction models were created: a multivariate logistic regression model, and two data mining techniques. Model performances were evaluated by calculating the average of the AUC, sensitivity, specificity and predictive values. Results A total of 285 Enterobacterales bloodstream infection episodes (229 carbapenem susceptible and 56 carbapenem resistant) occurred [median (IQR) age, 9 (3.5–14) years; 57% male]. The risk of CRE was 2.1 times higher when the infection was caused by Klebsiella spp. and 5.8 times higher when a carbapenem had been used for ≥3 days in the previous month. A model including these two predictive variables had a discriminatory performance of 77% in predicting carbapenem resistance. The model had a specificity of 97% and a negative predictive value of 81%, with low sensitivity and positive predictive value. Conclusions Even in settings with high CRE prevalence, these two variables can help early identification of patients in whom CRE-active agents are unnecessary and highlight the importance of strengthening antibiotic stewardship strategies directed at preventing carbapenem overuse.Q1Q1Los factores de riesgo de resistencia a los carbapenémicos en las infecciones del torrente sanguíneo por Enterobacterales entre niños con cáncer o después de un TCMH no se han explorado a fondo. Métodos Se examinaron retrospectivamente todos los niños con cáncer o post-TCMH que desarrollaron infecciones del torrente sanguíneo por Enterobacterales en dos centros de referencia de cáncer en las principales ciudades de Colombia entre 2012 y 2021. Cuando ocurrió el episodio de infección, se evaluaron los mecanismos de resistencia a los carbapenémicos según los métodos disponibles. Los datos se dividieron en un conjunto de entrenamiento (80%) y un conjunto de prueba (20%). Se crearon tres modelos de predicción de Enterobacterales resistentes a carbapenémicos (CRE) validados internamente: un modelo de regresión logística multivariante y dos técnicas de minería de datos. El rendimiento del modelo se evaluó calculando el promedio del AUC, la sensibilidad, la especificidad y los valores predictivos. Resultados Se produjeron un total de 285 episodios de infección del torrente sanguíneo por Enterobacterales (229 susceptibles a carbapenémicos y 56 resistentes a carbapenémicos) [mediana de edad (RIQ), 9 (3,5 a 14) años; 57% hombres]. El riesgo de CRE fue 2,1 veces mayor cuando la infección fue causada por Klebsiella spp. y 5,8 veces mayor cuando se había utilizado un carbapenem durante ≥3 días en el mes anterior. Un modelo que incluía estas dos variables predictivas tuvo un rendimiento discriminatorio del 77% en la predicción de la resistencia a los carbapenémicos. El modelo tuvo una especificidad del 97% y un valor predictivo negativo del 81%, con baja sensibilidad y valor predictivo positivo. Conclusiones Incluso en entornos con una alta prevalencia de CRE, estas dos variables pueden ayudar a la identificación temprana de pacientes en quienes los agentes activos de CRE son innecesarios y resaltar la importancia de fortalecer las estrategias de administración de antibióticos dirigidas a prevenir el uso excesivo de carbapenémicos.N/AS

Características fisicoquímicas del aceite del endospermo de la Palma Yagua (Attalea cryptanther)

In this research, the physicochemical characteristics of the yagua palm (Attalea cryptanther) endospermus oil were evaluated. Seeds of mature fruits from Santa Ana hill, Canoabo, Bejuma municipality, Carabobo state-Venezuela, harvested in November 2003, were decorticated and the endospermus was transformed to meal by means of grinding. The oil from meal was extracted with n-hexane using Soxhlet equipment. Yagua endospermus crude oil showed the following characteristics: iodine index 13.77 cg I2/g; refraction index 1.4441 at 60 ºC; saponification value 233 mg KOH/g; peroxide value 0.20 meq O2/kg; unsaponifiable matter 0.97 %; AOM stability 31 h; solid fat content 54 % at 10 ºC and 10 % at 20 ºC; Lovibond color: R 3.2 and Y 1.3. The major fatty acids were lauric acid (58 %) and miristic acid (16.5 %).Yagua endospermus is an alternative oleaginousEl objetivo de esta investigación fue caracterizar físicoquímicamente el aceite de la palma Yagua (Attalea cryptanther). El endospermo de frutos maduros procedentes del cerro Santa Ana, Canoabo, municipio Bejuma, estado Carabobo Venezuela, pertenecientes a la cosecha Noviembre 2003, fueron transformados en harina mediante molienda. Una vez obtenida la harina se procedió a la extracción del aceite mediante un equipo Soxhlet utilizando como solvente n-Hexano. El aceite crudo extraído fue caracterizado mediante normas COVENIN y AOCS. Se determinaron valores de índice de yodo de 13,77 cg I2/g, índice de refracción 1,4441 a 60 °C, índice de saponificación 233mg KOH/g, índice de peroxido 0,20 meq O2/Kg, materia insaponificable 0,97%, estabilidad AOM (31 horas), contenido de grasa sólida (54% a 10 °C y 10% a 20 °C), color (R: 3,2- A: 1,3-A: 0). Los ácidos grasos mayoritarios encontrados fueron el ácido laurico (58%) y el ácido miristico (16,5%). El endospermo evaluado es una alternativa como materia prima para la obtención de aceite ya que presenta características similares al aceite de coco y palmiste

Immunogenicity of a Prime-Boost Vaccine Containing the Circumsporozoite Proteins of Plasmodium vivax in Rodents

Plasmodium vivax is the most widespread and the second most prevalent malaria-causing species in the world. Current measures used to control the transmission of this disease would benefit from the development of an efficacious vaccine. in the case of the deadly parasite P. falciparum, the recombinant RTS,S vaccine containing the circumsporozoite antigen (CSP) consistently protects 30 to 50% of human volunteers against infection and is undergoing phase III clinical trials in Africa with similar efficacy. These findings encouraged us to develop a P. vivax vaccine containing the three circulating allelic forms of P. vivax CSP. Toward this goal, we generated three recombinant bacterial proteins representing the CSP alleles, as well as a hybrid polypeptide called PvCSP-All-CSP-epitopes. This hybrid contains the conserved N and C termini of P. vivax CSP and the three variant repeat domains in tandem. We also generated simian and human recombinant replication-defective adenovirus vectors expressing PvCSP-All-CSP-epitopes. Mice immunized with the mixture of recombinant proteins in a formulation containing the adjuvant poly(I.C) developed high and long-lasting serum IgG titers comparable to those elicited by proteins emulsified in complete Freund's adjuvant. Antibody titers were similar in mice immunized with homologous (protein-protein) and heterologous (adenovirus- protein) vaccine regimens. the antibodies recognized the three allelic forms of CSP, reacted to the repeated and nonrepeated regions of CSP, and recognized sporozoites expressing the alleles VK210 and VK247. the vaccine formulations described in this work should be useful for the further development of an anti-P. vivax vaccine.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)PNPDCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Universidade Federal de São Paulo, Escola Paulista Med, Ctr Terapia Celular & Mol CTCMol, São Paulo, BrazilUniversidade Federal de São Paulo, Escola Paulista Med, Dept Microbiol Imunol & Parasitol, São Paulo, BrazilWistar Inst Anat & Biol, Philadelphia, PA 19104 USAMalaria Vaccine & Drug Dev Ctr, Cali, ColombiaUniv Fed Santa Catarina, Dept Microbiol Imunol & Parasitol, Florianopolis, SC, BrazilUniv São Paulo, Fac Ciencias Farmaceut, Dept Anal Clin & Toxicol, São Paulo, BrazilNYU, Sch Med, Dept Pathol, Michael Heidelberger Div, New York, NY USAUniversidade Federal de São Paulo, Escola Paulista Med, Ctr Terapia Celular & Mol CTCMol, São Paulo, BrazilUniversidade Federal de São Paulo, Escola Paulista Med, Dept Microbiol Imunol & Parasitol, São Paulo, BrazilFAPESP: 2009/15432-4FAPESP: 2012/13032-5CNPq: 471087/2013-0Web of Scienc

Efecto de la restauración post-minería de la comunidad vegetal de matorral xerófilo, en Nuevo León, México

Background and Aims: Restoration strategies promote the recovery of disturbed ecosystems in order to renew their natural structure and function. Our research evaluated the abundance, dominance, frequency, and diversity of species in three areas of Tamaulipan thornscrub.Methods: Two areas were subject to opencast limestone mining over the course of seven years from 2000 to 2006. Restoration techniques were applied in one of the excavated areas, whereas this was not done in other. The third one, an undisturbed area, was used as the reference community. In 2013, we recorded ecological attributes of established plant communities in 36 preselected 100 m2 (10 m × 10 m) sampling sites, 12 per site.Key results: The area without restoration did not register regeneration within the vegetation. Species richness (S), Margalef index (DMg) and Shannon index (H’) showed significant differences (mean values S 4.75 and 8.25, DMg 0.87 and 1.80, H’ 0.7 and 1.54, respectively) between the restored and reference area while the variables of density, crown area, and Pretzsch index (A) were similar.Conclusions: Based on the similarity in the density and crown area with a reference area, we conclude that active restoration techniques, involving deposition of rock and soil materials and exclusion of industrial activities, generate favorable conditions for the reestablishment of vegetation communities in Tamaulipan thornscrub in seven years.Antecedentes y Objetivos: Las estrategias de restauración tienen como objetivo favorecer la recuperación de los ecosistemas alterados, para lograr el restablecimiento de su estructura y funcionamiento naturales. La presente investigación evaluó la abundancia, dominancia, frecuencia y diversidad de especies en tres áreas de matorral espinoso tamaulipeco.Métodos: Dos áreas fueron sometidas durante siete años (2000-2006) a procesos de aprovechamiento a cielo abierto. A una se le aplicaron técnicas de restauración y a la otra no, y se compararon con un área en la que no se tiene perturbación registrada llamada área referencia. En el año 2013 se establecieron 36 sitios de muestreo, 12 por cada una de las áreas cuyas dimensiones fueron de 100 m2 (10 × 10 m), en las que se registraron los atributos ecológicos de las comunidades vegetales establecidas.Resultados clave: En el área sin restaurar no se registró regeneración de la comunidad vegetal. La riqueza específica (S), índice de Margalef (DMg) e índice de Shannon (H´) mostraron diferencias significativas entre el área restaurada y la de referencia (Valores medios S 4.75 y 8.25, DMg 0.87 y 1.80, H´ 0.7 y 1.54, respectivamente), mientras que las variables de densidad, área de copa e índice de Pretzsch (A) no mostraron diferencias.Conclusiones: Se concluye que la técnica de restauración activa, la cual consiste en el depósito de material rocoso y edáfico en el área, y su exclusión de actividades productivas, generan condiciones favorables para que la comunidad vegetal del matorral espinoso tamaulipeco se establezca teniendo similitud en la densidad y área de copa a un área de referencia en siete años

Evaluation of dengue fever reports during an epidemic, Colombia

OBJECTIVE To assess the validity of dengue fever reports and how they relate to the definition of case and severity. METHODS Diagnostic test assessment was conducted using cross-sectional sampling from a universe of 13,873 patients treated during the fifth epidemiological period in health institutions from 11 Colombian departments in 2013. The test under analyses was the reporting to the National Public Health Surveillance System, and the reference standard was the review of histories identified by active institutional search. We reviewed all histories of patients diagnosed with dengue fever, as well as a random sample of patients with febrile syndromes. The specificity and sensitivity of reports were estimated for this purpose, considering the inverse of the probability of being selected for weighting. The concordance between reporting and the findings of the active institutional search was calculated using Kappa statistics. RESULTS We included 4,359 febrile patients, and 31.7% were classified as compatible with dengue fever (17 with severe dengue fever; 461 with dengue fever and warning signs; 904 with dengue fever and no warning signs). The global sensitivity of reports was 13.2% (95%CI 10.9;15.4) and specificity was 98.4% (95%CI 97.9;98.9). Sensitivity varied according to severity: 12.1% (95%CI 9.3;14.8) for patients presenting dengue fever with no warning signs; 14.5% (95%CI 10.6;18.4) for those presenting dengue fever with warning signs, and 40.0% (95%CI 9.6;70.4) for those with severe dengue fever. Concordance between reporting and the findings of the active institutional search resulted in a Kappa of 10.1%. CONCLUSIONS Low concordance was observed between reporting and the review of clinical histories, which was associated with the low reporting of dengue fever compatible cases, especially milder cases

Genetic Footprints of Iberian Cattle in America 500 Years after the Arrival of Columbus

Background: American Creole cattle presumably descend from animals imported from the Iberian Peninsula during the period of colonization and settlement, through different migration routes, andmay have also suffered the influence of cattle directly imported from Africa. The introduction of European cattle, which began in the 18th century, and later of Zebu from India, has threatened the survival of Creole populations, some of which have nearly disappeared or were admixed with exotic breeds. Assessment of the genetic status of Creole cattle is essential for the establishment of conservation programs of these historical resources. Methodology/Principal Findings: We sampled 27 Creole populations, 39 Iberian, 9 European and 6 Zebu breeds. We used microsatellite markers to assess the origins of Creole cattle, and to investigate the influence of different breeds on their genetic make-up. The major ancestral contributions are from breeds of southern Spain and Portugal, in agreement with the historical ports of departure of ships sailing towards the Western Hemisphere. This Iberian contribution to Creoles may also include some African influence, given the influential role that African cattle have had in the development of Iberian breeds, but the possibility of a direct influence on Creoles of African cattle imported to America can not be discarded. In addition to the Iberian influence, the admixture with other European breeds was minor. The Creoles from tropical areas, especially those from the Caribbean, show clear signs of admixture with Zebu. Conclusions/Significance: Nearly five centuries since cattle were first brought to the Americas, Creoles still show a strong and predominant signature of their Iberian ancestors. Creole breeds differ widely from each other, both in genetic structure and influences from other breeds. Efforts are needed to avoid their extinction or further genetic erosion, which would compromise centuries of selective adaptation to a wide range of environmental condition

The EXPRES Stellar Signals Project II. State of the Field in Disentangling Photospheric Velocities

Measured spectral shifts due to intrinsic stellar variability (e.g., pulsations, granulation) and activity (e.g., spots, plages) are the largest source of error for extreme-precision radial-velocity (EPRV) exoplanet detection. Several methods are designed to disentangle stellar signals from true center-of-mass shifts due to planets. The Extreme-precision Spectrograph (EXPRES) Stellar Signals Project (ESSP) presents a self-consistent comparison of 22 different methods tested on the same extreme-precision spectroscopic data from EXPRES. Methods derived new activity indicators, constructed models for mapping an indicator to the needed radial-velocity (RV) correction, or separated out shape- and shift-driven RV components. Since no ground truth is known when using real data, relative method performance is assessed using the total and nightly scatter of returned RVs and agreement between the results of different methods. Nearly all submitted methods return a lower RV rms than classic linear decorrelation, but no method is yet consistently reducing the RV rms to sub-meter-per-second levels. There is a concerning lack of agreement between the RVs returned by different methods. These results suggest that continued progress in this field necessitates increased interpretability of methods, high-cadence data to capture stellar signals at all timescales, and continued tests like the ESSP using consistent data sets with more advanced metrics for method performance. Future comparisons should make use of various well-characterized data sets—such as solar data or data with known injected planetary and/or stellar signals—to better understand method performance and whether planetary signals are preserved