Embed System for Robotic Arm with 3 Degree of Freedom Controller using Computational Vision on Real-Time

This Paper deals with robotic arm embed controller system, with distributed system based on protocol communication between one server supporting multiple points and mobile applications trough sockets .The proposed system utilizes hand with glove gesture in three-dimensional recognition using fuzzy implementation to set x,y,z coordinates. This approach present all implementation over: two raspberry PI arm based computer running client program, x64 PC running server program, and one robot arm controlled by ATmega328p based board.Comment: 8 pages,9 figures, published on AIFL 2014 conference (AIFL-2014 Submission 20

Potential Therapeutic Strategies For Non - Muscle Invasive Bladder Cancer Based On Association Of Intravesical Immunotherapy With P-mapa And Systemic Administration Of Cisplatin And Doxorubicin

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)The present study describes the histopathological and molecular effects of P-MAPA (Protein aggregate magnesium-ammonium phospholinoleate-palmitoleate anhydride) intravesical immunotherapy combined with systemic doxorubicin or cisplatin for treatment of non-muscle invasive bladder cancer (NMIBC) in an appropriate animal model. Our results showed an undifferentiated tumor, characterizing a tumor invading mucosa or submucosa of the bladder wall (pT1) and papillary carcinoma in situ (pTa) in the Cancer group. The histopathological changes were similar between the combined treatment with intravesical P-MAPA plus systemic Cisplatin and P-MAPA immunotherapy alone, showing decrease of urothelial neoplastic lesions progression and histopathological recovery in 80% of the animals. The animals treated systemically with cisplatin or doxorubicin singly, showed 100% of malignant lesions in the urinary bladder. Furthemore, the combined treatment with P-MAPA and Doxorubicin showed no decrease of urothelial neoplastic lesions progression and histopathological recovery. Furthermore, Akt, PI3K, NF-kappa B and VEGF protein levels were significantly lower in intravesical P-MAPA plus systemic cisplatin and in intravesical P-MAPA alone treatments than other groups. In contrast, PTEN protein levels were significantly higher in intravesical P-MAPA plus systemic cisplatin and in intravesical P-MAPA alone treatments. Thus, it could be concluded that combination of intravesical P-MAPA immunotherapy and systemic cisplatin in the NMIBC animal model was effective, well tolerated and showed no apparent signs of antagonism between the drugs. In addition, intravesical P-MAPA immunotherapy may be considered as a valuable option for treatment of BCG unresponsive patients that unmet the criteria for early cystectomy.425942954Farmabrasilis-BrazilCNPq-Brazil [490519/2011-3]FAPESP-Brazil [2014/12047-4]CAPESConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES

Potential therapeutic strategies for non-muscle invasive bladder cancer based on association of intravesical immunotherapy with P-MAPA and systemic administration of cisplatin and doxorubicin

The present study describes the histopathological and molecular effects of P-MAPA (Protein aggregate magnesium-ammonium phospholinoleate-palmitoleate anhydride) intravesical immunotherapy combined with systemic doxorubicin or cisplatin for treatment of non-muscle invasive bladder cancer (NMIBC) in an appropriate animal model. Our results showed an undifferentiated tumor, characterizing a tumor invading mucosa or submucosa of the bladder wall (pT1) and papillary carcinoma in situ (pTa) in the Cancer group. The histopathological changes were similar between the combined treatment with intravesical P-MAPA plus systemic Cisplatin and P-MAPA immunotherapy alone, showing decrease of urothelial neoplastic lesions progression and histopathological recovery in 80% of the animals. The animals treated systemically with cisplatin or doxorubicin singly, showed 100% of malignant lesions in the urinary bladder. Furthemore, the combined treatment with P-MAPA and Doxorubicin showed no decrease of urothelial neoplastic lesions progression and histopathological recovery. Furthermore, Akt, PI3K, NF-kappa B and VEGF protein levels were significantly lower in intravesical P-MAPA plus systemic cisplatin and in intravesical P-MAPA alone treatments than other groups. In contrast, PTEN protein levels were significantly higher in intravesical P-MAPA plus systemic cisplatin and in intravesical P-MAPA alone treatments. Thus, it could be concluded that combination of intravesical P-MAPA immunotherapy and systemic cisplatin in the NMIBC animal model was effective, well tolerated and showed no apparent signs of antagonism between the drugs. In addition, intravesical P-MAPA immunotherapy may be considered as a valuable option for treatment of BCG unresponsive patients that unmet the criteria for early cystectomy425942954CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO - CNPQCOORDENAÇÃO DE APERFEIÇOAMENTO DE PESSOAL DE NÍVEL SUPERIOR - CAPESFUNDAÇÃO DE AMPARO À PESQUISA DO ESTADO DE SÃO PAULO - FAPESP490519/2011-3não tem2014/12047-

Alterations In Ubiquitin Ligase Siah-2 And Its Corepressor N-cor After P-mapa Immunotherapy And Anti-androgen Therapy: New Therapeutic Opportunities For Non-muscle Invasive Bladder Cancer

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)The present study describes the role of the ubiquitin ligase Siah-2 and corepressor N-CoR in controlling androgen receptor (AR) and estrogen receptors (ERa and ER beta) signaling in an appropriate animal model (Fischer 344 female rats) of non-muscle invasive bladder cancer (NMIBC), especially under conditions of anti-androgen therapy with flutamide. Furthermore, this study describes the mechanisms of a promising therapeutic alternative for NMIBC based on Protein aggregate magnesium-ammonium phospholinoleate-palmitoleate anhydride (P-MAPA) intravesical immunotherapy combined with flutamide, involving the interaction among steroid hormone receptors, their regulators and Toll-like receptors (TLRs). Our results demonstrated that increased Siah-2 and AR protein levels and decreased N-CoR, cytochrome P450 (CYP450) and estrogen receptors levels played a critical role in the urothelial carcinogenesis, probably leading to escape of urothelial cancer cells from immune system attack. P-MAPA immunotherapy led to distinct activation of innate immune system TLRs 2 and 4-mediated, resulting in increase of interferon signaling pathway, which was more effective in recovering the immunosuppressive tumor immune microenvironment and in recovering the bladder histology features than BCG (Bacillus Calmette-Guerin) treatments. The AR blockade therapy was important in the modulating of downstream molecules of TLR2 and TLR4 signaling pathway, decreasing the inflammatory cytokines signaling and enhancing the interferon signaling pathway when associated with P-MAPA. Taken together, the data obtained suggest that interferon signaling pathway activation and targeting AR and Siah-2 signals by P-MAPA intravesical immunotherapy alone and/or in combination with AR blockade may provide novel therapeutic approaches for NMIBC.8544274443Farmabrasilis-BrazilConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)CNPq [490519/2011-3]FAPESP [2012/20706-2, 2012/13585-4

Alterations in ubiquitin ligase SIAH-2 and its corepressor N-COR after P-mapa immunotherapy and anti-androgen therapy: new therapeutic opportunities for non-muscle invasive bladder cancer

The present study describes the role of the ubiquitin ligase Siah-2 and corepressor N-CoR in controlling androgen receptor (AR) and estrogen receptors (ERa and ER beta) signaling in an appropriate animal model (Fischer 344 female rats) of non-muscle invasive bladder cancer (NMIBC), especially under conditions of anti-androgen therapy with flutamide. Furthermore, this study describes the mechanisms of a promising therapeutic alternative for NMIBC based on Protein aggregate magnesium-ammonium phospholinoleate-palmitoleate anhydride (P-MAPA) intravesical immunotherapy combined with flutamide, involving the interaction among steroid hormone receptors, their regulators and Toll-like receptors (TLRs). Our results demonstrated that increased Siah-2 and AR protein levels and decreased N-CoR, cytochrome P450 (CYP450) and estrogen receptors levels played a critical role in the urothelial carcinogenesis, probably leading to escape of urothelial cancer cells from immune system attack. P-MAPA immunotherapy led to distinct activation of innate immune system TLRs 2 and 4-mediated, resulting in increase of interferon signaling pathway, which was more effective in recovering the immunosuppressive tumor immune microenvironment and in recovering the bladder histology features than BCG (Bacillus Calmette-Guerin) treatments. The AR blockade therapy was important in the modulating of downstream molecules of TLR2 and TLR4 signaling pathway, decreasing the inflammatory cytokines signaling and enhancing the interferon signaling pathway when associated with P-MAPA. Taken together, the data obtained suggest that interferon signaling pathway activation and targeting AR and Siah-2 signals by P-MAPA intravesical immunotherapy alone and/or in combination with AR blockade may provide novel therapeutic approaches for NMIBC8544274443CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO - CNPQFUNDAÇÃO DE AMPARO À PESQUISA DO ESTADO DE SÃO PAULO - FAPESP490519/2011-32012/20706-2; 2012/13585-

Alterations In Ubiquitin Ligase Siah-2 And Its Corepressor N-cor After P-mapa Immunotherapy And Anti-androgen Therapy: New Therapeutic Opportunities For Non-muscle Invasive Bladder Cancer.

The present study describes the role of the ubiquitin ligase Siah-2 and corepressor N-CoR in controlling androgen receptor (AR) and estrogen receptors (ERα and ERβ) signaling in an appropriate animal model (Fischer 344 female rats) of non-muscle invasive bladder cancer (NMIBC), especially under conditions of anti-androgen therapy with flutamide. Furthermore, this study describes the mechanisms of a promising therapeutic alternative for NMIBC based on Protein aggregate magnesium-ammonium phospholinoleate-palmitoleate anhydride (P-MAPA) intravesical immunotherapy combined with flutamide, involving the interaction among steroid hormone receptors, their regulators and Toll-like receptors (TLRs). Our results demonstrated that increased Siah-2 and AR protein levels and decreased N-CoR, cytochrome P450 (CYP450) and estrogen receptors levels played a critical role in the urothelial carcinogenesis, probably leading to escape of urothelial cancer cells from immune system attack. P-MAPA immunotherapy led to distinct activation of innate immune system TLRs 2 and 4-mediated, resulting in increase of interferon signaling pathway, which was more effective in recovering the immunosuppressive tumor immune microenvironment and in recovering the bladder histology features than BCG (Bacillus Calmette-Guerin) treatments. The AR blockade therapy was important in the modulating of downstream molecules of TLR2 and TLR4 signaling pathway, decreasing the inflammatory cytokines signaling and enhancing the interferon signaling pathway when associated with P-MAPA. Taken together, the data obtained suggest that interferon signaling pathway activation and targeting AR and Siah-2 signals by P-MAPA intravesical immunotherapy alone and/ or in combination with AR blockade may provide novel therapeutic approaches for NMIBC.84427-444

Efeitos do tratamento crônico com extrato etanólico de pterodon pubescens no reparo de defeito femoral em ratas ovariectomizadas

O objetivo desse estudo foi avaliar os efeitos do tratamento com extrato etanólico de Pterodon pubescens no reparo de defeito femoral em ratas ovariectomizadas. Foram utilizadas ratas Sprague – Dawley de 2 meses ≈ 200 g (protocolo CEUA-UNICAMP nᵒ 4358-1). A osteoporose foi induzida por ovariectomia bilateral (OVX) e sua eficácia foi confirmada por microtomografia (μCT). O tratamento oral com o extrato etanólico de Pterodon pubescens (EEPp) nas doses de 1, 10 e 100 mg/kg ocorreu por 93 dias consecutivos. Para avaliação do reparo por μCT e histologia, um defeito ósseo foi induzido 90 dias pós-OVX por osteotomia (OST) femoral. Foram realizados testes de von Frey eletrônico (hiperalgesia mecânica/dor), Open-field (locomoção espontânea) e Rotarod (locomoção forçada), bem como monitorados peso e ingesta de ração e água. Foram realizadas análises toxicológicas no soro e em órgãos vitais ex vivo. As diferenças foram consideradas significativas quando P≤0,05. O EEPp (1, 10 e 100 mg/kg) inibiu a hiperalgesia mecânica em 98 ± 9%, 81 ± 9% e 87 ± 4%, não alterou a atividade locomotora espontânea e aumentou em 70 ± 5%, 72 ± 7% e 73 ± 7% a latência de queda no Rotarod, respectivamente. Além disso, a histologia revelou que o EEPp (1, 10 e 100 mg/kg) induziu neoformação óssea na extensão do defeito em 89 ± 3%, 79 ± 6% e 74 ± 10%, respectivamente. As análises de μCT revelaram perda de massa óssea no grupo OVX e mostrou que a dose de 1 mg/kg do EEPp consolidou 70% do defeito ósseo em 40 dias pós-OST. O EEPp não causou inconsistências na ingesta de ração e água dos animais. Porém, o EEPp na dose de 100 mg/kg parece ser hepatotóxica, pois, além de alterar cor e textura, aumentou o peso relativo do coração (6 ± 1%), pulmões (7 ± 2%) e fígado (21 ± 1%), bem como elevou os níveis séricos de GGT em 64 ± 19%.Fil: Bighetto-Cain, Bruna. Universidade Estadual de Campinas (Brasil)Fil: Camilli, José Angelo. Universidade Estadual de Campinas (Brasil)Fil: Camilli, Júlia Constantino. Universidade Estadual de Campinas (Brasil)Fil: Fávaro, Wagner José. Universidade Estadual de Campinas (Brasil)Fil: Garcia, Patrick Vianna. Universidade Estadual de Campinas (Brasil)Fil: Nucci-Martins, Catharina. Universidade Estadual de Campinas (Brasil

Increased toll-like receptors and p53 levels regulate apoptosis and angiogenesis in non-muscle invasive bladder cancer: mechanism of action of P-MAPA biological response modifier

Background: The new modalities for treating patients with non-muscle invasive bladder cancer (NMIBC) for whom BCG (Bacillus Calmette-Guerin) has failed or is contraindicated are recently increasing due to the development of new drugs. Although agents like mitomycin C and BCG are routinely used, there is a need for more potent and/or less-toxic agents. In this scenario, a new perspective is represented by P-MAPA (Protein Aggregate Magnesium-Ammonium Phospholinoleate-Palmitoleate Anhydride), developed by Farmabrasilis (non-profit research network). This study detailed and characterized the mechanisms of action of P-MAPA based on activation of mediators of Toll-like Receptors (TLRs) 2 and 4 signaling pathways and p53 in regulating angiogenesis and apoptosis in an animal model of NMIBC, as well as, compared these mechanisms with BCG treatment. Results: Our results demonstrated the activation of the immune system by BCG (MyD88-dependent pathway) resulted in increased inflammatory cytokines. However, P-MAPA intravesical immunotherapy led to distinct activation of TLRs 2 and 4-mediated innate immune system, resulting in increased interferons signaling pathway (TRIF-dependent pathway), which was more effective in the NMIBC treatment. Interferon signaling pathway activation induced by P-MAPA led to increase of iNOS protein levels, resulting in apoptosis and histopathological recovery. Additionally, P-MAPA immunotherapy increased wild-type p53 protein levels. The increased wild-type p53 protein levels were fundamental to NO-induced apoptosis and the up-regulation of BAX. Furthermore, interferon signaling pathway induction and increased p53 protein levels by P-MAPA led to important antitumor effects, not only suppressing abnormal cell proliferation, but also by preventing continuous expansion of tumor mass through suppression of angiogenesis, which was characterized by decreased VEGF and increased endostatin protein levels. Conclusions: Thus, P-MAPA immunotherapy could be considered an important therapeutic strategy for NMIBC, as well as, opens a new perspective for treatment of patients that are refractory or resistant to BCG intravesical therapy16CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO - CNPQFUNDAÇÃO ARAUCÁRIA DE APOIO AO DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO DO ESTADO DO PARANÁ - FAFUNDAÇÃO DE AMPARO À PESQUISA DO ESTADO DE SÃO PAULO - FAPESP490519/2011-3; 475211/2013-8; 402280/2013-0225/2014; 656/20142011/05726-4; 2012/20706-2; 2012/13585-4; 2014/20465-

Avaliação da condição de saúde oral de pacientes com transtornos psiquiátricos / Patients of oral health condition evaluation with phychiatric disorders

Introdução: A perda dentária é um dos problemas de saúde bucal mais prevalentes população mundial, que acomete principalmente adultos e idosos. Objetivo: Determinar o estado de saúde oral e investigar a associação da condição de saúde bucal com variáveis sóciodemográficas de indivíduos com transtornos psiquiátricos. Método: Os pacientes eram assistidos em Centros de Atenção Psicossocial (GE) e assinaram um termo de Consentimento Livre e Esclarecido. A amostra do estudo foi de 78 pacientes psiquiátricos de idades entre 20 e 50 anos. Experiência com cárie, condições de higiene oral e periodontal foram avaliadas pelos índices CPOD, IPV (Índice de placa visível), ISG (sangramento gengival), respectivamente. Aplicou-se os testes qui-quadrado de Pearson, teste de Mann-Whitney e regressão logística na análise estatística. Como grupo controle (GC), foram recrutados pacientes que procuravam tratamento odontológico numa Unidade Básica de Saúde de Teresina-PI, os quais foram pareados segundo gênero e renda. Resultados: GC apresentou menos dentes hígidos (p=0,002). A diferença entre os grupos com relação ao CPOD foi significativa (p=0,004), especialmente no componente perdidos (p=0,004). A condição periodontal não foi significativa entre os grupos. Conclusão: Os pacientes psiquiátricos avaliados tem uma condição de saúde oral mais comprometida (número maior de dentes perdidos)