LaMMos - Latching Mechanism based on Motorized-screw for Reconfigurable Robots and Exoskeleton Suits

Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as hooks, cages or magnets, which limit the payload capacity. Therefore, robots re- quire a latching mechanism which can help to reconfigure itself without sacrificing the payload capability. This paper presents a latching mechanism based on the flexible screw attaching principle. In which, actuators are used to move the robot links and joints while connecting them with a motorized-screw and dis- connecting them by unfastening the screw. The brackets used in our mechanism configuration helps to hold maximum force up to 5000N. The LaMMos - Latching Mechanism based on Motorized- screw has been applied to the DeWaLoP - Developing Water Loss Prevention in-pipe robot. It helps the robot to shrink its body to crawl into the pipe with minimum diameter, by recon- figuring the leg positions. And it helps to recover the legs positions to original status once the robot is inside the pipe. Also, LaMMos add stiffness to the robot legs by dynamically integrate them to the structure. Additionally, we present an application of the LaMMos mechanism to exoskeleton suits, for easing the mo- tors from the joints when carrying heavy weights for long periods of time. This mechanism offers many interesting opportunities for robotics research in terms of functionality, pay- load and size.Comment: 14 pages, 15 figure

SARS-CoV-2 introductions and early dynamics of the epidemic in Portugal

Genomic surveillance of SARS-CoV-2 in Portugal was rapidly implemented by the National Institute of Health in the early stages of the COVID-19 epidemic, in collaboration with more than 50 laboratories distributed nationwide. Methods By applying recent phylodynamic models that allow integration of individual-based travel history, we reconstructed and characterized the spatio-temporal dynamics of SARSCoV-2 introductions and early dissemination in Portugal. Results We detected at least 277 independent SARS-CoV-2 introductions, mostly from European countries (namely the United Kingdom, Spain, France, Italy, and Switzerland), which were consistent with the countries with the highest connectivity with Portugal. Although most introductions were estimated to have occurred during early March 2020, it is likely that SARS-CoV-2 was silently circulating in Portugal throughout February, before the first cases were confirmed. Conclusions Here we conclude that the earlier implementation of measures could have minimized the number of introductions and subsequent virus expansion in Portugal. This study lays the foundation for genomic epidemiology of SARS-CoV-2 in Portugal, and highlights the need for systematic and geographically-representative genomic surveillance.We gratefully acknowledge to Sara Hill and Nuno Faria (University of Oxford) and Joshua Quick and Nick Loman (University of Birmingham) for kindly providing us with the initial sets of Artic Network primers for NGS; Rafael Mamede (MRamirez team, IMM, Lisbon) for developing and sharing a bioinformatics script for sequence curation (https://github.com/rfm-targa/BioinfUtils); Philippe Lemey (KU Leuven) for providing guidance on the implementation of the phylodynamic models; Joshua L. Cherry (National Center for Biotechnology Information, National Library of Medicine, National Institutes of Health) for providing guidance with the subsampling strategies; and all authors, originating and submitting laboratories who have contributed genome data on GISAID (https://www.gisaid.org/) on which part of this research is based. The opinions expressed in this article are those of the authors and do not reflect the view of the National Institutes of Health, the Department of Health and Human Services, or the United States government. This study is co-funded by Fundação para a Ciência e Tecnologia and Agência de Investigação Clínica e Inovação Biomédica (234_596874175) on behalf of the Research 4 COVID-19 call. Some infrastructural resources used in this study come from the GenomePT project (POCI-01-0145-FEDER-022184), supported by COMPETE 2020 - Operational Programme for Competitiveness and Internationalisation (POCI), Lisboa Portugal Regional Operational Programme (Lisboa2020), Algarve Portugal Regional Operational Programme (CRESC Algarve2020), under the PORTUGAL 2020 Partnership Agreement, through the European Regional Development Fund (ERDF), and by Fundação para a Ciência e a Tecnologia (FCT).info:eu-repo/semantics/publishedVersio

Spacial distribution of carbon in soil and evaluation grennhouse gás emissions (CO2, CH4 and N2O) in areas of cerrado vegetation Pinus spp e Eucalyptus spp at the experimental station of Mogi Mirim (IF/SMA - SP)

Objetivou-se neste trabalho avaliar a variabilidade espacial e temporal do carbono no solo produzindo um mapa, sobre esse tema para toda a área da Estação Experimental de Mogi Mirim (EE Mogi Mirim), juntamente com a análise dos fluxos dos gases de efeito estufa (CO2, N2O e CH4) e a relação desses dois fenômenos com as variáveis do solo nos diferentes usos da terra. Para se alcançar objetivo proposto com relação aos estoques de carbono e avaliação das variáveis do solo foi feita a coleta e o prepara das amostras nas profundidades de 00 até 30 cm, foi feito o georreferenciamento e determinação dos teores de carbono, densidade do solo, calculo dos estoques de carbono e determinação da cor do solo. Por sua vez para o estudo e entendimento dos fluxos dos gases de efeito estufa (GEE), comparou-se um talhão considerado sem perturbação (Talhão 41) e a partir desse talhão avaliou-se comparativamente em uma seqüência com ambientes com histórico de uso da terra representativo da área com manejos. Os fluxos dos gases CO2, N2O e CH4 foram medidos utilizando-se câmaras estáticas. Nos resultados obtidos foi aplicada a estatística descritiva clássica e geoestatistica para avaliar a freqüência e distribuição dos dados. Resultados relativos as variáveis do solo mostram que praticamente a grande maioria tende a diminuir com a profundidade (Ca, soma das bases, CTC, acidez potencial e carbono). Por sua vez o pH é sempre muito alto nas 3 camadas e a saturação por bases e o magnésio são muito baixos e permanecem inalterados em todas as profundidades. A variabilidade espacial dos estoques de carbono possui características isotrópicas. Especificamente na profundidade 00 - 10 cm, o modelo teórico que melhor se ajustou foi o exponencial, na profundidade 10 - 20 cm foi o esférico e na profundidade 20 - 30 cm foi o exponencial. Os estoque de C na profundidade 00 10 cm, tiveram como média 22.8 ton C/ ha-1, sendo o maior valor de 42.9 ton C/há-1 e o menor valor de 10.3 ton C/há-1. Na profundidade 10 - 20cm, a média do estoque de carbono foi de 14.9 ton C/há-1, sendo o maior valor de 31.5 ton C/há-1 e o menor valor de 6.99 ton C/há-1. Na profundidade 20 -30 cm, a média do estoque de carbono foi de 11.45 ton C/há-1, sendo o maior valor de 25.28 ton C/há-1 e o menor valor de 6.3 ton C/há-1. Os resultados das análises dos fluxos do gás carbônico, como um todo mostra que a respiração do solo variou entre 75.3 e 164.4mgC m-2 h-1. Relativo aos fluxos de N2O os valores médios para as emissões variaram entre 8,85 e 51,94 \'mü\'gN m-2 h-1, enquanto que a absorção variou, entre -1,32 e - 4,59 \'mü\'gN m-2 h-1. Os resultados dos fluxos do gás metano médio ficaram entre 4,63 e 31,51 mgC m-2 h-1, enquanto que os valores de oxidação média ficaram entre -5,41 e -22,79 mgC m-2 h-1The aim here is to evaluate the spacial and transient variability of carbon in soil, producing a map about this subject for all the area of the Experimental Station of Mogi Mirim (Estação Experimental de Mogi Mirim EE Mogi Mirim), with the emissions analyzes of greenhouse gases effect (CO2, N2O e CH4), and the relation between these phenomenon with the soil variables in different uses of the land. In order to reach the proposed objective related to the carbon storages, and the variable evaluation of the soil, a sample collect and preparation were made at a depth from 00 to 30cm. It was also made the georeferencial and the carbon levels determination, density of soil, the estimate of carbon storages, and the determination of soil color. The study and understanding of the greenhouse gas emissions (GGF), a área considered without disturbing, and from it a comparative evaluation in a sequence of environments with historical land use representative of the management area. The CO2, N2O and CH4 gas emissions were measured by using static chambers. In the results obtained, it was applied the classic statistic description and geostatistics to evaluate the frequency and the distribution of data. Results related to the soil variables show that the major trend to decrease, according to the depth (Ca, sum of bases, CTC, potential acidity, and carbon). On the contrary, the pH is always very high in 3 layers, and the saturation for bases and the magnesium are very low, maintaining unchangeable in all depths. The variability of the carbon storages have isotropic characteristics. Specifically in depth 00 - 10cm, the theorical model that better adjusted was the exponential; in depth 10 - 20cm, it was the spherical, and in depth 20 - 30cm it was the exponential. The carbon storage in depth 00-10cm had as na average 22.8ton C / ha-1, being the highest value of 42.9 ton C/ha-1, and the lowest value of 10.3 ton C/ha-1. In depth 10 - 20 cm, the average of carbon storage was 14.9 ton C/ha-1, being the highest value of 31.5 ton C/ha-1, and the lower value of 6.99 ton C/ha-1. In depths of 20 - 30cm, the average of carbon storage was of 11.45 ton C/há-1, being the highest value of 25.28 ton C/ha-1, and the lowest of 6.3 ton C/ha-1 The analyze results of carbon gás emissions as a whole, shows that the soil breath varied between 75.3 e 164.4 . mgC m-2 h-1 . Regard to N2O emissions, the average values to emissions varied between 8.85 and 51.94 \'mü\'gN m-2 h-1, while the absorption varied, between -1.32 e - 4.59 \'mü\'gN m-2 h-1. The results of average methane gas were between 4.63 e 31.51 mgC m-2 h-1, while the average oxidation values were between -5.41 e -22.79 mgC m-2 h-

Morphologicalcharacteristicsofthe atibaiariverfloodplain, caMpinasand JaguariunaMuncipalities, sp, brazi

As planícies aluvionares são ecossistemas situados próximos ao nível de base de cursos de água, onde vários ambientes se inter-relacionam. Elas são consideradas áreas de descarga do escoamento básico de rios, e resultados de processos de assoreamento de sedimentos e erosão do rio ao longo do Quaternário, e compreendem um sistema complexo e dinâmico, seja em relação às suas características físicas como biológicas. A ocupação urbana e periurbana nestes locais, classificam-nas como áreas de risco hidrológico, uma vez que cheias sazonais ou chuvas extremas impactam a comunidade residente. A planície do rio Atibaia é uma extensa área limítrofe com os municípios de Campinas, Jaguariúna e Paulínia situada na transição entre a Depressão Periférica e o Planalto Atlântico. Trata-se de uma área de cerca de 34 km2, onde o rio Atibaia corre encaixado nas fraturas e falhas do embasamento cristalino. A planície forma uma pequena bacia sedimentar, decorrente do afunilamento da calha por diabásios a jusante, e a montante por rochas gnáissicas. Ela apresenta dois terraços representativos de fases de formação da planície, paleomeandros e paleocanais, antigas barras de pontal e diques marginais. Pequenas elevações são encontradas ao longo das margens do rio e migrações de meandros recentes de sentido noroeste e sudeste foram registradas, uma vez que o rio se encontra meandrante nesta parte de seu curso. Os campos úmidos e bacias de decantação representam área com níveis aflorantes do aquífero freático, e áreas de baixios (na região mais baixa da planície) onde a água se acumula e escoa15Alluvial plain is a complex and dynamic system situated near the base level of watercourses and is the result of sedimentation and erosion processes. It is an area of hydrological risk for urban and peri-urban occupation, due to seasonal floods. The Atibaia river plain is an extensive border area (approximately 34 km2) within the municipalities of Campinas, Jaguariúna and Paulínia. It is located in the transition between the Peripheral Depression and the Atlantic Plateau. The plain forms a small sedimentary basin, formed above the sedimentary rocks of Itarare Subgroup, due the tapering of the river channel by diabase rocks downstream, and gneiss rocks upstream. It exhibits two terraces with paleomeanders and paleo-channels, old point bars and levees. Small elevations are present, and recent NW and SE migrations of meanders were recorded. Wetlands and swamps are areas where the groundwater reaches the surface, accumulates and flows slowly to the rive

Curso modular de Direito Administrativo

Divulgação dos SUMÁRIOS das obras recentemente incorporadas ao acervo da Biblioteca Ministro Oscar Saraiva do STJ. Em respeito à Lei de Direitos Autorais, não disponibilizamos a obra na íntegra. 35(81) C977m STJ0008527

Contribuição á geografia física do município de Santa Maria: unidades de paisagem

Contribuição à geografia física do município de Santa Maria: unidades de paisage

Repair of Critical Size Bone Defects Using Synthetic Hydroxyapatite or Xenograft with or without the Bone Marrow Mononuclear Fraction: A Histomorphometric and Immunohistochemical Study in Rat Calvaria

Bone defects are a challenging clinical situation, and the development of hydroxyapatite-based biomaterials is a prolific research field that, in addition, can be joined by stem cells and growth factors in order to deal with the problem. This study compares the use of synthetic hydroxyapatite and xenograft, used pure or enriched with bone marrow mononuclear fraction for the regeneration of critical size bone defects in rat calvaria through histomorphometric (Masson’s staining) and immunohistochemical (anti-VEGF, anti-osteopontin) analysis. Forty young adult male rats were divided into five groups (n = 8). Animals were submitted to critical size bone defects (Ø = 8 mm) in the temporoparietal region. In the control group, there was no biomaterial placement in the critical bone defects; in group 1, it was filled with synthetic hydroxyapatite; in group 2, it was filled with xenograft; in group 3, it was filled with synthetic hydroxyapatite, enriched with bone marrow mononuclear fraction (BMMF), and in group 4 it was filled with xenograft, enriched with BMMF. After eight weeks, all groups were euthanized, and histological section images were captured and analyzed. Data analysis showed that in groups 1, 2, 3 and 4 (received biomaterials and biomaterials plus BMMF), a significant enhancement in new bone matrix formation was observed in relation to the control group. However, BMMF-enriched groups did not differ from hydroxyapatite-based biomaterials-only groups. Therefore, in this experimental model, BMMF did not enhance hydroxyapatite-based biomaterials’ potential to induce bone matrix and related mediators

Geological map of the Bauru Group, Paraná Basin (modified from [104]).

<p>The outcrops that yielded Itasuchidae specimens is located with the crocodile outlines. A-B and C-D are regional geological sections.</p

Details of the lingual crown surfaces, showing multicrenulate longitudinal ridges, from <i>Roxochampsa paulistanus</i> comb. nov. specimens.

<p>A- DGM 259-R; B- d12 of UFRJ-DG 451-R; C- d12 of UFRJ-DG 501-R. Each scale bar = 1 mm.</p