Development and implementation of a low-cost LBL navigation system for an AUV

A reliable navigation system is a key factor for the success of an operational mission with an AUV in a real scenario. In this paper, we address the main issues involved in the implementation of a long baseline (LBL) navigation system for a REMUS AUV. This system replaces both the original hardware and software of the vehicle with a simpler, faster, less expensive and more precise system, based on a Kalman filter. We also discuss the influence of transponder location in the overall performance of the LBL navigation, and present results obtained with this new system in operational missions

A inclus?o escolar na perspectiva dos professores

No Brasil, a defini??o e o processo de inclus?o escolar encontram-se em discuss?o atualmente, n?o se relacionando somente a pessoas com necessidades educacionais especiais - NEE, mas tamb?m a processos que necessitem de adapta??es. Os professores t?m papel importante na implementa??o da inclus?o, podendo facilit?-la ou dificult?-la no ambiente escolar. Essa pesquisa tem como objetivo investigar de que modos professores empenhados vivenciam e elaboram o processo de inclus?o escolar. Para tanto, adotamos a metodologia fenomenol?gica e, por meio de entrevistas semiestruturadas com quatro participantes, evidenciamos experi?ncias e elabora??es sobre a inclus?o. Como resultados, dentre tantas compreens?es, podemos destacar que, para Helena, a inclus?o ? elaborada como busca em entender quem ? o outro em sua singularidade e, a partir da?, ela prop?e formas e did?ticas que o auxilie a desenvolver sua potencialidade. Na experi?ncia de Roberto, a inclus?o se pauta como uma quest?o de direito, e ele implementa esse processo com esfor?o e disponibilidade, buscando conhecimentos para lidar com os desafios e propondo uma rela??o de parceria com a professora de apoio. Para Alice, a inclus?o ? vivida de maneira significativa na experi?ncia de socializa??o, pois os alunos n?o veem essa crian?a como diferente, ao contr?rio dos adultos, que se pautam pelo preconceito. Para Eduardo, ? preciso adotar um olhar diferenciado para a pessoa em sua singularidade e humanidade, que contemple escuta ativa e di?logo. Desse modo a crian?a pode ser inclu?da de fato e n?o somente inserida no ensino regular. Os resultados apontam elabora??es que indicam modalidades de atendimento aos alunos com NEE que se pautam por experi?ncias que sejam realmente significativas para os educandos. Um objetivo fundamental ? que eles sejam considerados e reconhecidos como pessoa, com seus limites e potencialidades. Podemos concluir que os profissionais observam a inclus?o como ponto central, com potencial de transforma??o de toda a educa??o, n?o s? do ponto de vista did?tico, mas contemplando toda a pessoa em seu processo formativo. Os dramas e dificuldades est?o presentes na viv?ncia dos professores, como a falta de forma??o docente, estrutura f?sica e recursos dispon?veis nas institui??es. No entanto, diante dos desafios, eles se posicionam afirmando um olhar diferenciado que ressoa nas pr?ticas e experi?ncias como um caminho que nem sempre ? f?cil, por?m carregado de possibilidades por meio do encontro com a inclus?o.Disserta??o (Mestrado Profissional) ? Programa de P?s-Gradua??o em Ci?ncias Humanas, Universidade Federal dos Vales do Jequitinhonha e Mucuri, 2020.In Brazil, the definition and the process of educational inclusion are currently discussed not only concerning people with special educational needs - SEN, but also regarding processes that demand adaptations. Teachers play an important role in implementing inclusion, which they can facilitate or hinder in the school environment. This study's objective is to investigate how committed teachers experience and elaborate the process of educational inclusion in schooling. To achieve this, we adopted the phenomenological method, through semistructured interviews with four participants, which evidenced experiences and developments about inclusion. As results, amidst numerous understandings, we can emphasize that, for Helena, inclusion is elaborated as a search for comprehension of the other in his singularity and, from there, she proposes teaching methods that subsides the development of its full potential. In Roberto's experience, the inclusion presents itself as a matter of individual rights, and he implements this process with effort and availability, seeking the knowledge necessary to deal with these challenges and proposing a partnership with the supporting teacher. For Alice, inclusion is lived in a meaningful way in the socialization experience, once the students do not perceive a particular child as different, unlike the adults, who base their judgment on prejudice. For Eduardo, assuming a different perspective is needed to contemplate the individual's singularity and humanity, fomenting active listening and dialogue. Therefore, the child can be truly included and not only inserted in regular schooling. The results point to teaching modalities for SEN students that are founded in really significant experiences to the scholars. A fundamental objective is the acknowledgment and recognition of these students as a person, with their own limits and potentialities. We can conclude that the professionals observe inclusion as a center point, with the potential to change all the educational system, not exclusively from the teaching perspective, but also contemplating the individual in its entirety during his formation. Dramatic events and difficulties are present in the teacher's experience as a lack of professional training, infrastructure, and institutional resources. Nevertheless, in face of all these challenges, they pose themselves affirming a differentiated perspective that resonates in the practice and experiences as a path that is not always easy, yet filled with possibilities through the achievement of inclusion

Microbial community dynamics in diesel waste biodegradation using sequencing batch bioreactor operation mode (SBR)

The dynamic of molecular microbial community during diesel waste biodegradation was investigated. The waste was treated in bioreactors operated in sequencing batch operation mode (SBR) in four cycles of 72 h, using optimized setpoints (pH, initial waste load, C:N ratio, aeration). Optimal conditions allowed the system to reach biodegradation of 53.3, 96.0, 76.2 and 75.0% at the end of cycles one, two three and four, respectively. Oxygen uptake rate (OUR) indicated increases in microbial activity from cycle one to cycle two (124.9 to 252.9 mgO2/L/h) and decreases in cycles three and four (120.4 to 108.8 mgO2/L/h, respectively). Investigations of microbial diversity showed changes in the microbial community members at the end of the cycle one. Significant reductions in the relative ecotoxicity were observed beginning with cycle two, and the reductions extended until the end of process. The SBR operation mode proved to be an efficient method for treating the diesel waste, and the process allowed for relevant reductions in the hydrocarbon content of the waste along with an increase in its environmental quality. Changes in the microbial members are evidence of the synergistic action of the microbiota in the process.Key words: Microbial diversity, denaturing gradient gel electrophoresis, sequencing batch, biodegradation

Pro-inflammatory polarization and colorectal cancer modulate alternative and intronic polyadenylation in primary human macrophages

Macrophages are essential cells of the immune system that alter their inflammatory profile depending on their microenvironment. Alternative polyadenylation in the 3'UTR (3'UTR-APA) and intronic polyadenylation (IPA) are mechanisms that modulate gene expression, in particular in cancer and activated immune cells. Yet, how polarization and colorectal cancer (CRC) cells microenvironment affect 3'UTR-APA and IPA in primary human macrophages remains unknown. Here, primary human monocytes were isolated from healthy donors, differentiated and polarized into a pro-inflammatory state and ChrRNA-Seq and 3'RNA-Seq were performed to quantify gene expression and characterize new 3’UTR-APA and IPA mRNA isoforms. Our results show that polarization of human macrophages from naïve to a pro-inflammatory state causes a marked increase both in proximal polyA site selection in the 3'UTR and in IPA events, in genes relevant for macrophage functions. Additionally, we found a negative correlation between differential gene expression and IPA during pro-inflammatory polarization of primary human macrophages. As macrophages are abundant immune cells in the CRC microenvironment that either promote or abrogate cancer progression, we investigated how indirect exposure to CRC cells affects macrophage gene expression and 3'UTR-APA and IPA mRNA events. Co-culture with CRC cells alters the inflammatory phenotype of macrophages, increases the expression of pro tumoral genes and induce 3’UTR-APA alterations. Notably, some of these gene expression differences were also found in tumour-associated macrophages of CRC patients, indicating that they are physiological relevant. Upon macrophage pro inflammatory polarization SRSF12 is the pre-mRNA processing gene that is most upregulated. After SRSF12 knockdown in M1 macrophages there is a global downregulation of gene expression, in particular in genes involved in gene expression regulation and in immune responses. Our results reveal new 48 3’UTR-APA and IPA mRNA isoforms produced during pro-inflammatory polarization of primary human macrophages and CRC co-culture that may be used in the future as diagnostic or therapeutic tools

The numerical control of the motion of a passive particle in a point vortex flow

This work reports numerical explorations in the advection of one passive tracer by point vortices living in the unbounded plane. The main objective is to find the energy-optimal displacement of one passive particle (point vortex with zero circulation) surrounded by N point vortices. The direct formulation of the corresponding control problems is presented for the case of N = 1, N = 2, N = 3 and N = 4 vortices. The restrictions are due to (i) the ordinary differential equations that govern the displacement of the passive particle around the point vortices, (ii) the available time T to go from the initial position z0 to the final destination zf; and (iii) the maximum absolute value umax that is imposed on the control variables. The resulting optimization problems are solved numerically. The numerical results show the existence of nearly/quasi-optimal control.info:eu-repo/semantics/publishedVersio

El homestead : memoria presentada para su discusión durante el curso de 1907 á 1908

Copia Digital : Real Academia de Jurisprudencia y Legislación, 2011Precede al tít.: Real Academia de Jurisprudencia y Legislació

The influence of oral health conditions, socioeconomic status and home environment factors on schoolchildren's self-perception of quality of life

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Background: The objective this study was to investigate the influence of clinical conditions, socioeconomic status, home environment, subjective perceptions of parents and schoolchildren about general and oral health on schoolchildren's oral health-related quality of life (OHRQoL). Methods: A sample of 515 schoolchildren, aged 12 years was randomly selected by conglomerate analysis from public and private schools in the city of Juiz de Fora, Brazil. The schoolchildren were clinically examined for presence of caries lesions (DMFT and dmft index), dental trauma, enamel defects, periodontal status (presence/absence of bleeding), dental treatment and orthodontic treatment needs (DAI). The SiC index was calculated. The participants were asked to complete the Brazilian version of Child Perceptions Questionnaire (CPQ(11-14)) and a questionnaire about home environment. Questions were asked about the presence of general diseases and children's self-perception of their general and oral health status. In addition, a questionnaire was sent to their parents inquiring about their socioeconomic status (family income, parents' education level, home ownership) and perceptions about the general and oral health of their school-aged children. The chi-square test was used for comparisons between proportions. Poisson's regression was used for multivariate analysis with adjustment for variances. Results: Univariate analysis revealed that school type, monthly family income, mother's education, family structure, number of siblings, use of cigarettes, alcohol and drugs in the family, parents' perception of oral health of schoolchildren, schoolchildren's self perception their general and oral health, orthodontic treatment needs were significantly associated with poor OHRQoL (p < 0.001). After adjusting for potential confounders, variables were included in a Multivariate Poisson regression. It was found that the variables children's self perception of their oral health status, monthly family income, gender, orthodontic treatment need, mother's education, number of siblings, and household overcrowding showed a strong negative effect on oral health-related quality of life. Conclusions: It was concluded that the clinical, socioeconomic and home environment factors evaluated exerted a negative impact on the oral health-related quality of life of schoolchildren, demonstrating the importance of health managers addressing all these factors when planning oral health promotion interventions for this population.10Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)FAPESP [2009/06081-7

RESPIRATORY ACTIVITY OF APICAL MERISTEMS OF PLAGIOTROPIC BRANCHES OF Araucaria angustifolia (Bertol.) Kuntze

Araucaria angustifolia apresenta redu\ue7\ue3o da taxa de crescimento durante o ano, podendo ser resposta \ue0s condi\ue7\uf5es ambientais desfavor\ue1veis, como ocorre nas fruteiras de clima temperado, que apresentam dorm\ueancia de gemas como forma de sobreviv\ueancia. O objetivo deste trabalho foi avaliar a din\ue2mica da atividade respirat\uf3ria de meristemas apicais de ramos plagiotr\uf3picos de Araucaria angustifolia. Foram coletadas amostras de 0,4 g de brota\ue7\uf5es terminais de ramos plagiotr\uf3picos de plantas jovens e adultas, as quais foram mantidas em 5 mL de solu\ue7\ue3o de cloreto de 2,3,5 trifeniltetraz\uf3lio (1,2%) em sala de crescimento a 25\ub0C. Em seguida, foram mantidas em 4 mL de \ue1lcool et\uedlico absoluto para leitura por espectrofotometria da absorb\ue2ncia a 560 nm. A atividade respirat\uf3ria de meristemas apicais de ramos plagiotr\uf3picos de Araucaria angustifolia \ue9 vari\ue1vel durante o ano. A maior atividade respirat\uf3ria ocorre na metade da primavera e a menor atividade respirat\uf3ria ocorre no inverno, em plantas jovens e adultas. Plantas adultas permanecem em alta atividade respirat\uf3ria por um per\uedodo maior, at\ue9 o in\uedcio do ver\ue3o.Araucaria angustifolia decreases its growth ratio during the fall and winter in response to adverse environmental conditions such as in temperate fruits where bud dormancy as a survival startegy. The aim of this study was to evaluate the dynamics of the respiratory activity of apical meristems of plagiotropic branches of Araucaria angustifolia. To determine the respiratory activity, samples with 0.4 g of apical buds of plagiotropic branches of young and adult plants were collected. These buds were maintained during two hours in 5 mL of 2,3,5-triphenyl tetrazolium chloride (1.2%) in a growth room at 25 \ub0C. Then, it was maintained during one hour in 4 mL of absolute ethyl alcohol and then the absorbance was determined by reading in spectrophotometer at 560 nm. The respiratory activity of apical meristems of plagiotropic branches of Araucaria angustifolia changed during the year, reducing in mid-spring and become lower in the winter in both young and adult plants. Adult plants remained with lower respiratory activity for a longer period, until the beginning of summer