Combining central pattern generators with the electromagnetism-like algorithm for head motion stabilization during quadruped robot locomotion

Visually-guided locomotion is important for autonomous robotics. However, there are several difficulties, for instance, the head shaking that results from the robot locomotion itself that constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this article, we propose a controller architecture that is able to generate locomotion for a quadruped robot and to generate head motion able to minimize the head motion induced by locomotion itself. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs). CPGs are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows to explicitly specify parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. We take advantage of this particularity and propose a combined approach to generate head movement stabilization on a quadruped robot, using CPGs and a global optimization algorithm. The best set of parameters that generates the head movement are computed by the electromagnetism-like algorithm in order to reduce the head shaking caused by locomotion. Experimental results on a simulated AIBO robot demonstrate that the proposed approach generates head movement that does not eliminate but reduces the one induced by locomotion

Characterization of organic matter at different stages of a composting process

The characterization of the organic matter from raw organic wastes, unmatured compost and maturated compost was performed by different techniques: gravimetric, FTIR-ATR, TGA and from the ability of their extracts to bind Cd2+ (evaluating the free cadmium ion by AGNES). Although the amount of humic-like and fulvic-like acids did not change significantly, the structure and properties of the organic matter changed with composting and maturation. These changes resulted in an increase of the stability of the organic material toward thermal decomposition and in an increase of the capacity to bind cadmium.0366_RES2VALHUM_1_P - Valorização de resíduos orgânicos: produção de substâncias húmicas, cofinanciada pelo Fundo Europeu de Desenvolvimento regional (FEDER) através do Programa INTERREG V-A Espanha-Portugal (POCTEP) 2014-2020

U-Pb zircon dating of ash fall deposits from the paleozoic paran? basin of Brazil and Uruguay: A reevaluation of the stratigraphic correlations

Ash fall layers and vitroclastic-carrying sediments distributed throughout the entire Permian stratigraphic range of the Paraná Basin (Brazil and Uruguay) occur in the Tubarão Supergroup (Rio Bonito Formation) and the Passa Dois Group (Irati, Estrada Nova/Teresina, Corumbataí, and Rio do Rasto Formations), which constitute the Gondwana 1 Supersequence. U-Pb zircon ages, acquired by SHRIMP and isotope-dissolution thermal ionization mass spectrometer (IDTIMS) from tuffs within the Mangrullo and Yaguari Formations of Uruguay, are compatible with a correlation with the Irati and parts of the Teresina and Rio do Rasto Formations, respectively, of Brazil. U-Pb zircon ages suggest maximum depositional ages for the samples: (1) Rio Bonito Formation: ages ranging from 295:8 5 3:1 to 304:0 5 5:6 Ma (Asselian, lowermost Permian), consistent with the age range of the Protohaploxypinus goraiensis subzone; (2) Irati Formation: ages ranging from 279:9 5 4:8 to 280:0 5 3:0 Ma (Artinskian, middle Permian), consistent with the occurrence of species of the Lueckisporites virkkiae zone; (3) Rio do Rasto Formation: ages ranging from 266:7 5 5:4 to 274:6 5 6:3Ma (Wordian to Roadian, middle Permian). All the SHRIMP U-Pb zircon ages are consistent with their superimposition order in the stratigraphy, the latest revisions to the Permian timescale (International Commission of Stratigraphy, 2018 version), and the most recent appraisals of biostratigraphic data. The ID-TIMS U-Pb zircon ages from the Corumbataí Formation suggest that U-Pb ages may be 110% younger than interpreted biostratigraphic ages

Metabolic Signatures of Lung Cancer in Biofluids: NMR-Based Metabonomics of Blood Plasma

In this work, the variations in the metabolic profile of blood plasma from lung cancer patients and healthy controls were investigated through NMR-based metabonomics, to assess the potential of this approach for lung cancer screening and diagnosis. PLS-DA modeling of CPMG spectra from plasma, subjected to Monte Carlo Cross Validation, allowed cancer patients to be discriminated from controls with sensitivity and specificity levels of about 90%. Relatively lower HDL and higher VLDL + LDL in the patients' plasma, together with increased lactate and pyruvate and decreased levels of glucose, citrate, formate, acetate, several amino acids (alanine, glutamine, histidine, tyrosine, valine), and methanol, could be detected. These changes were found to be present at initial disease stages and could be related to known cancer biochemical hallmarks, such as enhanced glycolysis, glutaminolysis, and gluconeogenesis, together with suppressed Krebs cycle and reduced lipid catabolism, thus supporting the hypothesis of a systemic metabolic signature for lung cancer. Despite the possible confounding influence of age, smoking habits, and other uncontrolled factors, these results indicate that NMR-based metabonomics of blood plasma can be useful as a screening tool to identify suspicious cases for subsequent, more specific radiological tests, thus contributing to improved disease management.ERDF - Competitive Factors Thematic Operational ProgrammeFCT/PTDC/ QUI/68017/2006FCOMP-01-0124-FEDER-007439SFRH/BD/ 63430/2009National UNESCO Committee - L'Oréal Medals of Honor for Women in Science 200Portuguese National NMR Network - RNRM

Síndrome de Pendred causada por mutação em homozigoze no gene SLC26A4 em uma família brasileira consangüínea

ABSTRACTPendred Syndrome (PS) is an autossomal recessive disorder characterized by sensorineural deafness, goiter and iodide organification defect. The hearing loss is associated with inner ear abnormalities, ranging from an isolated enlarged vestibular aqueduct (EVA) to a typical coclear dysplasia. Mutations in the gene that encodes pendrin (SLC26A4), a chloride/iodide transporter, have been shown to be associated with PS. We describe the clinical and molecular characteristics of a large consanguineous family harboring a mutation in the SLC26A4 gene. The proband was a 26-year-old deaf Brazilian woman who presented a bulky multinodular goiter and hypothyroidism since puberty. Five other siblings were deaf: one brother had a similar phenotype, three siblings also had goiters but normal thyroid function tests, and one brother had only a subtle thyroid enlargement. Other 4 siblings had no thyroid or hearing disorder. Parents were first degree cousins and had normal hearing. The mother was healthy, except for subclinical hypothyroidism; the father was deceased. A perchlorate test in the proband showed a discharge of 21% of the incorporated iodide 2h after the administration of 1g of KClO4. Audiological examinations showed profound hearing loss in all deaf subjects; CT and MRI of the temporal bones showed EVA in all of them. Genomic DNA was isolated from whole blood, from the 6 affected and 4 unaffected siblings, the mother and control. The coding region of the PDS gene (exons 2-21), including exon/intron boundaries, were amplified by PCR and sequenced. A single base-pair (T) deletion at position 1197 of exon 10 was detected in homozygous state in the 6 deaf siblings. The mother and 2 unaffected siblings were heterozygous for this mutation, which has been described by Everett et al. The 1197delT mutation is predicted to result in a frameshift and a truncated protein. The existence of PS phenocopies and intrafamilial phenotypic variability are well documented. The definite diagnosis requires molecular analysis. Our study illustrates the value and challenges of mutational analysis in selected patients with PS. __________________________________________________________________________________ RESUMOA syndrome de Pendred (SP) é uma doença autossômica recessiva caracterizada por surdez neurossensorial, bócio e defeito de organificação do iodo. A perda auditiva está associada a anormalidades do ouvido interno, desde a dilatação isolada do aqueduto vestibular (DAV) até uma típica displasia coclear. Mutações no gene que codifica a pendrina (SLC26A4), um transportador de cloreto/iodeto, têm sido associadas à SP. Descrevemos as características clínicas e moleculares de uma grande família consangüínea portadora de uma mutação no gene SLC26A4. O caso-índice era uma paciente do sexo feminino, brasileira, 26 anos, portadora de surdez congênita, que apresentava um volumoso bócio multinodular e hipotireoidismo desde a puberdade. Outros cinco irmãos eram surdos: um irmão tinha fenotipo semelhante, três também tinham bócio, porém com função tiroideana normal e um irmão tinha apenas um discreto aumento da tiróide. Outros quatro irmãos não apresentavam alteração tiroideana ou auditiva. Os pais eram primos de primeiro grau e tinham audição normal. A mãe era saudável, exceto por hipotireoidismo subclínico; o pai era falecido. O teste do perclorato no caso-índice revelou a liberação de 21% do iodo incorporado duas horas após a administração de 1 g de KClO4. Os exames audiológicos mostraram perda auditiva profunda em todos os indivíduos afetados; TC e RMN dos ossos temporais mostraram DAV em todos eles. O DNA genômico foi isolado do sangue total dos seis irmãos afetados e dos quatro não-afetados, da mãe e do controle. A região codificante do gene PDS (éxons 2-21), incluindo as junções éxon/íntron, foram amplificadas por PCR e seqüenciadas. Foi detectada a deleção de uma base (T) na posição 1197 do éxon 10, em homozigoze, nos seis irmãos afetados. A mãe e dois irmãos não-afetados eram heterozigotos para a mutação, que foi descrita inicialmente por Everett e cols. A mutação 1197delT provavelmente resulta em um erro de fase de leitura (frameshift) e em uma proteína truncada. A existência de fenocópias da SP e a variabilidade fenotípica intrafamiliar são bem conhecidas. O diagnóstico definitivo requer análise molecular. O presente estudo ilustra o valor e os desafios da análise mutacional em pacientes selecionados com SP

Conventional and molecular cytogenetics of human non-medullary thyroid carcinoma: characterization of eight cell line models and review of the literature on clinical samples

<p>Abstract</p> <p>Background</p> <p>Cell lines are often poorly characterized from a genetic point of view, reducing their usefulness as tumor models. Our purpose was to assess the genetic background of eight commonly used human thyroid carcinoma models and to compare the findings with those reported for primary tumors of the gland.</p> <p>Methods</p> <p>We used chromosome banding analysis and comparative genomic hybridization to profile eight non-medullary thyroid carcinoma cell lines of papillary (TPC-1, FB2, K1 and B-CPAP), follicular (XTC-1) or anaplastic origin (8505C, C643 and HTH74). To assess the representativeness of the findings, we additionally performed a thorough review of cytogenetic (n = 125) and DNA copy number information (n = 270) available in the literature on clinical samples of thyroid carcinoma.</p> <p>Results</p> <p>The detailed characterization of chromosomal markers specific for each cell line revealed two cases of mistaken identities: FB2 was shown to derive from TPC-1 cells, whereas K1 cells have their origin in cell line GLAG-66. All cellular models displayed genomic aberrations of varying complexity, and recurrent gains at 5p, 5q, 8q, and 20q (6/7 cell lines) and losses at 8p, 13q, 18q, and Xp (4/7 cell lines) were seen. Importantly, the genomic profiles were compatible with those of the respective primary tumors, as seen in the meta-analysis of the existing literature data.</p> <p>Conclusion</p> <p>We provide the genomic background of seven independent thyroid carcinoma models representative of the clinical tumors of the corresponding histotypes, and highlight regions of recurrent aberrations that may guide future studies aimed at identifying target genes. Our findings further support the importance of routinely performing cytogenetic studies on cell lines, to detect cross-contamination mishaps such as those identified here.</p

Estresse ocupacional e satisfação dos usuários com os cuidados de saúde primários em Portugal

The Portuguese primary healthcare sector has suffered changes due to a reform on the lines of the conceptual framework referred to by some authors as "New Public Management." These changes may be generating higher levels of occupational stress with a negative impact at individual and organizational levels. This study examines the experience of stress in 305 health professionals (physicians, nurses and clinical secretaries) and satisfaction with the services provided by them from 392 users. The population under scrutiny is taken from 10 type A and 10 type B Family Health Units (FHU). The results show that 84.2% of professionals report moderate to high levels of occupational stress with the nurses being those with higher levels. Users reported good levels of satisfaction, especially with the nursing services. There were no differences in stress level between type A and type B FHU, though there were at the level of user satisfaction of type B FHU users who show higher levels of satisfaction. It was seen that dimensions of user satisfaction were affected by stress related to excess work.info:eu-repo/semantics/publishedVersio