An Approach for Environment Mapping and Control of Wall Follower Cellbot Through Monocular Vision and Fuzzy System

This paper presents an approach using range measurement through homography calculation to build 2D visual occupancy grid and control the robot through monocular vision. This approach is designed for a Cellbot architecture. The robot is equipped with wall following behavior to explore the environment, which enables the robot to trail objects contours, residing in the fuzzy control the responsibility to provide commands for the correct execution of the robot movements while facing the adversities in the environment. In this approach the Cellbot camera works as a sensor capable of correlating the images elements to the real world, thus the system is capable of finding the distances of the obstacles and that information is used for the occupancy grid mapping and for fuzzy control input. Experimental results with V-REP simulator are presented to validate the proposal, and the results were favorable to the use in robotics and in acceptable computing time.Sociedad Argentina de Informática e Investigación Operativa (SADIO

Mediastinite: complicação pós operatória em cirurgia torácica

A mediastinite é uma das mais graves complicações de cirurgias torácicas, podendo ocorrer até o 30° dia de pós-operatório e ocasionar grande morbimortalidade. Apesar da etiopatogenia ainda pouco compreendida, grande importância é atribuída à contaminação da ferida operatória durante o procedimento cirúrgico. O presente estudo tem como objetivo atenuar os fatores de risco relativos ao paciente, preparar adequadamente a pele, aplicar as técnicas antissépticas preconizadas e esclarecer a importância acerca das medidas profiláticas, além de fornecer prontamente o tratamento correto para os pacientes acometidos. Trata-se de uma revisão bibliográfica de caráter exploratório, tendo como base teórica o Google Acadêmico, Scielo e Medline

Why Are Outcomes Different for Registry Patients Enrolled Prospectively and Retrospectively? Insights from the Global Anticoagulant Registry in the FIELD-Atrial Fibrillation (GARFIELD-AF).

Background: Retrospective and prospective observational studies are designed to reflect real-world evidence on clinical practice, but can yield conflicting results. The GARFIELD-AF Registry includes both methods of enrolment and allows analysis of differences in patient characteristics and outcomes that may result. Methods and Results: Patients with atrial fibrillation (AF) and ≥1 risk factor for stroke at diagnosis of AF were recruited either retrospectively (n = 5069) or prospectively (n = 5501) from 19 countries and then followed prospectively. The retrospectively enrolled cohort comprised patients with established AF (for a least 6, and up to 24 months before enrolment), who were identified retrospectively (and baseline and partial follow-up data were collected from the emedical records) and then followed prospectively between 0-18 months (such that the total time of follow-up was 24 months; data collection Dec-2009 and Oct-2010). In the prospectively enrolled cohort, patients with newly diagnosed AF (≤6 weeks after diagnosis) were recruited between Mar-2010 and Oct-2011 and were followed for 24 months after enrolment. Differences between the cohorts were observed in clinical characteristics, including type of AF, stroke prevention strategies, and event rates. More patients in the retrospectively identified cohort received vitamin K antagonists (62.1% vs. 53.2%) and fewer received non-vitamin K oral anticoagulants (1.8% vs . 4.2%). All-cause mortality rates per 100 person-years during the prospective follow-up (starting the first study visit up to 1 year) were significantly lower in the retrospective than prospectively identified cohort (3.04 [95% CI 2.51 to 3.67] vs . 4.05 [95% CI 3.53 to 4.63]; p = 0.016). Conclusions: Interpretations of data from registries that aim to evaluate the characteristics and outcomes of patients with AF must take account of differences in registry design and the impact of recall bias and survivorship bias that is incurred with retrospective enrolment. Clinical Trial Registration: - URL: http://www.clinicaltrials.gov . Unique identifier for GARFIELD-AF (NCT01090362)

Risk profiles and one-year outcomes of patients with newly diagnosed atrial fibrillation in India: Insights from the GARFIELD-AF Registry.

BACKGROUND: The Global Anticoagulant Registry in the FIELD-Atrial Fibrillation (GARFIELD-AF) is an ongoing prospective noninterventional registry, which is providing important information on the baseline characteristics, treatment patterns, and 1-year outcomes in patients with newly diagnosed non-valvular atrial fibrillation (NVAF). This report describes data from Indian patients recruited in this registry. METHODS AND RESULTS: A total of 52,014 patients with newly diagnosed AF were enrolled globally; of these, 1388 patients were recruited from 26 sites within India (2012-2016). In India, the mean age was 65.8 years at diagnosis of NVAF. Hypertension was the most prevalent risk factor for AF, present in 68.5% of patients from India and in 76.3% of patients globally (P < 0.001). Diabetes and coronary artery disease (CAD) were prevalent in 36.2% and 28.1% of patients as compared with global prevalence of 22.2% and 21.6%, respectively (P < 0.001 for both). Antiplatelet therapy was the most common antithrombotic treatment in India. With increasing stroke risk, however, patients were more likely to receive oral anticoagulant therapy [mainly vitamin K antagonist (VKA)], but average international normalized ratio (INR) was lower among Indian patients [median INR value 1.6 (interquartile range {IQR}: 1.3-2.3) versus 2.3 (IQR 1.8-2.8) (P < 0.001)]. Compared with other countries, patients from India had markedly higher rates of all-cause mortality [7.68 per 100 person-years (95% confidence interval 6.32-9.35) vs 4.34 (4.16-4.53), P < 0.0001], while rates of stroke/systemic embolism and major bleeding were lower after 1 year of follow-up. CONCLUSION: Compared to previously published registries from India, the GARFIELD-AF registry describes clinical profiles and outcomes in Indian patients with AF of a different etiology. The registry data show that compared to the rest of the world, Indian AF patients are younger in age and have more diabetes and CAD. Patients with a higher stroke risk are more likely to receive anticoagulation therapy with VKA but are underdosed compared with the global average in the GARFIELD-AF. CLINICAL TRIAL REGISTRATION-URL: http://www.clinicaltrials.gov. Unique identifier: NCT01090362

Geoeconomic variations in epidemiology, ventilation management, and outcomes in invasively ventilated intensive care unit patients without acute respiratory distress syndrome: a pooled analysis of four observational studies

Background: Geoeconomic variations in epidemiology, the practice of ventilation, and outcome in invasively ventilated intensive care unit (ICU) patients without acute respiratory distress syndrome (ARDS) remain unexplored. In this analysis we aim to address these gaps using individual patient data of four large observational studies. Methods: In this pooled analysis we harmonised individual patient data from the ERICC, LUNG SAFE, PRoVENT, and PRoVENT-iMiC prospective observational studies, which were conducted from June, 2011, to December, 2018, in 534 ICUs in 54 countries. We used the 2016 World Bank classification to define two geoeconomic regions: middle-income countries (MICs) and high-income countries (HICs). ARDS was defined according to the Berlin criteria. Descriptive statistics were used to compare patients in MICs versus HICs. The primary outcome was the use of low tidal volume ventilation (LTVV) for the first 3 days of mechanical ventilation. Secondary outcomes were key ventilation parameters (tidal volume size, positive end-expiratory pressure, fraction of inspired oxygen, peak pressure, plateau pressure, driving pressure, and respiratory rate), patient characteristics, the risk for and actual development of acute respiratory distress syndrome after the first day of ventilation, duration of ventilation, ICU length of stay, and ICU mortality. Findings: Of the 7608 patients included in the original studies, this analysis included 3852 patients without ARDS, of whom 2345 were from MICs and 1507 were from HICs. Patients in MICs were younger, shorter and with a slightly lower body-mass index, more often had diabetes and active cancer, but less often chronic obstructive pulmonary disease and heart failure than patients from HICs. Sequential organ failure assessment scores were similar in MICs and HICs. Use of LTVV in MICs and HICs was comparable (42\ub74% vs 44\ub72%; absolute difference \u20131\ub769 [\u20139\ub758 to 6\ub711] p=0\ub767; data available in 3174 [82%] of 3852 patients). The median applied positive end expiratory pressure was lower in MICs than in HICs (5 [IQR 5\u20138] vs 6 [5\u20138] cm H2O; p=0\ub70011). ICU mortality was higher in MICs than in HICs (30\ub75% vs 19\ub79%; p=0\ub70004; adjusted effect 16\ub741% [95% CI 9\ub752\u201323\ub752]; p&lt;0\ub70001) and was inversely associated with gross domestic product (adjusted odds ratio for a US$10 000 increase per capita 0\ub780 [95% CI 0\ub775\u20130\ub786]; p&lt;0\ub70001). Interpretation: Despite similar disease severity and ventilation management, ICU mortality in patients without ARDS is higher in MICs than in HICs, with a strong association with country-level economic status. Funding: No funding

Avaliação das ações de controle da sífilis e do HIV na assistência pré-natal da rede pública do município do Rio de Janeiro, Brasil An evaluation of action taken to control syphilis and HIV in publicsector prenatal care in the municipality of Rio de Janeiro, Brazil

OBJETIVOS: avaliar a adequação das ações de controle da sífilis e do HIV na assistência pré-natal realizada em unidades do Sistema Único de Saúde do Município do Rio de Janeiro, Brasil. MÉTODOS: estudo transversal, realizado em 2007-2008, por meio de entrevistas com 2353 gestantes, análise de cartões de pré-natal e dados obtidos junto a 102 profissionais de saúde. Para avaliação da adequação da assistência foi elaborado um modelo lógico-operacional, tendo como referência normativa os protocolos assistenciais dos programas de assistência pré-natal e de DST/Aids do Ministério da Saúde. Foi considerado adequado o cumprimento de 100% das ações previstas para cada idade gestacional. RESULTADOS: foram identificadas falhas no aconselhamento das gestantes, na realização dos exames sorológicos, no tratamento dos casos de sífilis e na abordagem dos parceiros. Na análise bivariada, gestantes com início tardio da assistência pré-natal e número inadequado de consultas apresentaram pior adequação de todas as ações, exceto do aconselhamento anti-HIV. CONCLUSÕES: problemas no início precoce do prénatal, na garantia do número mínimo de consultas, no manejo adequado das gestantes e seus parceiros e, principalmente, no resultado sorológico oportuno da infecção pela sífilis e pelo HIV, são barreiras ao melhor controle da transmissão vertical dessas doenças.<br>OBJECTIVES: to evaluate the adequacy of action taken to control syphilis and HIV in prenatal health care at Brazilian National Health System units in the municipality of Rio de Janeiro, Brazil. METHODS: a cross-sectional study was carried out in 2007 and 2008, involving interviews with 2353 pregnant women, analysis of prenatal cards and data obtained from 102 health professionals. A logicaloperational model was drawn up to evaluate the adequacy of care, taking as a point of reference the care protocols used for the Brazilian Ministry of Health's prenatal care and STD/AIDS programs. Adequacy was deemed to be fulfillment of 100% of the activities envisaged for each gestational age. RESULTS: shortcomings were identified in the counseling of pregnant women, the provision of serum tests, the treatment of cases of syphilis and the approach of partners. Bivariate analysis showed that starting prenatal care late and having an inadequate number of consultations lowered the adequacy of all actions, with the exception of HIV counseling. CONCLUSIONS: problems with early initiation of prenatal care, ensuring the minimum number of consultations, adequately managing pregnant women and their partners and, above all, appropriate serum test results for syphilis and HIV are obstacles to improved control of vertical transmission of these diseases

Arboviruses in Free-Ranging Birds and Hematophagous Arthropods (Diptera, Nematocera) from Forest Remnants and Urbanized Areas of an Environmental Protection Area in the Amazon Biome

The rapid and disorderly urbanization in the Amazon has resulted in the insertion of forest fragments into cities, causing the circulation of arboviruses, which can involve hematophagous arthropods and free-ranging birds in the transmission cycles in urban environments. This study aimed to evaluate the circulation of arboviruses in free-ranging birds and hematophagous arthropods captured in an Environmental Protection Area in the Belem metropolitan area, Brazil. Birds were captured using mist nets, and hematophagous arthropods were collected using a human protected attraction technique and light traps. The birds&rsquo; sera were subjected to a hemagglutination inhibition test to detect antibodies against 29 arbovirus antigens. Arthropod macerates were inoculated into C6/36 and VERO cell cultures to attempt viral isolation and were tested using indirect immunofluorescence, subsequent genetic sequencing and submitted for phylogenetic analysis. Four bird sera were positive for arbovirus, and one batch of Psorophora ferox was positive for Flavivirus on viral isolation and indirect immunofluorescence. In addition, the Ilheus virus was detected in the sequencing and phylogenetic analysis. The presence of antibodies in sera from free-ranging birds and the isolation of Ilheus virus in Psorophora ferox indicate the circulation of arboviruses in forest remnants in the urban center of Belem

The study of public administration in India, the Philippines, Canada and Australia: the universal struggle against epistemic colonization, and toward critical assimilation

The study of public administration has been characterized as a strong international focus, as both governments and scholars have sought to learn from the experience of other societies. While in a perfect world, one would expect a sort of pragmatic universalism, instead, many scholars tend to bring lessons from one country, or from a single cultural reality. This modest contribution lies in showing a series of national experiences rarely brought to the discourse about public administration in Brazil: Canada, Australia, India and the Philippines. Special emphasis will be given to the following: the origins and the development of public administration; the influence of ideology; and the complex tension between global theory and local practices