Remote lab of robotic manipulators through an open access ROS-based platform

The research, training, and learning in robotic systems is a difficult task for institutions that do not have an appropriate equipment infrastructure, mainly due to the high investment required to acquire these systems. Possible alternatives are the use of robotic simulation platforms and the creation of remote robotic environments available for different users. The use of the last option surpasses the former one in terms of the possibility to handle real robotic systems during the training process. However, technical challenges appear in the management of the supporting infrastructure to use the robotic systems, namely in terms of access, safety, security, communication, and programming aspects. Having this in mind, this paper presents an approach for the remote operation of real robotic manipulators under a virtual robotics laboratory. To this end, an open access and safe web-based platform was developed for the remote control of robotic manipulators, being validated through the remote control of a real UR3 manipulator. This platform contributes to the research and training in robotic systems among different research centers and educational institutions that have limited access to these technologies. Furthermore, students and researchers can use this educational tool that differs from traditional robotic simulators through a virtual experience that connects real manipulators worldwide through the Internet.The authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020), and SusTEC (LA/P/0007/2021).info:eu-repo/semantics/publishedVersio

PHYSICAL-MECHANICAL PROPERTIES OF BRIQUETTES PRODUCED FROM CHARCOAL FINES AND WASTE OF Pinus spp.

The objective of this research was to evaluate the physical and mechanical properties of briquettes produced with charcoal fines and waste of Pinus spp (sawdust and wood shavings). For the production, the charcoal fines of two particle sizes (less than and greater than 5 mm) were mixed with each type of wood waste of Pinus spp in the proportions of 5, 10, 15, and 20%. Then, the mixtures were compacted under the pressure of 55 kgf.cm-2 in a piston briquetter. As binder, 8% gelatinized maize starch was used. Tests were carried out on the briquettes in order to determine the apparent density, compressive strength, and friability index. Briquettes with the highest densities and compressive strengths were produced with the two lowest proportions of wood waste of Pinus spp (5 and 10%). The use of the charcoal fines combined with sawdust or wood shavings of Pinus spp is recommended for the production of briquettes with good physical and mechanical properties.The objective of this research was to evaluate the physical and mechanical properties of briquettes produced with charcoal fines and waste of Pinus spp (sawdust and wood shavings). For the production, the charcoal fines of two particle sizes (less than and greater than 5 mm) were mixed with each type of wood waste of Pinus spp in the proportions of 5, 10, 15, and 20%. Then, the mixtures were compacted under the pressure of 55 kgf.cm-2 in a piston briquetter. As binder, 8% gelatinized maize starch was used. Tests were carried out on the briquettes in order to determine the apparent density, compressive strength, and friability index. Briquettes with the highest densities and compressive strengths were produced with the two lowest proportions of wood waste of Pinus spp (5 and 10%). The use of the charcoal fines combined with sawdust or wood shavings of Pinus spp is recommended for the production of briquettes with good physical and mechanical properties

Desempenho fisiológico, qualidade bromatológica e produtividade da batata-doce com uso de filme de partícula de óxido de cálcio

The objective of this work was to evaluate the effect of the application of calcium oxide (CaO) particle film on the physiological performance, bromatological quality, and productivity of sweet potato (Ipomoea batatas). The experimental design was randomized complete blocks with three treatments (5, 10, and 15% CaO particle film concentrations) and a control (water), with three replicates, applied 30 days after planting. The following parameters were evaluated: physiological, including net photosynthetic rate and Falker chlorophyll index (FCI); bromatological, i.e., crude protein, neutral detergent fiber (NDF), acid detergent fiber (ADF), total digestible nutrients (TDN), dry matter digestibility (DMD), and total carbohydrates; and productivity. The use of the 10 and 15% CaO particle film increased sweet potato photosynthesis, FCI, crude protein content, and tuber and aerial part productivity. At those concentrations, the lowest NDF and ADF contents and the highest TDN and DMD contents were also observed. The use of the CaO particle film at the concentration of 10 and 15% improves the physiological, productivity, and bromatological parameters of the sweet potato crop.O objetivo deste trabalho foi avaliar o efeito da aplicação de filme de partículas de óxido de cálcio (CaO) no desempenho fisiológico, na qualidade bromatológica e na produtividade da batata-doce (Ipomoea batatas). O delineamento experimental foi em blocos ao acaso, com três tratamentos (5, 10 e 15% de concentração do filme de partículas de CaO) e controle (água), com três repetições, aplicados 30 dias após o plantio. Foram avaliados os seguintes parâmetros: fisiológicos, incluindo taxa fotossintética líquida e índice de clorofila de Falker (ICF); bromatológicos, isto é, proteína bruta, fibra em detergente neutro (FDN), fibra em detergente ácido (FDA), nutrientes digestíveis totais (NDT), digestibilidade da matéria seca (DMS) e carboidratos totais; e produtivos. O uso de filme de partículas de CaO, nas concentrações de 10 e 15%, aumentou a fotossíntese, o ICF, o conteúdo de proteína bruta, e a produtividade das raízes e das brotações da batata-doce. Nessas concentrações, também foram observados os menores teores de FDN e FDA e os maiores teores de NDT e DMS. O uso do filme de partículas à base de CaO, nas concentrações de 10 e 15%, promove melhoria dos atributos fisiológicos, produtivos e bromatológicos da cultura da batata-doce

Cartografia através de modelos táteis: uma contribuição ao ensino de deficientes visuais

This article streams between a research report, a theoretical essay and a literature review in the field of tactile cartography, which is specialized in the manufacturing of cartographic products for people with a vision disability. Thus, in this text, the LTIG/PUCRS researchers long for sharing their knowledge on the construction of tactile spatial representations, expressing ideas, critique and ethical reflection involved in such activities, as well as, along the explanation, they review the specific literature presently available. The authors defend the return to the concrete as a possible abandon condition of a world more and more predisposed to homogeneity and flatness.O presente artigo meandra entre um relato de pesquisa, um ensaio teórico e uma revisão de literatura na área da cartografia tátil; ramo da cartografia especializado na confecção de produtos cartográficos para deficientes visuais. Assim, no presente texto, os pesquisadores do LTIG/ PUCRS partilham seus entendimentos acerca da construção de representações espaciais táteis, expondo ideias, críticas e reflexões éticas envolvidas em tais atividades, bem como, ao longo da explanação, revisam a literatura específica disponível atualmente. Os autores defendem o retorno ao concreto como condição de possível abandono de um mundo cada vez mais propenso à homogeneidade e à aplainação. Palavras-chave: Cartografia tátil. Deficientes visuais. Percepção

Lei de improbidade administrativa comentada

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.Localização na estante: 35.077.3(81)(094) Coment. M188

In Vitro Validation of Antiparasitic Activity of PLA-Nanoparticles of Sodium Diethyldithiocarbamate against Trypanosoma cruzi

Funding Information: This research was funded by Global Health and Tropical Medicine: Grant number IHMT-UID/multi/04413/2013 and Grant number PTDC/CVT-CVT/28908/2017, FCT-Portugal.We would like to thank João Aristeu da Rosa and Aline Rimodi Rimeiro at UNESP (Universidade Estadual de São Paulo) Araraquara (Brazil) for offering four different strains of T. cruzi. JWFO and MFAS give thanks to their financial support (PhD and post-doctoral fellowships) provided by Capes/Brazil; MSS, AASJ, and HAOR give thanks to CNPq/Brazil for the Research Grant (Bolsa de Produtividade). We would also like to thank the Department of Materials Engineering at UFRN for affording us the use of their scanning electron microscope, and the Department of Biochemistry at UFRN for affording us the use of their culture room. We thank Laysa Ohana for reviewing and editing the English version of the manuscript. Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.Trypanosoma cruzi is a protozoan parasite responsible for Chagas disease, which affects millions around the world and is not treatable in its chronic stage. Sodium diethyldithiocarbamate is a compound belonging to the carbamate class and, in a previous study, demonstrated high efficacy against T. cruzi, showing itself to be a promising compound for the treatment of Chagas disease. This study investigates the encapsulation of sodium diethyldithiocarbamate by poly-lactic acid in nanoparticles, a system of biodegradable nanoparticles that is capable of reducing the toxicity caused by free DETC against cells and maintaining the antiparasitic activity. The nanosystem PLA-DETC was fabricated using nanoprecipitation, and its physical characterization was measured via DLS, SEM, and AFM, demonstrating a small size around 168 nm and a zeta potential of around −19 mv. Furthermore, the toxicity was determined by MTT reduction against three cell lines (VERO, 3T3, and RAW), and when compared to free DETC, we observed a reduction in cell mortality, demonstrating the importance of DETC nanoencapsulation. In addition, the nanoparticles were stained with FITC and put in contact with cells for 24 h, followed by confirmation of whether the nanosystem was inside the cells. Lastly, the antiparasitic activity against different strains of T. cruzi in trypomastigote forms was determined by resazurin reduction and ROS production, which demonstrated high efficacy towards T. cruzi equal to that of free DETC.publishersversionpublishe