TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Prototyping for Surgical and Prosthetic Treatment

Techniques of rapid prototyping were introduced in the 1980s in the field of engineering for the fabrication of a solid model based on a computed file. After its introduction in the biomedical field, several applications were raised for the fabrication of models to ease surgical planning and simulation in implantology, neurosurgery, and orthopedics, as well as for the fabrication of maxillofacial prostheses. Hence, the literature has described the evolution of rapid prototyping technique in health care, which allowed easier technique, improved surgical results, and fabrication of maxillofacial prostheses. Accordingly, a literature review on MEDLINE ( PubMed) database was conducted using the keywords rapid prototyping, surgical planning, and maxillofacial prostheses and based on articles published from 1981 to 2010. After reading the titles and abstracts of the articles, 50 studies were selected owing to their correlations with the aim of the current study. Several studies show that the prototypes have been used in different dental-medical areas such as maxillofacial and craniofacial surgery; implantology; neurosurgery; orthopedics; scaffolds of ceramic, polymeric, and metallic materials; and fabrication of personalized maxillofacial prostheses. Therefore, prototyping has been an indispensable tool in several studies and helpful for surgical planning and fabrication of prostheses and implants.

A new species of the Rhinella margaritifera group (Anura: Bufonidae) from Brazilian Pantanal

We describe adult morphology, advertisement call and some natural history traits of a new species of toad from the Pantanal, western Brazil. Rhinella paraguayensis sp. nov. belongs to the Rhinella margaritifera group, and is characterized by medium size, snout rounded in dorsal view, with a vertical apical ridge, supraorbital crests weakly developed, parietal crest not well developed, postorbital crest prominent, presence of a dorsolateral line of tubercles, tympanum evident, bony protrusions at angle of jaws, absence of vertebral apophyses and of projections on upper eyelids, and parotoid glands small. The new species is distinguished from other species of the group by geographic distribution and by the use of floating mats of vegetation as reproductive site.

A new species of torrent frog genus Hylodes (Anura : Leptodactylidae) from southeastern Brazil

We describe a new species of Hylodes from Parque Estadual do Ibitipoca, Conceicao do Ibitipoca, Municipality of Lima Duarte, State of Minas Gerais, southeastern Brazil. The new species is a member of the Hylodes lateristrigatus group, and it is characterized by small size, snout rounded in dorsal view and protruding in lateral view, presence of vocal slits and sacs, upper surface of finger discs without well developed scutes, dorsum light brown to gray with dark blotches, and details of the advertisement call. Descriptions of the tadpole, vocalizations, and information on natural history are provided. The tadpole has a ventral depression anterior to the coiled intestine, as in other species of the genus. Hylodes meridionalis (Mertens), previously considered a member of the H. nasus species group, is transferred to the H. lateristrigatus species group.

Conserved karyotypes in the Hyla pukhella species group (Anura, Hylidae)

Cytogenetic analyses were done on specimens of Hyla marginata and on three populations of H. semiguttata differing in morphology and in the physical parameters of their advertisement call, as well as in individuals of Hyla sp. (aff. semiguttata). All specimens had 2n = 24 chromosomes with a morphology very similar to that of other 24-chromosome Hyla species. Hyla semiguttata and H. marginata showed the same C-banding pattern but were distinguished by the location of the NOR on pair 1 in H. semiguttata (in the three populations) and Hyla sp. (aff. semiguttata), and on pair 10 in H. marginata. The H. semiguttata populations did not differ cytogenetically, despite variations in their morphology and advertisement calls. Similarly, H. semiguttata and H. p. joaquini studied previously had identical C-banding patterns and NOR locations, suggesting that they are very closely related.

A new and threatened island-dwelling species of Cycloramphus (Anura : Cycloramphidae) from southeastern Brazil

We describe a new species of Cycloramphus of the eleutherodactylus group from the Ilha dos Alcatrazes, southeastern Brazil, with descriptions of advertisement and territorial calls and notes on natural history. Additionally, we describe the advertisement and territorial calls of C. eleutherodactylus. The new species is diagnosed by the following set of characters: snout truncate in lateral and dorsal views; head wider than long; eyes protruding; tibia shorter than thigh; and distinct advertisement call. The new species is known from a single population on the Ilha dos Alcatrazes, a 149 ha island about 35 kin off São Paulo State coast where these frogs are scattered in a small valley. The very restricted range of the new species of Cycloramphus and the declining quality of its habitat qualify this frog as critically endangered.

A new frog of the genus Hylodes (Amphibia : Leptodactylidae) from Minas Gerais, Brazil

A new species of leptodactylid frog is described from Parque das Mangabeiras, in Belo Horizonte, Minas Gerais, south-eastern Brazil. The new species is a member of the Hylodes lateristrigatus group, and is characterized by medium size, snout rounded in dorsal view and protruding in lateral view, presence of vocal slits and sacs, upper surface of finger and toe discs with well-developed scutes, a weakly developed stripe on the upper lip, dorsum, arm, leg, and foot dark brown with small irregular brown and black dots, and absence of red and yellow spots in live specimens. The descriptions of the tadpoles and vocalizations, and information on natural history are provided. Hylodes perplicatus (Miranda-Ribeiro), previously considered a member of the H. nasus species group, is transferred to the H. lateristrigatus species group.

The taxonomic status of Leptodactylus geminus Barrio, 1973

The advertisement calls of Leptodactylus geminus, Leptodactylus gracilis, Leptodactylus plaumanni, and Leptodactylus fuscus are analyzed and compared with published reports. Based on calling data and examination of type material, Leptodactylus geminus is synonymized with L, plaumanni. To differentiate between the sibling species L. gracilis and L. plaumanni, fieldwork is needed, including recording of advertisement calls. Reliable identification of red specimens is not possible based on morphology and coloration alone.

Social interactions in Hypsiboas albomarginatus (Anura : Hylidae) and the significance of acoustic and visual signals

Social behavior of Hypsiboas albomarginatus was studied in the Atlantic rain forest, Municipality of Ubatuba, in the north coast of the State of São Paulo, southeastern Brazil. Vocalizations of H. albomarginatus are described, including contexts in which they were emitted and temporal and spectral parameters differentiating advertisement from aggressive calls. Dominant call frequency was inversely correlated with male length and body mass but not with environmental temperature. Number of pulses per note was not correlated with any variable, and advertisement call amplitude was influenced by temperature and time. During chorus aggregation, males interacted acoustically by emitting advertisement calls in antiphony, or by emitting aggressive calls. Some disputes among males culminated in physical combat; males performed kicks and slaps on rivals' heads, in an apparent attempt to dislodge rivals from perches. Visual signals were also displayed during conflicts between males, contributing to an escalation of aggressive behavior. Visual signals were not recorded during courtship between males and females but may help in the accurate localization of the signaling male during aggressive interactions.

A new species of Ischnocnema from highlands of the Atlantic Forest, Southeastern Brazil (Terrarana, Brachycephalidae)

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Revalidation and redescription of Elachistocleis cesarii (Miranda-Ribeiro, 1920) (Anura: Microhylidae)

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A NEW SPECIES of MINIATURIZED TOADLET, GENUS BRACHYCEPHALUS (ANURA: BRACHYCEPHALIDAE), FROM SOUTHERN BRAZIL

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Genomic imbalances in esophageal squamous cell carcinoma identified by molecular cytogenetic techniques

This review summarizes the chromosomal changes detected by molecular cytogenetic approaches in esophageal squamous cell carcinoma (ESCC), the ninth most common malignancy in the world. Whole genome analyses of ESCC cell lines and tumors indicated that the most frequent genomic gains occurred at 1, 2q, 3q, 5p, 6p, 7, 8q, 9q, 11q, 12p, 14q, 15q, 16, 17, 18p, 19q, 20q, 22q and X, with focal amplifications at 1q32, 2p16-22, 3q25-28, 5p13-15.3, 7p12-22, 7q21-22, 8q23-24.2, 9q34, 10q21, 11p11.2, 11q13, 13q32, 14q13-14, 14q21, 14q31-32, 15q22-26, 17p11.2, 18p11.2-11.3 and 20p11.2. Recurrent losses involved 3p, 4, 5q, 6q, 7q, 8p, 9, 10p, 12p, 13, 14p, 15p, 18, 19p, 20, 22, Xp and Y. Gains at 5p and 7q, and deletions at 4p, 9p, and 11q were significant prognostic factors for patients with ESCC. Gains at 6p and 20p, and losses at 10p and 10q were the most significant imbalances, both in primary carcinoma and in metastases, which suggested that these regions may harbor oncogenes and tumor suppressor genes. Gains at 12p and losses at 3p may be associated with poor relapse-free survival. The clinical applicability of these changes as markers for the diagnosis and prognosis of ESCC, or as molecular targets for personalized therapy should be evaluated.

A new species of Pseudopaludicola Miranda-Ribeiro, 1926 (Anura: Leiuperidae) from the state of Mato Grosso, Brazil, with comments on the geographic distribution of Pseudopaludicola canga Giaretta & Kokubum, 2003.

A new species of Pseudopaludicola is described from the state of Mato Grosso, western Brazil. The new species inhabits the transition zone between Brazilian Cerrado and Amazon rainforest in northern Mato Grosso, and is characterized by its medium size (snout-vent length 12-17 mm), lack of T-shaped terminal phalanges, toe tips not expanded laterally, presence of two antebrachial tubercles, and smooth upper eyelids. The advertisement call of the new species consists of a series composed of 11-74 non-pulsed notes. Mean dominant frequency is 3938 Hz. Each note presents a slight ascendant frequency modulation in its first half, and another ascendant modulation in its last half. We also present new data on the distribution and conservation status of Pseudopaludicola canga.

Recognition and distribution of Leptodactylus mystaceus (Anura; Leptodactylidae) in the State of São Paulo, Southeastern Brazil

Leptodactylus mystaceus, uma espécie com ampla distribuição geográfica pela América do Sul, é diagnosticada com base em exemplares do Estado de São Paulo, seu limite meridional de distribuição geográfica. Apresentamos aqui o primeiro registro da espécie para o Sudeste do Brasil, ampliando sua distribuição conhecida em cerca de 1.300 km ao sudeste. Também incluímos a descrição da vocalização de anúncio, informações sobre história natural, fotografia em vida e desenhos de caracteres morfológicos que auxiliam na identificação desta espécie.