Mobile Robot navigation modelling, control and applications

This work presents and discusses the main topics involved on the design of a mobile robot system and focus on the control and navigation systems for autonomous mobile robots. Introduces the main aspects of the Robot design, which is a holistic vision about all the steps of the development process of an autonomous mobile robot; discusses the problems addressed to the conceptualization of the mobile robot physical structure and its relation to the world. Presents the dynamic and control analysis for navigation robots with kinematic and dynamic model and, for final, presents applications for a robotic platform of Automation, Simulation, Control and Supervision of Mobile Robots Navigation, with studies of dynamic and kinematic modelling, control algorithms, mechanisms for mapping and localization, trajectory planning and the platform simulator. © 2012 Praise Worthy Prize S.r.l. - All rights reserved.

Clinical evaluation of a composite resin and a resin-modified glass-ionomer cement in non-carious cervical lesions: One-year results

Objectives: The objective of this study was to evaluate the clinical performance of 124 non-carious cervical lesion restorations at 12 months. Materials And Methods: Three study groups were formed according to the material and technique used. All teeth received 37% phosphoric acid etching in enamel and dentin. The teeth of Group I received the conventional adhesive system Scotch Bond Multi Purpose, followed by resin composite Filtek Z350; teeth of Group II were restored with resin-modified glassionomer cement Fuji II LC; teeth of Group III were restored with the same resin-modified glass-ionomer cement-however, before it was inserted, 2 coats of primer of the Scotch Bond Multi Purpose adhesive system were applied to dentinal tissue. The teeth were evaluated by 2 examiners with regard to the factors of retention, marginal adaptation, marginal discoloration, color alteration, presence of marginal caries lesion, anatomic shape, and sensitivity. Results: Application of the Kruskal-Wallis test showed no statistically significant difference for anatomic shape, marginal discoloration, color alteration, caries lesion, marginal adaptation, and sensitivity among the three study groups, but the variable retention presented statistically significant difference at 12 months, with Group III presenting a behavior superior to that of Group II but similar to that of Group I. Conclusion: The analyzed restorations of non-carious cervical lesions presented a good clinical performance at 12 months. © 2012 Nova Science Publishers, Inc.

Prosthetic approaches for immediate implants in esthetic areas: Aliterature review and clinical cases

The placement of implants in fresh extraction sockets followed for provisionalization allows soft tissues preservation and alveolar ridge, however for this some requisites are necessary. This article describe the factors involved in immediate implants and the prosthetic approachs for this type of therapy. Addtionaly two clinicals case were presented showing diferents approachs for in prosthetic stage for maintenance the aesthetic aperance of soft tissues of the immediate implants.

Isolation and characterization of microsatellite loci for the mud-dauber wasp Trypoxylon (Trypargilum) albitarse (Hymenoptera: Crabronidae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Double-Blind clinical study of a multivitamin and polymineral complex associated with Panax ginseng (Gerovital)

The present study aimed to evaluate the efficacy of a multivitamin and poly minerals supplemented with Panax ginseng extract (Gerovital®) on patients suffering from common physical or mental stress. The study design was controlled, parallel and double blind. Patients were randomly divided in two groups and underwent a thorough clinical and laboratory examination. Group A received placebo capsules and group B received Gerovital® capsules. In both cases, two capsules were taken daily during meals for eight weeks. Mood as well as physical activity were evaluated through a questionnaire assessing quality of life. From the 126 patients enrolled, 12 patients (8 in group A and 4 in group B) were excluded due to voluntary withdrawal, 55 patients completed the study in group A and 59 in group B. The treatment with Gerovital® significantly increased the quality of life when compared to placebo. After 15 days of study no difference between groups was observed. However, at 30th, 45th and 60th day, group B showed a statistically significant increase in average score from 30.05 to 41.96, 47.01 and finally 50.81 points. No increase in body weight was detected in either group. No difference in blood pressure or heart rate was also observed between treatments. The present study has shown that the daily use of Gerovital® over a 2-month period can be effective in improving quality of life in patients suffering from physical and mental stress among individuals of different ages, ranging from adults to elderly. Moreover, its use has been associated to a lower incidence of flu-like seasonal respiratory illnesses. Finally, the incidence of undesired effects was similar to placebo.

Effect of Avocado/Soybean Unsaponifiables on Osseointegration: A Proof-of-Principle Preclinical In Vivo Study

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

Evaluation of the Parameters Affecting the Photoelectrocatalytic Reduction of CO2 to CH3OH at Cu/Cu2O Electrode

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

Effect of Silver Nanoparticles in a Hydroxyapatite Coating applied by Atmospheric Plasma Spray

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

Fabrication and characterization of ferrocenece containing hydrogel for glucose biosensor application

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

Sugars Electrooxidation at Glassy Carbon Electrode Decorate with Multi-Walled Carbon Nanotubes with Nickel Oxy-Hydroxide

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

Segmentation of Cell Nuclei Regions in Epithelium of Prostate Glands

This paper proposes a method for segmentation of cell nuclei regions in epithelium of prostate glands. This structure provides information to diagnosis and prognosis of prostate cancer. In the initial step, the contrast stretching technique was applied in image in order to improve the contrast between regions of interest and other regions. After, the global thresholding technique was applied and the value of threshold was defined empirically. Finally, the false positive regions were removed using the connected components technique. The performance of the proposed method was compared with the Otsu technique and statistical measures of accuracy were calculated based on reference images (gold standard). The result of the mean value of accuracy of proposed method was 93% ± 0.07.

Effects of Maternal Pb2+ poisoning during pregnancy on the development of the jaw (Meckel´s Cartilage) of rat fetus

The purpose of this study was to investigate the effects of maternal lead poisoning during pregnancy on the development of the jaw (Meckel's cartilage) of rat fetuses by histologic and morphometric methods. Pregnant rats received a single intraperitoneal injection of 2.5 mg of lead acetate/100g body weight on the 10th day of pregnancy. Meckel's cartilage of fetuses of the lead-treated group showed smaller volume density and size of the lacunae, as well as modification of the lacunae shape. Moreover, the number density of lacunae and the volume density of the matrix increased significantly in the Meckel's cartilage in treated group fetuses. The results suggest that lead poisoning during the period of organogenesis can induce disturbances in the development and differentiation of the fetal stomatognathic system. Reducing the consumption of alcoholic beberages and smoking cessation by women in childbearing age, along with a strict policy of control of the environmental lead exposure can bring great benefits to the future generations of children.

The role of qualea multiflora on mammary tumour cells and immune system

Species of the genus Qualea are used by the Brazilian public as a natural anti-inflammatory. Based on this evidence, we evaluated the effects of terpene fractions (βF and TF) obtained from Qualea multiflora on nitric oxide production (Griess assay), cytokines (IL-1, IL-10, IL-12, and TNF-a) and the transcription factor NF-κB by peritoneal macrophages. Since there is a relationship between inflammation and cancer, the cytotoxicity of βF and TF against mammary tumoural cell lineage, and macrophages was evaluated. Inhibition levels close to 90% of the production of NO, IL-1, IL-12 and TNF-a; about 32% of NF-κB; and a large stimulation of IL-10 production (close to the positive control) by peritoneal macrophages were observed in response to βF and TF which are correlated with anti-inflammatory activity. Additionally, the samples showed exceptional cytotoxic activity against tumoural cells but not against macrophages. Since anti-inflammatory activity is important in tumour inhibition, further examination of potential anti-cancerous activity of Qualea multiflora is warranted.

Development and validation of a stability-indicative turbidimetric assay to determine the potency of doxycycline hyclate in tablets

The doxycycline (DOX) is a broad-spectrum antibiotic used in several countries. This drug is part of the list of medicines to the SUS (Unified Health System), a model of health care in Brazil. This study describes the development and validation of a microbiological assay, applying the turbidimetric method for the determination of DOX, as well as the evaluation of the ability of the method in determining the stability of DOX in tablets against acidic and basic hydrolysis, photolytic and oxidative degradations, using Escherichia coli ATCC 10536 as micro-organism test and 3×3 parallel line assay design, with nine tubes for each assay, as recommended by the Brazilian Pharmacopoeia. The developed and validated method showed excellent results of linearity, selectivity, precision, accuracy and robustness. The assay is based on the inhibitory effect of DOX using Escherichia coli ATCC 10536. The results of the assay were treated by analysis of variance and were found to be linear (r= 0.9986) in the range from 4.0 to 9.0μg/mL, precise (repeatability R.S.D.= 0.99 and intermediate precision was confirmed by statistical analysis the mean values obtained from analysis by different analysts) and exact (97.73%). DOX solution exposed to direct UV light, alkaline and acid hydrolysis and hydrogen peroxide causing oxidation were used to evaluate the specificity of the bioassay. Comparison of bioassay and liquid chromatography showed differences in results between methodologies. The results showed that the bioassay is valid, simple and useful alternative methodology for DOX determination in routine quality control.