105 resultados para Quadrotor. Variable reference control. Position and orientation control. UAV s


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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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A utilização de microrganismos para fins de controle biológico de doenças em plantas tem sido muito estudada no mundo. No caso do nematóide de cisto da soja (Heterodera glycines), uma das principais doenças da soja, o controle biológico é de grande importância devido à ausência de controle químico eficiente. Para se estudar o efeito de Bacilllus subtilis sobre H. glycines, foram conduzidos alguns experimentos de casa de vegetação e laboratório. Nos trabalhos de laboratório, verificou-se, em câmara de eclosão, que a presença de B. subtilis reduz a eclosão de ovos de H. glycines estimulados com exsudatos de sementes de soja. Foi observado também que o tratamento de raiz de soja com a bactéria inibiu a migração de larvas juvenis de H. glycines para a planta em comparação à raiz não tratada com a bactéria. Nos ensaios de casa de vegetação, utilizando-se vasos com solo infestados com ovos de H. glycines, observou-se uma redução de fêmeas na raiz de soja quando o solo ou sementes foram tratadas previamente com formulação pó-molhável ou calda contendo B. subtilis, respectivamente. Com base nesses resultados e sabendo-se que H. glycines apresenta dependência de estímulo de exsudatos vegetais para eclosão e orientação das larvas, pode-se afirmar que B. subtilis interfere nesse estímulo prejudicando o desenvolvimento do ciclo do nematóide.

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

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O objetivo deste estudo foi avaliar o acesso a fontes de fluoreto e as condições de saúde bucal de 237 escolares de nove a dezesseis anos, de três localidades com diferentes concentrações de fluoreto na água. O teor de flúor na água de cada região foi analisado pela técnica do eletrodo seletivo para o íon flúor e a foi avaliada prevalência de cárie e fluorose, respectivamente, pelo índice CPOD e TSIF, apresentando diferença estatisticamente significante (ANOVA; p < 0,05) nas três localidades: área sem fluoretação artificial (CPOD 5,32 ± 3,49) e 16% de fluorose; área com fluoretação artificial de 0,8 ppmF (CPOD 1,88 ± 2,22) e 94% de fluorose; área com fluoretação natural de 2,54 ppmF (CPOD 3,96 ± 2,38) e 100% de fluorose. Os achados sugerem que os indicadores epidemiológicos de saúde/doença bucal estudados são influenciados pela presença de fluoreto na água de consumo e que a supervisão e a orientação são fundamentais na correta utilização dos compostos fluoretados, aproveitando-se o máximo benefício no controle da cárie dentária com o mínimo risco de ocorrência de fluorose.

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The temporal muscles (anterior position), and the masseter and suprahyoid muscles were studied electromyographically in 15 subjects with ages ranging from 18 to 35 years, showing normal occlusion (Class I of angle), complete dentition and no dysfunction of the stomatognathic system. The volunteers sat comfortably in a chair, keeping the Frankfurt plane parallel to the boor; the muscles were analysed in the mandibular resting position through a number of stages: with minimum exteroceptive stimuli, relaxation with soft music, abolition of the intrabuccal negative pressure through a plastic tube, stress provoked by an electronic game, disocclusion of posterior teeth using the occlusal splint and finally withdrawal of this device. The electromyographic results were analysed statistically. The samples, were analysed for all of the frequencies of motor units, in a 1-min period. It was found that there were statistically significant difference between the relaxation stages as compared with the withdrawal of negative intraoral pressure and mainly with the stress phase, being this only on the suprahyoid muscles, with 5% significance.

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Statement of problem. Little data are available regarding the effect of heat-treatments on the dimensional stability of hard chairside reline resins. Purpose. The objective of this in vitro study was to evaluate whether a heat-treatment improves the dimensional stability of the reline resin Duraliner II and to compare the linear dimensional changes of this material with the heat-polymerized acrylic resin Lucitone 550. Material and methods. The materials were mixed according to the manufacturer's instructions and packed into a stainless steel split mold (50.0 mm diameter and 0.5 mm thickness) with reference points (A, B, C, and D). Duraliner II specimens were polymerized for 12 minutes in water at 37°C and bench cooled to room temperature before being removed from the mold. Twelve specimens were made and divided into 2 groups: group 1 specimens (n=6) were left untreated, and group 2 specimens (n=6) were submitted to a heat-treatment in a water bath at 55°C for 10 minutes and then bench cooled to room temperature. The 6 Lucitone specimens (control group) were polymerized in a water bath for 9 hours at 71°C. The specimens were removed after the mold reached the room temperature. A Nikon optical comparator was used to measure the distances between the reference points (AB and CD) on the stainless steel mold (baseline readings) and on the specimens to the nearest 0.001 mm. Measurements were made after processing and after the specimens had been stored in distilled water at 37°C for 8 different periods of time. Data were subjected to analysis of variance with repeated measures, followed by Tukey's multiple comparison test (P<.05). Results. All specimens exhibited shrinkage after processing (control, -0.41%; group 1, -0.26%; and group 2, -0.51%). Group 1 specimens showed greater shrinkage (-1.23%) than the control (-0.23%) and group 2 (-0.81%) specimens after 60 days of storage in water (P<.05). Conclusion. Within the limitations of this study, a significant improvement of the long-term dimensional stability of the Duraliner II reline resin was observed when the specimens were heat-treated. However, the shrinkage remained considerably higher than the denture base resin Lucitone 550. Copyright © 2002 by The Editorial Council of The Journal of Prosthetic Dentistry.

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A 14-year-old, male patient was referred for the treatment of mucositis, idiopathic facial asymmetry, and candidiasis. The patient had been undergoing chemotherapy for 5 years for acute lymphoblastic leukemia. He presented with a swollen face, fever, and generalized symptomatology in the mouth with burning. On physical examination, general signs of poor health, paleness, malnutrition, and jaundice were observed. The extraoral clinical examination showed edema on the right side of the face and cutaneous erythema. On intraoral clinical examination, generalized ulcers with extensive necrosis on the hard palate mucosa were observed, extending to the posterior region. Both free and attached gingivae were ulcerated and edematous with exudation and spontaneous bleeding, mainly in the superior and inferior anterior teeth region. The tongue had no papillae and was coated, due to poor oral hygiene. The patient also presented with carious white lesions and enamel hypoplasia, mouth opening limitation, and foul odor. After exfoliative cytology of the affected areas, the diagnosis was mixed infection by Candida albicans and bacteria. Recommended treatment was antibiotics and antifungal administration, periodontal prophylaxis, topical application of fluor 1.23%, and orientation on and control of proper oral hygiene and diet during the remission phase of the disease.

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The mathematical fundamentals involved in the realization of a high precision reference system, taking into account solutions from VLBI, SLR, GPS and DORIS are presented. Each individual solution has its own deficiencies in providing a global reference system. But combining all solutions together, and by the introduction of the no net rotation condition (NNR), a solution that reflects the nowadays precision of the available spatial techniques for the determination of position and velocity of stations located on the Earth crust is obtained. Whilst the origin is provided by SLR, the scale is introduced by SLR and VLBI. The orientation and its temporal evolution are introduced via internal constraints, in accordance with the NNR condition.

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This study evaluated the Eucalyptus grandis drying defects acting on boards diametrical position and on log steaming. Half of the logs, with diameter from 20 to <25, 25 to <30 and 30 to <35cm, were steamed during 20 hours at 90°C of temperature. Subsequently, the logs (control and steamed) were sawn. The boards were dried in the dry-kiln pilot and the resulting defects from the drying process were measured. The results indicate that: (1) the boards coming from control logs presented different magnitude defects in function of the diametrical position. The split and spring to increase in direction to pith, the bow to increase in direction to bark and cupping were bigger in intermediary boards; (2) the boards coming from steamed logs presented a reduction from drying defects in function of logs diameter and its more homogeneous index in the pith-bark direction.

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A target tracking algorithm able to identify the position and to pursuit moving targets in video digital sequences is proposed in this paper. The proposed approach aims to track moving targets inside the vision field of a digital camera. The position and trajectory of the target are identified by using a neural network presenting competitive learning technique. The winning neuron is trained to approximate to the target and, then, pursuit it. A digital camera provides a sequence of images and the algorithm process those frames in real time tracking the moving target. The algorithm is performed both with black and white and multi-colored images to simulate real world situations. Results show the effectiveness of the proposed algorithm, since the neurons tracked the moving targets even if there is no pre-processing image analysis. Single and multiple moving targets are followed in real time.

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Posture can be defined as the overall position and spatial orientation of the human body and its members relative to each other. The study of posture can be applied either static, with the subject standing still. Objectives: to identify and quantify the static posture alignment of individuals who were either symptomatic or asymptomatic for cervical pain. Methods: A cross-sectional study was carried out on subjects with cervical pain and individuals with no complaints of pain. The procedure consists in placing markers on specific points. Several views, following the protocol of the Posture Assessment software, regarding the measurement of angles (in degrees) and differences in lower leg lengths (in centimeters). Angles were analyzed through the comparison of averages between the groups using test t Student, (alpha=5%). Results: There enrolled 27 subjects. There were differences in horizontal alignment of head (3.37x1.33), acromia (2.60x1.18), iliac spines (2.91x0.67), vertical alignment of head (25.70x18.26) and in length of lower limbs (1.36x0.75) in respect to cervical and asymptomatic subjects. Conclusions: Was possible identify and quantify the static posture alignment of individuals with and with no cervical pain. The data obtained suggest the presence of asymmetry in all the symptomatic individuals studied. The data obtained suggest the presence of overall asymmetry in all the symptomatic individuals studied. © 2009 Springer-Verlag.

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This work was carried out to evaluate the effects of sugarcane straw density and positions of seeds of Euphorbia heterophylla, Mucuna cinereum, Digitaria nuda and Eleusine indica on emergence and initial development of plants. The experiment were arranged in a completely randomized design, with 15 treatments and four replications, in a factorial arrangement 3 x 5 with a additional control; the first factor was constituted by position of seeds related to the straw (under, between and on) and the second by five quantities of straw (1, 2, 4, 8 e 16 t ha -1) with a control without straw. At 15 days after sowing (DAS) it was realized evaluations of height, dry mass and emergence percentage for E. heterophylla and M. cinereum, and at 28 DAS it was analyzed dry mass and emergence percentage for D nuda e E. indica. Data obtained were submitted to F in variance analysis test and means were compared with Tukey at 5% probability. Emergence and initial development of E. heterophylla e M. cinereum were reduced with increasing of straw and were affected by seed position, but it was not inhibited in none of conditions, indicating aggressiveness of these weeds in sugarcane mechanized harvest conditions. D. nuda and E. indica emergence was not affected by seed position and coverage soil with 8 e 16 t ha -1 of sugarcane straw inhibited its emergence.

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This paper presents an application to traffic lights control in congested urban traffic, in real time, taking as input the position and route of the vehicles in the involved areas. This data is obtained from the communication between vehicles and infrastructure (V2I). Due to the great complexity of the possible combination of traffic lights and the short time to get a response, Genetic Algorithm was used to optimize this control. According to test results, the application can reduce the number of vehicles in congested areas, even with the entry of vehicles that previously were not being considered in these roads, such as parked vehicles. © 2012 IEEE.

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Aim: To evaluate the influence of deproteinized bovine bone mineral in conjunction with a collagen membrane, at implants installed into sockets in a lingual position immediately after tooth extraction, and presenting initial horizontal residual buccal defects <2 mm. Material and methods: The pulp tissue of the mesial roots of 4P4 was removed in six Labrador dogs, and the root canals were filled with gutta-percha and cement. Flaps were elevated, and the buccal and lingual alveolar bony plates were exposed. The premolars were hemi-sectioned, and the distal roots were removed. Implants were installed in a lingual position and with the margin flush with the buccal bony crest. After installation, defects resulted at about 1.7 mm in width at the buccal aspects, both at the test and control sites. Only in the left site (test), deproteinized bovine bone mineral (DBBM) particles were placed into the defect concomitantly with the placement of a collagen membrane. A non-submerged healing was allowed. Results: After 3 months of healing, one implant was found not integrated and was excluded from the analysis together with the contralateral control implant. All remaining implants were integrated into mature bone. The bony crest was located at the same level of the implant shoulder, both at the test and control sites. At the buccal aspect, the most coronal bone-to-implant contact was located at a similar distance from the implant margin at the test (1.7 ± 1.0 mm) and control (1.6 ± 0.8 mm) sites, respectively. Only small residual DBBM particles were found at the test sites. Conclusion: The placement of an implant in a lingual position into a socket immediately after tooth extraction may favor a low exposure of the buccal implant surface. The use of DBBM particles, concomitantly with a collagen membrane, did not additionally improve the outcome obtained at the control sites. © 2011 John Wiley & Sons A/S.

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Aim: To evaluate the influence of deproteinized bovine bone mineral (DBBM), in conjunction with a collagen membrane, on bone resorption at implants installed in a lingual position immediately into extraction sockets with horizontal residual buccal defects >2.0 mm. Material & methods: The pulp tissue of the mesial roots of 1M1 was removed in six Labrador dogs, and the root canals were filled with gutta-percha and cement. Flaps were elevated. The molars were hemi-sectioned and the distal roots removed. Implants were installed in a lingual position and with the shoulder flush with the buccal bony crest. After installation, defects of about 2.5 and 2.7 mm in width resulted at the buccal aspects of the test and control sites, respectively. Only in the left site (test), deproteinized bovine bone mineral (DBBM) particles were placed into the defect concomitantly with the placement of a collagen membrane. On the control sites, no biomaterials were applied. A non-submerged healing was allowed. Results: After 3 months of healing, one control implant was not integrated and was excluded from the analysis, together with the contralateral test implant. All remaining implants were integrated into mature bone. The buccal alveolar bony crest was resorbed more at the test compared with the control sites, 2.2 ± 0.9 mm and 1.5 ± 1.3 mm, respectively. The vertical resorption of the lingual plate was 1.6 ± 1.5 mm and 1.5 ± 1.1 mm at the test and control sites, respectively. Only small residual DBBM particles were found at the test sites (1.4%). Conclusion: The use of DBBM particles to fill buccal defects of ≥2.5 mm at implants installed immediately into alveolar extraction sockets did not preserve the buccal bony wall. © 2012 John Wiley & Sons A/S.