Degradabilidade ruminal e digestibilidade intestinal da proteína de capim-elefante com três idades de corte

Determinaram-se a degradabilidade potencial (DP) e a digestibilidade intestinal da proteína não degradada no rúmen (DIPNDR) do capim-elefante em diferentes idades de rebrote (30, 45 e 60 dias) e comparou-se a técnica do saco de náilon móvel (in situ) com o método de três estádios (in vitro). Para tanto, utilizaram-se seis novilhos mestiços canulados no rúmen e duodeno alimentados exclusivamente com capim-elefante picado. O ensaio de degradabilidade foi realizado com amostras do capim incubadas no rúmen por 3, 6, 9, 12, 24, 48, 72, 96 e 120h. A digestibilidade intestinal foi determinada utilizando-se os resíduos de incubação por 24 horas. Na técnica in situ os resíduos em sacos de náilon foram colocados no duodeno e recuperados nas fezes. No método in vitro, os resíduos foram submetidos à digestão com HCl-pepsina-pancreatina. em amostras de capim com idades de 30, 45 e 60 dias foram observados valores de DP da proteína de 87,5; 87,8 e 83,8%, respectivamente. A DIPNDR variou com a idade do capim e foi semelhante entre os métodos in situ e in vitro somente para o capim com 60 dias. O método in situ apresentou estimativa de digestibilidade intestinal mais coerente com as mudanças na composição química do capim-elefante decorrentes do envelhecimento.

Migration of diethylhexyl phthalate from PVC bags into intravenous cyclosporine solutions

The migration of diethylhexyl phthalate (DEHP) from PVC bags into LVPS (0.9% NaCl) and LVPS with cyclosporine at concentrations of 2.5 and 0.5 mg/ml was studied. PVC bags were placed in contact with these solutions and stored at 25 1 degrees C. They were taken for analysis each 30 min during 6 h and after this period at each 1 h until 12 h of contact. Water was used as reference, and exposed and analyzed under the same conditions. After contact, the solutions were submitted to extraction with hexane and analyzed by GC-FID. The results showed that DEHP did not migrate into water and LVPS during all the time. Also, no measurable amount of DEHP was detected during the first 3 h of contact between the PVC bag and the diluted cyclosporine solution. However, the amount of released DEHP reached a detectable level after 4 It of contact, increased until 6 h, stabilized, and increased again after 9-10 h. The 12 h of contact showed the highest DEHP levels for both cyclosporine concentrations. The DEHP migrated was 0.02-0.08% of that present in the bag. (c) 2005 Elsevier B.V. All rights reserved.

A Beam Search Method to Solve the Problem of Assignment Cells to Switches in a Cellular Mobile Network

Assigning cells to switches in a cellular mobile network is known as an NP-hard optimization problem. This means that the alternative for the solution of this type of problem is the use of heuristic methods, because they allow the discovery of a good solution in a very satisfactory computational time. This paper proposes a Beam Search method to solve the problem of assignment cell in cellular mobile networks. Some modifications in this algorithm are also presented, which allows its parallel application. Computational results obtained from several tests confirm the effectiveness of this approach and provide good solutions for large scale problems.

Diet of invertebrates sampled in leaf-bags incubated in a tropical headwater stream

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Degradabilidade ruminal e digestibilidade intestinal de alimentos por intermédio da técnica in situ associada à do saco de náilon móvel

Objetivou-se no presente trabalho verificar a degradação ruminal e a digestibilidade intestinal e total da matéria seca (MS) e da proteína bruta (PB) do farelo de soja, do grão de milho, do melaço em pó, da farinha de peixe, da farinha de penas e do feno de alfafa, por intermédio da técnica de degradabilidade ruminal in situ associada à técnica do saco de náilon móvel. As amostras dos alimentos foram moídas e colocadas em duplicata em sacos de náilon de 10x5 cm (48 micras) nas quantidades de 15 e 5 mg de MS/cm² para os alimentos concentrados e feno de alfafa, respectivamente. Os sacos de náilon permaneceram incubados no rúmen de bois holandeses por 0; 2; 6; 8; 24 e 48 h; e 0; 8; 12; 24; 48; 72 e 96 horas, respectivamente, sendo depois retirados e sua duplicata inserida no duodeno através de uma cânula. Posteriormente, os sacos foram coletados junto com as fezes. Os valores de degradabilidade efetiva da PB para uma velocidade de passagem de 5%/hora, para o melaço em pó, grão de milho, farelo de soja, farinha de peixe, farinha de penas e feno de alfafa, foram de 100,00; 62,50; 57,90; 39,30; 34,20 e 60,90%, respectivamente; a digestibilidade intestinal de 100,00; 96,05; 99,79; 98,19; 96,07 e 94,64%, respectivamente; e a digestibilidade total de 100,00; 97,86; 99,87; 98,88; 97,35 e 98,09%, respectivamente. Verificou-se que as proteínas do melaço foram totalmente solúveis no rúmen, sendo as do milho, feno e farelo de soja bastante degradadas, além de possuírem um aproveitamento quase total no intestino. As proteínas das farinhas de peixe e de penas apresentaram baixa solubilidade ruminal e alta digestibilidade intestinal, sendo a farinha de peixe levemente mais digerida no intestino do que a farinha de penas.

Reducing the gap between mobile and intelligent software agents

This paper presents an approach to integrate an artificial intelligence (AI) technique, concretely rule-based processing, into mobile agents. In particular, it focuses on the aspects of designing and implementing an appropriate inference engine of small size to reduce migration costs. The main goal is combine two lines of agent research, First, the engineering oriented approach on mobile agent architectures, and, second, the AI related approach on inference engines driven by rules expressed in a restricted subset of first-order predicate logic (FOPL). In addition to size reduction, the main functions of this type of engine were isolated, generalized and implemented as dynamic components, making possible not only their migration with the agent, but also their dynamic migration and loading on demand. A set of classes for representing and exchanging knowledge between rule-based systems was also proposed.

POTENTIAL BAGS

Relativistic confining potential models, endowed with bag constants associated to volume energy terms, are investigated. In contrast to the usual bag model, these potential bags are distinguished by having smeared bag surfaces. Based on the dynamical assumptions underlying the fuzzy bag model, these bag constants are derived from the corresponding energy-momentum tensor. Explicit expressions for the single-quark energies and for the nucleon bag constant are obtained by means of an improved analytical version of the saddle-point variational method for the Dirac equation with confining power-law potentials of the scalar plus vector (S + V) or pure scalar (S) type.

Paraconsistent Autonomous Mobile Robot Emmy III

This work presents some improvements regarding to the autonomous mobile robot Emmy based on Paraconsistent Annotated Evidential Logic ET. A discussion on navigation system is presented.

Development of a low-cost mobile mapping system: A South American experience

This paper presents the prototype of a low-cost terrestrial mobile mapping system (MMS) composed of a van, two digital video cameras, two GPS receivers, a notebook computer, and a sound frame synchronisation system. The imaging sensors are mounted as a stereo video camera on top of the vehicle together with the GPS antennae. The GPS receivers and the notebook computer are configured to record data referred to the vehicle position at a planned time interval. This position is subsequently transferred to the road images. This set of equipment and methods provide the opportunity to merge distinct techniques to make topographic maps and also to build georeferenced road image databases. Both vector maps and raster image databases, when integrated appropriately, can give spatial researchers and engineers a new technique whose application may realise better planning and analysis related to the road environment. The experimental results proved that the MMS developed at the São Paulo State University is an effective approach to inspecting road pavements, to map road marks and traffic signs, electric power poles, telephone booths, drain pipes, and many other applications important to people's safety and welfare. A small number of wad images have already been captured by the prototype as a consequence of its application in distinct projects. An efficient organisation of those images and the prompt access to them justify the need for building a georeferenced image database. By expanding it, both at the hardware and software levels, it is possible for engineers to analyse the entire road environment on their office computers.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.