Experimental validation of a 3-D vision-based measurement system applied to robot calibration

One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations.

A spheroid-based 3-D culture model for pancreatic cancer drug testing, using the acid phosphatase assay

Current therapy for pancreatic cancer is multimodal, involving surgery and chemotherapy. However, development of pancreatic cancer therapies requires a thorough evaluation of drug efficacy in vitro before animal testing and subsequent clinical trials. Compared to two-dimensional culture of cell monolayer, three-dimensional (3-D) models more closely mimic native tissues, since the tumor microenvironment established in 3-D models often plays a significant role in cancer progression and cellular responses to the drugs. Accumulating evidence has highlighted the benefits of 3-D in vitro models of various cancers. In the present study, we have developed a spheroid-based, 3-D culture of pancreatic cancer cell lines MIAPaCa-2 and PANC-1 for pancreatic drug testing, using the acid phosphatase assay. Drug efficacy testing showed that spheroids had much higher drug resistance than monolayers. This model, which is characteristically reproducible and easy and offers rapid handling, is the preferred choice for filling the gap between monolayer cell cultures and in vivo models in the process of drug development and testing for pancreatic cancer.

Congo grass grown in rotation with soybean affects phosphorus bound to soil carbon

The phosphorus supply to crops in tropical soils is deficient due to its somewhat insoluble nature in soil, and addition of P fertilizers has been necessary to achieve high yields. The objective of this study was to examine the mechanisms through which a cover crop (Congo grass - Brachiaria ruziziensis) in rotation with soybean can enhance soil and fertilizer P availability using long-term field trials and laboratory chemical fractionation approaches. The experimental field had been cropped to soybean in rotation with several species under no-till for six years. An application rate of no P or 240 kg ha-1 of P2O5 had been applied as triple superphosphate or as Arad rock phosphate. In April 2009, once more 0.0 or 80.0 kg ha-1 of P2O5 was applied to the same plots when Congo grass was planted. In November 2009, after Congo grass desiccation, soil samples were taken from the 0-5 and 5-10 cm depth layer and soil P was fractionated. Soil-available P increased to the depth of 10 cm through growing Congo grass when P fertilizers were applied. The C:P ratio was also increased by the cover crop. Congo grass cultivation increased P content in the soil humic fraction to the depth of 10 cm. Congo grass increases soil P availability by preventing fertilizer from being adsorbed and by increasing soil organic P.

Capacidade materna de cuidar e desnutrição infantil

OBJETIVOS: Identificar e medir a magnitude do risco de desnutrição associada a fatores determinantes da capacidade materna de cuidado infantil: estrutura familiar, escolaridade, trabalho, saúde física e saúde mental maternas. MÉTODOS: Delineou-se um estudo de casos e controles. Foram selecionados 101 casos (crianças com peso/idade abaixo do percentil 5) e 200 controles (crianças com peso/idade acima do percentil 25) mediante inquéritos antropométricos realizados durante três "Dias Nacionais de Vacinação", em 1996 e 1997. Os dados foram obtidos em entrevistas realizadas nos domicílios com as mães das crianças. Para detectar o efeito-líquido de cada fator em estudo, realizou-se análise de regressão logística multivariada e hierarquizada. Tais fatores e as possíveis variáveis de controle foram agrupados em blocos, ordenados segundo a precedência com que influiriam sobre o estado nutricional infantil. Adotaram-se p<0,20 para seleção das variáveis de controle (mediante análise univariada) e p<0,05 para identificação de associação estatisticamente significativa entre fatores de estudo e desnutrição infantil. RESULTADOS: Foram identificados como fatores de risco de desnutrição: (a) estrutura familiar adversa indicada pela ausência de companheiro ("odds ratio" [OR] = 2,2; IC95%, 1,1-4,5); (b) internação materna durante a gravidez (OR=3,5; IC95%, 1,6-7,7); (c) precária saúde mental materna expressa pela presença de três a quatro sintomas de depressão (OR=3,1; IC95%, 0,9-10,3); (d) fatores de estresse familiar, no caso, indícios de alcoolismo em pelo menos um membro da família (OR=2,1; IC95%, 1,2-3,9). A idade da criança no início/retorno da mãe ao trabalho também se associou de modo independente à presença de desnutrição, porém os efeitos variaram: retorno precoce (criança com menos de quatro meses) não significou risco ou proteção; volta da mãe ao trabalho quando a criança tinha entre quatro meses e 12 meses constituiu fator de proteção. CONCLUSÕES: Evidenciou-se que fatores potencialmente definidores da capacidade materna de cuidado exercem efeito independente sobre o estado nutricional infantil.

Efeito de diferentes substratos na produção de mudas de mangabeira (Hancornia speciosa)

A mangabeira (Hancornia speciosa Gomes) é uma espécie frutífera nativa do Cerrado, que devido às características dos seus frutos apresenta enorme potencial de aceitação pelo mercado consumidor, além de apresentar expressivo potencial produtivo. Objetivou-se avaliar o efeito de diferentes substratos na produção de mudas de mangabeira em sacos de polietileno e determinar o melhor substrato para a propagação da espécie. O trabalho foi conduzido em casa de vegetação na Universidade Estadual de Mato Grosso do Sul, Unidade Universitária de Cassilândia. O delineamento experimental foi em blocos casualizados, com quatro repetições e 15 plantas por parcela. Foram testadas cinco misturas de substratos: A (areia lavada + Plantmax® + solo, 1:1:3 v:v:v); B (casca de arroz carbonizada + Plantmax® + solo, 1:1:3); C (casca de arroz carbonizada + húmus de minhoca + solo, 1:1:3); D (esterco bovino + Plantmax® + solo, 1:1:3), e E (esterco bovino + solo, 2:3). Foram avaliados os parâmetros: porcentagem de germinação, índice de velocidade de emergência (IVE), porcentagem de mortalidade, altura da muda (cm), diâmetro do colo (mm), comprimento da raiz (cm), número de folhas/planta, índice de clorofila foliar (CCI), massa seca, parte aérea da raiz e total (g/planta). As melhores características para uma muda sadia e de boa qualidade para pegamento no campo foram obtidas com os substratos D e E, sendo estes os recomendados para a produção de mudas de mangabeira em sacos de polietileno.

Metabólitos secundários dos nudibrânquios Tambja stegosauriformis, Hypselodoris lajensis e Okenia zoobotryon e dos briozoários Zoobotryon verticillatum e Bugula dentata da costa do Brasil

The chemical investigation of the MeOH extract from the bryozoan B. dentata MeOH yielded tambjamines A (1), C (3), D (4), K (6), aldehyde 8 and the new tambjamine J1(9), while the extract of its predator, the nudibranch Tambja stegosauriformis, yielded tambjamines C and K, along with aldehyde 8. Furodisinin lactone (11) was isolated from the nudibranch Hypselodoris lajensis, a compound previously isolated from Dysidea sponges. The alkaloid 2,5,6-tribromo-N-methylgramine (12) was isolated from the nudibranch Okenia zoobotryon and from its prey, the bryozoan Zoobotryon verticillatum, the only source of 12 previously known.

Self-assembly of supermolecular species directed by hydrogen bonding and aromatic π-π stacking interactions

A new Cu(II) trimers, [Cu3(dcp)2(H2O)8]. 4DMF, with the ligand 3,5-pyrazoledicarboxylic acid monohydrate (H3dcp) has been prepared by solvent method. Its solid-state structure has been characterized by elemental analysis, thermal analysis (TGA and DSC), and single crystal X-ray diffraction. X-ray crystallographic studies reveal that this complex has extended 1-D,2-D and 3-D supramolecular architectures directed by weak interactions (hydrogen bond and aromatic π-π stacking interaction) leading to a sandwich solid-state structure.

Partida de um reator anaeróbio horizontal para tratamento de efluentes do processamento dos frutos do cafeeiro

O presente estudo teve o objetivo de avaliar a partida e a adaptação de um reator anaeróbio horizontal de leito fixo (RAHLF) no tratamento de águas residuárias do processamento primário dos frutos do cafeeiro (ARC). O reator foi construído com tubos de PVC de 0,2 m de diâmetro e 3,2 m de comprimento. O sistema foi preenchido com cubos de espuma de poliuretano para imobilização de biomassa ativa. O reator apresentou volume total de 0,1 m³ e volume útil equivalente a 0,04 m³. Em média, houve remoção de 49% da matéria orgânica, com o reator trabalhando sob carga orgânica volumétrica média de 2,66 kg m-3 d-1, medida como DQO. A suplementação de alcalinidade, somada à inoculação prévia de biomassa, proporcionou partida estável do RAHLF, confirmada pelo consumo de ácidos voláteis e adaptação da microbiota ao resíduo. O sistema apresentou resistência às variações de vazão e de carga orgânica observadas, e os teores de fenol e potássio monitorados não causaram inibição da atividade biológica no RAHLF. O maior controle sobre as variações de carga é fator importante na continuidade dos estudos.

Swine effluent treatment using anaerobic digestion at different loading rates

The industrial swine production is characterized by generation of significant effluent amounts that require treatment. The most adopted practices by Brazilian swine farmers have been wastewater storage in lagoons and its subsequent use as a biofertilizer. Nutrient accumulation in soil and water creates the need for an effective management of these residues. The anaerobic digestion process is an important alternative and low-cost treatment for organic matter reduction. However, its efficiency is limited by the digester capacity of solid degradation, especially at low hydraulic retention times. Thus, the present study aimed to verify the behavior of an upflow anaerobic digester by increasing the organic loading rate. This was accomplished in three stages using, as a parameter, volatile solids at 0.5; 1.0 and 1.5 kgVS m-3 d-1, respectively. This digester model proved to be quite robust and effective in swine manure treatment, achieving high efficiency of volatile solid removal at all stages of the study (stage 1: 61.38%; stage 2: 55.18%; and stage 3: 43.18%). Biogas production was directly related to the increasing organic load, reaching 0.14, 0.85, and 0.86 Nm³ kgVS-1add., respectively, with no significant difference (p<0.05) of biogas methane concentration among the studied stages (73.7, 75.0, and 77.9%).

Start-up of anaerobic reactors for slaughterhouse wastewater treatment

This study aimed to evaluate the start-up of a horizontal anaerobic fixed bed reactor (HAFBR) followed by an upflow anaerobic sludge blanket (UASB) for the slaughterhouse wastewater treatment. HAFBR was filled with bamboo rings and had 1.2 m in length, 0.10 m in diameter and volume of 7.5 L. The UASB had the volume of 15 L. The HAFBR and UASB operated at organic loading rate and hydraulic retention time average of 8.46 and 3.77 kg m-3 d-1 of COD and 0.53 and 0.98 days, respectively. During 150 days of monitoring system it was found pH 6.8, relatively high values of bicarbonate alkalinity (> 1000 mg L-1) and reduced values of volatile acids (70 to 150 mg L-1), which afforded average removal efficiencies of COD total and total suspended solids of the order of 31 and 23% in HAFBR and 79% and 63% in UASB. It can be concluded that the generation and consumption of bicarbonate alkalinity and total volatile acids, thereby maintaining the pH during the study indicated stable operation of the reactors. The COD removal in the reactors was satisfactory especially when it considers that the assessment was conducted in a period of adaptation of organisms to the effluent and also the high organic load applied during this period.

Unidades combinadas RAFA-SAC para tratamento de água residuária de suinocultura – parte II nutrientes

RESUMO Neste trabalho, avaliou-se o efeito combinado de duas unidades de tratamento na remoção de nitrogênio total Kjeldahl (NTK) e fósforo total (PT). As unidades avaliadas receberam alimentação contínua, sendo um reator anaeróbio de manta de lodo e fluxo ascendente tipo RAFA, com volume útil de 96 L, seguido de um sistema alagado construído (SAC) com capacidade para 237 L. O experimento foi conduzido em três fases, variando o tempo de detenção hidráulica (TDH) no reator anaeróbio de: 59 h, 19,5 h e 5 h, e no SAC 146 h, 48 h e 13 h, respectivamente, nas fases I, II e III. A carga orgânica volumétrica (COV) aplicada foi de 1,2; 1,3 e 13,0 kg m-3 d-1 de DQO no RAFA, e as taxas de aplicação superficial (TAS) no SAC foram de 120, 130 e 464 kg ha-1d-1 de NTK e 13; 51 e 240 kg ha-1 d-1de PT e de 850; 656 e 6.335 kg ha-1 d-1 de DQO. As eficiências de remoção de NTK e PT no sistema como um todo foram de, aproximadamente, 35%, não havendo diferença significativa entre as fases. Porém, em termos de COV removida, houve maior remoção com o aumento da carga aplicada. As características apresentadas pelo efluente do sistema nas diferentes fases não alcançaram os padrões ambientais para lançamento em cursos de água no Estado de Minas Gerais, dentre as variáveis avaliadas, mas seu potencial nutricional deve ser utilizado para produção agrícola.

Anatomical and functional characteristics of the pelvic floor in nulliparous women submitted to three-dimensional endovaginal ultrasonography: case control study and evaluation of interobserver agreement

PURPOSE: To determine anatomical and functional pelvic floor measurements performed with three-dimensional (3-D) endovaginal ultrasonography in asymptomatic nulliparous women without dysfunctions detected in previous dynamic 3-D anorectal ultrasonography (echo defecography) and to demonstrate the interobserver reliability of these measurements. METHODS: Asymptomatic nulliparous volunteers were submitted to echo defecography to identify dynamic dysfunctions, including anatomical (rectocele, intussusceptions, entero/sigmoidocele and perineal descent) and functional changes (non-relaxation or paradoxical contraction of the puborectalis muscle) in the posterior compartment and assessed with regard to the biometric index of levator hiatus, pubovisceral muscle thickness, urethral length, anorectal angle, anorectal junction position and bladder neck position with the 3-D endovaginal ultrasonography. All measurements were compared at rest and during the Valsalva maneuver, and perineal and bladder neck descent was determined. The level of interobserver agreement was evaluated for all measurements. RESULTS: A total of 34 volunteers were assessed by echo defecography and by 3-D endovaginal ultrasonography. Out of these, 20 subjects met the inclusion criteria. The 14 excluded subjects were found to have posterior dynamic dysfunctions. During the Valsalva maneuver, the hiatal area was significantly larger, the urethra was significantly shorter and the anorectal angle was greater. Measurements at rest and during the Valsalva maneuver differed significantly with regard to anorectal junction and bladder neck position. The mean values for normal perineal descent and bladder neck descent were 0.6 cm and 0.5 cm above the symphysis pubis, respectively. The intraclass correlation coefficient ranged from 0.62-0.93. CONCLUSIONS: Functional biometric indexes, normal perineal descent and bladder neck descent values were determined for young asymptomatic nulliparous women with the 3-D endovaginal ultrasonography. The method was found to be reliable to measure pelvic floor structures at rest and during Valsalva, and might therefore be suitable for identifying dysfunctions in symptomatic patients.

The L-arginine/nitric oxide/cyclic-GMP pathway apparently mediates the peripheral antihyperalgesic action of fentanyl in rats

There are only a few studies on the molecular mechanisms underlying the peripheral antihyperalgesic effect of opioids. The aim of this study was to investigate the molecular bases of the peripheral antihyperalgesic effect of fentanyl in a model of prostaglandin-induced chemical hyperalgesia. Prostaglandin E2 (1.4 nmol) injected into one hind paw of male Wistar rats (200-250 g, N = 6 in each experimental or control group) pretreated with indomethacin (2.5 mg/kg) potentiated the nocifensive response to formalin (1%) injection made 60 min later. Drugs applied locally 30 min after prostaglandin E2 induced the following effects: fentanyl (0.1-1.0 nmol) caused a dose-dependent reversal of the hyperalgesic state, naloxone (2 nmol) co-injected with fentanyl (1 nmol) completely reversed the antihyperalgesic effect, Nomega-nitro-L-arginine (NOARG, 0.05-0.2 µmol) in combination with fentanyl (1.0 nmol) caused a dose-dependent inhibition of the antihyperalgesic effect of fentanyl, co-administration of L-arginine (0.5 µmol) with NOARG (0.2 µmol) plus fentanyl (1.0 nmol) fully restored the antihyperalgesic effect, and the cyclic-GMP phosphodiesterase inhibitor UK-114,542-27 (5-[2-ethoxy-5-(morpholinylacetyl) phenyl]-1,6-dihydro-1-methyl-3-propyl-7H-pyrazolo [4,3-d]-pyrimidin-7-one methanesulfonate monohydrate; 0.5-2.0 µmol) potentiated a subeffective dose of fentanyl (0.1 nmol) in a dose-dependent manner. However, UK-114,542-27 (2.0 µmol) injected alone did not produce this antihyperalgesic effect. Systemically administered fentanyl (1.0 nmol, sc) did not cause antinociception. Taken together, these results support the view that fentanyl reverses prostaglandin E2-induced hyperalgesia, probably by activating an opioid receptor at the periphery, and furthermore the L-arginine/nitric oxide/cyclic-GMP pathway may mediate this peripheral effect of fentanyl.