Exame parasitológico quantitativo das fezes: estudo comparativo entre os métodos de McMaster, Stoll-Hausheer e Kato-Katz

Foram comparados 300 exames parasitológicos quantitativos das fezes, pelos métodos de Kato-Katz, Stoll-Hausheer e McMaster, após análise prévia e rotineira. Os resultados evidenciaram as porcentagens de positividades a seguir especificadas, levando em conta, por ordem, espécie de helminto, número de situações nas quais os ovos respectivos apareceram e as participações dos processos de Kato-Katz, Stoll- Hausheer e McMaster: ancilostomídeos- 117(89,7%, 76,0% e80,3%); Trichocephalus trichiurus-124 (91,1 %, 70,9% e 70,9%); Ascaris lumbricoides- 59 (94,9%, 84,7% e 49,1%); Schistosoma mansoni- 58 (96,5%, 48,2% e 0,0%); Hymenolepis nana -15 (46,6%, 73,3% e 86,6%). Quanto à sensibilidade dos métodos, a avaliação estatística demonstrou, na maioria das situações, vantagem do de Kato-Katz sobre os demais. O estudo efetuado comprovou superioridade da técnica de Kato-Katz, em virtude de verificações relacionadas com especificidade, sensibilidade e facilidade para execução. O procedimento de McMaster não merece recomendação para uso habitual, uma vez que não é eficiente no que concerne à demonstração de ovos pesados e propicia preparações dificilmente examináveis.

Faecal examination and PCR to detect Strongyloides venezuelensis in experimentally infected Lewis rats

More sensitive methodologies are necessary to improve strongyloidiasis diagnosis. This study compared the sensitivities of the McMaster modified technique and polymerase chain reaction (PCR) assays, both performed in faecal samples. Lewis rats were subcutaneously infected with 4,000, 400 or 40 infective third-stage larvae, considered as high, moderate or low infection, respectively. Seven days later, they were euthanized to count adult nematodes recovered from the small intestine. Stool samples were used to count the number of eggs per gram (EPG) of faeces and to detect parasite DNA by PCR performed with a species and a genus primer pair. The sensitivity of these assays depended upon parasite burden and the primer specificity. All assays presented 100% sensitivity at the highest parasite load. In the moderate infection, EPG and PCR with the genus primer maintained 100% specificity, whereas PCR sensitivity with the species primer decreased to 77.7%. In low infection, the sensitivity was 60% for EPG, 0% for PCR with the species primer and 90% for PCR done with the genus primer. Together, these results suggest that PCR with a genus primer can be a very sensitive methodology to detect Strongyloides venezuelensisin faeces of Lewis rats infected with very low parasite burden.

Modeling, optimizing and simulating robot calibration with accuracy improvement

This work describes techniques for modeling, optimizing and simulating calibration processes of robots using off-line programming. The identification of geometric parameters of the nominal kinematic model is optimized using techniques of numerical optimization of the mathematical model. The simulation of the actual robot and the measurement system is achieved by introducing random errors representing their physical behavior and its statistical repeatability. An evaluation of the corrected nominal kinematic model brings about a clear perception of the influence of distinct variables involved in the process for a suitable planning, and indicates a considerable accuracy improvement when the optimized model is compared to the non-optimized one.

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.