Non-biting flying insects as carriers of pathogenic bacteria in a Brazilian hospital

IntroductionInsects have been described as mechanical vectors of nosocomial infections.MethodsNon-biting flying insects were collected inside a pediatric ward and neonatal-intensive care unit (ICU) of a Brazilian tertiary hospital.ResultsMost (86.4%) of them were found to carry one or more species of bacteria on their external surfaces. The bacteria isolated were Gram-positive bacilli (68.2%) or cocci (40.9%), and Gram-negative bacilli (18.2%).ConclusionsInsects collected inside a hospital were carrying pathogenic bacteria; therefore, one must consider the possibility they may act as mechanical vectors of infections, in especially for debilitated or immune-compromised patients in the hospital environments where the insects were collected.

Dispersal of Triatoma infestans and other Triatominae species in the arid Chaco of Argentina: Flying, walking or passive carriage? The importance of walking females

The aim of this paper was to analyse the active dispersal of Triatoma infestans and the role of chickens as passive carriers of this insect in peridomestic areas of La Rioja, Argentina. To measure active dispersal, monthly catches were made on six consecutive nights for five months (in the warm season) using light traps (for flying insects) and sticky dispersal barriers (for walking insects). The nutritional and reproductive states of adults were evaluated. Over the course of the sampling period, a total of eight flying adults, six walking nymphs and 10 walking adults of the species T. infestans were captured, as well as specimens of Triatoma guasayana, Triatoma eratyrusiformis and Triatoma platensis. Our data demonstrate for the first time that females of T. infestans can disperse by walking. This may be an adaptive strategy because it allows them to move with eggs and/or with good blood reserves, which are not possible when flying. All flying and walking individuals of both genders were of an appropriate physiological state that would allow for colonisation of the target habitat. However, manual inspection of 122 chickens suggests that it is unlikely that these animals passively transport T. infestans. Finally, the dispersal activity of T. infestans was compared with other triatomines using a dispersion index.

Influência de substratos e fungos micorrízicos arbusculares no desenvolvimento vegetativo do porta-enxerto flying dragon. (Poncirus trifoliata, var. montruosa Swing.)

O presente estudo teve por objetivos avaliar o efeito da composição do substrato e da inoculação de duas espécies de fungos micorrízicos arbusculares (FMA) (Glomus clarum e Acaulospora scrobiculata) sobre o desenvolvimento vegetativo, o conteúdo em substâncias de reserva nos tecidos e a percentagem de colonização radicular por FMA no porta-enxerto Flying dragon (Poncirus trifoliata, var. monstruosa Swing). Os tratamentos consistiram de dois substratos: S1= solo + areia (1:1; v:v) e S2 = solo + areia + resíduo decomposto de casca de acácia-negra (2:2:1; v:v:v), ambos com e sem inoculação isolada de duas espécies de FMA (G. clarum e A. scrobiculata). Constatou-se que a adição de resíduo decomposto de casca de acácia-negra melhorou as características químicas e físicas do substrato, permitindo um maior desenvolvimento vegetativo e acúmulo de substâncias de reserva às plantas de Flying dragon em relação ao substrato solo + areia. A eficiência da simbiose foi variável com o substrato e com a espécie de FMA, onde o efeito positivo dos FMA foi notado apenas no substrato solo + areia, mais pobre nutricionalmente, sendo A. scrobiculata a espécie mais eficiente.

Caracterização de frutos e poliembrionia em sementes de 'flying dragon' e de híbridos de porta-enxerto de citros

A diversificação de porta-enxertos é uma realidade no momento atual da citricultura brasileira, devido aos inúmeros problemas fitossanitários que vêm sendo recorrentes. Neste contexto, algumas alternativas já são implementadas, como a utilização de alguns híbridos produzidos a partir do melhoramento convencional e por variedades já consagradas na citricultura. O presente trabalho foi realizado com o objetivo de caracterizar os frutos e avaliar a germinação e a poliembrionia das sementes de híbridos e alguns porta-enxertos convencionais. Para caracterização, foram colhidas, ao acaso, 12 amostras (frutos) de cada porta-enxerto. Na avaliação do percentual de germinação, índice de velocidade de germinação e poliembrionia, foi utilizado o esquema fatorial 5 (porta-enxertos: híbridos UFLAD-2, UFLAD-3 e UFLAD-4, citrumeleiro 'Swingle' e o Poncirus trifoliata var. monstrosa 'Flying Dragon') x 2 (com e sem a remoção do tegumento da semente), sendo utilizadas quatro repetições. De acordo com os resultados obtidos, concluiu-se que: O tamanho do fruto não influenciou no rendimento de sementes. A remoção do tegumento acelerou o tempo de germinação das sementes em todos os porta-enxertos e proporcionou maior percentual de germinação. A poliembrionia não afetou o processo de germinação das sementes. Os porta-enxertos UFLAD-2, UFLAD-3, UFLAD-4 e citrumeleiro 'Swingle' apresentam potencial para serem utilizados como porta-enxertos na propagação de algumas variedades cítricas.

Caracterização dos frutos e germinação de sementes dos porta-enxertos trifoliata Flying Dragon e citrumelo Swingle

Objetivou-se realizar a caracterização fitotécnica dos frutos e avaliar o efeito da remoção do tegumento da semente e do uso do GA3 e do bioestimulante (Stimulate®) sobre a germinação de sementes dos porta-enxertos de citros Flying Dragon e citrumelo Swingle. A caracterização fitotécnica compreendeu a massa do fruto, o diâmetro transversal e longitudinal e a espessura da "casca" e a contagem de sementes viáveis e inviáveis por fruto. Realizou-se um experimento para cada porta-enxerto, em casa de vegetação sob nebulização intermitente, e as avaliações foram a cada 3 dias, após o início do processo germinativo, verificando-se porcentagem de germinação e índice de velocidade de germinação. A utilização do GA3 e a retirada do tegumento em sementes do porta-enxerto Flying Dragon aumentam a porcentagem de germinação e o índice de velocidade de germinação, e para o porta-enxerto citrumelo Swingle, a retirada do tegumento das sementes aumenta a porcentagem de germinação e o índice de velocidade de germinação.

Nutrição do porta-enxerto 'Flying Dragon'

No Brasil, o uso do trifoliata 'Flying Dragon', como porta-enxerto em citros, tem crescido quando se buscam pomares com altas densidades, devido, principalmente, a induzir nanismo à maioria das variedades de copa compatíveis. No entanto, por possuir desenvolvimento lento, existe a necessidade de se estudar melhor o crescimento desse porta-enxerto. A nutrição é uma importante ferramenta que visa a acelerar o crescimento e a melhorar o vigor e a qualidade das plantas. Diante disso, foi avaliada a aplicação de nutrientes no crescimento do porta-enxerto em três experimentos. No primeiro experimento, utilizaram-se seis doses de N parceladas; no segundo, seis doses de P (aplicadas em dose total, misturadas diretamente no substrato); e no terceiro, seis doses de K parceladas. As seis doses foram constituídas por: D0 = testemunha sem adubação; D1= metade da dose-padrão; D2 = a dose-padrão (920 mg dm-3 de N, 790 mg dm-3 de K e 100 mg dm-3 de P); D3 = uma vez e meia a dose-padrão; D4 = duas vezes a dose-padrão; e D5 = duas vezes e meia a dose-padrão. Assim, coletaram-se dados biométricos da planta de diâmetro e altura, quinzenalmente, e dados de massa seca da parte aérea e da raiz, mensalmente. O delineamento utilizado foi o inteiramente casualizado, com parcela subdividida. O nitrogênio teve papel fundamental no incremento das massas secas de raiz e da parte aérea.

Design and development of the architecture of an agricultural mobile robot

Parameters such as tolerance, scale and agility utilized in data sampling for using in Precision Agriculture required an expressive number of researches and development of techniques and instruments for automation. It is highlighted the employment of methodologies in remote sensing used in coupled to a Geographic Information System (GIS), adapted or developed for agricultural use. Aiming this, the application of Agricultural Mobile Robots is a strong tendency, mainly in the European Union, the USA and Japan. In Brazil, researches are necessary for the development of robotics platforms, serving as a basis for semi-autonomous and autonomous navigation systems. The aim of this work is to describe the project of an experimental platform for data acquisition in field for the study of the spatial variability and development of agricultural robotics technologies to operate in agricultural environments. The proposal is based on a systematization of scientific work to choose the design parameters utilized for the construction of the model. The kinematic study of the mechanical structure was made by the virtual prototyping process, based on modeling and simulating of the tension applied in frame, using the.

Dynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles

This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described.

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.

Control of a one-legged robot with energy savings

This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared.

Speed Control of an Autonomous Mobile Robot: Comparison between a PID Control and a Control Using Fuzzy Logic

An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.

A Test Bed Applied Mobile Robot Navigation

It is presented a test bed applied to studies on dynamics, control, and navigation of mobile robots. A cargo ship scale model was chosen, which can be radio-controlled or operated autonomously through an embedded control system. A control program, which manages on board mission execution, is implemented on a microcontroller. Navigation is based on an electronic compass, which includes automatic compensation for pitch and roll motions. Heading control loop is based on this sensor, and on a rudder positioning system. A propulsion control system is also implemented. Typical manoeuvres as the turning test and "zig-zag", were implemented and tested. They are included on a manoeuvre library, and can be accessed independently or in combined modes. The embedded system is also in charge of signal acquisition and storing during the missions. It is possible to analyse experiments on identification of ship dynamics, control, and navigation, through the data transferred to a PC by serial communication. Navigation is going to be improved by including inertial sensors on board, and a DGPS. Preliminary tests are aimed to ship identification, and manoeuvrability, using free model tests. Future steps include extending this system for developing other mobile robots as, ROVs, AUVs, and aerial vehicles.

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.

Experimental study applied to an industrial robot by using variable structure controllers and friction compensation

Control of an industrial robot is mainly a problem of dynamics. It includes non-linearities, uncertainties and external perturbations that should be considered in the design of control laws. In this work, two control strategies based on variable structure controllers (VSC) and a PD control algorithm are compared in relation to the tracking errors considering friction. The controller's performances are evaluated by adding an static friction model. Simulations and experimental results show it is possible to diminish tracking errors by using a model based friction compensation scheme. A SCARA robot is used to illustrate the conclusions of this paper.

Can body traits, other than wings, reflect the flight ability of Triatominae bugs?

Abstract: INTRODUCTION : Insects of the subfamily Triatominae are vectors of Trypanosoma cruzi , the Chagas disease parasite, and their flying behavior has epidemiological importance. The flying capacity is strikingly different across and within Triatominae species, as well as between sexes or individuals. Many Triatoma infestans individuals have wings but no flying muscles. In other Triatominae species, no clear relationships were found between wing length and flying behavior. If wing presence or size is not reflective of the flying behavior, which other parts of the body could be considered as reliable markers of this important function? METHODS : The genus Mepraia has exceptional characteristics with invariably wingless females and wingless or winged males. We calculated the porous surface exposed to odorant molecules to estimate the olfactory capacity of Mepraia spinolai . The head shape and thorax size were estimated using the geometric morphometric approach and traditional morphometric techniques, respectively. RESULTS : Alary polymorphism in M. spinolai was significantly associated with consistent modification of the thorax size, head shape, and notable change in the estimated olfactory capacity. The macropterous individuals had a larger olfactory surface and thorax size and significantly different head shape compared to those of the micropterous individuals. CONCLUSIONS: We concluded that these structural changes could be associated with the flying potential of Triatominae. Thus, morphological attributes not found on wings could help determine the likely flying potential of the bugs.