Variable structure position control of an industrial robotic manipulator

The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first from a theoretical perspective and then applied to the control of a two degree-of-freedom manipulator. Simulation results that backed the implementation are presented, followed by the experiments conducted and the results that were obtained. The conclusion is that variable structure control is readily applicable to industrial robots for the robust control of positions.

Five generations of peace operations: from the "thin blue line" to "painting a country blue"

This article combines both international practice and analytical contributions into a systematic and synthetic presentation of the evolution of peace operations from their modern inception in 1948 to the present. It seeks to serve a didactic purpose in proposing a basic structure for Brazilian scholars' burgeoning debate on peace operations and intervention, rather than a definitive characterization of blue helmet practice. Peace operations' progression is traced through five analytical "generations," each adding a crucial factor distinguishing it from its predecessors. Each generation is placed in relation to changes in the nature of conflict and in the interpretation of the foundational principles of peace operations, and links to broader theoretical issues in International Relations are made explicit at each stage.

Use efficiency of variable rate of nitrogen prescribed by optical sensor in corn

ABSTRACT The efficiency of nitrogen fertilizer in corn is usually low, negatively affecting plant nutrition, the economic return, and the environment. In this context, a variable rate of nitrogen, prescribed by crop sensors, has been proposed as an alternative to the uniform rate of nitrogen traditionally used by farmers. This study tested the hypothesis that variable rate of nitrogen, prescribed by optical sensor, increases the nitrogen use efficiency and grain yield as compared to uniform rate of nitrogen. The following treatments were evaluated: 0; 70; 140; and 210 kg ha-1 under uniform rate of nitrogen, and 140 kg ha -1 under variable rate of nitrogen. The nitrogen source was urea applied on the soil surface using a distributor equipped with the crop sensor. In this study, the grain yield ranged from 10.2 to 15.5 Mg ha-1, with linear response to nitrogen rates. The variable rate of nitrogen increased by 11.8 and 32.6% the nitrogen uptake and nitrogen use efficiency, respectively, compared to the uniform rate of nitrogen. However, no significant increase in grain yield was observed, indicating that the major benefit of the variable rate of nitrogen was reducing the risk of environmental impact of fertilizer.

Fatores de impacto no sucesso do marketing boca a boca on-line

O marketing boca a boca caracteriza-se pela divulgação de produtos e serviços por canais interpessoais e consiste em um componente essencial no composto de comunicação de diversas empresas. Nesse sentido, o crescimento do número de consumidores conectados à Internet motiva as empresas a buscarem caminhos para maximizar o marketing boca a boca por meio de ferramentas on-line, como o marketing viral. Com o objetivo de identificar as principais características de uma ação eficaz de marketing boca a boca virtual, realizou-se uma pesquisa exploratória com usuários de Internet em janeiro e fevereiro de 2001. Ao final, são indicados seis fatores que podem influenciar o sucesso do marketing boca a boca virtual.

Conhecendo o "valor do cliente" de um jornal on-line

Com o advento da Internet, uma questão parece peculiar ao marketing: conhecer o comportamento de um "novo" consumidor, o on-line. Uma proposta é o conhecimento do "valor do cliente", que é a percepção do consumidor sobre como atributos de produtos podem propiciar benefícios que o ajudem a atingir suas metas. A teoria de cadeias de meios-fim é a forma de se pensar sistematicamente nessa representação. O método mais amplamente utilizado para atingir as cadeias de meios-fim é o laddering. A pesquisa foi realizada com uma amostra de 78 usuários de um grande jornal on-line. Os principais "valores do cliente" dos usuários do jornal propiciaram conclusões importantes. Foram identificados leitores que se preocupam muito com seus objetivos pessoais, mas que também desejam interagir com os outros e que demonstraram interesse com questões sociais. Com base nisso, implicações gerenciais são discutidas e sugestões para futuras pesquisas são indicadas.

A compra por impulso em ambientes on-line

Este estudo tem como propósito avaliar os antecedentes e as conseqüências da compra por impulso em lojas virtuais da Internet. Para tanto, foi desenvolvido um modelo teórico que procura apresentar as relações existentes entre o ambiente de loja (site), a impulsividade individual, a circulação na loja (navegação no site) e a realização de compras impulsivas. A partir de uma pesquisa survey realizada com compradores de produtos pela Internet, por meio de modelagem de equações estruturais, foi evidenciado que o ambiente do site afeta o nível de impulsividade, a navegação no site e a ocorrência de compras por impulso, bem como se encontrou uma relação entre compra por impulso e emoções positivas. Elementos ambientais que influenciam a compra por impulso foram identificados e rotas para futuras pesquisas apresentadas, juntamente com implicações acadêmicas e gerenciais dos resultados.

Inovatividade, envolvimento, atitude e experiência na adoção da compra on-line

Este trabalho procura analisar as inter-relações entre a inovatividade, o envolvimento, a atitude dentro do modelo Theory of Planned Behavior (TPB) decomposto desenvolvido na psicologia social, e a experiência com a Internet com o processo de adoção da compra pela internet. Foi elaborado um modelo integrativo que possibilitasse explicar a relação entre esses fatores e a compra pela internet, e foi desenvolvida uma pesquisa de campo considerando uma amostra não probabilística de estudantes. Foi utilizado o método multivariado de modelagem de equações estruturais, aplicado por meio da técnica Partial Least Squares (PLS) para a verificação, explicação e comparação das relações entre os construtos. Os resultados mostram que a intenção da compra pela internet é diretamente influenciada pela atitude e pela inovatividade, e a atitude é influenciada pelo envolvimento. Não foi encontrada relação entre a experiência com a internet e a compra pela internet.

RC-IAL cell line: sensitivity of rubella virus grow

OBJECTIVE: The rapid growth of the rubella virus in RC-IAL² with development of cytopathic effect, in response to rubella virus infection, is described. For purposes of comparison, the rubella virus RA-27/3 strain was titered simultaneously in the RC-IAL, Vero, SIRC and RK13 cell lines. METHODS: Rubella virus RA-27/3 strain are inoculated in the RC-IAL cell line (rabbit Kidney, Institute Adolfo Lutz). Plates containing 1.5x10(5) cells/ml of RC-IAL line were inoculated with 0.1ml s RA-27/3 strain virus containing 1x 10(4)TCID50/0.1ml. A 25% cytopathic effect was observed after 48 hours and 100% after 96 hours. The results obtained were compared to those observed with the SIRC, Vero and RK13 cell lines. Rubella virus was detected by immunohistochemistry. RESULTS: With the results, it was possible to conclude that the RC-IAL cell line is a very good substrate for culturing rubella virus. The cells inoculated with rubella virus were examined by phase contrast microscopy and showed the characteristic rounded, bipolar and multipolar cells. The CPE in RC-IAL was observed in the first 48 hours and the curve of the increased infectivity was practically the same as observed in other cell lines. CONCLUSIONS: These findings are important since this is one the few cell lines described in the literature with a cytopathic effect. So it can be used for antigen preparation and serological testing for the diagnosis of specific rubella antibodies.

Impact on human health of particulate matter emitted from burnings in the Brazilian Amazon region

OBJECTIVE: To analyze the impact on human health of exposure to particulate matter emitted from burnings in the Brazilian Amazon region. METHODS: This was an ecological study using an environmental exposure indicator presented as the percentage of annual hours (AH%) of PM2.5 above 80 μg/m3. The outcome variables were the rates of hospitalization due to respiratory disease among children, the elderly and the intermediate age group, and due to childbirth. Data were obtained from the National Space Research Institute and the Ministry of Health for all of the microregions of the Brazilian Amazon region, for the years 2004 and 2005. Multiple regression models for the outcome variables in relation to the predictive variable AH% of PM2.5 above 80 μg/m3 were analyzed. The Human Development Index (HDI) and mean number of complete blood counts per 100 inhabitants in the Brazilian Amazon region were the control variables in the regression analyses. RESULTS: The association of the exposure indicator (AH%) was higher for the elderly than for other age groups (β = 0.10). For each 1% increase in the exposure indicator there was an increase of 8% in child hospitalization, 10% in hospitalization of the elderly, and 5% for the intermediate age group, even after controlling for HDI and mean number of complete blood counts. No association was found between the AH% and hospitalization due to childbirth. CONCLUSIONS: The indicator of atmospheric pollution showed an association with occurrences of respiratory diseases in the Brazilian Amazon region, especially in the more vulnerable age groups. This indicator may be used to assess the effects of forest burning on human health.

McCoy cell line as a possible model containing CD4+ receptors for the study of HIV-1 replication

Several studies have recently shown the use of recombinant rabies virus as potential vector-viral vaccine for HIV-1. The sequence homology between gp 120 and rabies virus glycoprotein has been reported. The McCoy cell line has therefore been used to show CD4+ or CD4+ like receptors. Samples of HIV-1 were isolated, when plasma of HIV-1 positive patients was inoculated in the McCoy cell line. The virus infection was then studied during successive virus passages. The proteins released in the extra cellular medium were checked for protein activity, by exposure to SDS Electrophoresis and blotting to nitro-cellulose filter, then reacting with sera of HIV positive and negative patients. Successive passages were performed, and showed viral replication, membrane permeabilization, the syncytium formation, and the cellular lysis (cytopathic effect). Flow cytometry analysis shows clear evidence that CD4+ receptors are present in this cell line, which enhances the likelihood of easy isolation and replication of HIV. The results observed allow the use of this cell line as a possible model for isolating HIV, as well as for carrying out studies of the dynamics of viral infection in several situations, including exposure to drugs in pharmacological studies, and possibly studies and analyses of the immune response in vaccine therapies.

THE PROCESS OF Leishmania INFECTION - DISEASE AND NEW PERSPECTIVES OF PALEOPARASITOLOGY

Species of the genus Leishmania (Kinetoplastida, Trypanosomatidae) are causative agents of leishmaniasis, a complex disease with variable clinical spectrum and epidemiological diversity, constituting, in some countries, a serious public health problem. The origin and evolution of leishmaniasis has been under discussion regarding some clinical and parasitological aspects. After the introduction of paleoparasitology, molecular methods and immunodiagnostic techniques have been applied allowing the recovery of parasite remains, as well as the diagnosis of past infections in humans and other hosts. The dating of archaeological samples has allowed the parasitological analysis in time and space. This manuscript presents the state of the art of leishmaniasis and prospects related to paleoparasitology studies and their contribution to the evolutionary and phylogenetic clarification of parasites belonging to the genus Leishmania, and the leishmaniasis caused by them.

Livros on-line da área médica

O trabalho indica alguns sites a serem considerados como alternativa para acesso gratuito a livros on-line disponíveis na Internet e destinados à área médica.

Common variable immunodeficiency and isosporiasis: first report case

We report a severe case of diarrhea in a 62-year-old female HIV-negative patient from whom Giardia lamblia and Isospora belli were isolated. Because unusual and opportunistic infections should be considered as criteria for further analysis of immunological status, laboratory investigations led to a diagnosis of common variable immunodeficiency (CVID). This is the first reported case of isosporiasis in a patient with CVID and illustrates the importance of being aware of a possible link, particularly in relation to primary immunodeficiency.