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.

Decomposition and nutrient release of leguminous plants in coffee agroforestry systems

Leguminous plants used as green manure are an important nutrient source for coffee plantations, especially for soils with low nutrient levels. Field experiments were conducted in the Zona da Mata of Minas Gerais State, Brazil to evaluate the decomposition and nutrient release rates of four leguminous species used as green manures (Arachis pintoi, Calopogonium mucunoides, Stizolobium aterrimum and Stylosanthes guianensis) in a coffee agroforestry system under two different climate conditions. The initial N contents in plant residues varied from 25.7 to 37.0 g kg-1 and P from 2.4 to 3.0 g kg-1. The lignin/N, lignin/polyphenol and (lignin+polyphenol)/N ratios were low in all residues studied. Mass loss rates were highest in the first 15 days, when 25 % of the residues were decomposed. From 15 to 30 days, the decomposition rate decreased on both farms. On the farm in Pedra Dourada (PD), the decomposition constant k increased in the order C. mucunoides < S. aterrimum < S. guianensis < A. pintoi. On the farm in Araponga (ARA), there was no difference in the decomposition rate among leguminous plants. The N release rates varied from 0.0036 to 0.0096 d-1. Around 32 % of the total N content in the plant material was released in the first 15 days. In ARA, the N concentration in the S. aterrimum residues was always significantly higher than in the other residues. At the end of 360 days, the N released was 78 % in ARA and 89 % in PD of the initial content. Phosphorus was the most rapidly released nutrient (k values from 0.0165 to 0.0394 d-1). Residue decomposition and nutrient release did not correlate with initial residue chemistry and biochemistry, but differences in climatic conditions between the two study sites modified the decomposition rate constants.

In silico analysis identifies a C3HC4-RING finger domain of a putative E3 ubiquitin-protein ligase located at the C-terminus of a polyglutamine-containing protein

Almost identical polyglutamine-containing proteins with unknown structures have been found in human, mouse and rat genomes (GenBank AJ277365, AF525300, AY879229). We infer that an identical new gene (RING) finger domain of real interest is located in each C-terminal segment. A three-dimensional (3-D) model was generated by remote homology modeling and the functional implications are discussed. The model consists of 65 residues from terminal position 707 to 772 of the human protein with a total length of 796 residues. The 3-D model predicts a ubiquitin-protein ligase (E3) as a binding site for ubiquitin-conjugating enzyme (E2). Both enzymes are part of the ubiquitin pathway to label unwanted proteins for subsequent enzymatic degradation. The molecular contact specificities are suggested for both the substrate recognition and the residues at the possible E2-binding surface. The predicted structure, of a ubiquitin-protein ligase (E3, enzyme class number 6.3.2.19, CATH code 3.30.40.10.4) may contribute to explain the process of ubiquitination. The 3-D model supports the idea of a C3HC4-RING finger with a partially new pattern. The putative E2-binding site is formed by a shallow hydrophobic groove on the surface adjacent to the helix and one zinc finger (L722, C739, P740, P741, R744). Solvent-exposed hydrophobic amino acids lie around both zinc fingers (I717, L722, F738, or P765, L766, V767, V733, P734). The 3-D structure was deposited in the protein databank theoretical model repository (2B9G, RCSB Protein Data Bank, NJ).

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.

Integrate Study of a Bolivian Population Infected by Trypanosoma cruzi, the Agent of Chagas Disease

A cross section of a human population (501 individuals) selected at random, and living in a Bolivian community, highly endemic for Chagas disease, was investigated combining together clinical, parasitological and molecular approaches. Conventional serology and polymerase chain reaction (PCR) indicated an active transmission of the infection, a high seroprevalence (43.3%) ranging from around 12% in < 5 years to 94.7% in > 45 years, and a high sensitivity (83.8%) and specificity of PCR. Abnormal ECG tracing was predominant in chagasic patients and was already present among individuals younger than 13 years. SAPA (shed acute phase antigen) recombinant protein and the synthetic peptide R-13 were used as antigens in ELISA tests. The reactivity of SAPA was strongly associated to Trypanosoma cruzi infection and independent of the age of the patients but was not suitable neither for universal serodiagnosis nor for discrimination of specific phases of Chagas infection. Anti-R-13 response was observed in 27.5% only in chagasic patients. Moreover, anti-R13 reactivity was associated with early infection and not to cardiac pathology. This result questioned previous studies, which considered the anti-R-13 response as a marker of chronic Chagas heart disease. The major clonets 20 and 39 (belonging to Trypanosoma cruzi I and T. cruzi II respectively) which circulate in equal proportions in vectors of the studied area, were identified in patients' blood by PCR. Clonet 39 was selected over clonet 20 in the circulation whatever the age of the patient. The only factor related to strain detected in patients' blood, was the anti-R-13 reactivity: 37% of the patients infected by clonet 39 (94 cases) had anti-R13 antibodies contrasting with only 6% of the patients without clonet 39 (16 cases).

Exploring the association between Trypanosoma cruzi infection in rural communities and environmental changes in the southern Gran Chaco

The association between land use and land cover changes between 1979-2004 in a 2.26-million-hectare area south of the Gran Chaco region and Trypanosoma cruzi infection in rural communities was analysed. The extent of cultural land, open and closed forests and shrubland up to 3,000 m around rural communities in the north, northwest and west of the province of Córdoba was estimated using Landsat satellite imagery. The T. cruzi prevalence was estimated with a cross-sectional serological survey conducted in the rural communities. The land cover showed the same patterns in the 1979, 1999 and 2004 satellite imagery in both the northwest and west regions, with shrinking regions of cultured land and expanding closed forests away from the community. The closed forests and agricultural land coverage in the north region showed the same trend as in the northwest and west regions in 1979 but not in 1999 or 2004. In the latter two years, the coverage remote from the communities was either constant or changed in opposite ways from that of the northwest and west regions. The changes in closed forests and cultured vegetation alone did not have a significant, direct relationship with the occurrence of rural communities with at least one person infected by T. cruzi. This study suggests that the overall decrease in the prevalence of T. cruzi is a consequence of a combined effect of vector control activities and changes in land use and land cover.

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.