Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Development: images, conception, criteria, agents, choices

Includes bibliography

On the conception of the centre-periphery system

Includes bibliography

Effect of follicle age on conception rate in beef heifers

The objective of this study was to determine the effect of age of the ovulatory follicle on fertility in beef heifers. Ovulation was synchronized with the 5 d CO-Synch + controlled intravaginal drug release (CIDR) program in heifers in Montana (MT; n = 162, Hereford and Angus Crossbred) and Ohio (OH; n = 170, Angus Crossbred). All heifers received estradiol benzoate (EB; 1 mg/500 kg BW, [i.m.]) 6 d after the final GnRH of the synchronization program to induce follicular atresia and emergence of a new follicular wave (NFW) followed by prostaglandin F2 alpha (PGF(2 alpha); 25 mg, i.m.) administration either 5 d (young follicle [YF]; n = 158) or 9 d (mature follicle [MF]; n = 174) after EB. Estrous detection was performed for 5 d after PGF(2 alpha) with AI approximately 12 h after onset of estrus. Ovarian ultrasonography (MT location only) was performed in YF and MF at EB, 5 d after EB, PGF(2 alpha), and AI. Heifers in MT (n = 20) and OH (n = 18) that were not presynchronized or did not initiate a NFW were excluded from further analyses, resulting in 142 and 152 heifers in MT and OH, respectively. Heifers from the MF treatment in MT that initiated a second NFW after EB but before PGF(2 alpha) (MF2; n = 14) were excluded from the primary analysis. In the secondary analysis, the MF2 group was compared to MF and YF treatments in MT. Estrous response was similar (90%; 252/280) between treatments and locations. Proestrus interval (from PGF(2 alpha) to estrus) and age of the ovulatory follicle at AI were similar for MF heifers between locations (54.6 +/- 1.7 h and 8.3 +/- 0.07 h) but were greater (P < 0.01) for YF heifers in OH (78.5 +/- 1.4 h and 5.3 +/- 0.06 h) than MT (67.4 +/- 1.6 h and 4.8 +/- 0.06 h; treatment x location, P < 0.01). However, conception rate did not differ for MF (63.8%; 74/116) and YF (67.0%; 91/136) treatments. In the MT heifers, follicle size and follicle age atAI in the YF treatment (10.4 +/- 0.15 mm and 4.8 +/- 0.06 d, respectively) was less (P < 0.01) than in the MF treatment (11.0 +/- 0.18 mm and 8.3 +/- 0.11 d, respectively), but conception rate to AI did not differ between treatments in MT. In the MF2 group proestrus interval was greater (P < 0.01); hence, diameter of the ovulatory follicle and age were similar to that for the YF treatment. Conception rate to AI did not differ between MF2, MF, and YF (61.5, 63.3, and 64.7%, respectively) in MT. In conclusion, manipulation of age of the nonpersistent ovulatory follicle at spontaneous ovulation did not influence conception rate.

Assessment of in vitro sperm characteristics and their importance in the prediction of conception rate in a bovine timed-AI program

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Inferences of body energy reserves on conception rate of suckled Zebu beef cows subjected to timed artificial insemination followed by natural mating

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Manipulation of follicle development to ensure optimal oocyte quality and conception rates in cattle

Over the last several decades, a number of therapies have been developed that manipulate ovarian follicle growth to improve oocyte quality and conception rates in cattle. Various strategies have been proposed to improve the responses to reproductive biotechnologies following timed artificial insemination (TAI), superovulation (SOV) or ovum pickup (OPU) programmes. During TAI protocols, final follicular growth and size of the ovulatory follicle are key factors that may significantly influence oocyte quality, ovulation, the uterine environment and consequently pregnancy outcomes. Progesterone concentrations during SOV protocols influence follicular growth, oocyte quality and embryo quality; therefore, several adjustments to SOV protocols have been proposed depending on the animal category and breed. In addition, the success of in vitro embryo production is directly related to the number and quality of cumulus oocyte complexes harvested by OPU. Control of follicle development has a significant impact on the OPU outcome. This article discusses a number of key points related to the manipulation of ovarian follicular growth to maximize oocyte quality and improve conception rates following TAI and embryo transfer of in vivo-and in vitro-derived embryos in cattle.

Effect of nAellore cows ciclicity on conception and pregnant rates after synchronization protocols for fixed timed artificial insemination

Palhano H.B., Jesus V.L.T., Abidu-Figueiredo M., Baldrighi J.M. & Mello M.R.B. [Effect of nAellore cows ciclicity on conception and pregnant rates after synchronization protocols for fixed timed artificial insemination]. Efeito da ciclicidade de vacas Nelore sobre as taxas de concepcao e de prenhez apos protocolos de sincronizacao para inseminacao artificial em tempo fixo. Revista Brasileira de Medicina Veterinaria, 34(1):63-68, 2012. Departamento de Biologia Animal, Universidade Federal Rural do Rio de Janeiro, BR 465 km 7, Seropedica, RJ 23890-000, Brasil. Email: hbpalhano@gmail.com The present study evaluated the effect on conception and pregnancy rates of Nellore cows selected for Fixed Timed Artificial Insemination (FTAI) program, submitted to four synchronization protocols. Four hundred and ninety lactating females were used and assigned to eight groups: I-OvSynch, n=68, with selection of cycling cows; II-OvSynch + progesterone (P-4), n=67, after selection of non-cycling animals; III-OvSynch, without selection, n=68; IV-OvSynch + P-4, without selection, n=67; V-Co-Synch, n=55, with selection of cycling cows; VI-Co-Synch + P-4, n=55, with selection non-cycling cows; VII- Co-Synch without selection, n=55; VIII- Co-Synch + P-4, without selection, n=55. The conception and pregnancy rates were, respectively, 45.6%, 27.9% and 82.4%, 48.5% for groups I and III; 61.2%, 37.3% and 85.1%, 58.2% for groups II and IV; 43.6%, 25.5% and 80%, 41.8% for groups V and VII; 52.7%, 32.7% and 83.6%, 50.9% for groups VI and VIII. When compared these rates, the results after chi-square test showed significant difference (P < 0.05) among protocols with or without selection. There was no significant difference (P > 0.05) between OvSynch and Co-Synch protocols, with or without P-4 and with selection, considering Co-Synch a viable option for optimization of FTAI. In conclusion, the selection of cows before FTAI program contributed significantly to improve the conception and pregnancy rates.

NOTES ON THE FREUDIAN CONCEPTION OF ANXIETY

NOTES ON THE FREUDIAN CONCEPTION OF ANXIETY This article belongs to the field of history and epistemology of psychoanalysis, specifically to research on the conceptual genealogy pertaining to the construction of Freudian metapsychology of anguish. It aims to present the main arguments that allow us to discuss that theories contained in Freud's work on anxiety are not exclusive and may be considered, as a whole, a single explanatory model that would encompass the various stages of production on anxiety This paper intends to examine the barriers that can be seized in the Freudian formulations, under what is conceived, since Freud, as a "second theory of anxiety".

Effect of sequence of insemination after simultaneous thawing of multiple semen straws on conception rate to timed AI in suckled multiparous Nelore cows

The objective was to determine the effect of sequence of insemination after simultaneous thawing of multiple 0.5 mL semen straws on conception rate in suckled multiparous Nelore cows. The effect of this thawing procedure on in vitro sperm characteristics was also evaluated. All cows (N = 944) received the same timed AI protocol. Ten straws (0.5 mL) of frozen semen from the same batch were simultaneously thawed at 36 degrees C, for a minimum of 30 sec. One straw per cow was used for timed AI. Frozen semen from three Angus bulls was used. Timed AI records included sequence of insemination (first to tenth) and time of semen removal from thawing bath. For laboratory analyses, the same semen batches used in the field experiment were evaluated. Ten frozen straws from the same batch were thawed simultaneously in a thawing unit identical to that used in the field experiment. The following sperm characteristics were analyzed: sperm motility parameters, sperm thermal resistance, plasma and acrosomal membrane integrity, lipid peroxidation, chromatin structure, and sperm morphometry. Based on logistic regression, there were no significant effects of breeding group, body condition score, AI technician, and sire on conception rate, but there was an interaction between sire and straw group (P = 0.002). Semen from only one bull had decreased (P < 0.05) field fertility for the group of straws associated with the longest interval from thawing to AI. However, the results of the laboratory experiment were unable to explain the findings of the field experiment. Sperm width:length ratio of morphometric analysis was the single sperm characteristic with a significant interaction between sire and straw group (P = 0.02). It was concluded that sequence of insemination after simultaneous thawing of 10 semen straws can differently affect conception rates at timed AI, depending on the sire used. Nevertheless, the effects of this thawing environment on in vitro sperm characteristics, remain to be further investigated. (C) 2012 Elsevier Inc. All rights reserved.