分布式多机器人装配系统任务合作规划算法研究

:综述了多机器人系统任务规划的研究 ,介绍了基于 Agent的分布协作式多机器人装配系统 ,给出了分布式多机器人系统任务协商规划算法 ,采用了改进的合同网协议方法。针对多机器人任务规划算法的软件实现 ,采用了先进的分布式对象技术 ,介绍了算法的具体实现方法

多移动机器人合作系统中的单机控制体系结构研究

随着机器人技术的不断发展，出现了合作多移动机器人系统这一新的研究和应用领域，随之而来的是对机器人控制体系的新的要求．本文分析了合作多移动机器人系统对单机控制体系结构的要求，并以此为背景，在比较两种典型的智能机器人体系结构的基础上，提出一种混合分层的体系结构

An allosteric potentiator of M4 mAChR modulates hippocampal synaptic transmission.

Muscarinic acetylcholine receptors (mAChRs) provide viable targets for the treatment of multiple central nervous system disorders. We have used cheminformatics and medicinal chemistry to develop new, highly selective M₄ allosteric potentiators. VU10010, the lead compound, potentiates the M₄ response to acetylcholine 47-fold while having no activity at other mAChR subtypes. This compound binds to an allosteric site on the receptor and increases affinity for acetylcholine and coupling to G proteins. Whole-cell patch clamp recordings revealed that selective potentiation of M₄ with VU10010 increases carbachol-induced depression of transmission at excitatory but not inhibitory synapses in the hippocampus. The effect was not mimicked by an inactive analog of VU10010 and was absent in M₄ knockout mice. Selective regulation of excitatory transmission by M₄ suggests that targeting of individual mAChR subtypes could be used to differentially regulate specific aspects of mAChR modulation of function in this important forebrain structure.

Approaching near-capacity on a multi-antenna channel using successive decoding and interference cancellation receivers

In this paper, we address the problem of designing multirate codes for a multiple-input and multiple-output (MIMO) system by restricting the receiver to be a successive decoding and interference cancellation type, when each of the antennas is encoded independently. Furthermore, it is assumed that the receiver knows the instantaneous fading channel states but the transmitter does not have access to them. It is well known that, in theory, minimum-mean-square error (MMSE) based successive decoding of multiple access (in multi-user communications) and MIMO channels achieves the total channel capacity. However, for this scheme to perform optimally, the optimal rates of each antenna (per-antenna rates) must be known at the transmitter. We show that the optimal per-antenna rates at the transmitter can be estimated using only the statistical characteristics of the MIMO channel in time-varying Rayleigh MIMO channel environments. Based on the results, multirate codes are designed using punctured turbo codes for a horizontal coded MIMO system. Simulation results show performances within about one to two dBs of MIMO channel capacity.

Discovery of Novel Allosteric Modulators of Metabotropic Glutamate Receptor Subtype 5 Reveals Chemical and Functional Diversity and In Vivo Activity in Rat Behavioral Models of Anxiolytic and Antipsychotic Activity

Modulators of metabotropic glutamate receptor subtype 5 (mGluR5) may provide novel treatments for multiple central nervous system (CNS) disorders, including anxiety and schizophrenia. Although compounds have been developed to better understand the physiological roles of mGluR5 and potential usefulness for the treatment of these disorders, there are limitations in the tools available, including poor selectivity, low potency, and limited solubility. To address these issues, we developed an innovative assay that allows simultaneous screening for mGluR5 agonists, antagonists, and potentiators. We identified multiple scaffolds that possess diverse modes of activity at mGluR5, including both positive and negative allosteric modulators (PAMs and NAMs, respectively). 3-Fluoro-5-(3-(pyridine-2-yl)-1,2,4-oxadiazol-5-yl) benzonitrile (VU0285683) was developed as a novel selective mGluR5 NAM with high affinity for the 2-methyl-6-(phenyl-ethynyl)-pyridine (MPEP) binding site. VU0285683 had anxiolytic-like activity in two rodent models for anxiety but did not potentiate phen-cyclidine-induced hyperlocomotor activity. (4-Hydroxypiperidin-1-yl)(4-phenylethynyl) phenyl) methanone (VU0092273) was identified as a novel mGluR5 PAM that also binds to the MPEP site. VU0092273 was chemically optimized to an orally active analog, N-cyclobutyl-6-((3-fluorophenyl) ethynyl) nicotinamide hydrochloride (VU0360172), which is selective for mGluR5. This novel mGluR5 PAM produced a dose-dependent reversal of amphetamine-induced hyperlocomotion, a rodent model predictive of antipsychotic activity. Discovery of structurally and functionally diverse allosteric modulators of mGluR5 that demonstrate in vivo efficacy in rodent models of anxiety and antipsychotic activity provide further support for the tremendous diversity of chemical scaffolds and modes of efficacy of mGluR5 ligands. In addition, these studies provide strong support for the hypothesis that multiple structurally distinct mGluR5 modulators have robust activity in animal models that predict efficacy in the treatment of CNS disorders.

Multicamera sport player tracking with Bayesian estimation of measurements

We propose a complete application capable of tracking multiple objects in an environment monitored by multiple cameras. The system has been specially developed to be applied to sport games, and it has been evaluated in a real association-football stadium. Each target is tracked using a local importance-sampling particle filter in each camera, but the final estimation is made by combining information from the other cameras using a modified unscented Kalman filter algorithm. Multicamera integration enables us to compensate for bad measurements or occlusions in some cameras thanks to the other views it offers. The final algorithm results in a more accurate system with a lower failure rate. (C) 2009 Society of Photo-Optical Instrumentation Engineers. [DOI: 10.1117/1.3114605]

Inclusão de uma criança com síndrome de turner numa escola do ensino regular: um estudo de caso

Dissertação de mestrado, Educação Especial - Domínios Cognitivo e Motor, Escola Superior de Educação e Comunicação, Universidade do Algarve, 2015

Entropy analysis of integer and fractional dynamical systems

This paper investigates the adoption of entropy for analyzing the dynamics of a multiple independent particles system. Several entropy definitions and types of particle dynamics with integer and fractional behavior are studied. The results reveal the adequacy of the entropy concept in the analysis of complex dynamical systems.

Identification of Network-Based Risk Factors Associated with Gonorrhea

The evolving antimicrobial resistance coupled with a recent increase in incidence highlights the importance of reducing gonococcal transmission. Establishing novel risk factors associated with gonorrhea facilitates the development of appropriate prevention and disease control strategies. Sexual Network Analysis (NA), a novel research technique used to further understand sexually transmitted infections, was used to identify network-based risk factors in a defined region in Ontario, Canada experiencing an increase in the incidence of gonorrhea. Linear network structures were identified as important reservoirs of gonococcal transmission. Additionally, a significant association between a central network position and gonorrhea was observed. The central participants were more likely to be younger, report a greater number of risk factors, engage in anonymous sex, have multiple sex partners in the past six months and have sex with the same sex. The network-based risk factors identified through sexual NA, serving as a method of analyzing local surveillance data, support the development of strategies aimed at reducing gonococcal spread.

Intoxicación con plomo: evaluación clínica y estudios complementarios en niños

La pobreza, la mala nutrición, la injusticia social y ambiental predominan en América Latina como factores que condicionan la acción de sustancias contaminantes sobre los niños. La intoxicación con plomo y la contaminación ambiental constituyen problemas de salud pública en todo el mundo, afectando múltiples sistemas del organismo, en especial los sistemas nervioso central (SNC), hematopoyético, renal, endocrino y óseo, entre otros, en las primeras etapas de la vida. Objetivo: evaluar los efectos clínicos, bioquímicos y vasculares en niños expuestos a fuente conocida de plomo. Materiales y métodos: se estudiaron siete niños con fuente definida de exposición a plomo y se realizó laboratorio general y específico para plomo. Se valoraron función endotelial y parámetros electrocardiográficos. Estadística descriptiva. Resultados: media de edad: 6,2 años (DE± 1,6), hematocrito promedio 31% (DE±0,02); hemoglobina promedio 10,2 gr/dl (DE± 0,78). La totalidad de las muestras, 100%, presentó anemia, hipocromía, microcitosis y anisocitosis marcadas. Plombemia promedio: 37,9 ug/dl (DE± 6,22), ALA-D promedio: 8,9 U/L (DE±4,5). No se encontraron modificaciones en el perfil lipídico ni en función renal. Todos presentaron microalbuminuria y disfunción endotelial. Conclusión: estos resultados evidencian los efectos que la exposición ambiental al plomo puede producir en niños no expuestos laboralmente.

Conventional and ultrastructural analyses of the chromosomes of Discocyrtus pectinifemur (Opiliones, Laniatores, Gonyleptidae)

Among the Opiliones, species of the suborders Cyphophthalmi, Eupnoi, Dyspnoi and Laniatores have shown very diverse diploid chromosome numbers. However, only certain Eupnoi species exhibit XY/XX and ZZ/ZW sex chromosome systems. Considering the scarcity of karyotypical information and the absence of structurally identifiable sex chromosomes in the suborder Laniatores, we decided to analyse the chromosomes and bivalents of Discocyrtus pectinifemur (Gonyleptidae) to identify possible sex differences. Testicular cells examined under light microscopy showed it high diploid number, 2n = 88, meta/submetacentric chromosome morphology and a nucleolar organizer region on pair 35. Prophase I microspreading observed in transmission electron microscopy exhibited 44 synaptonemal complexes with similar electron density and thickness. The total and regular synapsis between the chromosomes of the bivalents was also noted in pachytene nuclei. Male mitotic and meiotic chromosomes revealed no distinct characteristic that could be related to the occurrence of heteromorphic sex chromosomes. Evolutionary trends of chromosome differentiation in the four suborders of Opiliones are discussed here.

Evaluation of an average numerator relationship matrix model and a Bayesian hierarchical model for growth traits in Nellore cattle with uncertain paternity

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

Thymic lymphomas in Wistar rats exposed to N-methyl-N-nitrosourea (MNU)

The Brazilian Agency for the Environment (IBAMA) recently adopted an alternative medium-term multiple-organ assay system with the Wistar rat strain for detection of the carcinogenic potential of pesticides. Originally, this initiation-promotion protocol was established in Japan with the isogenic Fischer 344 male rat. Among the initiating agents used in that assay, N-methyl-N-nitrosourea (MNU) rapidly induces malignant lymphoma and leukemia and early mortality of rats from different strains. This study was developed to evaluate whether the outbred Wistar rats are also similarly susceptible to MNU. Particularly, it aimed to evaluate the dose-response relationship and to register the MNUinduced pre-neoplasia and neoplasia that may develop in the lympho-hematopoietic system (LHS) of the Wistar rat within a medium-term period. Four groups of male Wistar rats were treated during 2 weeks with vehicle or with MNU (80, 160 or 240 mg/kg body weight, i.p.). After sacrifice at the 12th and 20th weeks, the thymus, spleen, bone marrow, cervical and mesenteric lymph nodes and liver were collected for analysis. At the 20th week, LHS malignant tumors and benign vascular tumors occurred only in the high- and intermediate-dose MNU-treated animals. Four animals treated with 240 mg/kg developed diffuse thymic lymphomas; two others, treated respectively with 240 mg/kg and 160 mg/kg, developed spleen hemangiomas. The present observations indicate that the Wistar strain is as susceptible as other strains to the early development of MNU-induced LHS (pre)neoplasia. Therefore, this strain seems suitable to be used as test system in bioassay protocols that adopt MNU as an initiating agent for carcinogenesis.

Identification of sexually dimorphic gene expression in brain tissue of the fish Leporinus macrocephalus through mRNA differential display and real time PCR analyses

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

Cytogenetic Mapping of rRNAs and Histone H3 Genes in 14 Species of Dichotomius ( Coleoptera, Scarabaeidae, Scarabaeinae) Beetles

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