Mobile Romberg test assessment (mRomberg)

Background The diagnosis of frailty is based on physical impairments and clinicians have indicated that early detection is one of the most effective methods for reducing the severity of physical frailty. Maybe, an alternative to the classical diagnosis could be the instrumentalization of classical functional testing, as Romberg test or Timed Get Up and Go Test. The aim of this study was (I) to measure and describe the magnitude of accelerometry values in the Romberg test in two groups of frail and non-frail elderly people through instrumentation with the iPhone 4®, (II) to analyse the performances and differences between the study groups, and (III) to analyse the performances and differences within study groups to characterise accelerometer responses to increasingly difficult challenges to balance. Methods This is a cross-sectional study of 18 subjects over 70 years old, 9 frail subjects and 9 non-frail subjects. The non-parametric Mann–Whitney U test was used for between-group comparisons in means values derived from different tasks. The Wilcoxon Signed-Rank test was used to analyse differences between different variants of the test in both independent study groups. Results The highest difference between groups was found in the accelerometer values with eyes closed and feet parallel: maximum peak acceleration in the lateral axis (p < 0.01), minimum peak acceleration in the lateral axis (p < 0.01) and minimum peak acceleration from the resultant vector (p < 0.01). Subjects with eyes open and feet parallel, greatest differences found between the groups were in the maximum peak acceleration in the lateral axis (p < 0.01), minimum peak acceleration in the lateral axis (p < 0.01) and minimum peak acceleration from the resultant vector (p < 0.001). With eyes closed and feet in tandem, the greatest differences found between the groups were in the minimum peak acceleration in the lateral axis (p < 0.01). Conclusions The accelerometer fitted in the iPhone 4® is able to study and analyse the kinematics of the Romberg test between frail and non-frail elderly people. In addition, the results indicate that the accelerometry values also were significantly different between the frail and non-frail groups, and that values from the accelerometer accelerometer increased as the test was made more complicated.

Carvedilol induces greater control of β2- than β1-adrenoceptor-mediated inotropic and lusitropic effects by PDE3, while PDE4 has no effect in human failing myocardium

The beta-blockers carvedilol and metoprolol provide important therapeutic strategies for heart failure treatment. Therapy with metoprolol facilitates the control by phosphodiesterase PDE3, but not PDE4, of inotropic effects of catecholamines in human failing ventricle. However, it is not known whether carvedilol has the same effect. We investigated whether the PDE3-selective inhibitor cilostamide (0.3 mu M) or PDE4-selective inhibitor rolipram (1 mu M) modified the positive inotropic and lusitropic effects of catecholamines in ventricular myocardium of heart failure patients treated with carvedilol. Right ventricular trabeculae from explanted hearts of nine carvedilol-treated patients with terminal heart failure were paced to contract at 1 Hz. The effects of (-)-noradrenaline, mediated through beta(1)-adrenoceptors (beta(2)-adrenoceptors blocked with ICI118551), and (-)-adrenaline, mediated through beta(2)-adrenoceptors (beta(1)-adrenoceptors blocked with CGP20712A), were assessed in the absence and presence of the PDE inhibitors. The inotropic potency, estimated from -logEC(50)s, was unchanged for (-)-noradrenaline but decreased 16-fold for (-)-adrenaline in carvedilol-treated compared to non-beta-blocker-treated patients, consistent with the previously reported beta(2)-adrenoceptor-selectivity of carvedilol. Cilostamide caused 2- to 3-fold and 10- to 35-fold potentiations of the inotropic and lusitropic effects of (-)-noradrenaline and (-)-adrenaline, respectively, in trabeculae from carvedilol-treated patients. Rolipram did not affect the inotropic and lusitropic potencies of (-)-noradrenaline or (-)-adrenaline. Treatment of heart failure patients with carvedilol induces PDE3 to selectively control the positive inotropic and lusitropic effects mediated through ventricular beta(2)-adrenoceptors compared to beta(1)-adrenoceptors. The beta(2)-adrenoceptor-selectivity of carvedilol may provide protection against beta(2)-adrenoceptor-mediated ventricular overstimulation in PDE3 inhibitor-treated patients. PDE4 does not control beta(1)- and beta(2)-adrenoceptor-mediated inotropic and lusitropic effects in carvedilol-treated patients.

Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory

This paper presents a motion control system for guidance of an underactuated Unmanned Underwater Vehicle (UUV) on a helical trajectory. The control strategy is developed using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Using energy routing, the trajectory of a virtual fully actuated plant is guided onto a vector field. A tracking controller is then used that commands the underactuated plant to follow the velocity of the virtual plant. An integral control is inserted between the two control layers, which adds robustness and disturbance rejection to the design.

Energy-based motion control of a slender hull unmanned underwater vehicle

This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy is developed using the Port-Hamiltonian theory. By shaping of the target dynamics (desired dynamic response in closed loop) with particular attention to the target mass matrix, the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of stable uncontrolled states. Throughout the design, the insight of the physical phenomena involved is used to propose the desired target dynamics. Integral action is added to the system for robustness and to reject steady disturbances. This is achieved via a change of coordinates that result in input-to-state stable (ISS) target dynamics. As a final step in the design, an anti-windup scheme is implemented to account for limited actuator capacity, namely saturation. The performance of the design is demonstrated through simulation with a high-fidelity model.

Passivity-based Trajectory-tracking for Marine Craft with Disturbance Rejection

This paper presents a Hamiltonian model of marine vehicle dynamics in six degrees of freedom in both body-fixed and inertial momentum coordinates. The model in body-fixed coordinates presents a particular structure of the mass matrix that allows the adaptation and application of passivity-based control interconnection and damping assignment design methodologies developed for robust stabilisation of mechanical systems in terms of generalised coordinates. As an example of application, we follow this methodology to design a passivity-based tracking controller with integral action for fully actuated vehicles in six degrees of freedom. We also describe a momentum transformation that allows an alternative model representation that resembles general port-Hamiltonian mechanical systems with a coordinate dependent mass matrix. This can be seen as an enabling step towards the adaptation of the theory of control of port-Hamiltonian systems developed in robotic manipulators and multi-body mechanical systems to the case of marine craft dynamics.

Smooth stabilisation of nonholonomic robots subject to disturbances

In this paper, we address the problem of stabilisation of robots subject to nonholonommic constraints and external disturbances using port-Hamiltonian theory and smooth time-invariant control laws. This should be contrasted with the commonly used switched or time-varying laws. We propose a control design that provides asymptotic stability of an manifold (also called relative equilibria)-due to the Brockett condition this is the only type of stabilisation possible using smooth time-invariant control laws. The equilibrium manifold can be shaped to certain extent to satisfy specific control objectives. The proposed control law also incorporates integral action, and thus the closed-loop system is robust to unknown constant disturbances. A key step in the proposed design is a change of coordinates not only in the momentum, but also in the position vector, which differs from coordinate transformations previously proposed in the literature for the control of nonholonomic systems. The theoretical properties of the control law are verified via numerical simulation based on a robotic ground vehicle model with differential traction wheels and non co-axial centre of mass and point of contact.

The conservation status of the world’s reptiles

Effective and targeted conservation action requires detailed information about species, their distribution, systematics and ecology as well as the distribution of threat processes which affect them. Knowledge of reptilian diversity remains surprisingly disparate, and innovative means of gaining rapid insight into the status of reptiles are needed in order to highlight urgent conservation cases and inform environmental policy with appropriate biodiversity information in a timely manner. We present the first ever global analysis of extinction risk in reptiles, based on a random representative sample of 1500 species (16% of all currently known species). To our knowledge, our results provide the first analysis of the global conservation status and distribution patterns of reptiles and the threats affecting them, highlighting conservation priorities and knowledge gaps which need to be addressed urgently to ensure the continued survival of the world’s reptiles. Nearly one in five reptilian species are threatened with extinction, with another one in five species classed as Data Deficient. The proportion of threatened reptile species is highest in freshwater environments, tropical regions and on oceanic islands, while data deficiency was highest in tropical areas, such as Central Africa and Southeast Asia, and among fossorial reptiles. Our results emphasise the need for research attention to be focussed on tropical areas which are experiencing the most dramatic rates of habitat loss, on fossorial reptiles for which there is a chronic lack of data, and on certain taxa such as snakes for which extinction risk may currently be underestimated due to lack of population information. Conservation actions specifically need to mitigate the effects of human-induced habitat loss and harvesting, which are the predominant threats to reptiles.

An inordinate fondness for Fusarium: Phylogenetic diversity of fusaria cultivated by ambrosia beetles in the genus Euwallacea on avocado and other plant hosts

Ambrosia beetle fungiculture represents one of the most ecologically and evolutionarily successful symbioses, as evidenced by the 11 independent origins and 3500 species of ambrosia beetles. Here we document the evolution of a clade within Fusarium associated with ambrosia beetles in the genus Euwallacea (Coleoptera: Scolytinae). Ambrosia Fusarium Clade (AFC) symbionts are unusual in that some are plant pathogens that cause significant damage in naive natural and cultivated ecosystems, and currently threaten avocado production in the United States, Israel and Australia. Most AFC fusaria produce unusual clavate macroconidia that serve as a putative food source for their insect mutualists. AFC symbionts were abundant in the heads of four Euwallacea spp., which suggests that they are transported within and from the natal gallery in mandibular mycangia. In a four-locus phylogenetic analysis, the AFC was resolved in a strongly supported monophyletic group within the previously described Cade 3 of the Fusarium solani species complex (FSSC). Divergence-time estimates place the origin of the AFC in the early Miocene similar to 21.2 Mya, which coincides with the hypothesized adaptive radiation of the Xyleborini. Two strongly supported clades within the AFC (Clades A and B) were identified that include nine species lineages associated with ambrosia beetles, eight with Euwallacea spp. and one reportedly with Xyleborus ferrugineus, and two lineages with no known beetle association. More derived lineages within the AFC showed fixation of the clavate (club-shaped) macroconidial trait, while basal lineages showed a mix of clavate and more typical fusiform macroconidia. AFC lineages consisted mostly of genetically identical individuals associated with specific insect hosts in defined geographic locations, with at least three interspecific hybridization events inferred based on discordant placement in individual gene genealogies and detection of recombinant loci. Overall, these data are consistent with a strong evolutionary trend toward obligate symbiosis coupled with secondary contact and interspecific hybridization. (C) 2013 Elsevier Inc. All rights reserved.

Averting biodiversity collapse in tropical forest protected areas

The rapid disruption of tropical forests probably imperils global biodiversity more than any other contemporary phenomenon(1-3). With deforestation advancing quickly, protected areas are increasingly becoming final refuges for threatened species and natural ecosystem processes. However, many protected areas in the tropics are themselves vulnerable to human encroachment and other environmental stresses(4-9). As pressures mount, it is vital to know whether existing reserves can sustain their biodiversity. A critical constraint in addressing this question has been that data describing a broad array of biodiversity groups have been unavailable for a sufficiently large and representative sample of reserves. Here we present a uniquely comprehensive data set on changes over the past 20 to 30 years in 31 functional groups of species and 21 potential drivers of environmental change, for 60 protected areas stratified across the world's major tropical regions. Our analysis reveals great variation in reserve `health': about half of all reserves have been effective or performed passably, but the rest are experiencing an erosion of biodiversity that is often alarmingly widespread taxonomically and functionally. Habitat disruption, hunting and forest-product exploitation were the strongest predictors of declining reserve health. Crucially, environmental changes immediately outside reserves seemed nearly as important as those inside in determining their ecological fate, with changes inside reserves strongly mirroring those occurring around them. These findings suggest that tropical protected areas are often intimately linked ecologically to their surrounding habitats, and that a failure to stem broad-scale loss and degradation of such habitats could sharply increase the likelihood of serious biodiversity declines.

Controlling Conformations of Diketopyrrolopyrrole-Based Conjugated Polymers: Role of Torsional Angle

Transport of charge carriers through conjugated polymers is strongly influenced by the presence and distribution of structural disorders. In the present work, structural defects caused by the presence of torsional.. angle were investigated in a diketopyrrolopyrrole (DPP)-based conjugated polymer. Two new copolymers of DPP were synthesized with varying torsional angles to trace the role of structural disorder. The optical properties of these copolymers in solution and thin film reveal the strong influence of torsional angle on their photophysical properties. A strong influence was observed on carrier transport properties of polymers in organic field-effect transistors (OFET) device geometry. The polymers based on phenyl DPP with higher torsional angle (PPTDPP-OD-TEG) resulted in high threshold voltage with less charge carrier mobility as compared to the polymer based on thiophene DPP (2DPP-OD-TEG) bearing a lower torsional angle. Carrier mobility and the molecular orientation of the conjugated polymers were correlated on the basis of grazing incidence X-ray scattering measurements showing the strong role of torsional angle introduced in the form of structural disorder. The results presented in this Article provide a deep insight into the sensitivity of structural disorder and its impact on the device performance of DPP-based conjugated polymers.

Use of side-chain for rational design of n-type diketopyrrolopyrrole-based conjugated polymers: what did we find out?

The primary role of substituted side chains in organic semiconductors is to increase their solubility in common organic solvents. In the recent past, many literature reports have suggested that the side chains play a critical role in molecular packing and strongly impact the charge transport properties of conjugated polymers. In this work, we have investigated the influence of side-chains on the charge transport behavior of a novel class of diketopyrrolopyrrole (DPP) based alternating copolymers. To investigate the role of side-chains, we prepared four diketopyrrolopyrrole-diketopyrrolopyrrole (DPP-DPP) conjugated polymers with varied side-chains and carried out a systematic study of thin film microstructure and charge transport properties in polymer thin-film transistors (PTFTs). Combining results obtained from grazing incidence X-ray diffraction (GIXD) and charge transport properties in PTFTs, we conclude side-chains have a strong influence on molecular packing, thin film microstructure, and the charge carrier mobility of DPP-DPP copolymers. However, the influence of side-chains on optical properties was moderate. The preferential ``edge-on'' packing and dominant n-channel behavior with exceptionally high field-effect electron mobility values of >1 cm(2) V-1 s(-1) were observed by incorporating hydrophilic (triethylene glycol) and hydrophobic side-chains of alternate DPP units. In contrast moderate electron and hole mobilities were observed by incorporation of branched hydrophobic side-chains. This work clearly demonstrates that the subtle balance between hydrophobicity and hydrophilicity induced by side-chains is a powerful strategy to alter the molecular packing and improve the ambipolar charge transport properties in DPP-DPP based conjugated polymers. Theoretical analysis supports the conclusion that the side-chains influence polymer properties through morphology changes, as there is no effect on the electronic properties in the gas phase. The exceptional electron mobility is at least partially a result of the strong intramolecular conjugation of the donor and acceptor as evidenced by the unusually wide conduction band of the polymer.

Influencia de diferentes períodos de destete sobre peso de la hembra al destete (PHD), peso de la camada al destete (PCD) y peso de la hembra al segundo parto (PHP2) en conejas primiparas, en el municipio de Rivas

El presente ensayo se realizó con el objetivo de medir el efecto de tres períodos de destete diferentes (20, 40 y 60 días respectivamente) sobre el Peso de la hembra al destete (PHD), Peso de la camada al destete (PCD) y Peso de la hembra al segundo parto (PHP2) en conejas primíparas. Para el análisis de los datos fue utilizado un Diseño Completamente Aleatorio (D.C.A.) con 4 repeticiones (hembras primíparas) para el destete de 20 días, 5 repeticiones para el destete de 40 días y 4 repeticiones para el destete de 60 días. La información utilizada para los análisis estadísticos provino de datos recaudados en registros reproductivos, de un conejar compuesto de 13 conejas y un padrote. La edad y peso promedio de los animales al inicio del ensayo fueron homogéneos (7 meses y 3.007 Kg respectivamente). El ensayo se realizó en el municipio de Rivas ubicado a 111 km de la ciudad de Managua, a 11º 26' de latitud Norte y 85º 44' de longitud Oeste, a una elevación de 57.77 m.s.n.m. Las variables en estudio fueron: Peso de la hembra al destete (PHD), Peso de la camada al destete (PCD), Peso de la hembra al segundo parto (PHP2). Los valores y desviación estándar para dichas variables fue de : 2.94483 ± 0.3071 Kg, promedios 2.8629 ± 1.5308 Kg y 3.0635 ± 0.2212 Kg, respectivamente. En el ANDEVA realizado para las diferentes variables, el efecto de los tratamientos sobre el Peso de la hembra al destete resultó no significativo. No así, para con las variables Peso de la camada al destete (PCD) y Peso de la hembra al segundo parto (PHP2), donde el efecto de los tratamientos sobre estas fue significativo. El efecto de la covariable (Peso de la hembra al primer parto) solamente resultó significativo para la variable Peso de la hembra al destete (PHD). Mediante la Separación de medias por la Prueba de DUNCAN se obtuvieron los siguientes promedios de las variables por tratamiento; Peso de la hembra al destete (PHD): 1.3469 Kg (t: 20 días), 2.9508 Kg (t: 40 días) y 2.9194 Kg (t: 60 días). Para el Peso de la camada al destete (PCD), los valores fueron: 1.3469 kg (t: 20 días), 2.6571 Kg (t: 40 días) y 4.6363 Kg (t: 60 días). Para el Peso de la hembra al segundo parto (PHP2) los valores fueron: 3.2895 Kg (t: 20 días), 3.0030 Kg (t: 40 días) y 2.9131 Kg (t: 60 días). Con la realización del Análisis de los Costos para hembras, se determinaron valores de 105.29, 127.42 y 148.65 (córdobas), para una hembra al destete en los tratamientos de 20, 40 y 60 días de destete respectivamente. Los costos para una hembra al segundo parto fueron: C$ 130.77 (t: 20 días), C$ 147.03 (t: 40 días) y C$168.26 (t: 60 días). Para gazapo al nacimiento los costos por tratamiento fueron los siguientes: C$ 4.43 (t: 20 días), C$ 4.60 (t: 40 días) y C$ 4.87 (t 60 días. Así también, se determinaron los costos de un gazapo al destete, obteniéndose valores de C$ 7.90, C$ 11.53 y C$15.82 para los tratamientos de 20, 40 y 60 días de destete respectivamente.

Determinación del efecto de inclusión de canavalia (Canavalia ensiformis) sobre parámetros productivos de cerdos en crecimiento

Se realizó un experimento con 18 cerdos en la etapa de crecimiento, con una duración de 8 semanas (56 días) con el objetivo de determinar el efecto de inclusión de canavalia en la dieta base, sobre consumo, ganancia media diaria (GMD), conversión alimenticia y utilidad económica. Las dietas de los diferentes tratamientos consistieron en: T1: 0% de inclusión de canavalia o sea 100% dieta base; T2: 5% de inclusión de canavalia con 95% dieta base y T3: 10% de inclusión de canavalia y 90% dieta base. Se emplearon cerdos con 45 días de edad de pesos similares, cada tratamiento estuvo conformado por tres repeticiones de 2 cerdos cada una. Se utilizó un Diseño Completamente al Azar (D.C.A). Se obtuvieron ganancias medias diarias de TI: 21.30; T2: 40.30; T3:25.32 gr/día/cerdo no resultando significativo al P< 0.05. El análisis económico evidencia que las mejores utilidades se obtuvieron con el tratamiento T2. Se concluye que se puede suministrar raciones para la alimentación de cerdos incluyendo leguminosa (canavalia) con el fin de disminuir los costos de alimento.

Estudio situacional de la cisticercosis bovina en el matadero MACESA, Juigalpa, Chontales, en el periodo de enero-julio de 2008

Con el objetivo de conocer la casuística de la cisticercosis bovina, se utilizó la inspección sanitaria convencional de la carne, procedencia, tratamiento y pérdidas económicas en los bóvidos faenados en el matadero industrial MACESA ubicado en el km. 130 Juigalpa,Chontales en el periodo comprendido de enero a julio del 2008; se llevó a cabo el presente estudio, los datos recopilados se obtuvieron de los registros de matanza del MAGFOR, Control operativo de sacrificio, Reporte de peso en pie resumido y Control de animales infectados por cisticercosis, quienes utilizan el reglamento de inspección Veterinaria de la carne para la República de Nicaragua. El presente estudio fue observacional de tipo transversal, por estar determinado en un momento de la actividad del matadero. La determinación de la Pre valencia consistió en determinar el número de animales afectados, los cuales se relacionaron con el número de animales faenados por lotes y total. Al iniciarse el estudio, sólo se conocía el número total de individuos que se incluyeron. La medición de la cantidad de enfermedad y de los factores de exposición se realizó simultáneamente una vez seleccionada la muestra. Las variables evaluadas fueron, pre valencia por tamaño del lote, total de animales faenados y pérdidas económicas del matadero por tratamiento, sanciones a los ganaderos y pérdidas totales por condena asumida por los ganaderos. Se encontró una Pre valencia de 0.25% con respecto al total de animales faenados, y un 0.009% para animales condenados. La categoría que presentó mayor Pre valencia y pérdidas económicas por Cysticercus bovis fue Novillos, seguida de la categoría vacas. Los municipios con mayor prevalencia con respect o a la afectación total fueron La Libertad con el 1%, Matiguás 0.99%, Río Blanco 0.84% y Camoapa con el 0.74%. El municipio de Cuapa obtuvo una prevalencia del 16.675 con respecto al lote sacrificado seguido de Juigalpa con el 14.76% y San Pedro de Lovago con el 13.33%. Con respecto a la categorías y en relación a las cantidades sacrificadas, las vacas tienen mayor pre valencia a ésta parasitosis con un 0.53% y los novillos 0.21%. Los meses de mayor incidencia de Cysticercus bovis fueron junio 32 casos, enero y julio con 27. Las pérdidas económicas totales son de $ 11246.84. Se pierde $ 80.9 por bovino infectado con cisticercosis.

Diagnóstico fitosanitario de la producción de frijol común (Phaseolus vulgaris L.) en el Pacífico Sur de Nicaragua, época de postrera 1995-1996

Este trabajo consistió en un diagnóstico fitosanitario que se llevó a cabo durante la época de postrera (1995 1996), en la Región Pacífico sur de Nicaragua que comprende los departamentos de Rivas, Granada, Masaya y Carazo. El objetivo del trabajo fue conocer la problemática fitosanitaria del frijol en la zona. Para ello se seleccionaron productores de la zona, los cuales constituyeron la muestra de estudio. Los resultados indican que las principales plagas son Femitia tabaci (Gennadius) (Homóptera: Aleyrodidae) y Vaginutus plebema Fisher, (Gastropoda). Las medidas de control para el caso de la Femitia tabaci (Gennadius) fue básicamente cultural Mustia hilachosa Thanatephorus cucumeris (Frank) Donk pudo haber sido la principal causa de bajos rendimientos en la zona presentándose en los lotes de frijol común de forma virulenta. También se presentó la mancha angular (Isariopsis griseola (Sacc) Ferr), la antracnosis (Colletotribum Indemuthimun Sacc Magnus) y la virosis. Para el caso de las malezas, las de mayor presencia en la zona fueron: Claunmelins dittiusa, Burn, f. (siempre viva), Cyperus spp. (coyolillo), Baltumara recta L. (me caso no me caso), Cynadan dactylon (L.) Pers (zacate gallina), Sida acuta Burn F. (escoba lisa), Ixofhonus unisetus K. B. Presl. (zacate dulce) y Paspalum conjugatum (pasto horqueta). En análisis económico del estudio en la zona indica que la producción en el ciclo estudiado no fue rentable globalmente hablando, ya que el 62 por ciento de los productores no recuperaron lo invertido en el ciclo productivo. Se pudo conocer por medio del estudio el poco apoyo técnico y económico por parte de los organismos gubernamentales y la banca estatal que tienen los productores de la zona, pudiendo esto haber sido un factor que incidiera en aspectos tales como la reducción de las áreas establecidas y altos costos de producción.