Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots

Desempenho térmico de aviário de postura acondicionado naturalmente

The work aimed at presenting analyses and comparisons of the thermal performance of a laying hens housing in the region of Bastos, in the state of São Paulo, adapted from natural alternatives of acclimatization, having a not adapted housing as reference, that is, of a more common typology in the area, and another one, artificially acclimatized. The index evaluated was the temperature and humidity (THI), the black globe temperature and humidity index (GTHI) and the thermal radiation charge (TRC). It was calculated from the measurement of the temperature of dry bulb, temperature of wet bulb, temperature of black globe and air speed. The measurements were made both in the intern and the extern environment, at four times (5 a.m, 11 a.m., 3 p.m. and 4 p.m. o'clock) and in two seasons (late spring and early summer), for ten days in a row. The results allow to conclude that the house naturally acclimatized (NA) has presented intermediate performance as compared with the others, making it to possible to control environment at adequate levels only during spring.

Dinâmica populacional do psilídeo-de-concha Glycaspis brimblecombei (Moore, 1964) (Hemiptera: Psyllidae) e de seu parasitóide Psyllaephagus bliteus (Hymenoptera: Encyrtidae) em floresta de Eucalyptus camaldulensis

O psilídeo-de-concha, Glycaspis brimblecombei, é uma praga exótica específica de Eucalyptus, que causa desfolha, secamento de ponteiros e ramos, podendo levar as árvores à morte. O parasitóide Psyllaephagus bliteus é indicado como principal agente no controle biológico desta praga. Portanto, o monitoramento adequado de as ambas espécies por um método eficiente de amostragem facilitaria o manejo para uma futura tomada de decisão. Devido à falta de informações referentes ao seu comportamento em plantações extensivas de eucalipto no Brasil, este trabalho teve como objetivo estudar as populações de G. brimblecombei e de P. bliteus em florestas de Eucalyptus camaldulensis, utilizando armadilhas amarelas para determinação de sua flutuação populacional e correlacionado-as com variáveis meteorológicas (temperatura e precipitação). A determinação da flutuação populacional (53 pontos amostrais) foi realizada em talhão de 19ha com E. camaldulensis em Luíz Antônio, SP, em 10avaliações quinzenais, entre janeiro e junho de 2005. As populações de ambas as espécies apresentaram correlação inversamente proporcional em função da temperatura e não há correlação com a precipitação no período avaliado.

Ocorrência de Gonipterus scutellatus Gyllenhal (Coleoptera: Curculionidae) em plantações de eucalipto no Estado do Espírirto Santo

O gorgulho do eucalipto Gonipterus scutellatus Gyllenhal foi encontrado no Estado do Espírito Santo atacando plantações clonais de Eucalyptus urophylla x E. grandis (híbrido “urograndis”). Essa espécie de gorgulho é conhecida no Brasil desde 1979, tendo sua distribuição geográfica restrita aos estados da região Sul e São Paulo. A introdução do inseto no Estado do Espírito Santo foi provavelmente acidental e sua ocorrência tem se limitado à região central do Estado. Nos levantamentos de campo não foi detectado o parasitóide de ovos Anaphes nitens (Hymenoptera: Mymaridae), que é o principal inimigo natural do gorgulho do eucalipto.

Brachymeria pandora (Crawford) (Hymenoptera: Chalcididae) as a New Parasitoid of Thyrinteina leucocerae (Rindge) (Lepidoptera: Geometridae) in Brazil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Clarissimo speculo bonitatis Dei : o mundo de Tomás de Celano e a sua leitura de mundus

The aim of this study is to understand the version of St. Francis of Assisi created by Friar Thomas of Celano in his hagiographic works. That study also it examines how the Order of Friars Minor and the Papacy have understood the relationship between Christians and the world and turned thisunderstanding in a version of the Saint. Factors such as the replacement of Neoplatonism byAristotelianism as philosophical paradigm and economic and social changes have contributed to change the interpretation of the biblical mandate to not love the world , no longer interpreted as materiality, but as an order for Christians to flee sin. The rejection of the world was replaced by a greater appreciation of nature and society. Moreover, increasingly, the body went from enemy to friend, becoming the brotherbody. Such analysis is important to review the idea, so common in the historiography of what MaxWeber called Worldly Asceticism, the Christian life lived in society, only emerged in Protestantism in opposition to monasticism. The mendicant orders, especially the minority tried during the thirteenth century, the period of analysis of this work, experience the loving nature of Christianity and acting,through preaching and charity in the cities.To make this work, were analyzed the hagiographic discourse (on San Francisco) made by Thomas of Celano, Vita beati Francisci (called Vita Prima) and Memorial in desideiro anime (named Vita Secunda) and, from this, understand the Celano´s interpretation on how it should be the Christian's relationship with the world. The world ceased to be adistorted reflection of a perfect reality, becoming the perfect reflection of God's goodness.

Avaliação clínica do efeito da irradiação pós-opratória do laser de baixa intensidade na cicatrização de gengivoplastias em humanos

Many studies have been made to understand the process of tissular cicatrization, as well as the possible effects of laser therapy in the wound healing. However, the influence of low frequency laser irradiation in the repairing process is not completely understood. Our study has the purpose to assess clinically the effect of postoperative irradiation of the low frequency laser in humans, and the gingival repairing process postgingivoplasty performed with the extern bevel technique. Twenty-four patients with inflammatory gingival hyperplasia were enrolled in this study, which did not reduce with basic periodontal procedures, and patients with melanin pigmentation, with esthetic indications. After surgery the test group, randomly selected by a drawing, received laser application with energy density of 4 J/cm2, immediately after surgery and each 48 hours, during a week, with a total of 4 sections. The control group did not receive irradiation. The visual clinical analyses were performed by a single blind examiner, in the 2nd, 4th, 6th, 8th, 15th and 21st days post surgery. For statistic analyses of the data was used a Q-square test. Concerning the color, the results showed a better wound healing during days 6 to 8. when assessed the degree of progress of surgical wound, the results showed that the test group had a better cicatrization compared with the control group in the 2nd, 6th, 8th and 15th days post surgery, and at the 21st day both groups had the same results. Our results confirm that the laser had clinical influence in the repairing process after gingivoplasty surgery during days 2 to 15 post surgery

O efeito inimigo íntimo é aplicável a Dinoponera quadríceps (Hymenoptera, Formicidae)?

Food access, territory or reproductive partner can generate conflicts between individuals in many species with occurrence of aggressive behaviors. However some species respond less aggressively to intrusion by neighbors than non-neighbors in its territory to minimize the costs of continuous fight. This difference in aggression is called Dear Enemy Effect described in various vertebrates and invertebrates. To investigate if this phenomenon occurs in Dinoponera quadriceps (Hymenopetra, Formicidae) three colonies, two neighbors and one non-neighbor, were captured in its natural environment then transfered to the laboratory where we did experimental confrontation intra and inter colonies involving one pair of workers. We compared the behavioral frequency exhibited by each worker, the intensity and duration of the confrontation between a neighbor and a non-neighbor referring the place where they were collected. Our results revealed that Dear Enemy Effect does not apply to D. quadriceps due aggressive response is more intense and longest toward neighbor than non-neighbor, probably due intra specific competition, ecological factors and characteristic of the species

O oncologista clínico diante da morte: implicações para a produção do cuidado

It is undeniable that all the extraordinary technological advances in contemporary society have increased the severe patients expectation and quality of life, especially cancer patients. On the other hand, it is easily verifiable by many researches that it was not possible to advance in the same proportion in caring for the human experience of death. Much is said about the anguish of a man facing death, of cancer patients in terminal stage, about their families, and very little about the feelings, anxieties and ways of coping with the medical professional who deals with this situation, specifically the clinical oncologist. Little is known about the experience of the doctor who has learned to take death as an enemy to be defeated, and increasingly is compelled to live at length with his advertisement. However, we started to watch in recent years a growing interest of researchers in this issue. This study seeks to add to this interest in order to understand the experience of clinical oncologists that accompany dying patients, the meanings they attach to death, ways of coping and the implications for providing care. This is a qualitative study in which was used as a tool for data collection an in-depth interview with the projective using script and scenes. Gadameriana Hermeneutics was used for analysis and interpretation of narratives. The subjects were 10 clinical oncologists who work at two institutions from cancer treatments in the state of Rio Grande do Norte, chosen from a variation in the time working in the specialty (minimum of one year, even old ones). However, you can bring some initial results for the dialogue. It was found that the death is still a topic that causes many difficulties in the daily lives of these professionals, the choice for oncology involves dealing with death without preparation in medical education; being close to the patient in the final moment, supporting the family, coping with own pain of loss and the inability to heal. These are central elements of the narratives. We also have investment in medical training and continuing education in setting up a demand that permeates the discourse of participants. Being able to listen to the subjective world of clinical oncologists will support the work not only for them as other professionals who deal with patients with advanced cancer, providing evidence to understand to what extent the meanings attributed to its know-how before patients on the verge of death interfere with the production of care and allow identify coping strategies in everyday life of these professionals that hinder or facilitate coping with death, promote or preclude the care with others and with themselves. It is hoped that research can contribute to the field of knowledge about the know-how in clinical oncology and their terminal-care-death oncologist-patient relationships, bringing runways capable of promoting a better quality of care in the production of all involved in this process: professionals, patients and families

Effects of Food Deprivation on the Development of Coleomegilla maculata (De Geer) (Coleoptera: Coccinellidae)

The lady beetle Coleomegilla maculata (De Geer) is a natural enemy of several insect pests and feeds on pollen and nectar to survive periods when prey is scarce. The effect of the feeding interval on the development, survival, fecundity, and longevity of C. maculata was determined. Newly hatched larvae of C. maculata were reared individually and fed with eggs of the Mediterranean flour moth Anagasta kuehniella (Zeller) at intervals of one, two, and three days under controlled conditions (23 ± 1ºC; 60 ± 10% RH; 12 h phtophase). The duration of larval instars and the total larval stage was prolonged as the feeding interval increased. The larval period lasted on average 9.2 ± 0.19 days when the larvae were fed daily with prey, and 14.6 ± 0.48 days when food was offered at three-day intervals. There was an inverse relationship between food intervals, survival, and weight of larvae and adults of the coccinellid. Survival rate of larvae fed daily was 76.8%, while the rate was 50.0% and 23.4% for larvae fed every two and three days, respectively. Coleomegilla maculata showed fecundity of 781.1 ± 149.02, 563.4 ± 80.81 and 109.0 ± 103.0 eggs when fed daily and at intervals of two and three days, respectively.

Preferência de Apanteles galleriae Wilkinson (Hymenoptera: Braconidae) por Galleria mellonella (L.) ou Achroia grisella (Fabricius) (Lepidoptera: Pyralidae)

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

Optimal pest control problem in population dynamics

One of the main goals of the pest control is to maintain the density of the pest population in the equilibrium level below economic damages. For reaching this goal, the optimal pest control problem was divided in two parts. In the first part, the two optimal control functions were considered. These functions move the ecosystem pest-natural enemy at an equilibrium state below the economic injury level. In the second part, the one optimal control function stabilizes the ecosystem in this level, minimizing the functional that characterizes quadratic deviations of this level. The first problem was resolved through the application of the Maximum Principle of Pontryagin. The Dynamic Programming was used for the resolution of the second optimal pest control problem.

Parasitism capacity of Telenomus remus Nixon (Hymenoptera: Scelionidae) on Spodoptera frugiperda (Smith) (Lepidoptera: Noctuidae) eggs

Este trabalho estudou a capacidade de parasitismo de Telenomus remus Nixon (Hymenoptera: Scelionidae) em ovos de Spodoptera frugiperda (Smith) (Hymenoptera: Scelionidae) nas temperaturas de 15, 20, 25, 28, 31 e 35ºC objetivando usar esse inimigo natural em programas de controle biológico em culturas onde S. frugiperda é considerada praga. O parasitismo ocorrido nas primeiras 24 h foi de 60,90; 81,65; 121,05; 117,55 e 108,55 ovos parasitados por fêmea em massas ovos com aproximadamente 150 ovos, nas temperaturas de 15, 20, 25, 28 e 31ºC. Fêmeas de T. remus causaram mais de 80% do parasitismo dos ovos nas temperaturas de 15, 20, 25, 28 e 31ºC aos 5, 27, 8, 2 e 2 dias, respectivamente. Na temperatura de 35ºC não houve parasitismo. As maiores taxas de parasitismo ocorreram nas temperaturas de 20, 25, 28 e 31ºC. A longevidade média de fêmeas de T. remus nas temperaturas compreendidas entre 15 e 31ºC variou de 15,5 a 7,7 dias. A temperatura máxima testada (35ºC) foi inadequada ao desenvolvimento de T. remus, sendo que nessa temperatura as fêmeas apresentaram longevidade bastante reduzida (1,7±0,02 dia) e não houve emergência de adultos. Todas as curvas de sobrevivência para T. remus foram do tipo I o que mostram que para todas as temperaturas há um aumento da taxa de mortalidade com o tempo.

Cirurgia das fraturas do seio frontal: estudo epidemiológico e análise de técnicas

O trauma do seio frontal não é raro, correspondendo a 8% das fraturas faciais. Pode afetar a lâmina anterior e/ou posterior, com ou sem envolvimento do ducto nasofrontal. Tem alto potencial para complicações e seu manejo ainda é controvertido em algumas situações. OBJETIVO: Apresentar a epidemiologia, o diagnóstico e tratamento clínico e cirúrgico de 24 pacientes com fratura do seio frontal. MATERIAL E MÉTODOS: Estudo retrospectivo, não randomizado, de 24 pacientes com fratura de seio frontal operados no Hospital das Clínicas da Faculdade de Medicina de Botucatu, São Paulo, Brasil. RESULTADOS: Dos 24 pacientes, 16 tinham fraturas da lâmina externa e 8, da lâmina interna e externa. em 2 casos havia lesão do ducto nasofrontal. Vinte (83,4%) pacientes tiveram fraturas faciais associadas e em 13 (54,2%) foram observadas complicações intracranianas. A incisão em asa de borboleta, abaixo da sobrancelha, foi empregada na maioria dos casos cirúrgicos com bom resultado estético. Fixação dos fragmentos ósseos com diferentes materiais (fio de aço, mononylon, miniplacas de titânio) e, se necessário, reconstrução da tábua anterior com material aloplástico ou osso parietal. CONCLUSÃO: A causa principal das fraturas do seio frontal é acidente com veículos. O tratamento depende de sua complexidade, pois comumente há lesões cranioencefálicas associadas. As técnicas cirúrgicas utilizadas são as incisões, retalho bicoronal ou na sobrancelha, infra-orbital (em asa de borboleta), associadas à cirurgia endoscópica em casos de infecção fístula liquórica e complicações orbitárias.

Seletividade de inseticidas utilizados em cultura cafeeira para larvas de Cryptolaemus montrouzieri Mulsant

Assim como a maioria dos cultivos, em cafeeiro, a associação de inimigos naturais com produtos fitossanitários seletivos é uma importante estratégia no manejo integrado de pragas (MIP). Dessa forma, este estudo objetivou avaliar a seletividade de agrotóxicos utilizados na cultura cafeeira sobre larvas de Cryptolaemus montrouzieri Mulsant, 1853 (Coleoptera: Coccinellidae), em laboratório. Os bioensaios foram realizados em condições controladas (25±2°C, UR de 70±10% e fotofase de 12 horas). Cada bioensaio consistiu em seis tratamentos e dez repetições, sendo cada parcela composta por duas larvas. Para as comparações das médias dos tratamentos, empregou-se um esquema fatorial inteiramente ao acaso de produtos x número de instares para os diferentes instares subsequentes à aplicação. Os inseticidas utilizados e suas respectivas dosagens de aplicação, em g de i.a. L-1 foram: tiametoxam (0,5), imidacloprido (0,7), óleo mineral (13,3), endossulfam (2,63) e dimetoato (0,48). A testemunha foi composta apenas por água destilada. A aplicação dos produtos foi realizada por meio de torre de Potter. Avaliaram-se a sobrevivência dos espécimes após serem contaminados com os produtos e os efeitos dos compostos sobre os parâmetros reprodutivos do predador. Tiametoxam (0,5), imidacloprido (0,7) e endossulfam (2,63) foram os mais prejudiciais, tendo sido observados, para os dois primeiros, 100% de mortalidade de larvas de primeiro e de segundo instares um dia após a aplicação e significativa redução na sobrevivência das larvas de terceiro e quarto instares. Dimetoato (0,48) foi nocivo para larvas de primeiro instar e levemente nocivo para larvas de quarto instar. em função da seletividade apresentada pelo óleo mineral (13,3), este pode ser recomendado em compatibilização com o predador C. montrouzieri em programas de MIP na cultura cafeeira, sem prejuízo ao desempenho do inimigo natural.