基于局域网的多水下机器人仿真系统设计与实现

多水下机器人仿真系统是一个能够对多水下机器人系统的体系结构、协调控制、路径规划、学习算法等进行演示验证的分布式实时数字仿真系统,是开展多水下机器人技术研究的基础和有效手段.讨论了应用基于局域网的分布式仿真技术来解决多水下机器人系统仿真的问题,并详细说明了仿真系统的硬件组成和软件总体设计.

自治式移动车路标识别系统

路标识别是自治式移动车（ALV）视觉系统的一个重要组成部分，它能校正内部导航系统的定位误差，引导ALV沿正确的行驶。本文给出了一种路标识别系统结构，并对系统各模块做了较为详尽的阐述。该系统是预测驱动，基于知识的分割识别系统，在模型匹配的识别方法中引入大量的有关地图和路标的先验知识。给出ALV的近似位置，该系统首先根据地图知识预测是否有路标存在并对可能出现的路标，预测其路标模型。然后对图像进行分割处理，抽取符号特征，得到图像模型。最后将图像模型与预测的路标模型相匹配，验证预测的正确性，给出识别结果。该系统的主要特点是：1）地图和路标的先验知识都以显式的形式表示，集中存于知识库中，知识库具有良好的人机接口。2）在面向目标的特征抽取过程中，引入大量的关于路标的先验知识，对不同类型的路标，用不同的模块完成特征抽取。3）用证据累积与空间推理实现匹配，其中证据累积由启发式贝叶斯匹配器完成。即使在图像模型与路标模型有一定差异的情况下，仍能很好地完成识别任务。该系统己在VICOM彩色图像处理系统和sum-3工作站上用C语言实现。目前，能对二类路标进行成功的识别。本文给出了实验结果及分析。

Facilitative glucose transporter Glut1 is actively excluded from rod outer segments.

Photoreceptors are among the most metabolically active cells in the body, relying on both oxidative phosphorylation and glycolysis to satisfy their high energy needs. Local glycolysis is thought to be particularly crucial in supporting the function of the photoreceptor's light-sensitive outer segment compartment, which is devoid of mitochondria. Accordingly, it has been commonly accepted that the facilitative glucose transporter Glut1 responsible for glucose entry into photoreceptors is localized in part to the outer segment plasma membrane. However, we now demonstrate that Glut1 is entirely absent from the rod outer segment and is actively excluded from this compartment by targeting information present in its cytosolic C-terminal tail. Our data indicate that glucose metabolized in the outer segment must first enter through other parts of the photoreceptor cell. Consequently, the entire energy supply of the outer segment is dependent on diffusion of energy-rich substrates through the thin connecting cilium that links this compartment to the rest of the cell.

WHO guidelines for antimicrobial treatment in children admitted to hospital in an area of intense Plasmodium falciparum transmission: prospective study.

OBJECTIVES: To assess the performance of WHO's "Guidelines for care at the first-referral level in developing countries" in an area of intense malaria transmission and identify bacterial infections in children with and without malaria. DESIGN: Prospective study. SETTING: District hospital in Muheza, northeast Tanzania. PARTICIPANTS: Children aged 2 months to 13 years admitted to hospital for febrile illness. MAIN OUTCOME MEASURES: Sensitivity and specificity of WHO guidelines in diagnosing invasive bacterial disease; susceptibility of isolated organisms to recommended antimicrobials. RESULTS: Over one year, 3639 children were enrolled and 184 (5.1%) died; 2195 (60.3%) were blood slide positive for Plasmodium falciparum, 341 (9.4%) had invasive bacterial disease, and 142 (3.9%) were seropositive for HIV. The prevalence of invasive bacterial disease was lower in slide positive children (100/2195, 4.6%) than in slide negative children (241/1444, 16.7%). Non-typhi Salmonella was the most frequently isolated organism (52/100 (52%) of organisms in slide positive children and 108/241 (45%) in slide negative children). Mortality among children with invasive bacterial disease was significantly higher (58/341, 17%) than in children without invasive bacterial disease (126/3298, 3.8%) (P<0.001), and this was true regardless of the presence of P falciparum parasitaemia. The sensitivity and specificity of WHO criteria in identifying invasive bacterial disease in slide positive children were 60.0% (95% confidence interval 58.0% to 62.1%) and 53.5% (51.4% to 55.6%), compared with 70.5% (68.2% to 72.9%) and 48.1% (45.6% to 50.7%) in slide negative children. In children with WHO criteria for invasive bacterial disease, only 99/211(47%) of isolated organisms were susceptible to the first recommended antimicrobial agent. CONCLUSIONS: In an area exposed to high transmission of malaria, current WHO guidelines failed to identify almost a third of children with invasive bacterial disease, and more than half of the organisms isolated were not susceptible to currently recommended antimicrobials. Improved diagnosis and treatment of invasive bacterial disease are needed to reduce childhood mortality.

Seasonal variability of fine-sediment in the Tamar estuary

Measurements describing the intratidal, spring-neap and seasonal variations of fine, cohesive, suspended particulate matter (SPM) concentrations at two sites (Calstock and Halton Quay) within the upper reaches of the Tamar Estuary, UK, are presented. The data were obtained using two, near-bed instrument packages. Correlations of daily-averaged SPM concentrations and fluxes with both runoff and tidal range during the separate deployments often showed a significant dependence on these variables. Where statistically significant, increasing tidal range led to enhanced SPM levels because of resuspension of bed sediments.

Abnormal endothelial tight junctions in active lesions and normal-appearing white matter in multiple sclerosis

Blood-brain barrier (BBB) breakdown, demonstrable in vivo by enhanced MRI is characteristic of new and expanding inflammatory lesions in relapsing remitting and chronic progressive multiple sclerosis (MS). Subtle leakage may also occur in primary progressive MS. However, the anatomical route(s) of BBB leakage have not been demonstrated. We investigated the possible involvement of interendothelial tight junctions (TJ) by examining the expression of TJ proteins (occludin and ZO-1 ) in blood vessels in active MS lesions from 8 cases of MS and in normal-appearing white (NAWM) matter from 6 cases. Blood vessels (10-50 per frozen section) were scanned using confocal laser scanning microscopy to acquire datasets for analysis. TJ abnormalities manifested as beading, interruption, absence or diffuse cytoplasmic localization of fluorescence, or separation of junctions (putative opening) were frequent (affecting 40% of vessels) in oil red-O-positive active plaques but less frequent in NAWM (15%), and in normal (

Semiclassical treatment of Wannier's theory when the exponent diverges

We consider a non-standard application of the Wannier model. A physical example is the single ionization of a hydrogenic beryllium ion with a fully stripped beryllium ion, where the ratio of the charge of the third particle to the charges of the escaping particles is 1/4; we investigate the single ionization by an electron of an atom comprising an electron and a nucleus of charge 1/4. An infinite exponent is obtained suggesting that this process is not tractable within the Wannier model. A modified version of Crothers' uniform semiclassical wavefunction for the outgoing particles has been adopted, since the Wannier exponents and are infinite for an effective charge of Z = 1/4. We use Bessel functions to describe the Peterkop functions u and u and derive a new turning point ?. Since u is well behaved at infinity, there exists only the singularity in u at infinity, thus we employ a one- (rather than two-) dimensional change of dependent variable, ensuring that a uniform solution is obtained that avoids semiclassical breakdown on the Wannier ridge. The regularized final-state asymptotic wavefunction is employed, along with a continuum-distorted-wave approximation for the initial-state wavefunction to obtain total cross sections on an absolute scale. © 2006 IOP Publishing Ltd.

A putative gene cluster for aminoarabinose biosynthesis is essential for Burkholderia cenocepacia viability

Using a conditional mutagenesis strategy we demonstrate here that a gene cluster encoding putative aminoarabinose (Ara4N) biosynthesis enzymes is essential for the viability of Burkholderia cenocepacia. Loss of viability is associated with dramatic changes in bacterial cell morphology and ultrastructure, increased permeability to propidium iodide, and sensitivity to sodium dodecyl sulfate, suggesting a general cell envelope defect caused by the lack of Ara4N.

Two-Ray Modeling of Recombination Effects in the Presence of a Phase Conjugation Array

This article describes by means of a simple model how signal recombination effects behave under the influence of phase conjugating retrodirective array (RDA) technology. A two-ray ground reflection model is used to predict the operational advantages of RDA technology in multipath rich environments. The simulation results show that advantageous signal recombination occurs due to automatic self-phasing. As the number of elements in the RDA increases, the fading effect normally observed due to out of phase multipath signal is mitigated to the extent that the system approaches that of one operating in a free space environment. © 2013 Wiley Periodicals, Inc. Microwave Opt Technol Lett 55:1987–1989, 2013

Web 2.0, PC e EFA: impactes de uma oficina de formação de professores

As competências em Tecnologia da Informação e Comunicação (TIC) e o Pensamento Crítico (PC) são duas das linhas orientadoras da Aprendizagem ao Longo da Vida (ALV) que reconhecendo que todos os contextos (informais, não-formais e formais) podem ser de aprendizagem, assumiram no quadro da Educação e Formação de Adultos (EFA), em Portugal, uma expressividade plasmada no Referencial de Competências-Chave de Educação e Formação de Adultos, nível secundário (EFA-NS). Contudo a orientação PC/TIC não tem sido explicitamente conciliada nas práticas de educação e formação de adultos. Neste contexto desenvolveu-se uma Oficina de Formação para professores/formadores de cursos EFA-NS, na qual se trabalhou a integração de ferramentas da Web 2.0 com a infusão de PC em materiais/atividades para cursos EFA-NS. No desenvolvimento da Oficina foram consideradas três vertentes. Primeira, conceções dos professores sobre EFA/TIC e EFA/PC. Segunda, a formação sobre PC/TIC. Terceira, produção e implementação de materiais/atividades com orientação PC/TIC. A componente de trabalho autónomo da Oficina passou essencialmente pela dinâmica de uma comunidade online de nome EF@. O grupo de formação era constituído por 17 professores do ensino secundário, e pela investigadora/formadora, autora deste estudo. Acrescente-se que no conjunto das 10 sessões de trabalho presencial a investigadora/formadora foi coadjuvada por mais três formadores. Estudar os impactes da Oficina no desenvolvimento profissional dos professores, conjuntamente com a avaliação da influência dos materiais/atividades produzidos (na Oficina) no nível de PC dos alunos, assumiram-se como as duas questões de investigação a que este estudo pretendeu dar resposta. Neste sentido estudámos o grupo de professores em formação – estudo de caso – e o grupo de alunos – plano quasi experimental do tipo grupo de controlo/experimental, pré/pós-teste, pelo que o enquadramento da metodologia num estudo misto, predominantemente de natureza qualitativa, foi a adotada. A recolha e o tratamento de dados foram feitos mediante várias técnicas – observação, inquérito, análise e testagem – associadas a diferentes instrumentos: dois questionários, diário de investigador e Teste de Pensamento Crítico – Cornell (Nível X). A análise dos dados recolhidos possibilitou a compreensão de como a Oficina contribui para a reflexão: (i) nas práticas anteriores dos professores; (ii) nas competências adquiridas na Oficina e (iii) nas práticas implementadas. Ao nível do PC dos alunos, podemos dizer que os materiais/atividades produzidos na Oficina influenciaram o nível de PC dos alunos, já que os resultados da média do PC do pós-teste foram estatisticamente significativos para o grupo experimental, quando comparado com a média do PC no grupo de controlo.

Representações/expectativas sobre o processo de reconhecimento, validação e certificação de competências (RVCC): da utopia à realidade

O Programa Novas Oportunidades valoriza a Aprendizagem ao Longo da Vida (ALV). Algumas pessoas que abandonaram a escola vêem, na actualidade, certificadas as suas competências, ao frequentarem o Processo RVCC. Através do estudo ―Representações/Expectativas sobre o Processo de Reconhecimento, Validação e Certificação de Competências (RVCC): Da utopia à realidade, pretendemos saber as representações/expectativas iniciais que os sujeitos possuíam e se estas, no final, se viram confirmadas. As opiniões sobre o processo, após a sua conclusão, foi um dos vectores tido em atenção. Verificou-se que, de entre as várias motivações para a inscrição no processo RVCC, as principais se prendem com a vontade dos adultos continuarem os estudos depois de terem parado, o desejo de aprenderem mais/saber coisas novas, a Progressão no emprego e Mais possibilidades de escolher o tipo de emprego. As razões da opção pelo processo RVCC fundamentam-se no facto de se tratar de um Processo de valorização de conhecimentos e por ser rápido, havendo outras razões menos abordadas. As relacionadas com a sua rapidez e facilidade encontram-se depen-dentes, respectivamente, das variáveis idade e género. A valorização profissional e a progressão nos estudos constituem as principais expectativas que os sujeitos possuíam anteriormente. As expectativas iniciais viram-se muito (61,11%) e muitíssimo (23,15%) confirmadas. O Reconhecimento do saber experiencial e as Valorizações académica e pessoal foram aspectos importantes para que tal acontecesse. No final, os adultos opinam favoravelmente sobre o processo, enfatizando as metodologias, a gratificação sentida, a reflexão sobre as aprendizagens e a melhoria da auto- -estima. Salientam que a frequência do processo lhes trouxe mudanças académicas e pessoais. No contexto profissional são menos notórias, conquanto seja expectável que ocorram melhorias.

L'Écho de Paris

1894/05/13 (Numéro 3639).

Resoluciones Cámara de Comercio de Bogotá

Doctrina