A historical perspective of legged robots

The objective of this paper is to present the evolution and the state-of-the-art in the area of legged locomotion systems. In a first phase different possibilities for implementing mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase a historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones of technological and scientific progress. After this historical timeline, some of the present-day systems are examined and their performance is analyzed. In a third phase the major areas of research and development that are presently being followed in the construction of legged robots are pointed out. Finally, some still unsolved problems that remain defying robotics research, are also addressed.

A randomized clinical trial with high dose of chloroquine for treatment of Plasmodium falciparum malaria in Brazil

This clinical trial compared parasitological efficacy, levels of in vivo resistance and side effects of oral chloroquine 25 mg/Kg and 50 mg/Kg in 3 days treatment in Plasmodium falciparum malaria with an extended followed-up of 30 days. The study enroled 58 patients in the 25 mg/Kg group and 66 in the 50 mg/Kg group. All eligible subjects were over 14 years of age and came from Amazon Basin and Central Brazil during the period of August 1989 to April 1991. The cure rate in the 50 mg/Kg group was 89.4% on day 7 and 71.2% on day 14 compared to 44.8% and 24.1% in the 25 mg/Kg group. 74.1% of the patients in the 25 mg/Kg group and 48.4% of the patients in the 50 mg/Kg group had detectable parasitaemia at the day 30. However, there was a decrease of the geometric mean parasite density in both groups specially in the 50 mg/Kg group. There was 24.1% of RIII and 13.8% of RH in the 25 mg/Kg group. Side effects were found to be minimum in both groups. The present data support that there was a high level resistance to chloroquine in both groups, and the high dose regimen only delayed the development of resistance and its administration should not be recommended as first choice in malaria P. falciparum therapy in Brazil.

Malaria serology: performance of six Plasmodium falciparum antigen extracts and of three ways of determining serum titers in IgG and IgM-ELISA

The study evaluated six Plasmodium falciparum antigen extracts to be used in the IgG and IgM enzyme-linked immunosorbent assays (ELISA), for malaria diagnosis and epidemiological studies. Results obtained with eighteen positive and nine negative control sera indicated that there were statistically significant differences among these antigen extracts (Multifactor ANOVA, p< 0.0001). Urea, sodium deoxycholate and Zwittergent antigen extracts performed better than did the three others, their features being very similar for the detection of IgG antibodies. Urea, alkaline and sodium deoxycholate antigen extracts proved to be better than the others for the detection of IgM antibodies. A straight line relationship was found between the optical densities (or their respective log 10) and the log 10 of antibody dilutions, with a very constant slope. Thus serum titers could be determined by direct titration and by two different equations, needing only one serum dilution. For IgM antibody detections, log 10 expression gave results that better correlated with direct titration (95% Bonferroni). For IgG antibody detections, the titer differences were not significant. The reproducibility of antibody titers and antigen batches was also evaluated, giving satisfactory results.

Studies on the genetics of artemisinin resistance in malaria

A existência de estirpes de Plasmodium falciparum resistentes a multiplos fármacos é um dos problemas mais graves no controlo da malária. Novos fármacos, como a artemisinina (ART) e seus derivados são cada vez mais utilizados no tratamento da malaria e muito embora até ao momento não haja registos de fármaco-resistência estável à ART o seu surgimento seria desastroso devido á falta de alternativas. A investigação apresentada nesta tese descreve a selecção de resistência estável à ART e ao artesunato (ATN) utilizando um modelo roedor de malária, o parasita Plasmodium chabaudi chabaudi (Plasmodium chabaudi). Dois clones de Plasmodium chabaudi diferentes, AS-15CQ e AS-30CQ, foram inoculados em murganhos que por sua vez foram tratados na presença de concentrações sucessivamente crescentes de ATN e ART, sendo que no final do processo de seleção de resistência, os parasitas obtidos apresentavam uma resistência de 6 e 15 vezes superior ao ATN e à ART, respectivamente, em relação aos parasitas iniciais. Os clones obtidos foram nomeados respectivamente AS-ATN (obtido a partir de AS-15CQ por seleção com pressão de ATN) e AS-ART (obtido a partir de AS-30CQ por seleção com pressão de ART). A resistência obtida durante o processo de seleção é estável após clonagem, congelamento/descongelamento, passagem sanguínea na ausência de pressão de fármaco e transmissão natural através do mosquito vector. A sequência nucleotídica e o número de cópias dos genes previamente descritos na literatura como moduladores putativos de resistência à ART e seus derivados: mdr1, cg10, tctp e atp6; foi comparada entre parasitas resistentes e sensíveis, não tendo sido encontradas nenhumas alterações, quer na sequência quer no número de cópias destes genes. Posteriormente, numa tentativa de identificar os genes envolvidos na resistância à ART e ao ATN a técnica de Linkage Group Selection (LGS) foi utilizada. Para tal dois cruzamentos genéticos foram realizados. Estes cruzamentos foram realizados entre os clones fármaco-resistentes; AS-ART e AS-ATN e um clone geneticamente distinto dos anteriores e sensível aos fármacos em estudos, AJ. Após realização do LGS quatro loci genéticos; nos cromossomas de P. chabaudi 1, 2, 6 e 8 foram encontrados associados à resistência. Atendendo a que, a selecção no cromossoma 2 era a mais forte, este locus foi submetido a subsequentes análises genéticas, tendo sido encontradas duas mutações diferentes (V739F e V770F) num gene que codifica para um enzima de desubiquitinação (gene ubp-1).

Studies on the genetics of artemisinin resistance in malaria

A existência de estirpes de Plasmodium falciparum resistentes a multiplos fármacos é um dos problemas mais graves no controlo da malária. Novos fármacos, como a artemisinina (ART) e seus derivados são cada vez mais utilizados no tratamento da malaria e muito embora até ao momento não haja registos de fármaco-resistência estável à ART o seu surgimento seria desastroso devido á falta de alternativas. A investigação apresentada nesta tese descreve a selecção de resistência estável à ART e ao artesunato (ATN) utilizando um modelo roedor de malária, o parasita Plasmodium chabaudi chabaudi (Plasmodium chabaudi). Dois clones de Plasmodium chabaudi diferentes, AS-15CQ e AS-30CQ, foram inoculados em murganhos que por sua vez foram tratados na presença de concentrações sucessivamente crescentes de ATN e ART, sendo que no final do processo de seleção de resistência, os parasitas obtidos apresentavam uma resistência de 6 e 15 vezes superior ao ATN e à ART, respectivamente, em relação aos parasitas iniciais. Os clones obtidos foram nomeados respectivamente AS-ATN (obtido a partir de AS-15CQ por seleção com pressão de ATN) e AS-ART (obtido a partir de AS-30CQ por seleção com pressão de ART). A resistência obtida durante o processo de seleção é estável após clonagem, congelamento/descongelamento, passagem sanguínea na ausência de pressão de fármaco e transmissão natural através do mosquito vector. A sequência nucleotídica e o número de cópias dos genes previamente descritos na literatura como moduladores putativos de resistência à ART e seus derivados: mdr1, cg10, tctp e atp6; foi comparada entre parasitas resistentes e sensíveis, não tendo sido encontradas nenhumas alterações, quer na sequência quer no número de cópias destes genes. Posteriormente, numa tentativa de identificar os genes envolvidos na resistância à ART e ao ATN a técnica de Linkage Group Selection (LGS) foi utilizada. Para tal dois cruzamentos genéticos foram realizados. Estes cruzamentos foram realizados entre os clones fármaco-resistentes; AS-ART e AS-ATN e um clone geneticamente distinto dos anteriores e sensível aos fármacos em estudos, AJ. Após realização do LGS quatro loci genéticos; nos cromossomas de P. chabaudi 1, 2, 6 e 8 foram encontrados associados à resistência. Atendendo a que, a selecção no cromossoma 2 era a mais forte, este locus foi submetido a subsequentes análises genéticas, tendo sido encontradas duas mutações diferentes (V739F e V770F) num gene que codifica para um enzima de desubiquitinação (gene ubp-1).

THE CONTROL OF ANOPHELINE MOSQUITOS BY THE SPRAYING OF DELTAMETHRIN ON RAFFIA CURTAINS USED IN MINERS' HUTS IN AREAS ENDEMIC FOR MALARIA

The residual potential of an aqueous solution of Deltamethrin (FW 25 mg i.a./m2) was evaluated on raffia curtains. These are sheets of synthetic material used in the construction of huts to house miners. Experiments were conducted during 420 days and the curtains were always rolled up in the daytime and unrolled in late afternoon. Data analyzed by logarithmic regression indicated that raffia treated with Deltamethrin had higher mortality indices than that covered with DDT. The residual capacity of Deltamethrin on raffia was high. The mortality percentage was above 85% after 360 days and dropped to about 50% at 420 days. The effect of DDT was reduced after 180 days and reached zero by the end of the experiment. Based on the results of these experiments, it is recommended that Deltamethrin be used to spray raffia curtains in mining regions and other areas that are endemic for malaria.

Malaria vectors in the Brazilian Amazon: Anopheles of the subgenus Nyssorhynchus

Various species of Anopheles (Nyssorhynchus) were studied in the Amazon with the objective of determining their importance as malaria vectors. Of the 33 known Anopheles species occurring in the Amazon, only 9 were found to be infected with Plasmodium. The different species of this subgenus varied both in diversity and density in the collection areas. The populations showed a tendency towards lower density and diversity in virgin forest than in areas modified by human intervention. The principal vector, An. darlingi, is anthropophilic with a continuous activity cycle lasting the entire night but peaking at sunset and sunrise. These species (Nyssorhynchus) are peridomiciliary, entering houses to feed on blood and immediately leaving to settle on nearby vegetation. Anopheles nuneztovari proved to be zoophilic, crepuscular and peridomiciliary. These habits may change depending on a series of external factors, especially those related to human activity. There is a possibility that sibling species exist in the study area and they are being studied with reference to An. darlingi, An. albitarsis and An. nuneztovari. The present results do not suggest the existence of subpopulations of An. darlingi in the Brazilian Amazon.

A historical perspective and prospects of biomedical research on parasitic diseases

We all hope that biotechnology will answer some social and economical unavoidable requirements of the modern life. It is necessary to improve agriculture production, food abundance and health quality in a sustainable development. It is indeed a hard task to keep the progress on taking into account the rational use of genetic resources and the conservation of biodiversity. In this context, a historical perspective and prospects of the biomedical research on parasitic diseases is described in a view of three generations of investigators. This work begins with a picture of the scientific progress on biomedical research and human health over the last centuries. This black-and-white picture is painted by dissecting current advancements of molecular biology and modern genetics, which are outlined at the meaning of prospecting achievements in health science for this new millenium.

Evaluation of a rapid dipstick test, Malar-CheckTM, for the diagnosis of Plasmodium falciparum malaria in Brazil

The present study was carried out to evaluate the Malar-CheckTM Pf test, an immunochromatographic assay that detects Plasmodium falciparum Histidine Rich Protein II, does not require equipment, and is easy and rapid to perform. In dilution assays performed to test sensitivity against known parasite density, Malar-CheckTMwere compared with thick blood smear (TBS), the gold standard for diagnosis. Palo Alto isolate or P. falciparum blood from patients with different parasitemias was used. The average cut-off points for each technique in three independent experiments were 12 and 71 parasites/mm³ (TBS and Malar-CheckTM, respectively). In the field assays, samples were collected from patients with fever who visited endemic regions. Compared to TBS, Malar-CheckTMyielded true-positive results in 38 patients, false-positive results in 3, true-negative results in 23, and false-negative result in 1. Malar-CheckTMperformed with samples from falciparum-infected patients after treatment showed persistence of antigen up to 30 days. Malar-CheckTM should aid the diagnosis of P. falciparum in remote areas and improve routine diagnosis even when microscopy is available. Previous P. falciparum infection, which can determine a false-positive test in cured individuals, should be considered. The prompt results obtained with the Malar-CheckTM for early diagnosis could avoid disease evolution to severe cases.

Salivary gland proteins of the human malaria vector, Anopheles dirus B (Diptera: Culicidae)

Salivary gland proteins of the human malaria vector, Anopheles dirus B were determined and analyzed. The amount of salivary gland proteins in mosquitoes aged between 3 - 10 days was approximately 1.08 ± 0.04 µg/female and 0.1 ± 0.05 µg/male. The salivary glands of both sexes displayed the same morphological organization as that of other anopheline mosquitoes. In females, apyrase accumulated in the distal regions, whereas alpha-glucosidase was found in the proximal region of the lateral lobes. This differential distribution of the analyzed enzymes reflects specialization of different regions for sugar and blood feeding. SDS-PAGE analysis revealed that at least seven major proteins were found in the female salivary glands, of which each morphological region contained different major proteins. Similar electrophoretic protein profiles were detected comparing unfed and blood-fed mosquitoes, suggesting that there is no specific protein induced by blood. Two-dimensional polyacrylamide gel analysis showed the most abundant salivary gland protein, with a molecular mass of approximately 35 kilodaltons and an isoelectric point of approximately 4.0. These results provide basic information that would lead to further study on the role of salivary proteins of An. dirus B in disease transmission and hematophagy.