TORP: An open standard framework for humanoid robots

Humanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks that can allow distributed development with also some degree of hardware abstraction, allowing software reuse in successive projects. However, computation represents only one of the dimensions in robotics tasks, and the need for reuse and exchange of full robot modules between groups are growing. Large advances could be reached if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a new robot framework, from now on called TORP (The Open Robot Project), that aims to provide a standard architecture in all dimensions (electrical, mechanical and computational) for this collaborative development. This methodology also represents an open project that is fully shared. In this paper, the first robot constructed following the TORP specification set is presented as well as the advances proposed for its improvement. © 2010 IEEE.

Solubilization of iron phosphate by free or immobilized spores and pellets of Aspergillus niger

The production of pellets by Aspergillus niger and the FePO 4 (FeP) solubilization through the use of free or immobilized spores and pellets were studied. The media Sabouraud, MS-FeP, MS-K 2HPO 4, Czapek and Malt were used for pellets yield. Enhanced growth and pellets production were found in the Sabouraud and MS-FeP than those produced by the other media. Pellets produced in Sabouraud were larger in size and formed well-defined spheres than those produced in MS-FeP. Pellets amounts varying from 2 to 8 mg mL, -1 were inoculated in the MS-FeP medium. The greatest quantity of solubilized FeP was found when 6 mg of pellets mL, -1 were used. While the free spores were the worst form used for FeP solubilization in culture medium, free pellets allowed for the production of the greatest quantities of soluble phosphate, even after repeated use of the pellets. In the soil, pellets solubilized similar quantities of FeP compared to the immobilized A. niger spores and can be used with advantage since they are easily produced. © 2010 Academic Journals Inc.

Efeito do uso de água cinza sobre a vazão de um microaspersor dinâmico

The work was realized at the Laboratório de Ensaio de Equipamentos de Irrigação do Departamento de Engenharia Rural da Universidade Estadual Paulista FCA- UNESP de Botucatu - SP, it aims evaluated in bench, the flow of a microsprinkler flow with dynamic nominal 43L h-1, before and after the use of gray water. In the first phase were 25 new emitters were separated and performed tests with clean water, at pressures from 50 to 300 kPa. In a second phase the emitters have been submitted 1000h operating with gray water. At the end of this time, the emitters were submitted again into conditions of initial essay, to evaluate the new costume water effect on medium flow from microsprinkler. At the end we can see that the average flow of the emitters, after use, has declined compared to the emitters discharge before use in 6,6%, the coefficient of variation after use was 5,1%, increased in proportion the coefficient of initial production was 4,3%, the R 2 fell from 0.9946 to 0.9898 and the microsprinkler continued with a high rating, according to the ABNT and ASAE.

Tethered DNA scaffolds on optical sensor platforms for detection of hipO gene from Campylobacter jejuni

DNA biosensors have gained increased attention over traditional diagnostic methods due to their fast and responsive operation and cost-effective design. The specificity of DNA biosensors relies on single-stranded oligonucleotide probes immobilized to a transduction platform. Here, we report the development of biosensors to detect the hippuricase gene (hipO) from Campylobacter jejuni using direct covalent coupling of thiol- and biotin-labeled single-stranded DNA (ssDNA) on both surface plasmon resonance (SPR) and diffraction optics technology (DOT, dotLab) transduction platforms. This is the first known report of the dotLab to detect targeted DNA. Application of 6-mercapto-1-hexanol as a spacer thiol for SPR gold surface created a self-assembled monolayer that removed unbound ssDNA and minimized non-specific detection. The detection limit of SPR sensors was shown to be 2.5 nM DNA while dotLab sensors demonstrated a slightly decreased detection limit of 5.0 nM (0.005 μM). It was possible to reuse the SPR sensor due to the negligible changes in sensor sensitivity (∼9.7 × 10 -7 ΔRU) and minimal damage to immobilized probes following use, whereas dotLab sensors could not be reused. Results indicated feasibility of optical biosensors for rapid and sensitive detection of the hipO gene of Campylobacter jejuni using specific ssDNA as a probe. © 2011 Elsevier B.V.

Utilização de água residuária do processo pós-colheita do café na produção de mudas de cafeeiro

Intending to achieve better results on coffee production, the coffee producers began, since the 80s, to process the coffee postharvest, in order to ensure product's superior quality. However, with the processing, other problem appeared, the contamination of rivers, creeks, soil and water table from coffee wastewater (ARC). This paper had as main objective to use the ARC on the coffee plants' production verifying its viability and if the ARC is able to supply the coffee potassium requirements when they don't receive potassium chloride in the organic compound. The work was developed at Faculdade de Ciências Agronômicas - UNESP, Botucatu-SP, in a greenhouse located at Departamento de Engenharia Rural. The work consisted of 10 treatments on a 5×2 factorial (5 wastewater proportions of coffee after the harvest processing - 0%, 25%, 50%, 75% and 100% - and potassium chloride presence or absence in the composition), with 4 repetitions with a completely randomized statistical design. The ARC was applied each 48 hours in an irrigation depth of 10 mm. After 6 months, the plants' vegetative characteristic had been evaluated as well the chemical characteristics of the compound and of the plants. We observed that the treatments with potassium chloride presence showed worse vegetative characteristics compared with treatments which did not have KCl in its composition. Moreover, with the increase of the wastewater dosage, it happened a decrease in the vegetative characteristics, however an addition in the chemical characteristics of the compound. Also, the treatments without KCl presence and with 0% and 25% of coffee wastewater had been statistically equal, showing the viability in the use of the ARC in the production of coffee plants, since the compound does not contain KCl and that the water used in the composition is a mixture of 25% of ARC with 75% of common water.

Cultivation of Pleurotus ostreatus using supplemented spent oyster Mushroom substrate

Spent Agaricus and Pleurotus substrates are mainly used as components of amendments and growing substrates, but not in sufficient quantities to solve the problem of their accumulation in mushroom producing areas, where they represent a potential pollution risk. The mushroom growing sector in Spain generates about 5105 t of spent compost, while the EU, as a whole, produces more than 3.5106 t. Among alternative management applications, it is possible to reuse these wastes in the cultivation of mushrooms, as a casing material for growing Agaricus spp. and as substrate for growing other species. In this work, the application of commercial nutritional supplements (Calprozime, Champfood and Promycel), widely used in Agaricus cultivation, is evaluated for its possible use as additive to substrates, based on spent oyster mushroom substrate (SMS), for the cultivation of Pleurotus ostreatus. Using a mixture of straw and SMS (1:1, w/w) as base material, the addition of CaSO4 (50 g kg-1) and CaCO3 (10 g kg-1) and the above supplements at 20 g kg-1 brought about a remarkable increase in production compared with the substrate without any supplement. The biological efficiencies did not differ significantly from that obtained when a commercial substrate was used as control, reaching values of 48.9 kg/100 kg substrate (dry matter) when Calprozime was used as supplement. Sporophores harvested from the supplemented substrates presented a higher dry matter content than those obtained from both commercial and non-supplemented substrates. SMS is cheap and easily available; it can be integrated into new formulations with the added advantages of lowering production costs, limiting growers' dependence on straw, and decreasing the environmental impact of its ever-growing accumulation.

Alterations in the fat body cells of rhinocricus padbergi (Diplopoda) resulting from exposure to substrate containing sewage sludge

Abstract The final disposal of residues generated at sewage treatment plants (STPs) has become a major problem for cities, due to the increase in the amount of treated sewage. One of the alternatives for the residue, labeled sewage sludge, is its reuse in agriculture and in degraded soil. However, not all pathogens and metals present in it are eliminated during treatment. Diplopods have been used as bioindicators in ecotoxicological tests as they are constantly in close contact with the soil. Owing to this fact, the purpose of this study was to expose specimens of the diplopod Rhinocricus padbergi to substrate containing sewage sludge collected at STPs to analyze morphological alterations in their parietal and perivisceral fat body, where substances are stored. The exposures were held for 7, 15, or 90 days at different concentrations of sewage sludge (control, 1%, 10%, and 50%). The parietal fat body showed no alterations in any of the three exposure periods or concentrations. Alterations in the perivisceral fat body were observed for all exposure periods. According to the results, we suggest that the sludge used has toxic agents responsible for changing the animal's perivisceral fat body. © 2012 Microscopy Society of America.

Fertilizantes orgânicos e resíduo de bauxita na disponibilidade de nutrientes e nutrição da cana-de- açúcar irrigada com água potável e residuária

The objective of this study was to evaluate the effect of organic fertilizers (urban solid waste and swine manure) as a source of nutrients and residue from bauxite processing as a corrective of soil acidity, in area cultivated with sugar cane irrigated with potable water and served in the availability of phosphorus (P), potassium (K), calcium (Ca), magnesium (Mg) and sulfur (S) levels in the soil and plants. For this experiment was carried out in pots, using a Alfisol, assessing the availability of the elements in the 0-20 cm layer and the concentration of these nutrients in the leaves of sugarcane. The data showed that the residues increased the concentrations of Ca and Mg in soil, as the concentration of K was not changed and S was not detected, due to the low concentration in the soil. In the leave +1 of sugarcane the residue of bauxite increased levels of N, P, K, Ca and Mg (15.68, 1.73, 10.43, 3.50 and 1.08 g kg-1, respectively). The application of urban solid waste and swine manure also increased the levels of N, K and Ca (11.56, 9.18 and 2.81 g kg-1, respectively). The quality of irrigation water did not alter the availability of P, K, Ca, Mg and S in the soil as well as the levels of these macronutrients in the plant.

Creative commons: A convergence model between the ideal of commons and the possibilities of creation in contemporary times, opposed to copyright impediments

The contemporary individual finds on the Internet and especially on the Web facilitating conditions to build a basic infrastructure based on the concept of commons. He also finds favorable conditions which allow him to collaborate and share resources for the creation, use, reuse, access and dissemination of information. However, he also faces obstacles such as Copyright (Law 9610/98 in Brazil). An alternative is Creative Commons which not only allows the elaboration, use and dissemination of information under legal conditions but also function as a facilitator for the development of informational commons. This paper deals with this scenario.

Recovery of degraded areas using topsoil in the Amazon rainforest

This study is aimed at evaluating the effect of placing the top soil cover areas, such as tailings degraded by tin mining, in the Amazon rainforest in Brazil. The evaluations of the planting sites occurred in areas where tin mining was carried out, basically planting native trees over a period of seven years. This work did not come from a pre-decreed methodology of experimental design, and data was collected only seven years after planting. Thus, it was not possible to identify all variables that contributed to a better recovery of the areas. Sampling was done about seven years after placing the top soil and is determined: pH, organic matter content, P, K, Ca, Mg, Al, cation exchange capacity (T), base saturation (V%), B, Fe, Zn, Cu and Mn. The native forest species existing at the site were evaluated in relation to height (in meters) and diameter of the base. For all sites where the surface layer of soil was applied, there were significant differences in the growth of native species. A fundamental aspect in the rehabilitation of areas degraded by mining, in general, is the knowledge about the soil where that recovery must be conducted. The specific procedures in the rehabilitation of those areas depend essentially on the physical, chemical, biological and mineralogical properties of the soil, which must present conditions for the adequate development of the plants. The initial idea of implanting a project of recovery of soils degraded by mining in the Amazon Forest emerged from a first visit to the field, carried out in 1998. The conditions of the already mined areas, in comparison to the exuberant forest of the surroundings caught our attention. The mining company that acts in the area had already been trying for some time to implant a plan of recovery of these mining areas, however without reaching any significant positive results. The loss of organic matter is one of the main problems of degraded areas in Brazil. The storage and reuse of a blanket of soil (topsoil) produce excellent results, but most of the miners consider this technique expensive and difficult because of operational costs and the sharp topographical condition of the mine site. Therefore, a research project was elaborated prioritizing the recovery of the soil degraded by the tin mining as a prior step to the recovery activities with native forest species. The formation of a superficial pseudo-horizon that supported the vegetation and the time that it would take for its establishment became the main objective of this research. The objective of this work is to verify the levels of elements and their traces in areas where top soils were applied for the remediation of degraded areas with local re-vegetation. © 2011 WIT Press.

TAO - A software platform for autonomous mobile robots

To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to system incompabilities. This paper proposes a software platform that provides means for creating reusable software modules through the standardization of software interfaces, which represent the various robot modules. © 2012 ICROS.

Acid dye biodegradation using saccharomyces cerevisiae immobilized with polyethyleneimine-treated sugarcane bagasse

Chemical reagents used by the textile industry are very diverse in their composition, ranging from inorganic compounds to polymeric compounds. Strong color is the most notable characteristic of textile effluents, and a large number of processes have been employed for color removal. In recent years, attention has been directed toward various natural solid materials that are able to remove pollutants from contaminated water at low cost, such as sugarcane bagasse. Cell immobilization has emerged as an alternative that offers many advantages in the biodegradation process, including the reuse of immobilized cells and high mechanical strength, which enables metabolic processes to occur under adverse conditions of pH, sterility, and agitation. Support treatment also increases the number of charges on the surface, thereby facilitating cell immobilization processes through adsorption and ionic bonds. Polyethyleneimine (PEI) is a polycationic compound known to have a positive effect on enzyme activity and stability. The aim of the present study was to investigate a low-cost alternative for the biodegradation and bioremediation of textile dyes, analyzing Saccharomyces cerevisiae immobilization in activated bagasse for the promotion of Acid Black 48 dye biodegradation in an aqueous solution. A 1 % concentration of a S. cerevisiae suspension was evaluated to determine cell immobilization rates. Once immobilization was established, biodegradation assays with free and immobilized yeast in PEI-treated sugarcane bagasse were evaluated for 240 h using UV-vis spectrophotometry. The analysis revealed significant relative absorbance values, indicating the occurrence of biodegradation in both treatments. Therefore, S. cerevisiae immobilized in sugarcane bagasse is very attractive for use in biodegradation processes for the treatment of textile effluents. © 2012 Springer Science+Business Media Dordrecht.

Evaluation of reusable cardboard box designs: Biomechanical and perceptual aspects

Reusable cardboard boxes can be ergonomically designed for internal transportation of dry products in industrial settings. In this study we compared the effects of handling a regular commercial box and two cardboard prototypes on upper limb postures through the evaluation of movements, myoelectrical activity, perceived grip acceptability and capacity for reuse. The ergonomic designs provided a more acceptable grip, safer wrist and elbow movements and lower wrist extensors and biceps activity. Biomechanical disadvantages were observed only for one of the prototypes when handling to high surface. The prototypes were durable and suitable for extensive reuse (more than 2000 handlings) in internal industrial transportation. Despite being slightly more expensive than regular cardboard, the prototypes showed good cost-benefit considering their high durability. Relevance to industry: Cardboard boxes can be efficiently redesigned for allowing safer upper limb movements and lower muscle workload in manual materials handling. New designs can also be extensively reused for internal industrial transportation with good cost-benefit. © 2012 Elsevier B.V.

Alkali activated materials based on fluid catalytic cracking catalyst residue (FCC): Influence of SiO2/Na2O and H 2O/FCC ratio on mechanical strength and microstructure

Reuse of industrial and agricultural wastes as supplementary cementitious materials (SCMs) in concrete and mortar productions contribute to sustainable development. In this context, fluid catalytic cracking catalyst residue (spent FCC), a byproduct from the petroleum industry and petrol refineries, have been studied as SCM in blended Portland cement in the last years. Nevertheless, another environmental friendly alternative has been conducted in order to produce alternative binders with low CO2 emissions. The use of aluminosilicate materials in the production of alkali-activated materials (AAMs) is an ongoing research topic which can present low CO2 emissions associated. Hence, this paper studies some variables that can influence the production of AAM based on spent FCC. Specifically, the influence of SiO 2/Na2O molar ratio and the H2O/spent FCC mass ratio on the mechanical strength and microstructure are assessed. Some instrumental techniques, such as SEM, XRD, pH and electrical conductivity measurements, and MIP are performed in order to assess the microstructure of formed alkali-activated binder. Alkali activated mortars with compressive strength up to 80 MPa can be formed after curing for 3 days at 65°C. The research demonstrates the potential of spent FCC to produce alkali-activated cements and the importance of SiO2/Na2O molar ratio and the H2O/spent FCC mass ratio in optimising properties and microstructure. © 2013 Elsevier Ltd. All rights reserved.

FT-IR analysis of acid black dye biodegradation using saccharomyces cerevisiae immobilized with treated sugarcane bagasse

Textile industries use large amounts of water in dyeing processes and a wide variety of synthetic dyes. A small concentration of these dyes in the environment can generate highly visible pollution and changes in aquatic ecosystems. Adsorption, biosorption, and biodegradation are the most advantageous dye removal processes. Biodegradation occurs when enzymes produced by certain microorganisms are capable of breaking down the dye molecule. To increase the efficiency of these processes, cell immobilization enables the reuse of the immobilized cells and offers a high degree of mechanical strength, allowing metabolic processes to take place under adverse conditions. The aim of the present study was to investigate the use of Saccharomyces cerevisiae immobilized in activated sugarcane bagasse for the degradation of Acid Black 48 dye in aqueous solutions. For such, sugarcane bagasse was treated with polyethyleneimine (PEI). Concentrations of a 1 % S. cerevisiae suspension were evaluated to determine cell immobilization rates. Once immobilization was established, biodegradation assays for 240 h with free and immobilized yeast in PEI-treated sugarcane bagasse were evaluated by Fourier transform infrared spectrophotometry. The results indicated a probable change in the dye molecule and the possible formation of new metabolites. Thus, S. cerevisiae immobilized in sugarcane bagasse is very attractive for biodegradation processes in the treatment of textile effluents. © 2013 Springer Science+Business Media Dordrecht.