Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Hybrid materials for biomedical applications

The increased longevity of humans and the demand for a better quality of life have led to a continuous search for new implant materials. Scientific development coupled with a growing multidisciplinarity between materials science and life sciences has given rise to new approaches such as regenerative medicine and tissue engineering. The search for a material with mechanical properties close to those of human bone produced a new family of hybrid materials that take advantage of the synergy between inorganic silica (SiO4) domains, based on sol-gel bioactive glass compositions, and organic polydimethylsiloxane, PDMS ((CH3)2.SiO2)n, domains. Several studies have shown that hybrid materials based on the system PDMS-SiO2 constitute a promising group of biomaterials with several potential applications from bone tissue regeneration to brain tissue recovery, passing by bioactive coatings and drug delivery systems. The objective of the present work was to prepare hybrid materials for biomedical applications based on the PDMS-SiO2 system and to achieve a better understanding of the relationship among the sol-gel processing conditions, the chemical structures, the microstructure and the macroscopic properties. For that, different characterization techniques were used: Fourier transform infrared spectrometry, liquid and solid state nuclear magnetic resonance techniques, X-ray diffraction, small-angle X-ray scattering, smallangle neutron scattering, surface area analysis by Brunauer–Emmett–Teller method, scanning electron microscopy and transmission electron microscopy. Surface roughness and wettability were analyzed by 3D optical profilometry and by contact angle measurements respectively. Bioactivity was evaluated in vitro by immersion of the materials in Kokubos’s simulated body fluid and posterior surface analysis by different techniques as well as supernatant liquid analysis by inductively coupled plasma spectroscopy. Biocompatibility was assessed using MG63 osteoblastic cells. PDMS-SiO2-CaO materials were first prepared using nitrate as a calcium source. To avoid the presence of nitrate residues in the final product due to its potential toxicity, a heat-treatment step (above 400 °C) is required. In order to enhance the thermal stability of the materials subjected to high temperatures titanium was added to the hybrid system, and a material containing calcium, with no traces of nitrate and the preservation of a significant amount of methyl groups was successfully obtained. The difficulty in eliminating all nitrates from bulk PDMS-SiO2-CaO samples obtained by sol-gel synthesis and subsequent heat-treatment created a new goal which was the search for alternative sources of calcium. New calcium sources were evaluated in order to substitute the nitrate and calcium acetate was chosen due to its good solubility in water. Preparation solgel protocols were tested and homogeneous monolithic samples were obtained. Besides their ability to improve the bioactivity, titanium and zirconium influence the structural and microstructural features of the SiO2-TiO2 and SiO2-ZrO2 binary systems, and also of the PDMS-TiO2 and PDMS-ZrO2 systems. Detailed studies with different sol-gel conditions allowed the understanding of the roles of titanium and zirconium as additives in the PDMS-SiO2 system. It was concluded that titanium and zirconium influence the kinetics of the sol-gel process due to their different alkoxide reactivity leading to hybrid xerogels with dissimilar characteristics and morphologies. Titanium isopropoxide, less reactive than zirconium propoxide, was chosen as source of titanium, used as an additive to the system PDMS-SiO2-CaO. Two different sol-gel preparation routes were followed, using the same base composition and calcium acetate as calcium source. Different microstructures with high hydrophobicit were obtained and both proved to be biocompatible after tested with MG63 osteoblastic cells. Finally, the role of strontium (typically known in bioglasses to promote bone formation and reduce bone resorption) was studied in the PDMS-SiO2-CaOTiO2 hybrid system. A biocompatible material, tested with MG63 osteoblastic cells, was obtained with the ability to release strontium within the values reported as suitable for bone tissue regeneration.

Estudo levantamento das anomalias da coagulação em leites individuais de vacas leiteiras da Ilha Terceira

Dissertação de Mestrado, Tecnologia e Segurança Alimentar, 4 de Abril de 2016, Universidade dos Açores.

Espectroscopia no infravermelho e método quimiométrico para a pesquisa de antimicrobianos em leite da microrregião de Pato Branco - PR

Considering the social and economic importance that the milk has, the objective of this study was to evaluate the incidence and quantifying antimicrobial residues in the food. The samples were collected in dairy industry of southwestern Paraná state and thus they were able to cover all ten municipalities in the region of Pato Branco. The work focused on the development of appropriate models for the identification and quantification of analytes: tetracycline, sulfamethazine, sulfadimethoxine, chloramphenicol and ampicillin, all antimicrobials with health interest. For the calibration procedure and validation of the models was used the Infrared Spectroscopy Fourier Transform associated with chemometric method based on Partial Least Squares regression (PLS - Partial Least Squares). To prepare a work solution antimicrobials, the five analytes of interest were used in increasing doses, namely tetracycline from 0 to 0.60 ppm, sulfamethazine 0 to 0.12 ppm, sulfadimethoxine 0 to 2.40 ppm chloramphenicol 0 1.20 ppm and ampicillin 0 to 1.80 ppm to perform the work with the interest in multiresidues analysis. The performance of the models constructed was evaluated through the figures of merit: mean square error of calibration and cross-validation, correlation coefficients and offset performance ratio. For the purposes of applicability in this work, it is considered that the models generated for Tetracycline, Sulfadimethoxine and Chloramphenicol were considered viable, with the greatest predictive power and efficiency, then were employed to evaluate the quality of raw milk from the region of Pato Branco . Among the analyzed samples by NIR, 70% were in conformity with sanitary legislation, and 5% of these samples had concentrations below the Maximum Residue permitted, and is also satisfactory. However 30% of the sample set showed unsatisfactory results when evaluating the contamination with antimicrobials residues, which is non conformity related to the presence of antimicrobial unauthorized use or concentrations above the permitted limits. With the development of this work can be said that laboratory tests in the food area, using infrared spectroscopy with multivariate calibration was also good, fast in analysis, reduced costs and with minimum generation of laboratory waste. Thus, the alternative method proposed meets the quality concerns and desired efficiency by industrial sectors and society in general.

Vietnamese masculinities in lê thi diem thúy's The gangster we are all looking for

The defeat of South Vietnam in 1975 transformed Vietnamese men into fleeing refugees, boat people, and state-sponsored asylees. Writing against the popular and scholarly representations of Vietnamese refugee men as incapacitated objects of rescue, this paper provides an in-depth analysis of the intimate, insightful, and intense portrayal of Vietnamese masculinities in lê thi diem thúy’s novel, The Gangster We Are All Looking For. Focusing on the “sad and broken” father in the novel, the article conceptualizes his bouts of domestic violence neither as a private family matter nor an example of individual failing, but as a social, historical, and transnational affair that exposes the conditions—war, urban neglect, poverty—under which Vietnamese masculinity is continually produced, negotiated and transformed.

Estudo da intercalação de fontes de potássio em caulinita pura, com tratamento térmico e ativação ácida

The chemical changes in clay minerals has been widely studied in order to improve its properties for use in various applications. However kaolinite has strong hydrogen bonds between their adjacent layers hindering the process changes in its structure. With the objective to facilitate the process of intercalation monobasic potassium phosphate, bibasic potassium phosphate and potassium acetate we was performed on kaolinite heat treatment at 600 °C and activated acidic with phosphoric acid and 5 to 10 mol L-1. The samples they were characterized by energy dispersive spectroscopy (EDS), X-Ray Diffraction (XRD), Infrared Spectroscopy Fourier Transform (FTIR) and Thermogravimetric Analysis (TG) and Differential Thermal Analysis (DTG) and the superficial and textural changes the samples with heat treatment and acid activation they were characterized by scanning electron microscopy (SEM) and Textural Analysis of Adsorption/desorption N2. With the help of the techniques found that, the heat treatment becomes more susceptible to acid activation kaolinite making the samples with two treatments show larger amounts of phosphorus. It was also found that bibasic potassium phosphate binds more strongly the structure of kaolinite by having a structure with two-coordinating oxygens and intercalation with potassium acetate in acid-activated kaolin increases the interlayer distance of the kaolinite and the intercalation occurs with higher response index (RI) for samples with acid activation to 5 mol /L.

Uma contribuição para a medição de distorções harmônicas e inter-harmônicas em instalações de geração fotovoltaica

Dissertação (mestrado)— Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2015.

Play strindberg de Dürrenmatt - uma peça da atualidade

A tragicomédia Play Strindberg1 do autor suíço Friedrich Dürrenmatt já foi representada em Portugal por quatro vezes (1972, 1990, 2008 e 2015). Apesar de se tratar de uma peça com mais de cem anos na sua versão original do sueco August Strindberg, o número de vezes que o texto já subiu aos palcos portugueses suscita alguma curiosidade. Mas voltando cronologicamente um pouco atrás, sabemos que Dürrenmatt assiste, pela primeira vez, à representação da peça Dödsdansen (1900) [A Dança da Morte] de August Strindberg em 1948, em Basileia. No entanto, é apenas em 1968 que lê a peça e é a partir de Novembro desse mesmo ano que começa a escrever a sua versão (“Umarbeitung” [Refazer]2): Play Strindberg: Totentanz nach August Strindberg [Play Strindberg: A Dança da Morte segundo August Strindberg]3. A peça estreou no Basler Theater (Suíça) a 8 de Fevereiro de 1969 e é uma paródia à tragédia original de Strindberg, transformada numa tragicomédia, tão típica deste dramaturgo suíço. Do texto originário mantém apenas a estrutura base, como o próprio Dürrenmatt confirma:

Estudo da influência da morfologia de nanopartículas de sílica mesoporosa na liberação do anticancerígeno indol-3-carbinol

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Ceilândia, Programa de Pós-graduação em Ciências e Tecnologias em Saúde, 2015.

Desenvolvimento de um biossensor para monitorização de acetilcolina, um biomarcador associado à Doença de Alzheimer

A presente dissertação teve como objetivo o desenvolvimento e caracterização de sensores potenciométricos com base em polímeros de impressão molecular (MIP, do inglês, Molecularly Imprinted Polymer) para a determinação da molécula alvo, a acetilcolina. A acetilcolina (ACh) é um neurotransmissor que está associado à doença de Alzheimer. Os materiais biomiméticos desenvolvidos para a interação com a ACh foram obtidos por polimerização em bulk, recorrendo a uma combinação de nanotubos de carbono com monómeros de anilina, dispersos em solvente plastificante oNFOE e PVC. Para aferir sobre o efeito da impressão de ACh na resposta dos materiais MIP, foram igualmente preparados e avaliados materiais de controlo, ou seja, materiais sem impressão molecular (NIP). O controlo da constituição química destes materiais foi realizado recorrendo a Espectroscopia de Raman e Espectroscopia de Infravermelho com transformada de Fourier (FTIR, do inglês Fourier Transformed Infrared Spectroscopy). Os materiais desenvolvidos foram integrados em membranas seletivas de ião, preparadas com ou sem aditivo iónico lipófilo, de carga negativa ou positiva. A avaliação das características gerais das membranas baseou-se na comparação das caraterísticas dos diversos elétrodos. Estas caraterísticas foram obtidas a partir de curvas de calibração, conseguidas para valores de pH diferentes. Em meio ácido, mais precisamente para pH 4, as membranas com materiais impressos e aditivo aniónico foram as que apresentaram as melhores características analíticas, quer em termos de sensibilidade (+83,86 mV década-1) quer em gama de linearidade (de 3,52×10-5 a 1,73×10-3 M). O estudo de seletividade realizado aos sensores revelou que os elétrodos cuja membrana possuía aditivo aniónico apresentavam menores valores de log KPOT. A presença desse constituinte fez com que a seletividade aumentasse nesses mesmos elétrodos. A espécie menos interferente foi a creatina e a mais interferente a creatinina. Os elétrodos foram, ainda, aplicados em amostras de soro sintético. A qualidade dos resultados obtidos dependeu do nível de concentração em estudo, sendo possível identificar uma região onde os resultados foram exatos e precisos. De uma forma geral, os biossensores com MIP e aditivo aniónico apresentaram um desempenho adequado à prossecução deste estudo em amostras reais.

FTIR, a potential tool to dementia diagnosis trough analysis of plasma

Nowadays it is still difficult to perform an early and accurate diagnosis of dementia, therefore many research focus on the finding of new dementia biomarkers that can aid in that purpose. So scientists try to find a noninvasive, rapid, and relatively inexpensive procedures for early diagnosis purpose. Several studies demonstrated that the utilization of spectroscopic techniques, such as Fourier Transform Infrared Spectroscopy (FTIR) and Raman spectroscopy could be an useful and accurate procedure to diagnose dementia. As several biochemical mechanisms related to neurodegeneration and dementia can lead to changes in plasma components and others peripheral body fluids, blood-based samples and spectroscopic analyses can be used as a more simple and less invasive technique. This work is intended to confirm some of the hypotheses of previous studies in which FTIR was used in the study of plasma samples of possible patient with AD and respective controls and verify the reproducibility of this spectroscopic technique in the analysis of such samples. Through the spectroscopic analysis combined with multivariate analysis it is possible to discriminate controls and demented samples and identify key spectroscopic differences between these two groups of samples which allows the identification of metabolites altered in this disease. It can be concluded that there are three spectral regions, 3500-2700 cm -1, 1800-1400 cm-1 and 1200-900 cm-1 where it can be extracted relevant spectroscopic information. In the first region, the main conclusion that is possible to take is that there is an unbalance between the content of saturated and unsaturated lipids. In the 1800-1400 cm-1 region it is possible to see the presence of protein aggregates and the change in protein conformation for highly stable parallel β-sheet. The last region showed the presence of products of lipid peroxidation related to impairment of membranes, and nucleic acids oxidative damage. FTIR technique and the information gathered in this work can be used in the construction of classification models that may be used for the diagnosis of cognitive dysfunction.

Aprendizagem histórica: diálogos entre a telenovela “Gabriela” e a historiografia

Iniciamos esta pesquisa a partir da compreensão que a aprendizagem dos saberes históricos se realiza de diferentes formas, na maioria das vezes para além das salas de aulas, e, está diretamente relacionada às instâncias em que se processa. Estas instâncias são a acadêmica e a de circulação massiva, as quais possuem caracteres distintos. Aprendizagem histórica, portanto, ocorre mediante três fatores: o primeiro diz respeito à consciência histórica surgida no cotidiano, na práxis da vida, regida pela cultura do individuo; o segundo relaciona-se a historiografia, ou seja, o modo como as informações dos eventos históricos inscritos na mente dos homens é transformada em história oficial, o que envolve métodos de pesquisa, referenciais teóricos, argumentação e narrativa; o terceiro fator é próprio sistema escolar e a forma com que se ensina história. Assim, o aprendizado histórico, emerge na narrativa histórica, quando as operações mentais da experiência, da interpretação e da orientação são realizadas, situação em que a história é apontada como responsável pela orientação cultural na vida prática dos sujeitos. Deste modo, objetivamos nesta pesquisa analisar as relações dialéticas entre uma cultura histórica construída através da historiografia sobre os conceitos de coronelismo e clientelismo e a narrativa desses conceitos na telenovela Gabriela e essa como meio de massificação da aprendizagem Histórica. Para isso, adotamos o método do estudo de casos múltiplos, o qual foi suportado nas técnicas de entrevista e da análise de conteúdo. Obtivemos duas categorias de aprendizagem histórica nas narrativas dos participantes: 1) Coronelismo/ clientelismo e 2) Sociedade. Concluímos que as cenas apresentadas em Gabriela em sua maioria convergiram para os apontamentos da historiografia, portanto qualificando-a como uma narrativa histórica. Esta narrativa foi decodificada pelos telespectadores em conformidade com sua própria cultura e permitiu a construção de saberes que se apresentaram interligados nas falas dos participantes. As operações mentais da experiência, interpretação e orientação foram processadas de forma distinta entre os sujeitos do grupo amostral, fator que evidenciou a individualidade do aprendizado de cada participante. Dessa forma, o contato com esta representação televisiva do passado, possibilitou-lhes aquisição do conteúdo histórico, o qual foi ressignificado de modo a possibilitar a compreensão do presente e a criar expectativas de futuro, definindo a ação dos participantes em sua práxis cotidiana.

Adquisición y análisis de señales cerebrales utilizando el dispositivo MindWave

La actividad cerebral puede ser monitoreada mediante la electroencefalografía y utilizada como un indicador bioeléctrico. Este articulo muestra como un dispositivo de bajo costo y fácil acceso puede utilizarse para el desarrollo de aplicaciones basadas en interfaces cerebro-computador (BCI). Los resultados obtenidos muestran que el dispositivo MindWave puede efectivamente utilizarse para la adquisición de señales relacionadas a la actividad cerebral en diversas actividades cerebrales bajo la influencia de diversos estímulos. Se propone además el uso de la transformada Wavelet para el acondicionamiento de las señales EEG con el objetivo de utilizar algoritmos de inteligencia artificial y técnicas de reconocimiento de patrones para distinguir respuestas cerebrales.

Construção das capacidades organizacionais de tecnologia da informação no contexto dos sistemas institucionais integrados de gestão da UFRN

The IT capability is a organizational ability to perform activities of this role more effectively and an important mechanism in creating value. Its building process (stages of creation and development) occurs through management initiatives for improvement in the performance of their activities, using human resources and IT assets complementary responsible for the evolution of their organizational routines. This research deals with the IT capabilities related to SIG (integrated institutional management systems), built and deployed in UFRN (Universidade Federal do Rio Grande do Norte) to realization and control of administrative, academic and human resources activities. Since 2009, through cooperative agreements with federal and educational institutions of direct administration, UFRN has supported the implementation of these systems, currently involving more than 30 institutions. The present study aims to understand how IT capabilities, relevant in the design, implementation and dissemination of SIG, were built over time. This is a single case study of qualitative and longitudinal nature, performed by capturing, coding and analysis from secondary data and from semi-structured interviews conducted primarily with members of Superintenência de Informática, organizational unit responsible for SIG systems in UFRN. As a result, the technical, of internal relationship and external cooperation capabilities were identified as relevant in the successful trajectory of SIG systems, which have evolved in different ways. The technical capacity, initiated in 2004, toured the stages of creation and development until it reached the stage of stability in 2013, due to technological limits. Regarding the internal relationship capability, begun in 2006, it toured the stages of creation and development, having extended its scope of activities in 2009, being in development since then. Unlike the standard life cycle observed in the literature, the external cooperation capability was initiated by an intensity of initiatives and developments in the routines in 2009, which were decreasing to cease in 2013 in order to stabilize the technological infrastructure already created for cooperative institutions. It was still identified the start of cooperation in 2009 as an important event selection, responsible for changing or creating trajectories of evolution in all three capacities. The most frequent improvements initiatives were of organizational nature and the internal planning activity has been transformed over the routines of the three capabilities. Important resources and complementary assets have been identified as important for the realization of initiatives, such as human resources technical knowledge to the technical capabilities and external cooperation, and business knowledge, for all of them, as well as IT assets: the iproject application for control of development processes, and the document repository wiki. All these resources and complementary assets grew along the capacities, demonstrating its strategic value to SINFO/UFRN

A influência da incorporação de ácido α-eleosteárico, purificado e isolado do óleo de tungue, na dinâmica molecular de lipossomos

Este trabalho descreve o isolamento e purificação do ácido α-eleosteárico (α-ESA) a partir do óleo de tungue e sua caracterização por espectroscopia de infravermelho com transformada de Fourier (FTIR), cromatografia gasosa acoplada com espectrometria de massas (GC-MS) e espectroscopia de ressonância magnética nuclear (RMN) de 1H e 13C. O α-ESA apresenta atividades biológicas (antitumorais, anti-inflamatórias e antioxidantes), tornando-se importante compreender sua interação com membranas lipídicas. Assim, este trabalho também descreve resultados referentes ao efeito da incorporação de α-ESA na dinâmica molecular de lipossomos compostos por fosfatidilcolina. O sistema lipossomal puro e contendo α-ESA foi caracterizado através do uso de espectroscopia de UV-visível, FTIR, RMN e calorimetria de varredura diferencial (DSC). Como resultados da purificação do α-ESA, obtivemos uma pureza de 95,9% utilizando acetona como solvente de recristalização em detrimento dos 92,2% em solução etanólica. Na incorporação em lipossomos, observou-se uma maior interação do α-ESA com a parte polar, de interface e os primeiros metilenos da região apolar da fosfatidilcolina. Além disso, α-ESA apresentou um efeito de redução da fluidez de lipossomos. Os resultados contribuem para a geração de conhecimento para o desenvolvimento de novos sistemas farmacológicos.