971 resultados para Obstacle Avoidance


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A exposição gestacional ao etanol produz um amplo espectro de defeitos neurocomportamentais que podem persistir ao longo da vida. Dentre os distúrbios mais comumente observados estão o transtorno do déficit de atenção e hiperatividade (TDAH) e os déficits de aprendizado e memória. Apesar da grande quantidade de estudos, os mecanismos envolvidos com a manifestação destes transtornos permanecem pouco conhecidos. Estudos em roedores vêm demonstrando que o período equivalente ao terceiro trimestre de gestação é critico para o aparecimento destas alterações comportamentais. Durante este período, que é caracterizado por intensa sinaptogênese, a neurotoxicidade do etanol vem sendo atribuída ao bloqueio dos receptores glutamatérgicos do tipo N-metil-D-aspartato (NMDA) e hiperativação dos receptores do ácido gama-aminobutírico do subtipo A (GABAA). Tendo em vista que ao longo do desenvolvimento estes receptores diferem em relação a função e distribuição espaço-temporal, neste estudo avaliamos a contribuição relativa do bloqueio dos receptores NMDA e hiperativação dos receptores GABAA durante o período equivalente ao terceiro trimestre de gestação para a manifestação da hiperatividade locomotora e para os distúrbios de aprendizado e memória de camundongos pré-púberes. Para tanto, este estudo foi realizado em duas etapas. Na primeira, investigamos os efeitos da exposição isolada ao bloqueador NMDA MK801 (MK) e ao agonista GABAA muscimol (MU). Para tanto, em dias alternados do segundo dia pós-natal (PN2) a PN8, os animais receberam uma injeção intraperitoneal de Salina (SAL), MK nas doses de 0,1, 0,3 ou 0,5 mg/kg ou de MU nas doses de 0,1 0,3 ou 0,5 mg/kg. Na segunda etapa investigamos os efeitos da administração simultânea de MK (0,1mg/kg) e MU (doses 0,02, 0,1 ou 0,5 mg/kg). Em PN25, a atividade locomotora foi automaticamente avaliada por 15 min no teste de campo aberto. Em PN31 e PN32, o aprendizado e memória foi avaliado no teste da esquiva passiva inibitória. Em relação aos resultados da exposição isolada a cada uma das drogas, apenas o tratamento com MK promoveu um aumento dose dependente na atividade locomotora. No teste da esquiva passiva inibitória, os animais expostos as maiores doses de MK e MU apresentaram déficits de aprendizado e memória. Em relação aos resultados da exposição combinada de MK e MU, não foram observadas diferenças significativas entre os grupos na atividade locomotora. Na esquiva passiva inibitória, a administração simultânea de MK e MU, em doses que administradas isoladamente não tiveram efeito, promoveu prejuízos de aprendizado e memória. Nossos resultados sugerem que, enquanto a hiperatividade locomotora está associada apenas com o bloqueio dos receptores NMDA, os déficits de aprendizado e memória podem ser produto de uma ação sinergista do etanol nos dois receptores.

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A habitação de interesse social decorre da existência do déficit habitacional que não é passível de ser enfrentado pela lógica do mercado imobiliário. Conforme aponta omainstreamda economia regional, a cidade é foco do crescimento mundial devido ao fluxo de informações e conhecimento; é nas cidades que o déficit habitacional se concentra e por isso o acesso a ela se torna tão relevante. O déficit habitacional urbano confirma a teoria de que habitar no centro urbano é algo que se valorize, deste modo o acesso à cidade é significativo para a expansão da liberdade. Não obstante, nossas observações confirmam que a maioria dos investimentos do Minha Casa Minha Vida do município do Rio de Janeiro são nas periferias urbanas, com infraestrutura precária, o que dificulta o acesso à cidade e ao trabalho, o pode ser um entrave para o desenvolvimento socioeconômico do Brasil. Desse modo, este trabalho analisa a moradia pela abordagem seniana das capacidades. Esta abordagem se faz relevante por considerar fatores sociológicos importantes para a superação da condição de privação econômica e social dos cidadãos. A pesquisa consiste na mensuração do déficit habitacional com a utilização dos dados do Censo Demográfico 2010 do IBGE. O trabalho consiste num esforço para delinear a satisfação e do acesso a cidade dos moradores do Rio de Janeiro que foram beneficiados pelo Programa Minha Casa Minha Vida. Este trabalho ressalta a importância do acesso à cidade bem como da moradia para a expansão das liberdades e para o desenvolvimento do país.

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The occurrence of hypoxia, or low dissolved oxygen, is increasing in coastal waters worldwide and represents a significant threat to the health and economy of our Nation’s coasts and Great Lakes. This trend is exemplified most dramatically off the coast of Louisiana and Texas, where the second largest eutrophication-related hypoxic zone in the world is associated with the nutrient pollutant load discharged by the Mississippi and Atchafalaya Rivers. Aquatic organisms require adequate dissolved oxygen to survive. The term “dead zone” is often used in reference to the absence of life (other than bacteria) from habitats that are devoid of oxygen. The inability to escape low oxygen areas makes immobile species, such as oysters and mussels, particularly vulnerable to hypoxia. These organisms can become stressed and may die due to hypoxia, resulting in significant impacts on marine food webs and the economy. Mobile organisms can flee the affected area when dissolved oxygen becomes too low. Nevertheless, fish kills can result from hypoxia, especially when the concentration of dissolved oxygen drops rapidly. New research is clarifying when hypoxia will cause fish kills as opposed to triggering avoidance behavior by fish. Further, new studies are better illustrating how habitat loss associated with hypoxia avoidance can impose ecological and economic costs, such as reduced growth in commercially harvested species and loss of biodiversity, habitat, and biomass. Transient or “diel-cycling” hypoxia, where conditions cycle from supersaturation of oxygen late in the afternoon to hypoxia or anoxia near dawn, most often occurs in shallow, eutrophic systems (e.g., nursery ground habitats) and may have pervasive impacts on living resources because of both its location and frequency of occurrence.

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The fishery for spiny lobster Panulirus argus in the Florida Keys National Marine Sanctuary is well chronicled, but little information is available on the prevalence of lost or abandoned lobster traps. In 2007, towed-diver surveys were used to identify and count pieces of trap debris and any other marine debris encountered. Trap debris density (debris incidences/ha) in historic trap-use zones and in representative benthic habitats was estimated. Trap debris was not proportionally distributed with fishing effort. Coral habitats had the greatest density of trap debris despite trap fishers’ reported avoidance of coral reefs while fishing. The accumulation of trap debris on coral emphasizes the role of wind in redistributing traps and trap debris in the sanctuary. We estimated that 85,548 ± 23,387 (mean ± SD) ghost traps and 1,056,127 ± 124,919 nonfishing traps or remnants of traps were present in the study area. Given the large numbers of traps in the fishery and the lack of effective measures for managing and controlling the loss of gear, the generation of trap debris will likely continue in proportion to the number of traps deployed in the fishery. Focused removal of submerged trap debris from especially vulnerable habitats such as reefs and hardbottom, where trap debris density is high, would mitigate key habitat issues but would not address ghost fishing or the cost of lost gear.

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牡丹(Paeonia suffruticosa Andr.)是芍药科芍药属牡丹组植物,花大、色艳、型美、香郁、药用范围广、文化内涵丰富,被尊为“国色天香”、“花中之王”。我国植牡丹、赏牡丹有1600多年的历史,培育了许多价值高的品种,遗憾的是个别黄色、鲜红色、绿色等珍贵品种不断消失,而且现有的一些文化价值与观赏价值极高的古牡丹、著名的牡丹园的老牡丹均出现了衰弱现象,有的已奄奄一息。为了探索传统牡丹品种消失及牡丹衰老的原因,本研究在充分调查、整理国内品种资源的基础上,总结了牡丹品种的传承和消失情况,掌握了古牡丹的资源状况。通过连作土壤栽培试验证明了牡丹连作障碍的存在,并选定了生长在同一区域的5、10、15、20、25、30年生6个株龄的‘洛阳红(Luo Yang Hong)’为研究对象,从形态指标的调查、生理指标的测定、根际土壤及根系浸提液的化感成分分析三个方面着手,确定了牡丹开始衰老的时期;揭示了牡丹衰老机理;总结了古牡丹保留、复壮、养护办法;为牡丹专类园的管理及可持续性发展提供了理论和技术指导。本研究主要结果如下: 1、牡丹品种和古牡丹资源 通过对中国牡丹品种资源的文献查阅和实地考察,系统整理了我国不同时代的品种状况,调查结果表明:宋、元、明、清共有品种1109种,目前仅存143种,品种资源消失十分严重。收集整理了49处古牡丹资料,并据此绘制了我国目前古牡丹分布图;实地调查了17处24株古牡丹,详细介绍了部分品种的来历传说、生长状况和衰亡原因。5个优良传统品种在中国科学院植物研究所牡丹种质资源圃内得以保存,其中潞城古牡丹,植株最大(高2.3 m,冠径5.6 m),且生长旺盛;西溪牡丹属丰花品种,40年植株可开花811朵。 2、牡丹连作障碍 利用牡丹连作根际土壤及其浸出液栽培牡丹,结果表明,播种苗及分株苗的生长均受到了抑制;连作年限越久的处理抑制作用越强;根际土壤浸出液对牡丹生长的影响较大,对前期地下部和后期地上部都有很强的抑制作用,而且还抑制了上胚轴休眠的解除;根际土壤对后期株高和展叶幅的影响较大,对播种苗前期生根影响不大。牡丹存在连作障碍现象,连作障碍是牡丹衰弱的重要原因。 3、牡丹衰老时间及机理 通过对6 个株龄‘洛阳红’的形态、生理指标及根际土壤化感成分的比较得出,牡丹在同一地方大约栽植15 年后开始衰弱,20 年以内应该采取复壮措施。利用气相色谱—质谱联用技术(Gas Chromatograph-Mass Spectrometer, GC-MS)检测到根际土壤及根系浸提液中主要存在:烷烃、烯烃、芳香烃、醇、醚、酚醌、有机酸、醛、酮、酯、苯、胺等12 类有机物。对比分析得出有12 种物质可能是根系分泌物,根际土壤中可能具毒害作用的物质有40 种,栽植牡丹使土壤中增加的物质有24 种。 4、古牡丹复壮技术及应用 栽培基质中添加活性炭、沙子、麦饭石等均能有效的促进牡丹的生长,以活性炭的效果最好。对“汉牡丹”实施了综合复壮措施,效果明显。

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Effects of morphine on acquisition and retrieval of memory have been proven in the avoidance paradigms. In present study, we used a two-trial recognition Y-maze to test the effects of acute morphine and morphine withdrawal on spatial recognition memory. T

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Complement-dependent antibody-mediated acute humoral rejection is the major obstacle of clinical transplantation across ABO incompatibility and human leukocyte antigen presensitization. We previously demonstrated that Yunnan-cobra venom factor (Y-CVF) cou

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The central nervous system exhibits remarkable plasticity in early life. Prenatal morphine exposure may induce adverse behavioral effects on the neonate and the developing offspring. In the present study, we investigated the effect of prenatal morphine exposure (daily from embryonic days 12-16, 20 mg/kg) on 11-day-old chicks using two forms of spatial paradigms: one trial detour behavior task in which animals must bypass an obstacle to reach the desired goal without any training and detour learning task which required several trials of training to reach the detour criterion. The results showed that, on the condition that chicks could successfully detour in the first trial, morphine exposed chicks exhibited longer detour latency to finish the task, coupled by a preference for turning right versus turning left. In contrast, no significant difference in learning and memory was found in detour learning task between morphine exposed chicks and saline chicks. These findings suggest specific behavioral changes associated with prenatal exposure to opioids during mid to late gestation, also raise attention to the possible health hazard from pregnancy drug use in everyday life. (C) 2010 ISDN. Published by Elsevier Ltd. All rights reserved.

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Offshore geology of Pakistan is characterized by active and passive continental margins. These continental margins show very unique features such as an active Makran subduction zone in the west and the Indus delta and a submarine fan in the east. The geology of these features of Pakistan EEZ is inadequately known. This is a major obstacle in exploring mineral resources. Detailed study of coastal and shelf geology is needed for better understanding of the geology of the area and comprehensive evolution of its non-living resource potential. An understanding of the geological events including tectonic movements, sedimentation processes and geochemical history that comprise the geological history is very important to help in identification and estimation of resources. In Pakistan EEZ applying the current technology and undertaking research work to understand the seafloor features and mineral deposits associated with it will be very fruitful.

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At high Reynolds numbers, wake flows become more globally unstable when they are confined within a duct or between two flat plates. At Reynolds numbers around 100, however, global analyses suggest that such flows become more stable when confined, while local analyses suggest that they become more unstable. The aim of this paper is to resolve this apparent contradiction by examining a set of obstacle-free wakes. In this theoretical and numerical study, we combine global and local stability analyses of planar wake flows at $\mathit{Re}= 100$ to determine the effect of confinement. We find that confinement acts in three ways: it modifies the length of the recirculation zone if one exists, it brings the boundary layers closer to the shear layers, and it can make the flow more locally absolutely unstable. Depending on the flow parameters, these effects work with or against each other to destabilize or stabilize the flow. In wake flows at $\mathit{Re}= 100$ with free-slip boundaries, flows are most globally unstable when the outer flows are 50 % wider than the half-width of the inner flow because the first and third effects work together. In wake flows at $\mathit{Re}= 100$ with no-slip boundaries, confinement has little overall effect when the flows are weakly confined because the first two effects work against the third. Confinement has a strong stabilizing effect, however, when the flows are strongly confined because all three effects work together. By combining local and global analyses, we have been able to isolate these three effects and resolve the apparent contradictions in previous work.

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Model Predictive Control (MPC) is increasingly being proposed for application to miniaturized devices, fast and/or embedded systems. A major obstacle to this is its computation time requirement. Continuing our previous studies of implementing constrained MPC on Field Programmable Gate Arrays (FPGA), this paper begins to exploit the possibilities of parallel computation, with the aim of speeding up the MPC implementation. Simulation studies on a realistic example show that it is possible to implement constrained MPC on an FPGA chip with a 25MHz clock and achieve MPC implementation rates comparable to those achievable on a Pentium 3.0 GHz PC. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.

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Based on the statistical analysis of 119 human and 92 E. coli proteins it was found that for both human and E. coli, the mRNA sequences consisting of tri-codon and tetra-codon with high translation speed preferably code for alpha helices more than for coils. For beta strand, the preference/ avoidance oscillates with the translation speed. Moreover, the non-homogeneous usages of tri-codon and tetra-codon with different translation speeds in a given secondary structure have also been found. These results cannot be simply explained by the effect of stochastic fluctuation.

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At present, acute vascular rejection (AVR) remains a primary obstacle inhibiting long-term graft survival in the pig-to-non-human primate transplant model. The present study was undertaken to determine whether repetitive injection of low dose Yunnan-cobra venom factor (Y-CVF), a potent complement inhibitor derived from the venom of Naja kaouthia can completely abrogate hemolytic complement activity and subsequently improve the results in a pig-to-rhesus monkey heterotopic heart transplant model. Nine adult rhesus monkeys received a heterotopic heart transplant from wild-type pigs and the recipients were allocated into two groups: group 1 (n = 4) received repetitive injection of low dose Y-CVF until the end of the study and group 2 (n = 5) did not receive Y-CVF. All recipients were treated with cyclosporine A (CsA), cyclophosphamide (CyP) and steroids. Repetitive Y-CVF treatment led to very dramatic fall in CH50 and serum C3 levels (CH50 < 3 units/C3 remained undetectable throughout the experiment) and successfully prevented hyperacute rejection (HAR), while three of five animals in group 2 underwent HAR. However, the continuous suppression of circulating complement did not prevent AVR and the grafts in group 1 survived from 8 to 13 days. Despite undetectable C3 in circulating blood, C3 deposition was present in these grafts. The venular thrombosis was the predominant histopathologic feature of AVR. We conclude that repetitive injection of low dose Y-CVF can be used to continuously suppress circulating complement in a very potent manner and successfully prevent HAR. However, this therapy did not inhibit complement deposition in the graft and failed to prevent AVR. These data suggest that using alternative pig donors [i.e. human decay accelerating factor (hDAF)-transgenic] in combination with the systemic use of complement inhibitors may be necessary to further control complement activation and improve survival in pig-to-non-human primate xenotransplant model.

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Matrix anisotropy is important for long term in vivo functionality. However, it is not fully understood how to guide matrix anisotropy in vitro. Experiments suggest actin-mediated cell traction contributes. Although F-actin in 2D displays a stretch-avoidance response, 3D data are lacking. We questioned how cyclic stretch influences F-actin and collagen orientation in 3D. Small-scale cell-populated fibrous tissues were statically constrained and/or cyclically stretched with or without biochemical agents. A rectangular array of silicone posts attached to flexible membranes constrained a mixture of cells, collagen I and matrigel. F-actin orientation was quantified using fiber-tracking software, fitted using a bi-model distribution function. F-actin was biaxially distributed with static constraint. Surprisingly, uniaxial cyclic stretch, only induced a strong stretch-avoidance response (alignment perpendicular to stretching) at tissue surfaces and not in the core. Surface alignment was absent when a ROCK-inhibitor was added, but also when tissues were only statically constrained. Stretch-avoidance was also observed in the tissue core upon MMP1-induced matrix perturbation. Further, a strong stretch-avoidance response was obtained for F-actin and collagen, for immediate cyclic stretching, i.e. stretching before polymerization of the collagen. Results suggest that F-actin stress-fibers avoid cyclic stretch in 3D, unless collagen contact guidance dictates otherwise.

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Metal-catalyst-free chemical vapor deposition (CVD) of large area uniform nanocrystalline graphene on oxidized silicon substrates is demonstrated. The material grows slowly, allowing for thickness control down to monolayer graphene. The as-grown thin films are continuous with no observable pinholes, and are smooth and uniform across whole wafers, as inspected by optical-, scanning electron-, and atomic force microscopy. The sp 2 hybridized carbon structure is confirmed by Raman spectroscopy. Room temperature electrical measurements show ohmic behavior (sheet resistance similar to exfoliated graphene) and up to 13 of electric-field effect. The Hall mobility is ∼40 cm 2/Vs, which is an order of magnitude higher than previously reported values for nanocrystalline graphene. Transmission electron microscopy, Raman spectroscopy, and transport measurements indicate a graphene crystalline domain size ∼10 nm. The absence of transfer to another substrate allows avoidance of wrinkles, holes, and etching residues which are usually detrimental to device performance. This work provides a broader perspective of graphene CVD and shows a viable route toward applications involving transparent electrodes. © 2012 American Institute of Physics.