Applicazione ROS 2 di un robot antropomorfo in esecuzione su container VxWorks in architettura IMA

L’elaborato di tesi discute del progetto di integrazione tra ROS 2, framework open-source per lo sviluppo di applicazioni robotiche, e VxWorks, sistema operativo in tempo reale (RTOS), attraverso l’utilizzo di container OCI compliant su VxWorks. L’integrazione è stata svolta all’interno dello stack software di IMA (Industria Macchine Automatiche). Il progetto ha dunque integrato ROS 2 Humble e VxWorks 7 permettendo l’utilizzo di costrutti software di ROS 2 su dei container in esecuzione a livello User su VxWorks. Successivamente è stata creata una applicazione di pick and place con un robot antropomorfo (Universal Robots Ur5e) avvalendosi di ROS 2 Control, framework per l’introduzione e gestione di hardware e controllori, e MoveIt 2, framework per incorporare algoritmi di motion-planning, cinematica, controllo e navigazione. Una volta progettata l’applicazione, il sistema è stato integrato all’interno dell’architettura di controllo di IMA. L’architettura a container VxWorks di IMA è stata estesa per il caso ROS 2, la comunicazione tra campo e applicazione ROS 2 è passata tramite il master EtherCAT e il modulo WebServer presenti nell’architettura IMA. Una volta eseguito il container ROS 2 posizione e velocità dei servo motori sono stati inviati tramite al WebServer di IMA sfruttando la comunicazione VLAN interna. Una volta ricevuto il messaggio, il WebServer si è occupato di trasferirlo al master EtherCAT che in aggiunta si è occupato anche di ottenere le informazioni sullo stato attuale del robot. L’intero progetto è stato sviluppato in prima battuta in ambiente di simulazione per validarne l’architettura. Successivamente si è passati all’installazione in ambiente embedded grazie all’ausilio di IPC sui quali è stato testato l’effettivo funzionamento dell’integrazione all’interno dell’architettura IMA.

Solid Lipid Nanoparticles As Nucleic Acid Delivery System: Properties And Molecular Mechanisms.

Solid lipid nanoparticles (SLNs) have been proposed in the 1990s as appropriate drug delivery systems, and ever since they have been applied in a wide variety of cosmetic and pharmaceutical applications. In addition, SLNs are considered suitable alternatives as carriers in gene delivery. Although important advances have been made in this particular field, fundamental knowledge of the underlying mechanisms of SLN-mediated gene delivery is conspicuously lacking, an imperative requirement in efforts aimed at further improving their efficiency. Here, we address recent advances in the use of SLNs as platform for delivery of nucleic acids as therapeutic agents. In addition, we will discuss available technology for conveniently producing SLNs. In particular, we will focus on underlying molecular mechanisms by which SLNs and nucleic acids assemble into complexes and how the nucleic acid cargo may be released intracellularly. In discussing underlying mechanisms, we will, when appropriate, refer to analogous studies carried out with systems based on cationic lipids and polymers, that have proven useful in the assessment of structure-function relationships. Finally, we will give suggestions for improving SLN-based gene delivery systems, by pointing to alternative methods for SLNplex assembly, focusing on the realization of a sustained nucleic acid release.

Audiogram Comparison Of Workers From Five Professional Categories.

Introduction. Noise is a major cause of health disorders in workers and has unique importance in the auditory analysis of people exposed to it. The purpose of this study is to evaluate the arithmetic mean of the auditory thresholds at frequencies of 3, 4, and 6 kHz of workers from five professional categories exposed to occupational noise. Methods. We propose a retrospective cross-sectional cohort study to analyze 2.140 audiograms from seven companies having five sectors of activity: one footwear company, one beverage company, two ceramics companies, two metallurgical companies, and two transport companies. Results. When we compared two categories, we noticed a significant difference only for cargo carriers in comparison to the remaining categories. In all activity sectors, the left ear presented the worst values, except for the footwear professionals (P > 0.05). We observed an association between the noise exposure time and the reduction of audiometric values for both ears. Significant differences existed for cargo carriers in relation to other groups. This evidence may be attributed to different forms of exposure. A slow and progressive deterioration appeared as the exposure time increased.

Efeito da adição de cinza da casca de arroz em misturas cimento-casca de arroz

The rice husk and its ash are abundant and renewable and can be used to obtain alternative building materials. An increase in the consumption of such waste could help minimize the environmental problems from their improper disposal. This study aimed to evaluate the use of ashes as a cargo mineral (filler). However, the rice husk chemically interferes in the conduct of the based cement mixtures. Thus, different mixes cement-rice husk with and without the addition of ash were evaluated in order to highlight the influence of its components (husk; ash), which could otherwise be excluded or be underestimated. Cylindrical samples (test of simple compression and traction by diametrical compression) and samples extracted from manufactured pressed board (test of bending and parallel compression to the surface), were used to evaluate the behavior of different mixtures of components (rice hush; RHA - rice husk ahs). The results of the mechanical tests showed, in general, there is not a statistical difference between the mixtures, which are associated with the chemical suppressive effect of the rice husk ash. The mixture of rice husk of 10 mm, with an addition of 35% of the rice husk ash, is notable for allowing the highest consumption of rice husk and rice husk ash, to reduce 25% the consumption of cement and to allow the storage (without emissions to the atmosphere), around 1.9 ton of CO2 per ton of cement consumed, thus contributing to the reduction of CO2 emissions, which can stimulate rural constructions under an ecological point of view.

Double-blind, crossover, placebo-controlled clinical trial with clobetasol propionate in desquamative gingivitis

The aim of this study was to evaluate the efficacy of a 0.05% clobetasol propionate ointment administered in trays to 22 patients with desquamative gingivitis in a double-blind, crossover, placebo-controlled trial. Patients received container number 1 and were instructed to apply the ointment 3 times a day for 2 weeks, and to reduce the application to once a day in the third week. Next, the patients were then instructed to discontinue the treatment for 2 weeks, and were then given container 2, used in the same way and for the same length of time as container 1. Regarding signs, 17 patients presented some improvement, while 5 experienced worsening with clobetasol propionate. With the placebo, 14 patients presented some improvement, and 8 patients presented worsening. For symptoms, there was complete improvement in 2 patients, partial improvement in 12, no response in 7, and worsening in 1 with clobetasol propionate. With the placebo, there was partial improvement in 8 patients, no response in 12 and worsening in 2. No statistically significant difference was found between clobetasol and placebo (p>0.05). Within the period designed to treat the gingival lesions of the patients, clobetasol propionate did not significantly outperform the placebo.

Índices de preço para o transporte de cargas: o caso da soja

Esta pesquisa objetivou analisar metodologias para elaboração de índices de preços para o transporte de cargas. O estudo das principais fórmulas da Teoria Econômica culminou com a conclusão que os Índices de Fisher e Walsh são aqueles capazes de atender ao maior número de preceitos lógicos, estatísticos e econômicos. Em seguida, surgem os índices geométricos de Törnqvist, Vartia e Theil. Os Índices de Laspeyres e Paasche, apesar de apresentarem algumas limitações, acabam sendo amplamente utilizados, graças a maior capacidade de operacionalização. A pesquisa apresentou um estudo de caso para o transporte da soja em grão. Foram realizados quatro tratamentos. Obteve-se a variação acumulada no nível geral de preços para o transporte rodoviário de soja no Brasil, no período entre fevereiro de 1998 e março de 2002. De acordo com os resultados, essa variação acumulada teria sido de 76%.

Estimação da infestação predial por Aedes aegypti (Díptera: Culicidae) por meio da armadilha Adultrap

Foi utilizada a armadilha Adultrap em uma amostra de domicílio preconizada pelo levantamento de índice rápido de infestação por Aedes aegypti (LIRAa) para mensuração do número de adulto de Aedes aegypti no domicílio. Foi vistoriada uma média de 555 imóveis mês: 15 unidades continham criadouros da espécie; e 53, a presença de fêmeas. O índice de infestação para larva/pupa (IPL) variou de zero ao máximo de 4,9 por cento, enquanto o índice de infestação para adulto (IPA), de 2,21 a 17,32 por cento. O teste de MacNemar mostrou diferenças significativas entre a positividade de IPL e IPA em todos os meses do ano. Além disso, detectaram-se fêmeas de Ae. Aegypti em período de baixa densidade populacional, sem o caráter invasivo e incômodo da pesquisa de recipientes para o IPL. A Adultrap mostrou-se útil para revelar situações propícias à transmissão da dengue, bem como de fácil operacionalidade

Distúrbios psíquicos menores e condições de trabalho em motoristas de caminhão

OBJETIVO: Estimar a prevalência de distúrbios psíquicos menores e identificar estressores associados entre motoristas de caminhão. MÉTODOS: Estudo transversal conduzido com 460 motoristas de caminhão de uma transportadora de cargas das regiões Sul e Sudeste do Brasil, em 2007. Os trabalhadores preencheram questionário com dados sociodemográficos, estilos de vida e condições de trabalho. As variáveis independentes foram condições de trabalho, incluindo estressores ocupacionais, satisfação e demanda-controle no trabalho. O desfecho avaliado foi a ocorrência de distúrbios psíquicos menores. Foram realizadas análises de regressão logística univariada e múltipla. RESULTADOS: A prevalência de distúrbios psíquicos menores foi de 6,1 por cento. Os estressores mais citados foram congestionamentos, controle de rastreamento e jornada extensa de trabalho. A alta demanda no trabalho, o baixo apoio social e a jornada extensa diária referidos pelos motoristas estiveram associados aos distúrbios psíquicos menores. CONCLUSÕES: O trabalho em jornadas extensas foi associado à ocorrência de distúrbios psíquicos menores, tanto na análise das condições gerais de trabalho quanto como fator referido como estressor pelos motoristas. A regulamentação da jornada de trabalho com limitação de horas de trabalho diário é, portanto, uma medida necessária para a redução da chance de desenvolvimento de distúrbios psíquicos menores em motoristas

Eucalyptus sp seedling response to potassium fertilization and soil water

A considerable portion of Brazil's commercial eucalypt plantations is located in areas Subjected to periods of water deficit and grown in soils with low natural fertility, particularly poor In potassium. Potassium is influential in controlling water relations of plants. The objective of this study was to verify the influence of potassium fertilization and soil water potential (psi(w)) oil the dry matter production and oil water relations Of eucalypt seedlings grown under greenhouse conditions. the experimental units were arranged in 4x4x2 randomized blocks factorial design, as follow: four species of Eucalyptus (Eucalyptus grandis, Eucalyptus urophylla, Eucalyptus camaldulensis and hybrid Eucalyptus grandis x Eucalyptus urophylla), four dosages of K (0, 50, 100 and 200 mg dm(-3)) and two soil water potentials (-0.01 M Pa and -0.1 M Pa). Plastic containers with 15 cm diameter and 18 cm height, with Styrofoam base, containing 3.0 dm(3) of soil and two plants per container were used. Soil water potential was kept at -0.01 MPa for 40 days after seeding. Afterward, the experimental units were divided into two groups: in one group the potential was kept at 0.01 MPa, and in the other one, at -0.10 MPa. Sol I water potential was control led gravimetrically twice a day with water replacement until the desired potential was reestablished. A week before harvesting, the leaf water potential (psi), the photosynthetic rate (A), the stomatal conductance (gs) and the transpiration rate were evaluated. The last week before harvesting, the mass of the containers was recorded daily before watering to determine the consumption of water by the plants. After harvesting, total dry matter and leaf area were evaluated. the data were Submitted to analysis of variance, to Tukey's tests and regression analyses. The application of K influenced A, gs and the transpiration rate. Plants deficient in K showed lower A and higher Us and transpiration rates. There were no statistical differences in A, gs and transpiration rates ill plants with and Without water deficit. The addition of K reduced the consumption of water per unit of leaf area and, in general, plants submitted to water deficit presented a lower consumption of water.

Low urinary 6-sulphatoxymelatonin concentrations in acute migraine

Substantial evidence points to melatonin as playing a role in the regulation of circadian rhythms, sleep, and headache disorders. The objective of the study was to assess 6-sulphatoxymelatonin (aMT6s) levels in a large consecutive series of patients with migraine, comparing with controls. A total of 220 subjects were evaluated-146 had migraine and 74 were control subjects. Urinary samples were collected into the same plastic container since 8:00 p.m. to 8:00 a.m. of the next day (12-h period) and aMT6s was measured with quantitative ELISA technique. Among patients with migraine, 53% presented pain on the day of the urine samples collection. Their urinary aMT6s concentration was significantly lower than in the urine of patients without pain [14.0 +/- 7.3 vs. 49.4 +/- 19.0; t(143) = -15.1; 95% CI = -40.0 to -30.8; P<0.001]. There was no significant difference in the aMT6s concentration of patients with migraine without pain on the day of their urine samples collection and controls [49.4 +/- 19.0 vs. 42.5 +/- 27.9; t(140) = 1.7; 95% CI = -1.2 to 14.8; P = 0.094]. To our knowledge, this is the first study to demonstrate reduction in melatonin levels during attacks in episodic and chronic migraine.

Simulated annealing applied to the irregular rotational placement of shapes over containers with fixed dimensions

This work deals with the problem of minimizing the waste of space that occurs on a rotational placement of a set of irregular two dimensional polygons inside a two dimensional container. This problem is approached with an heuristic based on simulated annealing. Traditional 14 external penalization"" techniques are avoided through the application of the no-fit polygon, that determinates the collision free area for each polygon before its placement. The simulated annealing controls: the rotation applied, the placement and the sequence of placement of the polygons. For each non placed polygon, a limited depth binary search is performed to find a scale factor that when applied to the polygon, would allow it to be fitted in the container. It is proposed a crystallization heuristic, in order to increase the number of accepted solutions. The bottom left and larger first deterministic heuristics were also studied. The proposed process is suited for non convex polygons and containers, the containers can have holes inside. (C) 2009 Elsevier Ltd. All rights reserved.

Placement over containers with fixed dimensions solved with adaptive neighborhood simulated annealing

This work deals with the problem of minimizing the waste of space that occurs on a rotational placement of a set of irregular bi-dimensional items inside a bi-dimensional container. This problem is approached with a heuristic based on Simulated Annealing (SA) with adaptive neighborhood. The objective function is evaluated in a constructive approach, where the items are placed sequentially. The placement is governed by three different types of parameters: sequence of placement, the rotation angle and the translation. The rotation applied and the translation of the polygon are cyclic continuous parameters, and the sequence of placement defines a combinatorial problem. This way, it is necessary to control cyclic continuous and discrete parameters. The approaches described in the literature deal with only type of parameter (sequence of placement or translation). In the proposed SA algorithm, the sensibility of each continuous parameter is evaluated at each iteration increasing the number of accepted solutions. The sensibility of each parameter is associated to its probability distribution in the definition of the next candidate.

Apparent digestibility coefficients of selected feed ingredients for dourado Salminus brasiliensis

The excellence of its flesh and fast growth makes the dourado, Salminus brasiliensis, a carnivorous fish native to the Prata basin, a potential candidate for intensive fish farming. This study evaluated the apparent digestibility coefficients (ADC) of energy and nutrients of animal and plant protein sources for the carnivorous Characin dourado S. brasiliensis. Fish (19.5 +/- 5.0 g) were stocked in plastic cages (80-L) and fed pelleted test diets containing 30% of the test ingredient [fish meal (FM), poultry by-product meal (PBM), soybean meal (SBM), and corn gluten meal (CGM) plus 70% of a reference diet (481.4 g kg(-1) of crude protein and 18.63 kJ of gross energy per gram]. After the last daily meal, cages were transferred to cylindrical, conical-bottomed aquarium (200-L) where faeces were collected by sedimentation in a refrigerated container. Except for ADC of protein and energy, all other ADC of nutrients showed significant differences (P < 0.01). ADC values were: 94.3%, 91.3%, 93.1%, and 93.5% for crude protein; 91.0%, 90.3%, 87.8%, and 88.8% for gross energy; 92.1%, 84.5%, 80.6%, and 79.3% for ash; 83.9%, 80.3%, 84.3%, and 84.6% for dry matter; 97.4%, 96.7%, 93.3%, and 91.5% for lipid for FM, PBM, SBM, and CGM, respectively. The average amino acid ADC was: 93.6%, 90.0%, 92.1%, and 92.5% of FM, PBM, SBM, and CGM, respectively. All test ingredients were efficiently used and can partially replace FM in diets for carnivorous dourado.

In vitro studies of cutaneous retention of magnetic nanoemulsion loaded with zinc phthalocyanine for synergic use in skin cancer treatment

In this study was developed a new nano drug delivery system (NDDS) based on association of biodegradable surfactants with biocompatible magnetic fluid of maguemita citrate derivative. This formulation consists in a magnetic emulsion with nanostructured colloidal particles. Preliminary in vitro experiments showed that the formulation presents a great potential for synergic application in the topical release of photosensitizer drug (PS) and excellent target tissue properties in the photodynamic therapy (PDT) combined with hyperthermia (HPT) protocols. The physical chemistry characterization and in vitro assays were carried out by Zn(II) Phtalocyanine (ZnPc) photosensitizer incorporated into NDDS in the absence and the presence of magnetic fluid, showed good results and high biocompatibility. In vitro experiments were accomplished by tape-stripping protocols for quanti. cation of drug association with different skin tissue layers. This technique is a classical method for analyses of drug release in stratum corneum and epidermis+ dermis skin layers. The NDDS formulations were applied directly in pig skin (tissue model) fixed in the cell`s Franz device with receptor medium container with a PBS/EtOH 20% solution (10mM, pH 7.4) at 37 degrees C. After 12 h of topical administration stratum corneum was removed from fifty tapes and the ZnPc retained was evaluated by solvent extraction in dimetil-sulphoxide under ultrasonic bath. These results indicated that magnetic nanoemulsion (MNE) increase the drug release on the deeper skin layers when compared with classical formulation in the absence of magnetic particles. This could be related with the increase of biocompatibility of NDDS due to the great affinity for the polar extracelullar matrix in the skin and also for the increase in the drug partition inside of corneocites wall. (C) 2008 Elsevier B.V. All rights reserved.

Structural basis of recognition of monopartite and bipartite nuclear localization sequences by mammalian importin-alpha

Importin-alpha is the nuclear import receptor that recognizes cargo proteins which contain classical monopartite and bipartite nuclear localization sequences (NLSs), and facilitates their transport into the nucleus. To determine the structural basis of the recognition of the two classes of NLSs by mammalian importin-alpha, we co-crystallized an N-terminally truncated mouse receptor protein with peptides corresponding to the monopartite NLS from the simian virus 40 (SV40) large T-antigen, and the bipartite NLS from nucleoplasmin. We show that the monopartite SV40 large T-antigen NLS binds to two binding sites on the receptor, similar to what was observed in yeast importin-alpha. The nucleoplasmin NLS-importin-alpha complex shows, for the first time, the mode of binding of bipartite NLSs to the receptor. The two basic clusters in the NLS occupy the two binding sites used by the monopartite NLS, while the sequence linking the two basic clusters is poorly ordered, consistent with its tolerance to mutations. The structures explain the structural basis for binding of diverse NLSs to the sole receptor protein. (C) 2000 Academic Press.