Human infection with Trypanosoma cruzi in Nasca, Peru: A seroepidemiological survey (1)

We estimated the proportion of seropositivity for infection with Trypanosoma cruzi (Chagas’ disease) in a sample of the rural population of the Province of Nasca, Department of Ica, southwestern Peru. Although Triatoma infestans, the only vector species identified in the Department of Ica, is often found in domestic environments, data of the extent of human infection with T. cruzi are scant. This study comprised 446 houses, known to be infested with triatomines, distributed in 19 rural localities. While visiting those houses we collected filter paper bloodspots from 864 occupants (of both sexes, aged one year or over). By means of the indirect fluorescent antibody test (IFAT), we detected anti-T. cruzi IgG antibodies in samples from 178 individuals (20.6%). Seropositivity was significantly more frequent in females (23.8%) than in males (17.5%). Among the 410 individuals in the 1- to 10-year-old age group (47.5% of the population sample), 85 (20.7%) were found seropositive, which is indicative of an early acquisition of the infection. Within this group no significant differences in seropositivity were associated with sex

Low cost inertial-based localization system for a service robot

Dissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science Engineering

A COMPARATIVE EPIDEMIOLOGIC STUDY OF SPECIFIC ANTIBODIES (IgM AND IgA) AND PARASITOLOGICAL FINDINGS IN AN ENDEMIC AREA OF LOW TRANSMISSION OF Schistosoma mansoni

The diagnostic potential of circulating IgM and IgA antibodies against Schistosoma mansoni gut-associated antigens detected by the immunofluorescence test (IFT) on adult worm paraffin sections was evaluated comparatively to the fecal parasitological method, for epidemiological purposes in low endemic areas for schistosomiasis. Blood samples were collected on filter paper from two groups of schoolchildren living in two different localities of the municipality of Itariri (São Paulo, Brazil) with different histories and prevalences of schistosomiasis. The parasitological and serological data were compared to those obtained for another group of schoolchildren from a non-endemic area for schistosomiasis. The results showed poor sensitivity of the parasitological method in detecting individuals with low worm burden and indicate the potential of the serological method as an important tool to be incorporated into schistosomiasis control and vigilance programs for determining the real situation of schistosomiasis in low endemic areas.

Prevalence of Trypanosoma cruzi and Leishmania chagasi infection and risk factors in a Colombian indigenous population

This study was carried out in order to obtain base-line data concerning the epidemiology of American Visceral Leishmaniasis and Chagas’ Disease in an indigenous population with whom the government is starting a dwelling improvement programme. Information was collected from 242 dwellings (1,440 people), by means of house to house interviews about socio-economic and environmental factors associated with Leishmania chagasi and Trypanosoma cruzi transmission risk. A leishmanin skin test was applied to 385 people and 454 blood samples were collected on filter paper in order to detect L. chagasi antibodies by ELISA and IFAT and T. cruzi antibodies by ELISA. T. cruzi seroprevalence was 8.7% by ELISA, L. chagasi was 4.6% and 5.1% by IFAT and ELISA, respectively. ELISA sensitivity and specificity for L. chagasi antibodies were 57% and 97.5% respectively, as compared to the IFAT. Leishmanin skin test positivity was 19%. L. chagasi infection prevalence, being defined as a positive result in the three-immunodiagnostic tests, was 17.1%. Additionally, 2.7% of the population studied was positive to both L. chagasi and T. cruzi, showing a possible cross-reaction. L. chagasi and T. cruzi seropositivity increased with age, while no association with gender was observed. Age (p<0.007), number of inhabitants (p<0.05), floor material (p<0.03) and recognition of vector (p<0.01) were associated with T. cruzi infection, whilst age ( p<0.007) and dwelling improvement (p<0.02) were associated with L. chagasi infection. It is necessary to evaluate the long-term impact of the dwelling improvement programme on these parasitic infections in this community.

Three year seroepidemiological study of varicella-zoster virus in São Paulo, Brazil

A serosurvey of varicella has been carried out in children attending the public school network of São Paulo city, Brazil, from 1992 to 1994. This study was performed in order to establish the age related prevalence of antibodies against varicella-zoster virus (VZV) and its age specific transmission dynamics pattern in these children. Among 2500 schools in the city of São Paulo public network, 304 were randomly selected; 7 children of a given age (ranging from 1 to 15 years) were randomly selected in each school, and blood samples were obtained by fingerprick into filter paper. Blood eluates were analyzed for the presence of antibodies to VZV by ELISA. Proportion of seropositivity were calculated for each age group. Samples consisted of 1768 individuals in 1992, 1758 in 1993, and 1817 in 1994, resulting in 5343 eluates. A high proportion of seropositive children from 1 to 3 years of age was observed, ascending until 10 years of age and reaching a plateau around 90% afterwards. VZV transmission in this community was similar along the three years of the study. In children attending public schools in the city of São Paulo, contact with VZV occurs in early childhood. If immunization against VZV is considered it should be introduced as soon as possible.

Análise e implementação de filtros digitais fraccionários

O projeto realizado teve como tema a aplicação das derivadas e integrais fraccionários para a implementação de filtros digitais numa perspetiva de processamento digital de sinais. Numa primeira fase do trabalho, é efetuado uma abordagem teórica sobre os filtros digitais e o cálculo fraccionário. Estes conceitos teóricos são utilizados posteriormente para o desenvolvimento do presente projeto. Numa segunda fase, é desenvolvida uma interface gráfica em ambiente MatLab, utilizando a ferramenta GUIDE. Esta interface gráfica tem como objetivo a implementação de filtros digitais fraccionários. Na terceira fase deste projeto são implementados os filtros desenvolvidos experimentalmente através do ADSP-2181, onde será possível analisar e comparar os resultados experimentais com os resultados obtidos por simulação no MatLab. Como quarta e última fase deste projeto é efetuado uma reflexão sobre todo o desenvolvimento da Tese e o que esta me proporcionou. Com este relatório pretendo apresentar todo o esforço aplicado na realização deste trabalho, bem como alguns dos conhecimentos adquiridos ao longo do curso.

Solução de navegação inercial para o sistema plasys

Neste trabalho faz-se uma pesquisa e análise dos conceitos associados à navegação inercial para estimar a distância percorrida por uma pessoa. Foi desenvolvida uma plataforma de hardware para implementar os algoritmos de navegação inercial e estudar a marcha humana. Os testes efetuados permitiram adaptar os algoritmos de navegação inercial para humanos e testar várias técnicas para reduzir o erro na estimativa da distância percorrida. O sistema desenvolvido é um sistema modular que permite estudar o efeito da inserção de novos sensores. Desta forma foram adaptados os algoritmos de navegação para permitir a utilização da informação dos sensores de força colocados na planta do pé do utilizador. A partir desta arquitetura foram efetuadas duas abordagens para o cálculo da distância percorrida por uma pessoa. A primeira abordagem estima a distância percorrida considerando o número de passos. A segunda abordagem faz uma estimação da distância percorrida com base nos algoritmos de navegação inercial. Foram realizados um conjunto de testes para comparar os erros na estimativa da distância percorrida pelas abordagens efetuadas. A primeira abordagem obteve um erro médio de 4,103% em várias cadências de passo. Este erro foi obtido após sintonia para o utilizador em questão. A segunda abordagem obteve um erro de 9,423%. De forma a reduzir o erro recorreu-se ao filtro de Kalman o que levou a uma redução do erro para 9,192%. Por fim, recorreu-se aos sensores de força que permitiram uma redução para 8,172%. A segunda abordagem apesar de ter um erro maior não depende do utilizador pois não necessita de sintonia dos parâmetros para estimar a distância para cada pessoa. Os testes efetuados permitiram, através dos sensores de força, testar a importância da força sentida pela planta do pé para aferir a fase do ciclo de marcha. Esta capacidade permite reduzir os erros na estimativa da distância percorrida e obter uma maior robustez neste tipo de sistemas.

Brokerage Platform for Media Content Recommendation

Near real time media content personalisation is nowadays a major challenge involving media content sources, distributors and viewers. This paper describes an approach to seamless recommendation, negotiation and transaction of personalised media content. It adopts an integrated view of the problem by proposing, on the business-to-business (B2B) side, a brokerage platform to negotiate the media items on behalf of the media content distributors and sources, providing viewers, on the business-to-consumer (B2C) side, with a personalised electronic programme guide (EPG) containing the set of recommended items after negotiation. In this setup, when a viewer connects, the distributor looks up and invites sources to negotiate the contents of the viewer personal EPG. The proposed multi-agent brokerage platform is structured in four layers, modelling the registration, service agreement, partner lookup, invitation as well as item recommendation, negotiation and transaction stages of the B2B processes. The recommendation service is a rule-based switch hybrid filter, including six collaborative and two content-based filters. The rule-based system selects, at runtime, the filter(s) to apply as well as the final set of recommendations to present. The filter selection is based on the data available, ranging from the history of items watched to the ratings and/or tags assigned to the items by the viewer. Additionally, this module implements (i) a novel item stereotype to represent newly arrived items, (ii) a standard user stereotype for new users, (iii) a novel passive user tag cloud stereotype for socially passive users, and (iv) a new content-based filter named the collinearity and proximity similarity (CPS). At the end of the paper, we present off-line results and a case study describing how the recommendation service works. The proposed system provides, to our knowledge, an excellent holistic solution to the problem of recommending multimedia contents.

Estratégia de avaliação do risco de lesões músculo-esqueléticas de membros superiores ligadas ao trabalho aplicada na indústria de abate e desmancha de carne em P

RESUMO - Objectivo: As lesões músculo-esqueléticas ligadas ao trabalho (LMELT) são doenças profissionais frequentes. Neste estudo ensaiou-se uma estratégia de diagnóstico do risco e de vigilância da saúde dos trabalhadores numa empresa de abate e desmancha de carne. Métodos: Utilizou-se uma estratégia de obtenção de informação em todos os postos de trabalho e trabalhadores da empresa. Utilizaram-se: (i) adaptação do Questionário Nórdico Músculo-Esquelético, incluindo caracterização da exposição biomecânica; (ii) protocolo de avaliação clínica de LMELT; (iii) filtro RSI e método Strain Index; (iv) instrumentação, como electrogoniometria e sensores de força em postos de risco elevado. Resultados: Identificou-se a presença de sintomas e sinais de LMELT principalmente nos punhos/mãos (n=27) e região lombo-sagrada (n=32), uma importante prevalência de casos relacionados com a actividade de trabalho (30%) e níveis de risco elevados com base nas classificações do Strain Index (n=26 MSDto e n=7 MSEsq). A utilização da instrumentação permitiu obter detalhes da repetitividade, das posturas e dos momentos de aplicação de força, úteis para a intervenção. Conclusões: A prevenção só é possível através da aplicação de programas/estratégias integradas de diagnóstico e gestão do risco de LMELT que sejam eficazes no sentido da intervenção sobre a actividade e as condições de trabalho.--------------------------ABSTRACT – Background: Work-related Musculoskeletal Disorders (WRMSD) are common occupational diseases. The present study aims at examining an integrated perspective of risk assessment and health surveillance at a meatpacking plant. Methods: The strategy adopted was of obtaining information about WRMSDs awareness at all workstations and from all their workers. This was based on: (i) questionnaire application - an adaptation of the Nordic musculoskeletal questionnaire, including a biomechanical item, (ii) WRMSDs clinical protocol (iii) RSI risk filter and Strain Index application, (iv) instrumentation with electrogoniometry and force sensors at previously classified as high risk workstations. Results: WRMSDs signs and symptoms mainly in wrist/hands (n=27) and in lumbar region (n=32) were identified. Results revealed an important prevalence of WRULMSDs associated to meatpacking industry activities (30%) and high risk scores based on Strain Index (n=26 Right UL; n=7 Left UL). Instrumentation showed details of recurrency, of postures and of force, which can be used for intervention. Conclusions: It’s necessary to develop ergonomic strategies and approaches on WRMSDs prevention (risk assessment and manage

McCoy cell line as a possible model containing CD4+ receptors for the study of HIV-1 replication

Several studies have recently shown the use of recombinant rabies virus as potential vector-viral vaccine for HIV-1. The sequence homology between gp 120 and rabies virus glycoprotein has been reported. The McCoy cell line has therefore been used to show CD4+ or CD4+ like receptors. Samples of HIV-1 were isolated, when plasma of HIV-1 positive patients was inoculated in the McCoy cell line. The virus infection was then studied during successive virus passages. The proteins released in the extra cellular medium were checked for protein activity, by exposure to SDS Electrophoresis and blotting to nitro-cellulose filter, then reacting with sera of HIV positive and negative patients. Successive passages were performed, and showed viral replication, membrane permeabilization, the syncytium formation, and the cellular lysis (cytopathic effect). Flow cytometry analysis shows clear evidence that CD4+ receptors are present in this cell line, which enhances the likelihood of easy isolation and replication of HIV. The results observed allow the use of this cell line as a possible model for isolating HIV, as well as for carrying out studies of the dynamics of viral infection in several situations, including exposure to drugs in pharmacological studies, and possibly studies and analyses of the immune response in vaccine therapies.

Chagas disease in a community in Southeast Brazil: I. A serlogic follow-up study on a vectorcontrolled area

The prevalence of Trypanosoma cruzi infection was evaluated in Berilo, Minas Gerais (MG), Brazil, from January to July 1997. A serological survey using the indirect immunofluorescence test (IFT) in dried blood collected on filter-paper was performed in a sample of 2,261 individuals. The overall prevalence rate of T. cruzi infection was 18%, and reached 50% in individuals older than 30 years from rural areas. The percentage of seropositivity was 0.17% among individuals younger than 10 years old, suggesting that vectorial transmission is controlled in the area. A decrease in prevalence rates among people born after 1960 and 1970 was observed and this appears to be correlated with the beginning of control programs. A reduction in T. cruzi infection rates was observed when comparing our results with the rates estimated in a serologic study carried out in Berilo in 1983(11).

Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.

Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as is the case of road and train tunnels. To achieve that, we combine some state of the art techniques from mobile robotics, and propose a method for 6DOF platform positioning in such scenarios, that is latter used for the environment modelling. A visual monocular Simultaneous Localization and Mapping (MonoSLAM) approach based on the Extended Kalman Filter (EKF), complemented by the introduction of inertial measurements in the prediction step, allows our system to localize himself over long distances, using exclusively sensors carried on board a mobile platform. By feeding the Extended Kalman Filter with inertial data we were able to overcome the major problem related with MonoSLAM implementations, known as scale factor ambiguity. Despite extreme lighting variations, reliable visual features were extracted through the SIFT algorithm, and inserted directly in the EKF mechanism according to the Inverse Depth Parametrization. Through the 1-Point RANSAC (Random Sample Consensus) wrong frame-to-frame feature matches were rejected. The developed method was tested based on a dataset acquired inside a road tunnel and the navigation results compared with a ground truth obtained by post-processing a high grade Inertial Navigation System and L1/L2 RTK-GPS measurements acquired outside the tunnel. Results from the localization strategy are presented and analyzed.