TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, 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 framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Distúrbios do sono em pacientes com transtorno depressivo

To evaluate sleep disorder complaints in outpatients with depressive disorder from a general hospital. Methods: An observational, cross-sectional study was carried out with a study sample composed of 70 patients (44 women and 26 men) with diagnosis of depressive disorder, according to the DSM-IV criteria. The patients were interviewed and evaluated by the Identification Questionnaire, the Sleep Habits Questionnaire and the Beck Depression Inventory (BDI). Results: In this study, 50 (71.3%) patients had recurrence of sleep disorder complaints. Mean BDI score was 35.83+8.85, with significant differences between patients with (38.50+8.70) and without (29.60+7.80) recurrence (p<0.05) and among patients with 1, 2, 3 and >3 episodes (p<0.05). In this study, 49 (70%) patients had insomnia and 21 (30%) had subjective excessive sleepiness. Significant differences were observed between the mean duration in months of the sleep disorders (7.16+2.10) and the depressive disorder (6.12+1.90) (p<0.05). Discussion: In the study sample, recurrence of sleep disorder complaints was high and significantly associated with severe depression. Insomnia was prevalent and the mean duration of sleep disorders was higher in relation to depressive disorder

Projeto Prevenir: uma pesquisa acerca das mudanças no perfil das infecções por DST/AIDS, com a perspectiva de detectar pontos vulneráveis da prevenção

Rio Grande do Norte is among the Brazilian States where the tourism and sexual violence increasingly grow in the country, occupying 4th place in 2004. Associated to this fact, it comes the problematic one of the contamination of the women by Sexually Transmitted Disease (STD). Studies in Brazil have presented a considerable increase of the STDs, caused through lack of suitable protection in the sexual relationships. Due to the biological and psychosocial vulnerability, besides failures or inconsistencies in the condom use associated to the raised taxes of sexual activity with different partners, the STDs constitute the main risk of health. Many difficulties are found by the confrontation of this problem. In this context, this project had as aim to evaluate the vulnerability of this population of sexually active women in Natal-RN Ponta Negra neighbourhood to the infections by STDs, such as, Candida sp., Vaginoses Bacterial, Trichomonas Vaginalis and Chlamydia sp., arisen with the explosion of the sex market, showing a current statistical panorama. It was possible to detect vulnerable points in prevention through patient anamnesis, where the study it showed: high number of partners (8,3% with more than five), low age of first relationship and not the use of condoms (31,8% sometimes use and 45,8% had not used in the first relationship). Already consolidated by the preventive cytopathologic examination, these data were strengthened by high incidence of causing agents of STDs (58,6%). In this way, it is clear that the sexuality must to be thought on the context of the deep economic and socio-cultural transformations in which pass societies, and mainly the ones concerning to the sexuality exercise and to the sex market. With the profile change of the infections, new demands are placed in relation to the risk factors. Therefore, it can be concluded that the prevention vulnerable points detected as more important had been the deficiency in self-perception and wareness of the risk existence among the studied women

Brachiaria decumbens supresses the initial growth of Coffea arabica

Brachiaria decumbens vem se tornando uma das plantas daninhas mais freqüentes na infestação de cafezais em formação, pois além de sua elevada agressividade e dificuldade de controle, está ocorrendo expansão das áreas cafeeiras para locais anteriormente ocupados por pastagens. Objetivou-se neste trabalho avaliar os efeitos desta planta daninha, em densidades crescentes, sobre o desenvolvimento inicial de mudas de café (Coffea arabica L. cv. Catuaí Amarelo). O experimento foi conduzido em condições semi-controladas, sem limitação de água. Uma muda de café foi transplantada em caixa de amianto com capacidade para 70 L, preenchida com terra coletada da camada arável de um Latossolo Vermelho. Os tratamentos constaram de diferentes densidades de transplante de capim-braquiária, a saber: 0, 4, 8, 12, 16, 20, 24, 36, 48 e 60 plantas m-2. O ensaio foi conduzido por um período experimental de 120 dias após o plantio (DAP). Todas as características analisadas foram afetadas negativamente pela interferência da planta daninha, mas as que se mostraram mais sensíveis a essa interferência foram à área foliar e a biomassa seca das folhas. Houve redução de 41,8% na área foliar do cafeeiro quando conviveu com o capim-braquiária a partir da densidade de 8 plantas m-2, chegando a 68,7% na densidade de 60 plantas m-2. Também a partir da densidade de 8 plantas m-2, a redução na biomassa seca das folhas em relação à testemunha foi de 41,4% e na densidade de 60 plantas m-2 chegou a 72,8%. Brachiaria decumbens, a partir da densidade de 8 plantas m-2, interfere negativamente sobre as mudas de café até os 120 DAP.

Participação de mulheres na história da Escola Mista no Pará - 1870/1901

This study aims to problematize the history of mixed schools in Pará, from 1870 to 1901, highlighting women participation that helped to build them. The analytical focus of the research fell on the changes and the continuities of the mixed school in Pará. The object of analysis is the Paraense mixed schools, formed by women. The study also brings out arguments that the mixed school was set up in variable forms, concepts, times and spaces, in an overlapping with the inclusion of women in educational universe, either through education, professionalization or teaching in schools of girls and boys. The documentary sources privileged by the study are: the educational law, the newspapers, the government reports and the journals of education, which were examined in a confrontation between what was said and done. The evidential method helped the documentary reading revealed that, in small lines, the linkages built in the search for clues and signs of Paraense mixed schools was assembled with the participation of women, from the perception that historical knowledge is indirect, conjectural. Evidences indicated that the school for both sexes, legally established in the Province of Grão-Pará in 1870, gave the signals of the junction of girls and boys in school, at a time when the presence of women in education was suggested. Mutations related to the educational organization, with the introduction of mixed school in the following decade had a closer relationship with restrictive settings and more effective integration of women in that school. The inaccuracies of the Republican mixed school have revealed, through winding paths, that signal of contradictions between the modern discourse and conservative practices regarding this school, in communion with the expansion of the mixed school throughout the state, including in groups schools, observing the presence of effective women teachers in the regency of such schools and an expansion of students in relation to the equity between the sexes

Etiology of acute diarrhea among children in Ribeirão Preto-SP, Brazil

Com o objetivo de caracterizar os principais enteropatógenos causadores de diarréia na região de Ribeirão Preto, quanto aos sorogrupos e sorotipos, por um período de 4 anos foram estudadas fezes de 1836 crianças, menores de 10 anos de idade, de ambos os sexos, portadoras de gastrenterite aguda no IAL de Ribeirão Preto, SP. Foram pesquisados os seguintes enteropatógenos: Escherichia coli, Salmonella sp., Shigella sp., Campylobacter sp., Yersinia sp., e Cryptosporidium sp., identificados através de metodologia tradicional. Foram positivas 419 (22,8%) amostras, com 1,7% de associação entre enteropatógenos. Houve predomínio na faixa etária de 0 a 11 meses. Destacou-se a E.coli enteropatogênica (EPEC) (8,7%), sendo mais frequente o sorogrupo O119 (40,2%), seguida do gênero Shigella (6,2%), dos quais 63,2% corresponderam à S. sonnei.

Impacto do tráfego de máquinas na qualidade física do solo e produtividade de milho em Argissolo

Este estudo teve o objetivo de avaliar o impacto do tráfego de máquinas na qualidade física do solo e produtividade de milho em Argissolo. O delineamento experimental foi inteiramente casualizado, com seis tratamentos e oito repetições representadas por parcelas de 14 m². Os tratamentos foram: T0) sem tráfego; T1*) uma passada de trator de 3,0 t, uma ao lado da outra; T1) uma passada; T2) duas passadas; T4) quatro passadas; T8) oito passadas de um trator de 8,0 t. Utilizou-se o milho (Zea mays L.) híbrido master, que foi avaliado quanto à produtividade de grãos. No solo, foram avaliados a porosidade, a densidade do solo, a resistência à penetração, o intervalo hídrico ótimo e a densidade do solo relativa. O tráfego de máquinas compactou o solo até 0,25 m de profundidade e reduziu a produtividade de milho em até 22%. O intervalo hídrico ótimo diminuiu com o aumento do tráfego de máquinas indicando decréscimo da qualidade física do solo para o milho. A densidade do solo relativa limitante à produtividade de milho é de 0,89.

New genes of Xanthomonas citri subsp citri involved in pathogenesis and adaptation revealed by a transposon-based mutant library

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Sistema de alimentação de livre escolha com milho em grão ou moído e concentrado proteico para frangos de corte

O experimento teve como objetivo avaliar os sistemas de alimentação convencional ou de livre escolha, utilizando 6 dietas a base de milho em grão ou moído e concentrado protéico sobre o desempenho de frangos de corte do l° ao 45° dia de idade. O delineamento experimental foi inteiramente casualizado em esquema fatorial 6x2 (6 tratamentos e 2 sexos), com 3 repetições de 30 aves. Os tratamentos foram: T1-Milho moído + Concentrado do 1° ao 45° dia, fornecidos misturados; T2-Milho moído + Concentrado do 1° ao 45° dia, fornecidos separados em 2 comedouros; T3- Milho moído + Concentrado, fornecidos misturados, do l° ao 14° dia e do 15° ao 45° dia, milho em grão + concentrado, fornecidos misturados; T4 Milho moído + Concentrado, fornecidos misturados, do 1° ao 14° dia e do 15° ao 45° dia, milho em grão + concentrado, fornecidos separados; T5 - Milho moído + Concentrado, fornecidos misturados do 1° ao 21° dia e do 22° ao 45° dia, milho em grão + concentrado, fornecidos misturados; T6- Milho moído + Concentrado, fornecidos separados, do l ° ao 21° dia e do 22° ao 45° dia, milho em grão + concentrado, fornecidos misturados. Pêlos resultados e condições que realizou-se o presente trabalho conclui-se que: o milho em grão pode ser fornecido a frangos de corte misturado ao concentrado a partir do 15° dia de idade; o milho moído não proporcionou bons resultados de desempenho no programa de alimentação de livre escolha: as aves alimentadas com milho em grão apresentaram maior peso de moela, bem como acumularam mais gordura na carcaça; autilização de milho em grão fornecido junto ao concentrado, embora tenha proporcionado desempenho ligeiramente inferior à ração convencional, pode ser considerado satisfarório, sendo uma alternativa para pequenos produtores avícolas.

Effect of recombinant bovine somatotropin (bST) on follicular population and on in vitro buffalo embryo production

The objective of this study was to evaluate the effect of bovine somatotropin (bST) on ovarian follicular population in buffalo heifers and its influence on oocyte quality, recovery rates and in vitro embryo production. We tested the hypothesis that bST treatment in buffalo females submitted to an ovum pick-up (OPU) program Would improve the number of follicles recruited, oocyte quality and in vitro embryo production. A total of 10 heifers were assigned into two treatment groups: group bST (n = 5; receiving 500 mg of bST in regular intervals) and control group (n = 5; without additional treatment). Both groups were subjected to OPU sessions twice a week (every 3 or 4 days), for a total of 10 sessions per female, although due to procedural problems, only the first five OPU sessions produced embryos. The number of follicles and the diameters were recorded at all OPU sessions. The harvested oocytes were counted and classified according to their quality as either A, B, C, D or E, with A and B considered good quality. Cleavage and blastocyst production rates were evaluated 2 and 7 days after in vitro fertilization, respectively. The bST treatment increased the total number of antral follicles (> 3 mm in diameter; 12.2 compared with 8.7: p, < 0.05) and of small antral follicles (< 5 mm; 9.1 compared with 6.5; p < 0.05) per OPU session. The bST also tended to increase the number of oocytes recovered per session (5.2 compared with 4.1; p = 0.07), and enhanced the percentage of good quality oocytes (48.8% compared with 40.6%; p = 0.07), bST showed no effect on cleavage and blastocyst production rates (p > 0.05). The significant effects of performing repeated OPU sessions were decreasing the follicular population (p < 0.001) as well as the number of follicles aspirated (p < 0.001), and oocytes recovered (p < 0.02). In conclusion, bST treatment improves the follicular population, demonstrating its possible application in buffalo donors submitted to OPU programs. (c) 2008 Elsevier B.V. All rights reserved.

Valor energético de algumas fontes lipídicas determinado com frangos de corte

Um experimento foi conduzido para se determinar o valor energético do óleo de soja refinado, do óleo de canola refinado, do óleo de girassol refinado, do óleo de frango, do óleo de peixe e da banha suína para frangos de corte. Foram utilizados 168 frangos de corte com 22 dias de idade, distribuídos em um delineamento inteiramente casualizado, com sete tratamentos (seis fontes lipídicas e uma ração-referência) e quatro repetições de seis frangos por unidade experimental. O experimento teve duração de oito dias, sendo a coleta de excretas realizada nos últimos cinco dias. As fontes lipídicas testadas substituíram a dieta basal em 20% na matéria natural. Os valores de energia metabolizável aparente corrigidos para retenção de nitrogênio na matéria natural foram: 9.201 kcal/kg para o óleo de soja; 8.129 kcal/kg para o óleo canola; 9.561 kcal/kg para o óleo de girassol; 8.251 kcal/kg para o óleo de frango; 8.715 kcal/kg para o óleo de peixe e 8.366 kcal/kg para a banha suína.

Desempenho e características de carcaça de tourinhos Nelore e Canchim terminados em confinamento recebendo dietas com cana-de-açúcar e dois níveis de concentrado

O objetivo foi avaliar o desempenho e as características de carcaça de tourinhos terminados em confinamento alimentados com dietas contendo cana-de-açúcar (Var. SP 80-1816) e dois níveis de concentrado (40 ou 60 % da MS). Foram utilizados 15 animais da raça Nelore com aproximadamente 330 kg e 18 meses de idade e 15 da raça Canchim com aproximadamente 300 kg e 15 meses de idade. Os animais foram alojados em baias individuais por um período de 126 dias (os primeiros 21 dias foram de adaptação). Foram realizadas pesagens e tomadas imagem ultrassônicas, ao início do experimento e a cada intervalo de 35 dias. O delineamento experimental foi o inteiramente casualizado, em esquema fatorial 2 ×2, composto de 2 grupos genéticos e 2 níveis de concentrado. Não foi observada interação fatores ×variáveis estudadas. Os animais da raça Canchim apresentaram melhor eficiência alimentar (0,17 ×0,14) e maior ganho de área de olho-de-lombo (19,7 ×13,2 cm²). A dieta contendo 60% de concentrado, em comparação àquela com 40%, proporcionou maior ganho de peso diário (1,44 ×0,98 kg/animal), maior peso de abate (499,43 ×460,20 kg), de carcaça quente (265,39 ×244,70 kg) e de traseiro especial (129,74 ×118,68 kg). Os animais da raça Canchim apresentaram maior área de olho-de-lombo (80,89 ×66,85 cm²) e os animais Nelore maior cobertura de gordura (5,5 ×3,2 mm). Dietas com 60% de concentrado são mais indicadas para terminação de bovinos com elevado potencial de ganho de peso que aquelas com 40%.

Ocorrência e variabilidade genética do Tomato severe rugose virus em tomateiro e pimentão no Estado de São Paulo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Extração enzimática de óleo e produção in situ de biodiesel a partir da Moringa oleífera Lam

With the growth and development of modern society, arises the need to search for new raw materials and new technologies which present the "clean" characteristic, and do not harm the environment, but can join the energy needs of industry and transportation. The Moringa oleifera Lam, plant originating from India, and currently present in the Brazilian Northeast, presents itself as a multi-purpose plant, can be used as a coagulant in water treatment, as a natural remedy and as a feedstock for biodiesel production. In this work, Moringa has been used as a raw material for studies on the extraction and subsequently in the synthesis of biodiesel. Studies have been conducted on various techniques of Moringa oil extraction (solvents, mechanical pressing and enzymatic), being specially developed an experimental design for the aqueous extraction with the aid of the enzyme Neutrase© 0.8 L, with the aim of analyzing the influence variable pH (5.5-7.5), temperature (45-55°C), time (16-24 hours) and amount of catalyst (2-5%) on the extraction yield. In relation to study of the synthesis of biodiesel was initially carried out a conventional transesterification (50°C, KOH as a catalyst, methanol and 60 minutes reaction). Next, a study was conducted using the technique of in situ transesterification by using an experimental design variables as temperature (30-60°C), catalyst amount (2-5%), and molar ratio oil / ethanol (1:420-1:600). The extraction technique that achieved the highest extraction yield (35%) was the one that used hexane as a solvent. The extraction using 32% ethanol obtained by mechanical pressing and extraction reached 25% yield. For the enzymatic extraction, the experimental design indicated that the extraction yield was most affected by the effect of the combination of temperature and time. The maximum yield obtained in this extraction was 16%. After the step of obtaining the oil was accomplished the synthesis of biodiesel by the conventional method and the in situ technique. The method of conventional transesterification was obtained a content of 100% and esters by in situ technique was also obtained in 100% in the experimental point 7, with a molar ratio oil / alcohol 1:420, Temperature 60°C in 5% weight KOH with the reaction time of 1.5 h. By the experimental design, it was found that the variable that most influenced the ester content was late the percentage of catalyst. By physico-chemical analysis it was observed that the biodiesel produced by the in situ method fell within the rules of the ANP, therefore this technique feasible, because does not require the preliminary stage of oil extraction and achieves high levels of esters

Autoria e escrita: uma reflexão acerca do autorar em memórias de leituras de alunos de 9º ano do ensino fundamental

This paper presents results concerning studies conducted during the master's research in the area of Applied Linguistics of the Graduate Program in Language Studies - PPgEL, linked to the Federal University of Rio Grande do Norte. We approached this study the question of authorship, which has gained ground increasingly important in academic research, because the act of authoring, in view of the amount of circulating discourses socially, becomes increasingly questionable. We understand authorship as related to a positioning of the subject than to take responsibility, in the Bakhtinian sense, by its text, it makes their views, ideologies, beliefs and values, from ownership and restructuring of the speech of others. This research is methodologically inserted in a qualitative, interpretive in nature and has a corpus analysis of the ten productions written memoir genre of readings produced by students in 9th grade in elementary school. Research aimed to analyze the students' written productions held in the school environment, to identify these texts marks or evidence of authorship and investigate how the restructuring of ownership and voices of others in the process of authoring. We adopt a concept of language from bakhitinianas concepts and understand the text in a vision Geraldiana. The analyzes in this study showed that in most texts there is the strong presence of voices of others, either implicitly and/or explicit. That is, students, to build their sayings, if embraced the voices of others in various formats, in particular styles, namely, by what Bakhtin names as linear style and pictorial style. Some proved his statement highlighting their positions through direct quotes from authors of books, family, teachers, showing us that their voices are filled with voices of others with whom they approve, deny, analyze, think and reflect. We therefore conclude that students were constituted as subjects of their texts, authors, since they leave marked the voices of others so presentified and restructured voices of others who do not actually sounded like voices of others, but as present voices from a discursive restructuring producer