SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Análise bayesiana para características de carcaça avaliadas por ultrassonografia de bovinos da raça Nelore Mocho, criados em bioma Cerrado

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

Correlations of trace elements in breast human tissues: Evaluation of spatial distribution using μ-XRF

The aim of this work is to investigate microscopic correlations between trace elements in breast human tissues. A synchrotron X-ray fluorescence microprobe system (μ-XRF) was used to obtain two-dimensional distribution of trace element Ca, Fe, Cu and Zn in normal (6 samples) and malignant (14 samples) breast tissues. The experiment was performed in X-ray Fluorescence beam line at Laboratório Nacional de Luz Síncrotron (LNLS), Campinas, Brazil. The white microbeam was generated with a fine conical capillary with a 20 μm output diameter. The samples were supported on a XYZ table. An optical microscope with motorized zoom was used for sample positioning and choice the area to be scanned. Automatic two-dimensional scans were programmed and performed with steps of 30 μm in each direction (x, y) on the selected area. The fluorescence signals were recorded using a Si(Li) detector, positioned at 90 degrees with respect to the incident beam, with a collection time of 10 s per point. The elemental maps obtained from each sample were overlap to observe correlation between trace elements. Qualitative results showed that the pairs of elements Ca-Zn and Fe-Cu could to be correlated in malignant breast tissues. Quantitative results, achieved by Spearman correlation tests, indicate that there is a spatial correlation between these pairs of elements (p < 0.001) suggesting the importance of these elements in metabolic processes associated with the development of the tumor.

O recurso e o razoável

Pós-graduação em Direito - FCHS

O protagonismo das mulheres dos projetos de assentamentos localizados na mesorregião do Triângulo Mineiro: luta por efetivação de direitos ?

Pós-graduação em Serviço Social - FCHS

Morfologia dos vasos da base do encéfalo do quati (Nasua nasua)

Estudou-se a morfologia do encéfalo de Nasua nasua - quati, buscando comparar estes achados com outras espécies já descritos. Foram utilizados cinco encéfalos de quatis, provenientes do Criatório Científico (Cecrimpas), Unifeob. Os animais foram eutanásiados de acordo com a legislação (Cobea). Canulou-se a artéria carótida comum e a veia jugular externa sentido cranial, injetou-se solução de látex/bário corado de vermelho na artéria carótida, e solução de látex corado de azul na veia jugular. Em seguida os animais fixados em solução de formaldeído a 10%. O encéfalo tem sua nutrição dependente de quatro artérias, as artérias carótidas internas e as artérias vertebrais direitas e esquerdas. Esses vasos compuseram o circuito basilar e carotídeo que se anastomosam através das artérias cerebrais caudais. Correm na base do encéfalo sob a meninge pia mater.

Myelography in orange-spined-hairy-dwarf-porcupine (Sphiggurus villosus)

The myelography procedure is reported in an adult of the Sphiggurus villosus (hairy-tree-porcupine) species coming from the wild, in the region of Curitiba/PR. After proceeding with the examination, while the animal was under general anesthesia, there was a dorsal deviation of the contrast in the height of the seventh thoracic vertebra (T-7) caused by compression in the ventral region of the vertebra. This is suggestive of edema caused by intramedullary hemorrhage secondary to trauma suffered by the animal in the wild. Therefore, the use of myelography in Sphiggurus villosus (hairy-tree-porcupine) proved to be quite valid and efficient, presenting the advantages of greater precision to delimit and locate the lesion present in the vertebral column.

Mutualism from the inside: coordinated development of plant and insect in an active pollinating fig wasp

Recent studies on the obligate interaction between fig trees and their pollinating agaonid wasps have focused on population aspects and wasp-seed exploitation at the level of the inflorescence. Detailed studies on larval and gall development are required to more fully understand how resources are exploited and adaptations fine-tuned by each partner in nursery pollination mutualisms. We studied the larval development of the active pollinating fig wasp, Pegoscapus sp., and the galling process of individual flowers within the figs of its monoecious host, Ficus citrifolia, in Brazil. The pollinator development is strongly dependent on flower pollination. Figs entered by pollen-free wasps were in general more likely to abort. Retained, unpollinated figs had both higher larval mortality and a lower number of wasps. Pegoscapus sp. larvae are adapted to plant development, with two contrasting larval feeding strategies proceeding alongside gall development. The first two larval stages behave as ovary parasites. Later larval stages feed on hypertrophied endosperm. This indicates that a successful galling process relies on endosperm, and also reveals why pollination would be a prerequisite for the production of high-quality galls for this Pegoscapus species.

Indenização arbitrada em parcela única – implicações materiais e processuais do art. 950, parágrafo único, do Código Civil

Ao disciplinar a reparação de dano do qual resulta incapacidade laboral, o Código Civil Brasileiro de 2002 trouxe, como alternativa à pensão vitalícia, a possibilidade de indenização paga de uma só vez. Diante disso, o primeiro impulso hermenêutico foi apurar tal montante multiplicando o valor da renda mensal do ofendido pela sua expectativa de sobrevida. o presente artigo busca, fundamentalmente, questionar a adequação epistemológica desta fórmula, bem como esquadrinhar as diretrizes processuais aplicáveis ao dispositivo. O fim colimado exigirá, inter alia, perscrutar o significado da expressão “arbitramento”, a extensão do conceito de “reparação integral” e as consequências jurídicas e econômicas do recebimento antecipado. Posteriormente, pretende-se minudenciar a titularidade, a efetiva existência e o momento da opção pelo prejudicado, à luz da cláusula do “devido processo”.

Dynamical speckles patterns of action potential transmission effects in squid giant axon membrane.

Undoubtedly the most important result of the investigations in physiology and biophysics was the discovery of the electrochemical mechanism of propagation of the action potential in nerves that was made by Hodgkin and Huxley during the first half of the past century. Since some decades ago diverse experiments about the electro optical properties of the axon membrane there was published using the most diverse optical experimental ‘procedures POT 6-10’. In this paper some results of a dynamical speckle technique applied for obtaining microscopic images of a section of a squid giant axon membrane during the activation by electrical impulses and his digital process are presented.

Bilipid membrane phase characterization by reflectance anisotropy spectroscopy (RAS)

In this work we propose the use of experimental and theoretical reflectance anisotropy spectra (RAS) as a new tool to identify structural and dynamical aspects of the bilipid membrane and its various constituent molecules. The role of geometric details at the atomic level and macroscopic quantities, such as the membrane curvature and tilt for the different gel phases, in the theoretical RAS spectra (using Kohn-Sham density functional theory (KS-DFT)) are presented. Then the results are compared to the experimentally measured spectra taken from other techniques.

Investigation of the interaction of alkali ions with surfactant head groups for the formation of lyotropic biaxial nematic phase via optical birefringence measurements.

Lyotropic liquid crystals exhibiting nematic phases were obtained from the mixtures potassium laurate/alkali sulfate salts (M2SO4)/1-undecanol (UndeOH)/water and sodium dodecyl sulfate (SDS)/M2SO4/1-dodecanol (DDeOH)/water, where M2SO4 represents the alkali sulfate salts being Li2SO4, Na2SO4, K2SO4, Rb2SO4 or Cs2SO4. The birefringences measurements were performed via laser conoscopy. Our results indicated that cosmotropic and chaotropic behaviors of both ions and head groups are very important to obtain lyotropic biaxial nematic phase. To obtain the biaxial nematic phase, surfactant head group and ion present in lyotropic mixture have relatively opposite behavior, e.g. one more cosmotropic (more chaotropic) other less cosmotropic (less chaotropic) or vice versa.

Red and infrared light distribution in blood.

Low level laser therapy (LLLT) is used in several applications, including the reduction of inflammatory processes. It might be used to prevent the systemic inflammatory response syndrome (SIRS), which some patients develop after cardiopulmonary bypass (CPB) surgery. The objectives of this study were to investigate light distribution inside blood, in order to implement the LLLT during CPB, and, through this study, to determine the best wavelength and the best way to perform the treatment. The blood, diluted to the same conditions of CPB procedure was contained inside a cuvette and an optical fiber was used to collect the scattered light. Two wavelengths were used: 632.8 nm and 820 nm. Light distribution in blood inside CPB tubes was also evaluated. Compared to the 820 nm light, the 632.8 nm light is scattered further away from the laser beam, turning it possible that a bigger volume of blood be treated. The blood should be illuminated through the smallest diameter CPB tube, using at least four distinct points around it, in only one cross section, because the blood is kept passing through the tube all the time and the whole volume will be illuminated.

Management of Port Solid Waste Framework

One of contemporary environmental issues refers to progressive and diverse generation of solid waste in urban areas or specific, and requires solutions because the traditional methods of treatment and disposal are becoming unviable over the years and, consequently, a significant contingent of these wastes presents final destination inappropriate. The diversity of solid waste generated as a result of human activities must have the appropriate allocation to specific legislation in force, such as landfill, incineration, among other procedures established by the competent bodies. Thus, also the waste generated in port activities or proceeding vessels require classification and segregation for proper disposal later. This article aims at presenting a methodology for the collection, transportation, treatment and disposal of solid waste port and also application of automation technology that makes possible the implementation of the same.

Bilipid Membrane Phase Characterization by Reflectance Anisotropy Spectroscopy (RAS)

In this work we propose the use of experimental and theoretical reflectance anisotropy spectra (RAS) as a new tool to identify structural and dynamical aspects of the bilipid membrane and its various constituent molecules. The role of geometric details at the atomic level and macroscopic quantities, such as the membrane curvature and tilt for the different gel phases, in the theoretical RAS spectra (using Kohn-Sham density functional theory (KS-DFT)) are presented. Then the results are compared to the experimentally measured spectra taken from other techniques.