Safe Path Planning Algorithms for Mobile Robots Based on Probabilistic Foam.

The planning of safe paths is an important issue for autonomous robot systems. The Probabilistic Foam method (PFM) is a planner that guarantees safe paths bounded by a sequence of structures called bubbles that provides safe regions. This method performs the planning by covering the free configuration space with bubbles, an approach analogous to a breadth-first search. To improve the propagation process and keep the safety, we present three algorithms based on Probabilistic Foam: Goal-biased Probabilistic Foam (GBPF), Radius-biased Probabilistic Foam (RBPF), and Heuristic-guided Probabilistic Foam (HPF); the last two are proposed in this work. The variant GBPF is fast, HPF finds short paths, and RBPF finds high-clearance paths. Some simulations were performed using four different maps to analyze the behavior and performance of the methods. Besides, the safety was analyzed considering the new propagation strategies.

Effects of kefir fermented milk beverage on sodium dextran sulfate (DSS)-induced colitis in rats.

Background and aim: The etiopathogenesis of inflammatory bowel disease (IBD) is associated with different factors such as genetic, infectious, immunological, and environmental, including modification of the gut microbiota. IBD's conventional pharmacological therapeutic approaches have become a challenge due to side effects, complications from prolonged use, and higher costs. Kefir fermented milk beverage is a functional food that has demonstrated multiple beneficial effects including anti-inflammatory and antioxidant activity. Alternative therapeutic strategies have been used for IBD as more natural products with low-cost and easy acquisition. The aim of this study is to evaluate the anti-inflammatory effects of kefir fermented milk beverage on sodium dextran sulfate (DSS)-induced colitis in rats. Methods: We used 4 groups to perform this study: baseline control (BC), kefir control (KC), 5% untreated DSS-induced colitis (DSS), and 5% DSS-induced colitis treated with kefir (DSSK). The animals received fermented kefir milk beverage ad libitum for six days and the disease activity index was recorded daily. Colon samples were processed for Transmission Electron Microscopy and histopathological evaluation. We analyzed short fatty chain acids through the fecal sample using gas chromatography. Results: Kefir supplementation was able to reduce the clinical activity index and inflammatory process evidenced by decreased neutrophil accumulation, decreased reticulum edema, and increased autophagosomes. Also, showed a trend to increase the levels of acetate and propionate. Conclusions: Our results suggest that kefir fermented milk beverage may have an anti-inflammatory effect minimizing the intestinal damage of DSS-induced colitis.

Screening method of mildronate and over 300 doping agents by reversed-phase liquid chromatography-high resolution mass spectrometry.

Considering the huge amount of substances associated with athletic performance improvement, current doping control analysis requires a comprehensive screening method, which leads to the detection of prohibited substances of different physico-chemical properties. This comprehensiveness associated with instrumental approaches based on high resolution mass spectrometry has allowed the development of extremely sensitive and selective detection methods. Furthermore, it is desirable the method to be simple, fast and straightforward. Mildronate is a highly polar quaternary amine, classified as metabolic modulator by the World Anti-Doping Agency (WADA). The inclusion of mildronate in the screening strategy is a challenge considering its singular physicochemical properties, compared to numerous doping agents of low and medium polarity. For this purpose, a method combining solid-phase extraction (SPE) and dilute-and-shoot approach has been developed and validated, allowing the detection of mildronate and other 332 prohibited substances. In the sample preparation protocol, the enzymatic deconjugation step and SPE conditions were stressed to enable the recovery of mildronate without jeopardizing the detection of other doping agents. The C18/18% SPE cartridge without any type of ionic interaction, associated with the dilute-and-shoot approach proved to be effective for all monitored substances. The instrumental method employed was based on liquid chromatography using a reversed-phase column in a 12-minute gradient coupled to a high-resolution mass spectrometry in full scan with positive and negative switching and fragmentation in the positive mode, for the most critical detection compounds. The performance of the method was evaluated regarding selectivity, precision, recovery, carry-over, limit of detection and stability, following the recommendations of WADA.

Pectinariidae (Annelida, Terebelliformia) from off southeastern Brazil, southwestern Atlantic.

Two of the species of Pectinariidae previously reported from the Brazilian coast are herein described, together with a new species and also new record for the genus Petta Malmgren, 1866 for the southern Atlantic. Amphictene catharinensis (Grube, 1870) was described from material from off Santa Catarina, southern Brazil, but the most recent description for these animals comes from Nilsson (1928); a redescription for A. catharinensis is herein provided. Pectinaria nonatoi n. sp. was informally described as P. (Pectinaria) laelia nomen nudum in an unpublished thesis and a formal description has never been provided, although the species has been reported from several other localities off the Brazilian shoreline, mostly in ecological studies; the species is formally described herein and compared to the most similar congeners. Petta alissoni n. sp. is also described and compared to the most similar congeners and this is the first record for animals of this genus from southern Atlantic. There are also records for Pectinaria gouldii (Verrill, 1874) and P. regalis Verrill, 1901 from off the Brazilian coast, and a doubtful record for Lagis pseudokoreni (Day, 1955), but we did not find any material belonging to those taxa.

Zebrafish (Danio rerio) water tank model for the investigation of drug metabolism: Progress, outlook, and challenges.

Zebrafish (Danio rerio) water tank (ZWT) approach was investigated as an alternative model for metabolism studies based on six different experiments with four model compounds. Sibutramine was applied for the multivariate optimization of ZWT conditions, also for the comparison of the metabolism among ZWT, humans and mice, beyond for the role of CYP2B6 in ZWT. After the optimization, 18 fish and 168 hours of experiments is the minimum requirement for a relevant panel of biotransformation products. A comparison among the species resulted in the observation of the same hydroxylated metabolites, with differences in metabolites concentration ratio. However, the ZWT allowed tuning of the conditions to obtain a specific metabolic profile, depending on the need. In addition, by utilizing CYP2B6 inhibition, a relevant ZWT pathway for the demethylation of drugs was determined. The stereospecificity of the ZWT metabolism was investigated using selegiline and no racemization or inversion transformations were observed. Moreover, the investigation of metabolism of cannabimimetics was performed using JWH-073 and the metabolites observed are the same described for humans, except for the hydroxylation at the indol group, which was explained by the absence of CYP2C9 orthologs in zebrafish. Finally, hexarelin was used as a model to evaluate studies by ZWT for drugs with low stability. As a result, hexarelin displays a very fast metabolization in ZWT conditions and all the metabolites described for human were observed in ZWT. Therefore, the appropriate conditions, merits, and relevant limitations to conduct ZWT experiments for the investigation of drug metabolism are described.

Amputação por pé diabético em pacientes hospitalizados da cidade do Recife / Amputations for diabetic foot among patients hospitalized in the city of Recife

Objetiva-se analisar amputações por pé diabético em pacientes de dois hospitais públicos do Recife, segundo a procedência do paciente. Trata-se de um estudo descritivo na modalidade quantitativa. Sendo que 41,6% da amostra já havia sido internada por problema com os pés. A prevalência de amputação entre os residentes na região metropolitana da cidade do Recife foi 72,2% (p menor que 0,05). Verificou-se associação entre amputações e procedência do paciente. Os resultados alertam gestores públicos para a necessidade de melhorar o acesso e utilização da população aos serviços de atenção básica de modo a prevenir e controlar o agravo pé diabético.