Performance Analysis of Relative GPS Positioning for Low-Cost Receiver-Equipped Agricultural Rovers.

Global navigation satellite systems (GNSSs) became an integral part of all aspects of our lives, whether for positioning, navigation, or timing services. These systems are central to a range of applications including road, aviation, maritime, and location-based services, agriculture, and surveying. The Global Positioning System (GPS) Standard Position Service (SPS) provides position accuracy up to 10 m. However, some modern-day applications, such as precision agriculture (PA), smart farms, and Agriculture 4.0, have demanded navigation technologies able to provide more accurate positioning at a low cost, especially for vehicle guidance and variable rate technology purposes. The Society of Automotive Engineers (SAE), for instance, through its standard J2945 defines a maximum of 1.5 m of horizontal positioning error at 68% probability (1σ), aiming at terrestrial vehicle-to-vehicle (V2V) applications. GPS position accuracy may be improved by addressing the common-mode errors contained in its observables, and relative GNSS (RGNSS) is a well-known technique for overcoming this issue. This paper builds upon previous research conducted by the authors and investigates the sensitivity of the position estimation accuracy of low-cost receiver-equipped agricultural rovers as a function of two degradation factors that RGNSS is susceptible to: communication failures and baseline distances between GPS receivers. The extended Kalman filter (EKF) approach is used for position estimation, based on which we show that it is possible to achieve 1.5 m horizontal accuracy at 68% probability (1σ) for communication failures up to 3000 s and baseline separation of around 1500 km. Experimental data from the Brazilian Network for Continuous Monitoring of GNSS (RBMC) and a moving agricultural rover equipped with a low-cost GPS receiver are used to validate the analysis.

Ações de educação alimentar e nutricional baseadas no método intuitivo de Pestalozzi / Food and nutrition education actions based on Pestalozzi's intuitive method

As intervenções de Educação Alimentar e Nutricional (EAN) tem sido cada vez mais imprescindíveis nos espaços de construções educativas para crianças e adolescentes, exigindo propostas de metodologias inovadoras, que considerem fatores psicossociais e culturais envolvidos na formação de padrões alimentares. Sendo assim, o objetivo deste estudo foi realizar intervenções de EAN baseadas no Método Intuitivo proposto por Johaan Henrich Pestalozzi (1746-1827), nunca antes aplicado a essa temática. E também identificar a relação entre a cor de pele e as condições socioeconômicas dos participantes. Esse método envolve exercícios de aprendizagem da forma, número e linguagem como elementos que devem estar ligados à observação do objeto ou conteúdo. As intervenções foram conduzidas em crianças e adolescentes de diferentes condições socioeconômicas praticantes de duas modalidades esportivas distintas. O estudo foi realizado com 60 alunos sendo 40 atletas da ginástica artística (grupo A) e 20 atletas do taekwondo (grupo B). Foi conduzido em três etapas: avaliação inicial, intervenções elaboradas a partir do Guia Alimentar para a População Brasileira e avaliação final. A Escala Brasileira de Insegurança Alimentar (EBIA) foi aplicada aos responsáveis dos alunos para avaliar a situação de Insegurança Alimentar (IA) da família. Das famílias participantes do grupo B, 62,5% encontravam-se em IA. Após as intervenções, houve redução significativa no consumo de alimentos ultraprocessados pelo grupo A (p=0,034), enquanto no grupo B, houve aumento no consumo de alimentos in natura (p=0,022). O Método Intuitivo foi efetivo em ambos os grupos, independentemente das condições socioeconômicas, apresentando como proposta eficiente para as ações de EAN.(AU)

Food and Nutrition Education (FNE) interventions have been increasingly essential in educational spaces for children and adolescents, requiring proposals for innovative methodologies that consider psycho-social and cultural factors involved in the formation of dietary patterns. Therefore, the objective of this study was to carry out FNE interventions based on the Intuitive Method proposed by Johaan Henrich Pestalozzi (1746-1827); which has never been applied to this theme before. Furthermore, this study aims to identify the relationship between skin color and the socioeconomic conditions of the participants. This method involves learning exercises of shapes, numbers, and language as elements that must be linked to the observation of the object or content. The interventions were carried out in children and adolescents from different socioeconomic conditions who practiced two different sports modalities. The study was carried out with 60 students, 40 athletes from artistic gymnastics (group A) and 20 athletes from taekwondo (group B) and was carried out in three stages: an initial assessment, interventions based on the Food Guide for the Brazilian Population, and a final assessment. The Brazilian Scale of Food Insecurity (BSFI) was applied to those responsible for the students to assess the situation of Food Insecurity (FI) of the family. Of the families participating in group B, 62.5% had FI. After the interventions, there was a significant reduction in the consumption of ultra-processed foods in group A (p=0.034), while in group B, there was an increase in the consumption of fresh foods (p=0.022). The Intuitive Method was effective in both groups, regardless of socioeconomic conditions, demonstrating that it is an efficient proposal for FNE actions.(AU)

Striving to meet targets for ideal treatment of acute myocardial infarction in Brazil: Data from the Midwest region.

OBJECTIVES: To evaluate the systematic chain of care for patients with acute ST-elevation myocardial infarction (STEMI) referred for primary angioplasty in a capital city in Midwestern Brazil. BACKGROUND: Acute myocardial infarction is recognized as an important cause of morbidity and mortality and as a public health problem worldwide. Early specialized care is crucial for a good prognosis. METHODS: All STEMI patients receiving care through the public health system at two tertiary care centers from March 2012 to June 2014 were retrospectively analyzed. Symptom onset-to-balloon time and door-to-balloon time were analyzed and compared with current guideline recommendations. RESULTS: A total of 835 patients were included. Median symptom onset-to-balloon time was 32 h. A total of 783 (94%) patients had had symptoms for more than 12 h and 507 (61%) for more than 24 h. Only 51 (6%) patients arrived within 12 h of symptom onset and were treated with primary angioplasty. Among these patients, median door-to-balloon time was 37 min, in accordance with guideline recommendations. CONCLUSION: Treatment of STEMI through the public health system in a capital city in Midwestern Brazil falls short of the recommended guidelines due to failure in the initial links of the chain of care. This potentially reversible failure has an important impact on patient outcomes and on health care burden.

A new index for the assessment of transverse sinus stenosis for diagnosing idiopathic intracranial hypertension.

BACKGROUND AND PURPOSE: To assess the role of MR venography (MRV) for detecting transverse sinus stenosis, to determine the importance of this finding in idiopathic intracranial hypertension (IIH), and to propose an index that contributes to this diagnosis. MATERIALS AND METHODS: We retrospectively assessed consecutive intracranial MRV of patients aged >18 years diagnosed with IIH according to the diagnostic criteria, between January 2010 and July 2012. The assessments were randomly analyzed by three radiologists. Stenoses in the right and left transverse sinuses were independently classified according to the following scale: 0, normal; 1, stenosis <33%; 2, stenosis 33-66%; 3, stenosis >66%; and 4, hypoplasia or agenesis. We established an index based on multiplication of the stenosis scale values for each transverse sinus. A point and range estimate of the sensitivity, specificity, and the area under the receiver operating characteristic curve was performed to obtain cut-off points to differentiate between controls and patients. RESULTS: 63 individuals were included in this study: 32 (50.8%) diagnosed with IIH (31 (96.9%) women and 1 (3.1%) man) and 31 (49.2%) controls. According to all of the examiners, the IIH group showed a higher degree of stenosis than the control group. Index values ≥4 for a diagnosis of IIH had a sensitivity and specificity of 94.7% and 93.5%, respectively. CONCLUSIONS: MRV should be used to assess patients with suspected IIH, and bilateral transverse sinus stenosis should be considered for the diagnosis. The stenosis classifying index proposed here is a fast and accessible method for diagnosing IIH.

Mini-Laparoscopy: Instruments and Economics.

Mini-laparoscopy (Mini) was pioneered more than 20 years ago, initially with instruments borrowed from other specialties and subsequently with tools designed specifically for Mini. Early adoption of Mini was inhibited though by the limitations of these first-generation instruments, especially functionality and durability. Newer generation Mini instruments have recently become available with improved effector tips, a choice of shaft diameters and lengths, better shaft insulation and electrosurgery capability, improved shaft strength and rotation, more ergonomic handles, low-friction trocar options, and improved instrument durability. Improvements are also occurring in imaging and advanced energy for Mini. The current status of mini-laparoscopy instruments and economics are presented.

Assessment of muscle mass, risk of falls and fear of falling in elderly people with diabetic neuropathy / Avaliação da massa muscular, risco de quedas e medo de cair em idosos com neuropatia diabética

Abstract Objective : To assess muscle mass, risk of falls and fear of falling in elderly adults with diabetic neuropathy (DNP). Methods : 50 elderly patients with diabetes mellitus (DM) and diabetic neuropathy (NPD) participated in this study. Risk of falling was assessed using the Berg Balance Scale (BBS). Fear of falling was assessed by means of the Falls Efficacy Scale-International (FES-I). Muscle mass was assessed by tetrapolar bioimpedance analysis (BIA) and Janssen's equation. Subjects were divided into two groups: one with a history of falls in the six months before study enrollment (G1) and the other without history of falls (G2). Results : There were statistically significant differences between G1 and G2 regarding lean body mass (p < 0.05), risk of falls as measured by the BBS (p < 0.01), and fear of falling as measured by the FES-I (p < 0.01). In addition, there was a significant correlation between the BBS and BIA (r = 0.45 and p < 0.01), showing that the greater the lean body mass, the lower the risk of falling. Conclusions : We found an association between lean mass, risk of falls and fear of falling in elderly adults with DNP and a history of falls from own height.

Resumo Objetivo : Avaliar a massa muscular, risco de quedas e medo de cair em idosos com neuropatia diabética (NPD). Métodos : Foram selecionados 50 pacientes idosos com diabetes mellitus (DM) e diagnóstico de neuropatia diabética (NPD) onde realizou-se avaliação do risco de queda pela escala de equilíbrio de Berg (EEB), medo de cair por meio da escala de eficácia de quedas (FES-I) e massa muscular por meio da bioimpedância tetrapolar (BIA) e equação de Jansen. Os indivíduos foram divididos em dois grupos: um com história de quedas nos últimos seis meses (G1) e sem história de quedas (G2). Resultados : Observou-se diferenças significativas entre G1 e G2 quanto à massa magra (p,0,05), risco de quedas por meio da EEB (p<0,01) e medo de cair por meio da FES-I (p<0,01), além de correlação importante entre a EEB e BIA(r= 0,45 e p<0,01), demonstrando que quanto maior for a massa magra, menor será o risco de cair. Conclusões : Houve associação entre pouca massa magra, risco e medo de cair em idosos com NPD no tocante a história de quedas da própria altura nessa população.

Long-term evaluation of three satellite ocean color algorithms for identifying harmful algal blooms (Karenia brevis) along the west coast of Florida: A matchup assessment.

We present a simple algorithm to identify Karenia brevis blooms in the Gulf of Mexico along the west coast of Florida in satellite imagery. It is based on an empirical analysis of collocated matchups of satellite and in situ measurements. The results of this Empirical Approach is compared to those of a Bio-optical Technique - taken from the published literature - and the Operational Method currently implemented by the NOAA Harmful Algal Bloom Forecasting System for K. brevis blooms. These three algorithms are evaluated using a multi-year MODIS data set (from July, 2002 to October, 2006) and a long-term in situ database. Matchup pairs, consisting of remotely-sensed ocean color parameters and near-coincident field measurements of K. brevis concentration, are used to assess the accuracy of the algorithms. Fair evaluation of the algorithms was only possible in the central west Florida shelf (i.e. between 25.75°N and 28.25°N) during the boreal Summer and Fall months (i.e. July to December) due to the availability of valid cloud-free matchups. Even though the predictive values of the three algorithms are similar, the statistical measure of success in red tide identification (defined as cell counts in excess of 1.5 × 10(4) cells L(-1)) varied considerably (sensitivity-Empirical: 86%; Bio-optical: 77%; Operational: 26%), as did their effectiveness in identifying non-bloom cases (specificity-Empirical: 53%; Bio-optical: 65%; Operational: 84%). As the Operational Method had an elevated frequency of false-negative cases (i.e. presented low accuracy in detecting known red tides), and because of the considerable overlap between the optical characteristics of the red tide and non-bloom population, only the other two algorithms underwent a procedure for further inspecting possible detection improvements. Both optimized versions of the Empirical and Bio-optical algorithms performed similarly, being equally specific and sensitive (~70% for both) and showing low levels of uncertainties (i.e. few cases of false-negatives and false-positives: ~30%)-improved positive predictive values (~60%) were also observed along with good negative predictive values (~80%).

Intervenção coronária percutânea no Hospital Vera Cruz de Campinas: resultados de cinco anos de experiência / Percutaneous coronary intervention at the Vera Cruz Hospital in Campinas: results of a five-year experience

Introdução: A intervenção coronária percutânea (ICP) tem importante papel no tratamento da doença arterial coronária, em decorrência do desenvolvimento tecnológico e da ampliação de sua utilização nos cenários clínicos de maior complexidade. Apresentamos a experiência de serviço de hemodinâmica que iniciou sua atividade há cinco anos, localizado em hospital em Campinas (SP). Métodos: De 2006 a 2011, 518 pacientes foram submetidos consecutivamente a ICP no Hospital Vera Cruz e incluídos neste estudo. As características clínicas, angiográficas e do procedimento e os resultados clínicos hospitalares foram analisados. Resultados: A média de idade dos pacientes foi de 65,8 ± 12,2 anos, 73,5 eram do sexo masculino, 29,9 eram diabéticos e metade dos procedimentos foi realizada na vigência de síndrome coronária aguda. No total, foram tratadas 890 lesões (74 delas do tipo B2/C), sendo implantado 1,6 stent/paciente, 37,1dos quais farmacológicos. O diâmetro e o comprimento do stent foram, respectivamente, de 3,01 ± 0,53 mm e 23,2 ± 7 mm. O sucesso do procedimento foi de 93,6, óbito ocorreu em 2,9 dos pacientes, acidente vascular cerebral em 0,8, infarto do miocárdio em 3,5, ICP de urgência em 0,8, e trombose de stent em 0,97. Hipertensão arterial [odds ratio (OR) 4,48, intervalo de confiança de 95 (IC 95) 1,32-15,16; P = 0,016] e diabetes (OR 7,24, IC 95 1,69-31,05; P = 0,008) foram preditores independentes de eventos adversos cardíacos e cerebrovasculares maiores (ECCAM) hospitalares. Conclusões: O sucesso do procedimento e a baixa ocorrência de ECCAM demonstram a efetividade e a segurança da ICP no atendimento de pacientes da prática clínica diária tratados em um novo serviço de cardiologia intervencionista, inserido em hospital localizado fora da capital do Estado de São Paulo.

BACKGROUND: Percutaneous coronary intervention (PCI) plays an important role in the treatment of coronary artery disease, as a result of technological development and its wide application in different clinical scenarios of greater complexity. We present data from a cath lab that started its activity five years ago at a private hospital in the city of Campinas (SP). METHODS: From 2006 to 2011, 518 consecutive patients were submitted to PCI at the Vera Cruz Hospital and were included in this study. Clinical, angiographic and procedural characteristics and the in-hospital clinical outcomes were analyzed. RESULTS: Patient average age was 65.8 + 12.2 years, 73.5% were male, 29.9% were diabetics and half of procedures were performed during an acute coronary syndrome. A total of 890 lesions (74% B2/C type) were treated with 1.6 stents/patient, 37.1% of them were drug eluting stents. Stent diameter and length were 3.01 + 0.53 mm and 23.2 + 7 mm, respectively. The procedure success was 93.6%, death occurred in 2.9% of the patients, stroke in 0.8%, myocardial infarction in 3.5%, reintervention in 0.8% and stent thrombosis in 0.97%. Hypertension [odds ratio (OR) 4.48, 95% confidence interval (95% CI) 1.32-15.16; P = 0.016] and diabetes (OR 7.24, 95% CI 1.69-31.05; P = 0.008) were independent predictors of in-hospital major adverse cardiac and cerebrovascular events (MACCE). CONCLUSIONS: The overall procedural success and low incidence of MACCE demonstrated the efficacy and safety of PCI in the daily clinical practice in a new interventional cardiology service, localized in a hospital outside the capital of the state of São Paulo.

Influência da resolução e da distância da câmera nas medidas feitas pelo software de avaliação postural (sapo) / Influence of the camera resolution and distance in the measures made by the postural assessment software (sapo

O erro na medida de um sistema de avaliação da postura está relacionado com a digitalização, a resolução da câmera, a distância da câmera em relação ao voluntário estudado, entre outros. Estes erros somam-se no procedimento metodológico e muitos deles não são possíveis evitar, porém devem ser conhecidos e quantificados. OBJETIVO: Quantificar o erro na medida realizada pelo SAPO (Software para avaliação postural) em diferentes situações experimentais. MÉTODOS: Foram realizadas 16 fotos de um manequim de 1,40m articulado nos planos anterior, posterior, lateral direita e lateral esquerda com câmeras de 3,2 e 12,0 megapixels, posicionadas a 3,0m e a 5,0m de distância do manequim. Para a quantificação do erro, foram calculadas as diferenças das medidas obtidas por meio do SAPO com as medidas feitas diretamente no manequim. Apenas um avaliador realizou o registro das imagens, porém a digitalização no software dos pontos demarcados no manequim foi realizada por três digitalizadores, sendo dois inexperientes e um experiente. RESULTADOS: Os valores médios das medidas horizontais, verticais, angulares e de distância são próximos de zero, embora algumas variáveis angulares apresentem valores maiores, como nas medidas de ângulo Q direito e esquerdo. A câmera com resolução de 3,2 megapixels posicionada a 3m apresentou o menor erro. CONCLUSÃO: O SAPO é um método acurado para uso clínico; são necessários estudos para verificar a influência do plano de posicionamento do voluntário em relação à câmera, o efeito do reposicionamento e da palpação nas medidas oferecidas pelo software.

Error in measurement of a posture evaluation system is related to the digitalization, camera resolution and distance in relation to the volunteer studied, among others. These errors are summed up during the process and many of them are not possible to be avoided; however, they must be known and quantified. OBJECTIVE: to quantify the error of the positions measured by SAPO (Software para avaliação postural) in different experimental situations. METHODS: 16 photos of a 1.40m tall articulated mannequin were taken at the anterior, posterior, right lateral and left lateral planes with 3.2 and 12.0 megapixels resolution cameras, at 3.0m and 5.0m from the model. To quantify the error, the differences between the measurements obtained by SAPO and the ones made directed on the mannequin were calculated. RESULTS: the mean values of the horizontal, vertical, angular and distance measurements are close to zero; however, some angles were larger for the left and right measurements. The 3.2 megapixel digital camera located 3 m away showed the lowest error. The digitalization position is not influenced by the experience of the evaluators. CONCLUSION: SAPO is an accurate method for clinical use. Further studies are necessary to verify the effect of the position plane of the volunteer in relation to the camera, the effect of the relocation and the measurement palpation provided by the software.

Needlescopic clipless cholecystectomy as an efficient, safe, and cost-effective alternative with diminutive scars: the first 1000 cases.

BACKGROUND: The advent of natural orifice transluminal endoscopic surgery (NOTES) and single-incision laparoscopic surgery (SILS), surgery without skin scarring, is now challenging every surgeon to improve the esthetic results for patients. Minilaparoscopic cholecystectomy (MLC) represents a refinement in laparoscopic surgery, potentially as cosmetically effective as NOTES. Nevertheless, because of the increased cost and difficulty in managing the equipment, it has not been widely accepted among surgeons. OBJECTIVE: To report modifications of the minilaparoscopic technique that make it possible to conduct needlescopic procedures safely and effectively, thereby, considerably reducing costs and promoting the dissemination of this operation. METHOD: One thousand consecutive patients who underwent MLC were analyzed, from January 2000 to May 2009 (78.7% women; average age 45.9 y). SURGICAL TECHNIQUE: after performing the pneumoperitoneum at the umbilical site, 4 trocars were inserted; 2 of 2 mm, 1 of 3 mm, and 1 of 10 mm in diameter, through which a laparoscope was inserted. Neither the 3-mm laparoscope, nor clips, nor manufactured endobags were used. The cystic artery was safely sealed by electrocautery near the gallbladder neck and the cystic duct was sealed with surgical knots. Removal of the gallbladder was carried out, in an adapted bag made with a glove wrist, through the 10-mm umbilical site. RESULTS: The operative time was 43 minutes. The average hospital stay was 16 hours. There was no conversion to open surgery; 2.8% of patients underwent conversion to standard (5 mm) laparoscopic cholecystectomy because of difficulties with the procedure; there were 1.9% minor umbilical site infections and 1.0% umbilical herniations. There was no mortality; no bowel injury, no bile duct injury, and no postoperative hemorrhage, only 1 patient with Luschka's duct bile leakage needed a reoperation. CONCLUSIONS: The MLC technique shows no differences in risks as compared with other laparoscopic cholecystectomy procedures. It also entails a considerable reduction in cost, and, as it does not use the 3-mm laparoscope or disposable materials, it is possible to perform MLC on a larger number of patients. Owing to the near invisibility of scars, MLC may also be considered as cosmetically effective as NOTES and SILS.

Confiabilidade e validade de medidas angulares por meio do sofware para avaliação postural / Reliability and validity of angular measures through the software forpostural assessment

Introdução: A fotogrametria vem sendo desenvolvida como potencial recurso diagnóstico do fisioterapeuta para a mensuração de ângulos corporais. Entre os métodos existentes, o Software para Avaliação Postural (SAPO) é uma ferramenta de manipulação simples. Objetivo: verificar a confiabilidade inter e intra -avaliador e a validade de medidas angulares através do SAPO v. 0.68. Métodos: 15 medidas angulares diferentes, obtidas por meio de goniômetros dispostos em um painel, foram definidas. A imagem foi captada por uma máquina Sony de 7,2 megapixels a três metros de distância, que permaneceu apoiada sobre um tripé. Posteriormente, tres avaliadores (A, B,e C) experientes ao uso do SAPO analisaram, de forma cega, todos os ângulos, procedimentos que se repetiram sete dias após a primeira avaliação para as análises de confiabilidade inter e intra-avaliador. Resultados: na confiabilidade intra-avaliador não foram encontradas diferença estatística , tanto para o avaliador A (p=0,09) quanto para B (p=0,77) e C(p=0,31), obtidas no teste t pareado, sendo que o avaliador B apresentou menor variação média entre as medidas (0,04). A confiabilidade interavaliador de A-B (p=0,60), A-C(p=0,64) e B-C(p=0,83) também não foram significativos para um p- valor menor 0,05. O coeficiente de correlação entra-classe (ICC) foi de 0,99 para todas as análises. Na investigação da validade, o gráfico de Bland-Altmmann ratificou a forte consistência entre os métodos, ciom diferença média igual a 0,004. Conclusão: O SAPO mostrou-se confiável e válido para mensurar valores angulares nos segmentos corporais.