Visual-Aided Obstacle Climbing by Modular Snake Robot.

Snake robots, also known as apodal robots, are among the most common and versatile modular robots. Primarily due to their ability to move in different patterns, they can evolve in scenarios with several constraints, some of them hardly accessible to other robot configurations. This paper deals with a specific environment constraint where the robot needs to climb a prismatic obstacle, similar to a step. The objective is to carry out simulations of this function, before implementing it in the physical model. To this end, we propose two different algorithms, parameterized by the obstacle dimensions determined by image processing, and both are evaluated in simulated experiments. The results show that both algorithms are viable for testing in real robots, although more complex scenarios still need to be further studied.

Karyotypic Reshuffling in the Genus Rhipidomys (Rodentia: Cricetidae: Sigmodontinae) Revealed by Zoo-FISH.

INTRODUCTION: Rhipidomys is the second most specious and the most widespread genus of the tribe Thomasomyini. Chromosomal data have been an important tool in the taxonomy of the group that presents low variability of diploid number (2n) and highly variable fundamental numbers (FNs). Despite such diversity, the genus has been studied mainly by classical and banding cytogenetic techniques. METHODS: This study performed a comparative study between R. emiliae (2n = 44, FN = 52), R. macrurus (2n = 44, FN = 49), R. nitela (2n = 50, FN = 71), and R. mastacalis (2n = 44, FN = 72) using chromosome painting probes of two Oryzomyini species. RESULTS: Our analysis revealed pericentric inversion as the main rearrangement involved in the karyotype evolution of the group, although tandem fusions/fissions were also detected. In addition, we detected eight syntenic associations exclusive of the genus Rhipidomys, and three syntenic associations shared between species of the tribe Thomasomyini and Oryzomyini. CONCLUSION: Comparative cytogenetic analysis by ZOO-FISH on genus Rhipidomys supports a pattern of chromosomal rearrangement already suggested by comparative G-banding. However, the results suggest that karyotype variability in the genus could also involve the occurrence of an evolutionary new centromere.

Lianas in tropical dry seasonal forests have a high hydraulic efficiency but not always a higher embolism resistance than lianas in rainforests.

BACKGROUND AND AIMS: Lianas have higher relative abundance and biomass in drier seasonal forests than in rainforests, but whether this difference is associated with their hydraulic strategies is unclear. Here, we investigate whether lianas of seasonally dry forests are safer and more efficient in water transport than rainforest lianas, explaining patterns of liana abundance. METHODS: We measured hydraulic traits on five pairs of congeneric lianas of the tribe Bignonieae in two contrasting forest sites: the wet 'Dense Ombrophilous Forest' in Central Amazonia (~2 dry months) and the drier 'Semideciduous Seasonal Forest' in the inland Atlantic Forest (~6 dry months). We also gathered a broader database, including 197 trees and 58 liana species from different tropical forests, to compare hydraulic safety between habits and forest types. KEY RESULTS: Bignonieae lianas from both forests had high and similar hydraulic efficiency but exhibited variability in resistance to embolism across forest types when phylogenetic relationships were taken into account. Three genera had higher hydraulic safety in the seasonal forest than in the rainforest, but species across both forests had similar positive hydraulic safety margins despite lower predawn water potential values of seasonal forest lianas. We did not find the safety-efficiency trade-off. Merging our results with previously published data revealed a high variability of resistance to embolism in both trees and lianas, independent of forest types. CONCLUSIONS: The high hydraulic efficiency of lianas detected here probably favours their rapid growth across tropical forests, but differences in hydraulic safety highlight that some species are highly vulnerable and may rely on other mechanisms to cope with drought. Future research on the lethal dehydration threshold and the connection between hydraulic resistance strategies and liana abundance could offer further insights into tropical forest dynamics under climatic threats.

Recovery markers in elite climbers after the national boulder climbing championship.

This study aimed to investigate recovery markers among elite climbers following the National Boulder Championship. We assessed maximum isometric hand grip strength (HS), forearm swelling (circumference), delayed soreness in forearm muscles, tiredness, and exercise readiness at several time points: pre-competition, immediately post-competition (within 4 min after their last effort), and 12, 24, 48, and 60 h post-competition. Maximum isometric hand grip strength decreased by 6.38 ± 1.32% (p = 0.006) post-12 h, returning to pre-competition values post-24 h (all p > 0.05). Forearm circumference (FC) increased 1.78 ± 1.77% (p < 0.001) post-competition, returning to pre-competition values post-12 h (all p > 0.05). Forearm pain (FP) increased post-competition (p = 0.002) and post-12 h (p < 0.001), returning to pre-competition values post-24 h (all p > 0.05). Tiredness increased post-competition (p < 0.001), post-12 h (p < 0.001), and post-24 h (p < 0.001), returning to pre-competition values post-48 h (all p > 0.05). Climbing readiness was reduced post-competition (p < 0.001), post-12 h (p < 0.001), post-24 h (p < 0.001), and post-48 h (p = 0.005), only returning to pre-competition values post-60 h (p = 0.189). Visual analysis of individual data pointed out a relatively small variability in the HS and FC markers, while FP, tiredness, and readiness exhibited larger individual variations. These findings indicate that different recovery patterns exist for the analyzed markers, suggesting that athletes may require up to 60 h after a competition to fully recover and regain their ability to face new competitive challenges.

A new species of Schlegelia (Schlegeliaceae) from wet montane forest of Colombia and a key for the species of the genus.

In this paper we describe and illustrate Schlegelialongirachis a new species from montane forest remnants (1200--1900 m) in the Western slope of the Eastern Cordillera of Colombia ("Serranía de Las Quinchas" and Virolín county) in the Departments of Boyacá and Santander. A root-climbing liana, the new species is contrasted to S.fuscata, S.monachinoi and S.parviflora, the three most morphologically similar species of Schlegelia. This new species is differentiated from its putative close relatives by vegetative (texture, colour, pubescence and shape in leaves, bracts, bracteoles pedicel, calyx and corolla), inflorescences as well as floral characters (staminode absent). We provide an updated key to 24 known species of Schlegelia. For the identification key, S.fuscata and S.roseiflora are regarded here as different from S.parviflora. S.urbaniana is considered a synonym of S.axillaris, whereas S.fastigiata is separated from S.sulphurea as a recognizable species. Schlegelia has its center of distribution in Colombia, where 17 of the species are known to occur.

ResumenEn este artículo se describe e ilustra Schlegelialongirachis una nueva especie de los remanentes de bosques montanos húmedos (1200--1900 m) localizados en la vertiente occidental de la Cordillera Oriental de Colombia, en la Serranía de Las Quinchas y corregimiento de Virolín, en los departamentos de Boyacá y Santander (respectivamente). Esta nueva especie es una liana trepadora por raíces, la cual comparte varias similaridades con S.fuscata, S.monachinoi y S.parviflora. Sin embargo, difiere de estas especies en la textura, colores, pubescencia, forma de las hojas, brácteas, bractéolas, pedicelo, cáliz y corola, en el tipo de inflorescencia y por la ausencia del estaminodio. Se presenta una clave actualizada para diferenciar las especies del género Schlegelia. Para la clave, en un contexto geográfico y taxonómico, S.fuscata y S.roseiflora son tratadas como especies diferentes de S.parviflora. Por otra parte, S.urbaniana es considerada un sinónimo de S.axillaris y S.fastigiata es separada de S.sulphurea, y es reconocida como una especie válida. La presente contribución incrementa a 24 las especies de Schlegelia, 17 de éstas se conocen en Colombia, el país con la mayor diversidad del género.

Climbing mechanisms and the diversification of neotropical climbing plants across time and space.

Climbers germinate on the ground but need external support to sustain their stems, which are maintained attached to supports through modified organs, that is, climbing mechanisms. Specialized climbing mechanisms have been linked to higher diversification rates. Also, different mechanisms may have different support diameter restrictions, which might influence climbers' spatial distribution. We test these assumptions by linking climbing mechanisms to the spatiotemporal diversification of neotropical climbers. A dataset of climbing mechanisms is presented for 9071 species. WCVP was used to standardize species names, map geographical distributions, and estimate diversification rates of lineages with different mechanisms. Twiners appear concentrated in the Dry Diagonal of South America and climbers with adhesive roots in the Chocó region and Central America. However, climbing mechanisms do not significantly influence the distribution of neotropical climbers. Also, we found no strong support for correlations between specialized climbing mechanisms and higher diversification rates. Climbing mechanisms do not strongly impact the spatiotemporal diversification of neotropical climbers on a macroevolutionary scale. We argue that the climbing habit is a synnovation, meaning the spatiotemporal diversification it promotes is due to the sum effect of all the habit's traits rather than isolated traits, such as climbing mechanisms.

High Altitude Pulmonary Edema, High Altitude Cerebral Edema, and Acute Mountain Sickness: an enhanced opinion from the High Andes - La Paz, Bolivia 3,500 m.

Traveling to high altitudes for entertainment or work is sometimes associated with acute high altitude pathologies. In the past, scientific literature from the lowlander point of view was primarily based on mountain climbing. Sea level scientists developed all guidelines, but they need modifications for medical care in high altitude cities. Acute Mountain Sickness, High Altitude Pulmonary Edema, and High Altitude Cerebral Edema are medical conditions that some travelers can face. We present how to diagnose and treat acute high altitude pathologies, based on 51 years of high altitude physiology research and medical practice in hypobaric hypoxic diseases in La Paz, Bolivia (3,600 m; 11,811 ft), at the High Altitude Pulmonary and Pathology Institute (HAPPI - IPPA). These can occasionally present after flights to high altitude cities, both in lowlanders or high-altitude residents during re-entry. Acute high altitude ascent diseases can be adequately diagnosed and treated in high altitude cities following the presented guidelines. Treating these high-altitude illnesses, we had no loss of life. Traveling to a high altitude with sound medical advice should not be feared as it has many benefits. Nowadays, altitude descent and evacuation are not mandatory in populated highland cities, with adequate medical resources.

Impactos da prática do arvorismo sobre as representações sociais dos praticantes / Impacts of tree climbing practice on practitioners social representations / Impactos de la práctica de escalar árboles en las representaciones sociales de los practicantes

As Práticas Corporais de Aventura têm ganhado visibilidade e adeptos nos últimos anos. A popularização das modalidades, as amplas possibilidades de experimentação e a maior divulgação têm levado cada vez mais as pessoas a optar por essa atividade. O objetivo do estudo foi compreender as representações sociais compartilhadas por determinado grupo de pessoas ao praticar o arvorismo. Os resultados demonstram que as representações sociais dos participantes sofreram modificações quando comparado o antes e o depois da vivência do arvorismo. As representações sociais identificadas antes da prática do arvorismo estiveram associadas ao medo e ao desafio, mas depois da vivência surgiram associações com força e coragem, apontando assim para indícios de que a prática da aventura promoveu impactos na estrutura das representações sociais dos praticantes.

Adventure Body Practices have gained visibility and supporters in recent years. The popularization of the modalities, the wide possibilities of experimentation and the greater dissemination have led more and more people to opt for this activity. The objective of the study was to understand the social representations shared by a certain group of people when practicing tree climbing. The results show that the social representations of the participants have changed when comparing the before and after experience of tree climbing. The social representations identified before the practice of tree climbing were associated with fear and challenge, but after the experience, associations with strength and courage emerged, thus pointing to evidence that the practice of adventure promoted impacts on the structure of the practitioners' social representations.

Prácticas Corporales de Aventura ha ganado visibilidad y seguidores en los últimos años. La popularización de las modalidades, las amplias posibilidades de experimentación y la mayor difusión han llevado a que cada vez más personas se decanten por esta actividad. El objetivo del estudio fue comprender las representaciones sociales compartidas por un determinado grupo de personas al practicar escalada de árboles. Los resultados muestran que las representaciones sociales de los participantes han cambiado al comparar el antes y el después de la experiencia de trepar árboles. Las representaciones sociales identificadas antes de la práctica de la escalada de árboles se asociaron con el miedo y el desafío, pero después de la experiencia surgieron asociaciones con la fuerza y el coraje, lo que apunta a evidencias de que la práctica de la aventura promovió impactos en la estructura de las representaciones sociales de los practicantes.

Paullinieae (Sapindaceae) of the restingas of Rio de Janeiro, Brazil: taxonomy and distribution / Paullinieae (Sapindaceae) das restingas do estado do Rio de Janeiro, Brasil: taxonomia e distribuição

Abstract Paullinieae is a predominantly neotropical tribe comprising six genera (Cardiospermum, Lophostigma, Paullinia, Serjania, Thinouia and Urvillea), of which Lophostigma is the only one not found in Brazil. This study was conducted in the sandy coastal plains (restingas) of Rio de Janeiro state, which from the mouth of the Itabapoana river in the north, bordering Espírito Santo state, to Ponta da Trindade (including Ilha Grande) in the south, bordering São Paulo state. This ecosystem has great biodiversity, but has been constantly threatened by deforestation, human occupation and degradation resulting from tourism. In this area we found 30 species in five genera: Cardiospermum (1 sp.), Paullinia (9 spp.), Serjania (15), Thinouia (2) and Urvillea (3). The taxonomic treatment includes a key to identify the taxa, and for each species a morphological description, illustrations, a map of its geographical distribution, ecological information, phenological data, and conservation status. Most species occurred in ridge forests, followed by dune thicket and non-flooded scrub formations. Among of the 30 species, four (Paullinia coriacea, P. ternata, Serjania fluminensis and S. littoralis) were recorded only in the sandy coastal plains, and four are endemic to Rio de Janeiro state (Serjania eucardia, S. fluminensis, S. littoralis and S. tenuis). In addition, four species are already included in the Red List of Brazilian Flora and another three are indicated in this study as threatened. This research is important not only to improve knowledge of Paullinieae species found in Rio de Janeiro's sandy coastal plains, but also to provide information to be used for conservation measures in the State, as well as in other coastal plains of Brazil.

Resumo Paullinieae é uma tribo predominantemente neotropical e compreende seis gêneros (Cardiospermum, Lophostigma, Paullinia, Serjania, Thinouia e Urvillea), dos quais Lophostigma é o único gênero não encontrado no Brasil. Este estudo foi conduzido nas restingas do estado do Rio de Janeiro, que começam na foz do rio Itabapoana, na fronteira com o estado do Espírito Santo e se estende até a Ponta da Trindade (incluindo a Ilha Grande), próximo à fronteira com o estado de São Paulo. Este ecossistema possui grande biodiversidade, mas tem sido constantemente ameaçado pelo desmatamento, ocupação humana e ações de degradação decorrentes do turismo. Nesta área foram encontradas 30 espécies pertencentes a cinco gêneros: Cardiospermum (1 spp), Paullinia (9 spp), Serjania (15), Thinouia (2) e Urvillea (3). O tratamento taxonômico incluiu descrição e chave para identificação das espécies, informações sobre as formações vegetacionais das restingas onde cada táxon ocorre, além de ilustrações e mapas de distribuição geográfica das espécies. A maioria das espécies ocorre em floresta de cordão arenoso, seguidas das espécies de vegetação arbustiva fechada de cordão arenoso e arbustiva aberta não inundável. Entre as 30 espécies, quatro delas (P. coriacea, P. ternata, S. fluminensis e S. littoralis) são encontradas apenas nas formações de restinga e quatro espécies são endêmicas do Rio de Janeiro (S. eucardia, S. fluminensis, S. littoralis e S. tenuis). Além disso, quatro espécies já estão incluídas na Lista Vermelha da Flora do Brasil e outras três estão indicadas neste estudo. Este trabalho é importante não apenas para melhorar o conhecimento das espécies de Paullinieae encontradas nas restingas do Rio de Janeiro, mas também para fornecer informações a serem utilizadas em medidas de conservação no Estado e nas demais regiões de restinga do Brasil.

Seed and seedling morphology of Bauhinia scandens L / Morfologia de semente e plântula de Bauhinia scandens L

Bauhinia scandens has potential importance as an ornamental and medicinal plant. Researchers have isolated and identified 1-O-alkylglycerol in the leaves of the B. scandens plant, and established antitumor properties using the Brine Shrimp toxicity test, an internationally accepted bioassay. Although this species has high potential, little is known about the viability of seedling production and the morphology of these plants, particularly in terms of seed characteristics and initial stages of germination. The objective of this study was to characterize the seed morphology, germination, and seedlings of B. scandens. Seed water content, weight, and coloration were evaluated. This study also included a description of seed biometrics, external and internal structures, germination, and seedling morphology. Internal seed morphology was evaluated by the anatomical sectioning and X-ray methods. The morphology data obtained were subjected to descriptive statistical analysis and germination data were determined using Cramér's V. B. scandens seeds have a coloration ranging from very dark grayish-red to dark reddish-brown, flat oblong shapes, and rounded bases and apexes with full or slightly undulating margins. Healthy seedlings are produced mainly by seeds with well-formed internal structures. The reddish petiole of the seedling leaves is a taxonomic character for B. scandens identification. The non-domestication and genetic variability of this species reflect on the seed and seedling color and size variation.

Bauhinia scandens tem potencial como planta ornamental e importância medicinal. Nas folhas da planta de B. scandens, foi relatado pelos pesquisadores, o isolamento e identificação de glicerol 1-O-alquilo,os mesmos estabeleceram a propriedade antitumoral por um bioensaio, aceito internacionalmente denominado teste de toxicidade de Brine Shrimp. Por ser ainda pouco conhecida e com alto potencial exploratório, a viabilidade da produção de mudas e maior conhecimento sobre sua morfologia se faz necessária. Faltam informações sobre as características das sementes e estágios iniciais de germinação. O objetivo deste estudo foi caracterizar o tipo morfológico de sementes, germinação e plântulas de B. scandens. Foram avaliados o teor de água, o peso de mil sementes e a coloração das sementes. Este estudo também incluiu a descrição e biometria da semente, estrutura (externa e interna), germinação e morfologia das plântulas. A morfologia interna das sementes foi avaliada por corte anatômico e método de raios-X. Os dados morfológicos obtidos foram submetidos à análise estatística descritiva e os dados de germinação foram testados utilizando Cramér's V. B. scandens apresentam coloração que varia de vermelho acinzentado muito escuro a marrom avermelhado escuro e o tipo de semente é de forma oblonga plana, base e ápice são arredondados e cheios ou margens ligeiramente onduladas. Plântulas normais são produzidas majoritariamente por sementes com uma estrutura interna bem formada. O pecíolo avermelhado das folhas da plântula é um caráter taxonômico para identificação de B. scandens. A não domesticação e a variabilidade genética desta espécie refletem na variação da cor e tamanho das sementes e plântulas.

Seed and seedling morphology of Bauhinia scandens L / Morfologia de semente e plântula de Bauhinia scandens L

Bauhinia scandens has potential importance as an ornamental and medicinal plant. Researchers have isolated and identified 1-O-alkylglycerol in the leaves of the B. scandens plant, and established antitumor properties using the Brine Shrimp toxicity test, an internationally accepted bioassay. Although this species has high potential, little is known about the viability of seedling production and the morphology of these plants, particularly in terms of seed characteristics and initial stages of germination. The objective of this study was to characterize the seed morphology, germination, and seedlings of B. scandens. Seed water content, weight, and coloration were evaluated. This study also included a description of seed biometrics, external and internal structures, germination, and seedling morphology. Internal seed morphology was evaluated by the anatomical sectioning and X-ray methods. The morphology data obtained were subjected to descriptive statistical analysis and germination data were determined using Cramér's V. B. scandens seeds have a coloration ranging from very dark grayish-red to dark reddish-brown, flat oblong shapes, and rounded bases and apexes with full or slightly undulating margins. Healthy seedlings are produced mainly by seeds with well-formed internal structures. The reddish petiole of the seedling leaves is a taxonomic character for B. scandens identification. The non-domestication and genetic variability of this species reflect on the seed and seedling color and size variation.(AU)

Bauhinia scandens tem potencial como planta ornamental e importância medicinal. Nas folhas da planta de B. scandens, foi relatado pelos pesquisadores, o isolamento e identificação de glicerol 1-O-alquilo,os mesmos estabeleceram a propriedade antitumoral por um bioensaio, aceito internacionalmente denominado teste de toxicidade de Brine Shrimp. Por ser ainda pouco conhecida e com alto potencial exploratório, a viabilidade da produção de mudas e maior conhecimento sobre sua morfologia se faz necessária. Faltam informações sobre as características das sementes e estágios iniciais de germinação. O objetivo deste estudo foi caracterizar o tipo morfológico de sementes, germinação e plântulas de B. scandens. Foram avaliados o teor de água, o peso de mil sementes e a coloração das sementes. Este estudo também incluiu a descrição e biometria da semente, estrutura (externa e interna), germinação e morfologia das plântulas. A morfologia interna das sementes foi avaliada por corte anatômico e método de raios-X. Os dados morfológicos obtidos foram submetidos à análise estatística descritiva e os dados de germinação foram testados utilizando Cramér's V. B. scandens apresentam coloração que varia de vermelho acinzentado muito escuro a marrom avermelhado escuro e o tipo de semente é de forma oblonga plana, base e ápice são arredondados e cheios ou margens ligeiramente onduladas. Plântulas normais são produzidas majoritariamente por sementes com uma estrutura interna bem formada. O pecíolo avermelhado das folhas da plântula é um caráter taxonômico para identificação de B. scandens. A não domesticação e a variabilidade genética desta espécie refletem na variação da cor e tamanho das sementes e plântulas.(AU)

Composición corporal, parámetros bioeléctricos y fuerza de prensión manual en escaladores chilenos federados y recreativos / Body composition, bioelectrical parameters, and handgrip strength in federated and recreational Chilean climbers

RESUMEN: El objetivo del siguiente estudio fue determinar y comparar los valores de composición corporal, parámetros bioeléctricos y fuerza de prensión manual de escaladores chilenos federados y recreativos. Participaron voluntariamente 13 escaladores chilenos, de los cuales 4 eran federados (25,75 ± 2,87 años) y 9 recreativos (22,33 ± 1,41 años). La composición corporal se evaluó por medio de un impedanciómetro bioeléctrico octopolar multifrecuencia, mientras que la fuerza de prensión manual se determinó con un dinamómetro manual. Si bien no hubo diferencias en las variables de composición corporal entre ambos grupos, el ángulo de fase del tronco fue superior en los federados en comparación a los recreativos (p = 0,011 [95 % IC = 1,10; 5,20]). Respecto a la fuerza de prensión manual, la fuerza relativa fue superior para los federados (p = 0,025 [95 % IC = 0,10; 0,22]), mientras que la diferencia de la fuerza entre la mano dominante y no dominante fue mayor para los recreativos (p = 0,012 [95 % IC = 1,60; 10,05]). Este es uno de los primeros estudios que explora las diferencias entre escaladores chilenos federados y recreativos. Los resultados sugieren una diferenciación a nivel de ángulo de fase y fuerza de prensión manual, lo cual debería corroborarse con futuros estudios.

SUMMARY: This study aimed to determine and compare the body composition, bioelectric parameters, and handgrip strength in federated and recreational Chilean climbers. Thirteen Chilean climbers voluntarily participated, being 4 federated (25.75 ± 2.87 years) and 9 recreational (22.33 ± 1.41 years). Body composition was measured using a multifrequency octopolar bioelectrical impedance meter, while handgrip strength was determined with a dynamometer. Although there were no statistical differences in the body composition variables between groups, the trunk phase angle was statistically higher in the federated compared to the recreational climbers (p = 0,011 [95 % CI = 1,10; 5,20]). Regarding handgrip strength, the relative strength was higher for federated (p = 0,025 [95 % CI = 0,10; 0,22]), while the difference in strength between dominant and non-dominant hand was higher for recreational climbers (p = 0,012 [95 % CI = 1,60; 10,05]). This study is one of the first that explore the differences between federated and recreational Chilean climbers. These results suggest a differentiation at the level of phase angle and handgrip strength, which should be corroborated in future studies.

MBboard: Validity and Reliability of a New Tool Developed to Evaluate Specific Strength in Rock Climbers.

In the present study, we analysed the validity and reliability of a new tool designed to assist the measurement of maximal upper-limb strength in rock climbers in a specific way, named MBboard. The MBboard consists of an artificial small climbing hold affixed to a wooden board, which is connected to any cable-motion strength equipment to determine the maximum dynamic strength (MBboard-1RM). Ten male rock climbers (Rock Climbing Group, RCG = 10) and ten physically active men (Control Group, CG = 10) performed, on three separate occasions, a familiarization session with procedures adopted during MBboard-1RM testing and two experimental trials (i.e., test and retest) to determine the construct validity and reliability of the MBboard during unilateral seated cable row exercise. In the first trial, the electromyographic activity (EMG) was recorded from the flexor digitorum superficialis. The self-reported climbing ability was also recorded. The RCG had superior performance (i.e. 37.5%) and EMG activity (i.e. 51%) in MBboard-1RM testing when compared with the CG (p < 0.05). There was a significant correlation between the MBboard-1RM results and climbing ability (r > 0.72, p < 0.05). Intraclass correlation coefficient analysis revealed good reliability within trials (ICC > 0.79, p < 0.05). These findings suggest that the MBboard is a valid and reliable tool to assess rock climbing-specific maximal strength. The validity of MBboard-1RM appears to be related to the finger flexor muscles activation, probably reflecting the specific adaptations resulting from long-term practice of this sport discipline.

Ontogeny, anatomical structure and function of lobed stems in the evolution of the climbing growth form in Malvaceae (Byttneria Loefl.).

BACKGROUND AND AIMS: Byttneria is one of the few climbing genera in Malvaceae. Some Byttneria are known for their lobed stems. We explore the development of these stems, how they have evolved within the group and their relevance in the evolution of the climbing growth form in Malvaceae. METHODS: We combine developmental anatomical work with phylogenetic comparative methods. We use Byttneria divaricata and B. filipes as models in the anatomical work, a review of herbarium vouchers, and the most recent phylogeny of Byttneria and allies to elucidate how these stems evolved within the clade under maximum-likelihood and Bayesian approaches. We use Pagel94 tests to analyse the correlated evolution of lobed stems and prickles. KEY RESULTS: Each lobe coincides with one of the five vascular bundles. By augmented activity of the fascicular cambium in the lobes coupled with reduced activity of the interfascicular cambium in the interlobes, secondary growth increases the lobulation already present during primary growth. Within Byttneria and allies, lobed young stems appeared at least three times, once in Ayenia and twice in the paraphyletic Byttneria. Lobed adult stems were conserved in Byttneria s.s., where lobed adult stems in combination with prickles were shown to have evolved as a climbing mechanism within the group; prickles were lost once within Byttneria s.s., in a shrubby subclade. Byttneria Clade 2 comprises climbers with twining cylindrical adult stems and no prickles, which constitutes a different climbing mechanism in the group. CONCLUSIONS: We provide evidence of one of the few cambial variants known whose secondary body reflects the primary body vasculature and show that lobed adult stems and prickles in Byttneria could be used in the new delimitation of genera in the group. Lobed stems independently appeared in climbing Grewia, suggesting a convergence favouring the climbing growth form.

Validación teórica de ejercicios de resistencia-fuerza para la prueba combinada de escalada deportiva, categoría juvenil-senior / Validação teórica de exercícios de resistência-força para o teste combinado de escalada desportiva, categoria juvenil-sênior / Theoretical validation of endurance-strength exercises for the combined sport climbing test, junior-senior category

RESUMEN La resistencia a la fuerza es la capacidad física de mantener la fuerza a un nivel constante mientras dure un gesto deportivo determinado, capacidad determinante en muchos deportes, donde la escalada deportiva no es excepción; por tanto, el estudio teórico-práctico que contribuya a mejorar dicha capacidad en la escala deportiva permitirá mejorar la gestión del entrenamiento deportivo en dicho deporte. El objetivo de este trabajo es validar teóricamente una propuesta de ejercicios físicos para el entrenamiento de la resistencia-fuerza, en la prueba combinada de escalada deportiva, en un rango etario comprendido entre 16-21 años. La investigación aplicada es de tipo teórico-descriptiva de orden correlacional y base cualitativa, con estudio de criterios, de 13 especialistas en cuatro ítems (originalidad, calidad, especialización y objetividad) que evalúan teóricamente en dos momentos un grupo de ejercicios físicos especializados para potenciar la resistencia-fuerza. Como resultados, se exponen que se incrementaron cuantitativa y cualitativamente todas las categorías evaluables como parte del postest, en originalidad (pretest: dos puntos; postest: cuatro puntos; p=0.000); en calidad (pretest: tres puntos, postest: cuatro puntos; p=0.000); en especialización (pretest: tres puntos, postest: cuatro puntos, p=0.000) y en objetividad (pretest: cuatro puntos; postest, cinco puntos; p=0.001). La propuesta de ejercicios de resistencia-fuerza para la prueba combinada de escalada deportiva cumple teóricamente con los supuestos de originalidad, calidad, especialización y objetividad, es una propuesta satisfactoria, según el criterio teórico de los especialistas consultados.

RESUMO A resistência à força é a capacidade física de manter a força a um nível constante enquanto durar um gesto desportivo determinado, capacidade determinante em muitos desportos, onde a escalada desportiva não é excepção; portanto, o estudo teórico-prático que contribua para melhorar essa capacidade na escala desportiva permitirá melhorar a gestão do treino desportivo no desporto. O objetivo deste trabalho é validar teoricamente uma proposta de exercícios físicos para o treinamento da resistência-força, na prova combinada de escalada esportiva, em uma faixa etária compreendida entre 16-21 anos. A pesquisa aplicada é de tipo teórico-descritivo de ordem correlacional e base qualitativa, com estudo de critérios, de 13 especialistas em quatro itens (originalidade, qualidade, especialização e objetividade) que avaliam teoricamente em dois momentos um grupo de exercícios físicos especializados para potenciar a resistência-força. Como resultados, é exposto que todas as categorias avaliáveis aumentaram quantitativa e qualitativamente como parte do pós-teste, em originalidade (pré-teste: dois pontos; pós-teste: quatro pontos; p=0.000); em qualidade (pré-teste: três pontos, pós-teste: quatro pontos; p=0.000); em especialização (pré-teste: três pontos, pós-teste: quatro pontos, p=0.000) e em objetividade (pré-teste: quatro pontos; pós-teste, cinco pontos; p=0.001). A proposta de exercícios de resistência para o teste combinado de escalada desportiva obedece teoricamente aos pressupostos de originalidade, qualidade, especialização e objetividade; é uma proposta satisfatória, de acordo com os critérios teóricos dos especialistas consultados.

ABSTRACT Strength endurance is the physical capacity to maintain strength at a constant level for the duration of a given sporting gesture, a determining capacity in many sports, where sport climbing is no exception; therefore, the theoretical-practical study that contributes to improve this capacity in sport climbing will allow improving the management of sport training in this sport. The objective of this work is to theoretically validate a proposal of physical exercises for endurance-strength training, in the combined sport climbing test, in an age range between 16-21 years old. The applied research is of theoretical-descriptive type of correlational order and qualitative base, with a study of criteria, of 13 specialists in four items (originality, quality, specialization and objectivity) that evaluate theoretically in two moments a group of specialized physical exercises to enhance endurance-strength. As results, it is presented that all the evaluable categories increased quantitatively and qualitatively as part of the post-test, in originality (pre-test: two points; post-test: four points; p=0.000); in quality (pre-test: three points, post-test: four points; p=0.000); in specialization (pre-test: three points, post-test: four points, p=0.000) and in objectivity (pre-test: four points; post-test, five points; p=0.001). The proposal of endurance-strength exercises for the combined sport climbing test theoretically complies with the assumptions of originality, quality, specialization and objectivity; it is a satisfactory proposal, according to the theoretical criteria of the specialists consulted.

Application of Bayesian networks to the prediction of the AMEn: a new methodology in broiler nutrition.

Designing balanced rations for broilers depends on precise knowledge of nitrogen-corrected apparent metabolizable energy (AMEn) and the chemical composition of the feedstuffs. The equations that include the measurements of the chemical composition of the feedstuff can be used in the prediction of AMEn. In the literature, there are studies that obtained prediction equations through multiple regression, meta-analysis, and neural networks. However, other statistical methodologies with promising potential can be used to obtain better predictions of energy values. The objective of the present study was to propose and evaluate the use of Bayesian networks (BN) to the prediction of the AMEn values of energy and protein feedstuffs of vegetable origin used in the formulation of broiler rations. In addition, verify that the predictions of energy values using this methodology are the most accurate and, consequently, are recommended to Animal Science professionals area for the preparation of balanced feeds. BN are models that consist of graphical and probabilistic representations of conditional and joint distributions of the random variables. BN uses machine learning algorithms, being a methodology of artificial intelligence. The bnlearn package in R software was used to predict AMEn from the following covariates: crude protein, crude fiber, ethereal extract, mineral matter, as well as food category, i.e., energy (corn, corn by-products, and others) or protein (soybean, soy by-products, and others) and the type of animal (chick or cockerel). The data come from 568 feeding experiments carried out in Brazil. Additional data from metabolic experiments were obtained from the Federal University of Lavras (UFLA) - Lavras, Minas Gerais, Brazil. The model with the highest accuracy (mean squared error = 66529.8 and multiple coefficients of determination = 0.87) was fitted with the max-min hill climbing algorithm (MMHC) using 80% and 20% of the data for training and test sets, respectively. The accuracy of the models was evaluated based on their values of mean squared error, mean absolute deviation, and mean absolute percentage error. The equations proposed by a new methodology in avian nutrition can be used by the broiler industry in the determination of rations.

Seed and seedling morphology of Bauhinia scandens L / Morfologia de semente e plântula de Bauhinia scandens L

Bauhinia scandens has potential importance as an ornamental and medicinal plant. Researchers have isolated and identified 1-O-alkylglycerol in the leaves of the B. scandens plant, and established antitumor properties using the Brine Shrimp toxicity test, an internationally accepted bioassay. Although this species has high potential, little is known about the viability of seedling production and the morphology of these plants, particularly in terms of seed characteristics and initial stages of germination. The objective of this study was to characterize the seed morphology, germination, and seedlings of B. scandens. Seed water content, weight, and coloration were evaluated. This study also included a description of seed biometrics, external and internal structures, germination, and seedling morphology. Internal seed morphology was evaluated by the anatomical sectioning and X-ray methods. The morphology data obtained were subjected to descriptive statistical analysis and germination data were determined using Cramér's V. B. scandens seeds have a coloration ranging from very dark grayish-red to dark reddish-brown, flat oblong shapes, and rounded bases and apexes with full or slightly undulating margins. Healthy seedlings are produced mainly by seeds with well-formed internal structures. The reddish petiole of the seedling leaves is a taxonomic character for B. scandens identification. The non-domestication and genetic variability of this species reflect on the seed and seedling color and size variation.(AU)

Bauhinia scandens tem potencial como planta ornamental e importância medicinal. Nas folhas da planta de B. scandens, foi relatado pelos pesquisadores, o isolamento e identificação de glicerol 1-O-alquilo, os mesmos estabeleceram a propriedade antitumoral por um bioensaio, aceito internacionalmente denominado teste de toxicidade de Brine Shrimp. Por ser ainda pouco conhecida e com alto potencial exploratório, a viabilidade da produção de mudas e maior conhecimento sobre sua morfologia se faz necessária. Faltam informações sobre as características das sementes e estágios iniciais de germinação. O objetivo deste estudo foi caracterizar o tipo morfológico de sementes, germinação e plântulas de B. scandens. Foram avaliados o teor de água, o peso de mil sementes e a coloração das sementes. Este estudo também incluiu a descrição e biometria da semente, estrutura (externa e interna), germinação e morfologia das plântulas. A morfologia interna das sementes foi avaliada por corte anatômico e método de raios-X. Os dados morfológicos obtidos foram submetidos à análise estatística descritiva e os dados de germinação foram testados utilizando Cramér's V. B. scandens apresentam coloração que varia de vermelho acinzentado muito escuro a marrom avermelhado escuro e o tipo de semente é de forma oblonga plana, base e ápice são arredondados e cheios ou margens ligeiramente onduladas. Plãntulas normais são produzidas majoritariamente por sementes com uma estrutura interna bem formada. O pecíolo avermelhado das folhas da plântula é um caráter taxonômico para identificação de B. scandens. A não domesticação e a variabilidade genética desta espécie refletem na variação da cor e tamanho das sementes e plântulas.(AU)

Model Predictive Torque Control for Velocity Tracking of a Four-Wheeled Climbing Robot.

Climbing robots are characterized by a secure surface coupling that is designed to prevent falling. The robot coupling ability is assured by an adhesion method leading to nonlinear dynamic models with time-varying parameters that affect the robot's mobility. Additionally, the wheel friction and the force of gravity force are also relevant issues that can compromise the climbing ability if they are not well modeled. This work presents a model-based torque controller for velocity tracking in a four-wheeled climbing robot specially designed to inspect storage tanks. The model-based controller (MPC) compensates for the effects of nonlinearities due to the forces of gravity, friction, and adhesion through the dynamic and kinematic modeling of the climbing robot. Dynamic modeling is based on the Lagrange-Euler approach, which allows a better understanding of how forces and torques affect the robot's movement. Besides, an analysis of the interaction force between the robot and the contact surface is proposed, since this force affects the motion of the climbing robot according to spatial orientation. Finally, simulations are carried out to examine the robot's dynamics during the climbing movement, and the MPC is validated through the redrobot simulator V-REP and practical experiments. The presented results highlight the compensation of the nonlinear effects due to the robot's climbing motion by the proposed MPC controller.

A construção de valores ambientais em práticas de lazer através da escalada / The environmental values development in leisure practices trough climbing

Por ser uma prática que vem ganhando muitos adeptos, a escalada segue se destacando e se tornando objeto de estudos acadêmicos na área de Educação Física. O objetivo do estudo é investigar a construção de valores ambientais a partir das experiências através da prática da escalada ao ar livre. Este estudo tem natureza qualitativa, descritiva e transversal. A amostra foi composta por dezesseis sujeitos com idades entre 20 e 40 anos. As variáveis investigadas foram analisadas por um questionário online, com questões sobre a construção de valores ambientais que a prática da escalada pode proporcionar. Os dados foram analisados de forma qualitativa através de análise de conteúdo e apresentados através de gráficos e tabelas comparativas. Concluiu-se nesta pesquisa que existe um satisfatório desenvolvimento de construção de valores ambientais através da prática da escalada, em especial com mudanças nas relações e atitudes diante da natureza, além da promoção de valores sociais, culturais, psicológicos e cognitivos na vida cotidiana dos praticantes.

As a practice that has been gaining many followers, Climbing continues standing out and becoming the object of academic studies in the area of Physical Education. The aim of this study is to investigate the development of environmental from the experiences through the practice of Climbing. This study carried out has a qualitative, descriptive and cross-sectional design. The sample consisted of sixteen participants aged from 20 to 40 years old. The variables investigated were analyzed by an online questionnaire with questions about the development of environmental values Climbing practices can offer. The data were analyzed by a qualitative format through the contente analysis and presented by comparative charts and tables. The research identified the relationship between Climbing and the development of values. It was possible to conclude that exists a satisfactory development of environmental values through Climbing practice, specially with changes in the relations and attitudes in the face of the nature, besides the promotion of social, cultural, psychological and cognitive values in the daily life of the practitioners.

A descriptive analysis on the (in)fidelity of mangrove-climbing sesarmid crabs to the mangrove trees in Cancabato Bay, Philippines

Five years after Super Typhoon Haiyan, mangroves regrow and mangrove-climbing sesarmid crabs were found in the Cancabato Bay. In a three- month surveillance, four species of mangrove-climbing sesarmid crabs: Aratus pisonii,Episesarma versicolor, Perisesarma bidens, and Selatium brockii were observed in mangrove trees: Avicennia marina,Aegiceras corniculatum, Rhizophora mucronata, and Rhizophora apiculata. They were observed moving into the different parts of the mangrove tree and from one mangrove species to another. Only Selatium brockii was observed clinging to Avicennia marina. This interspecies fidelity was perceived due to food availability and habitat success, which could be an indicator of mangrove status and persistence after a large-scale disturbance. This behavior was manifested in both morning and evening in reference to the rise and fall of the tide.