Model predictive control for optimal social distancing in a type SIR-switched model.

Social distancing strategies have been adopted by governments to manage the COVID-19 pandemic, since the first outbreak began. However, further epidemic waves keep out the return of economic and social activities to their standard levels of intensity. Social distancing interventions based on control theory are needed to consider a formal dynamic characterization of the implemented SIR-type model to avoid unrealistic objectives and prevent further outbreaks. The objective of this work is twofold: to fully understand some dynamical aspects of SIR-type models under control actions (associated with second waves) and, based on it, to propose a switching non-linear model predictive control that optimize the non-pharmaceutical measures strategy. Opposite to other strategies, the objective here is not just to minimize the number of infected individuals at any time, but to minimize the final size of the epidemic while minimizing the time of social restrictions and avoiding the infected prevalence peak to overpass a maximum established by the healthcare system capacity. Simulations illustrate the benefits of the aforementioned proposal.

Soil attributes in coal mining areas under recovery with bracatinga (Mimosa scabrella).

The coal reserves in the south of Brazil were intensely exploited at the time of great demand for such fuel. This resulted in changes in the environment, mainly in the chemical, physical and biological characteristics of the soil. Due to the potential to control erosive processes, increase soil quality and restore biological diversity, revegetation is a promising alternative to recover those impacted areas. In that respect, bracatinga is a pioneering tree species that easily grow in different environments and has being planted as vegetation cover in areas under recovery. Therefore, the objective of this work was to characterize the chemical features and to evaluate the soil microbiological attributes in areas degraded by coal mining and under recovery using bracatinga as cover plant. In the bracatinga canopy projection area, soil samples were collected in the environmental restoration areas that have been, at the time of collecting, under a regime of 2, 4, 6 and 12 years of restoration. In addition an area with natural occurrence of bracatinga was used as control. Microbial biomass nitrogen, microbial biomass carbon and microbial biomass respiration increase in average 281, 230 and 157% respectively, when the 12-year-old areas were compared to the 2-year-old-areas. Likewise, a decrease in qCO2 in the order of 60% was observed for that same comparison. The 12-year-old areas reached the same values of qCO2 found in the reference area. The data suggest an improvement in the microbiological attributes of the soil with the increase in recovery time for the studied areas. SIGNIFICANCE AND IMPACT OF THE STUDY: In coal mining areas under recovery with typically acid soils, the use of the current recovery strategies (revegetation mainly) has been efficient to increase the quality of soils, especially in the environmental restoration areas. Soil microbiological attributes such as microbial biomass nitrogen, microbial biomass carbon, microbial basal respiration and metabolic quotient (qCO2 ) are dynamic and highly sensitive. These parameters have the potential to be adopted together with conventional attributes, such as floristic composition indices and species diversity indices, to evaluate the degree of any particular environmental recovery process being conducted at previously explored mining areas.

Bradyrhizobium and Pseudomonas strains obtained from coal-mining areas nodulate and promote the growth of Calopogonium muconoides plants used in the reclamation of degraded areas.

AIMS: The objective of this work was to isolate and characterize indigenous rhizobia from coal-mining areas able to efficiently nodulate and fix nitrogen in association with Calopogonium mucunoides (calopo). METHODS AND RESULTS: Isolation, authentication and morphological, biochemical and molecular characterization of the autochthonous rhizobia were performed and their symbiotic efficiency (SE) evaluated. Efficient rhizobial isolates suitable for the inoculation of calopo in coal-mining regions were obtained. A total of 30 isolates were obtained after nodulation authentication, of which five presented high SE with plant-growth promoting traits such as indole-3-acetic acid production, phosphate solubilization and biofilm formation. These isolates were identified as belonging to Bradyrhizobium, Pseudomonas and Rhizobium. CONCLUSIONS: Bradyrhizobium sp. A2-10 and Pseudomonas sp. A6-05 were able to promote calopo plant growth using soil obtained from coal-mining degraded areas, thus indicating their potential as inoculants aiming at land reclamation. SIGNIFICANCE AND IMPACT OF THE STUDY: To our knowledge, this is the first report of Pseudomonas nodule formation in calopo. Furthermore, the results demonstrated that autochthonous rhizobia obtained from degraded soils presented high SE in calopo and possess a wide range of plant-growth promoting traits. Ultimately, they may all contribute to an increased leguminous plant growth under stress conditions. The selected rhizobia strains may be used as inoculants and present a valuable role in the development of strategies aiming to recover coal-mining degraded areas. Bacterial inoculants would greatly reduce the use of often harmful nitrogen fertilizers vastly employed in revegetation programmes of degraded areas.

Fast molecular outflow from a dusty star-forming galaxy in the early Universe.

Galaxies grow inefficiently, with only a small percentage of the available gas converted into stars each free-fall time. Feedback processes, such as outflowing winds driven by radiation pressure, supernovae, or supermassive black hole accretion, can act to halt star formation if they heat or expel the gas supply. We report a molecular outflow launched from a dust-rich star-forming galaxy at redshift 5.3, 1 billion years after the Big Bang. The outflow reaches velocities up to 800 kilometers per second relative to the galaxy, is resolved into multiple clumps, and carries mass at a rate within a factor of 2 of the star formation rate. Our results show that molecular outflows can remove a large fraction of the gas available for star formation from galaxies at high redshift.

Author Correction: A massive core for a cluster of galaxies at a redshift of 4.3.

Change history: In this Letter, the Acknowledgements section should have included the following sentence: "The National Radio Astronomy Observatory is a facility of the National Science Foundation operated under cooperative agreement by Associated Universities, Inc.". This omission has been corrected online.

A massive core for a cluster of galaxies at a redshift of 4.3.

Massive galaxy clusters have been found that date to times as early as three billion years after the Big Bang, containing stars that formed at even earlier epochs1-3. The high-redshift progenitors of these galaxy clusters-termed 'protoclusters'-can be identified in cosmological simulations that have the highest overdensities (greater-than-average densities) of dark matter4-6. Protoclusters are expected to contain extremely massive galaxies that can be observed as luminous starbursts 7 . However, recent detections of possible protoclusters hosting such starbursts8-11 do not support the kind of rapid cluster-core formation expected from simulations 12 : the structures observed contain only a handful of starbursting galaxies spread throughout a broad region, with poor evidence for eventual collapse into a protocluster. Here we report observations of carbon monoxide and ionized carbon emission from the source SPT2349-56. We find that this source consists of at least 14 gas-rich galaxies, all lying at redshifts of 4.31. We demonstrate that each of these galaxies is forming stars between 50 and 1,000 times more quickly than our own Milky Way, and that all are located within a projected region that is only around 130 kiloparsecs in diameter. This galaxy surface density is more than ten times the average blank-field value (integrated over all redshifts), and more than 1,000 times the average field volume density. The velocity dispersion (approximately 410 kilometres per second) of these galaxies and the enormous gas and star-formation densities suggest that this system represents the core of a cluster of galaxies that was already at an advanced stage of formation when the Universe was only 1.4 billion years old. A comparison with other known protoclusters at high redshifts shows that SPT2349-56 could be building one of the most massive structures in the Universe today.

Diseño de Exoesqueleto con base en Cuatro Casos de Estudio de Rehabilitación de Miembro Superior / Design of an Exoskeleton based on Four Cases of Upper Limb Rehabilitation Study

Resumen: En este artículo se presenta un enfoque para rehabilitación pasiva de miembro superior mediante la formulación de cuatro casos de estudio haciendo un análisis de las patologías y los ejercicios que se aplican. Para llevar a cabo la experimentación en los casos propuestos se registraron los datos de las trayectorias de las articulaciones del brazo de un paciente realizando los ejercicios de rehabilitación con un terapeuta. Se diseñó el exoesqueleto ERMIS de siete grados de libertad para emular los movimientos anatómicos en el brazo durante la rehabilitación a partir de los requerimientos de los casos de estudio. Para validar el funcionamiento del exoesqueleto en los casos se simuló el modelo dinámico del ERMIS y se compararon los datos con los datos muestreados de los ejercicios. Al final se presentan los resultados obtenidos de los ejercicios realizados con el exoesqueleto, obteniendo en la precisión un desempeño promedio del 95% en los movimientos de hombro, codo y muñeca al emular la terapia con timón.

Abstract: This paper presents an approach for passive upper limb rehabilitation based on four case studies by analyzing the pathologies and exercises that are applied. To carry out the experimentation in the proposed cases, the data from the trajectories of the patient's arm articulations were registered, performing the rehabilitation exercises with a therapist. The ERMIS exoskeleton´s seven degrees of freedom was designed to emulate the anatomical movements in the arm during rehabilitation from the requirements of the case studies. To validate the exoskeleton performance in the study cases, the ERMIS's dynamic model was simulated and the data were compared with the sampled data of the exercises. At the end, the results obtained from exoskeleton exercises emulating rudder therapy, where shoulder, elbow and wrist movements were showed with an accuracy of 95%.

Design of a twelve-bar planar mechanism for finger orthosis / Diseño de un mecanismo planar de doce barras para órtesis de dedo

Abstract: In the last years, a considerable number of patients with hand mobility problems has been reported; in most of these cases, the patients must spend time in a specialized center to carry out a therapy to rehabilitate damaged parts. This paper presents the design of an orthosis for finger rehabilitation. The novelty of this proposal is that the design is formed by rigid links and three semicircular sliders with a center of rotation coincident with the finger joints; moreover, the synthesis of these sliders is realized in a new and simple way. The mechanism is designed to be compact enough to be used by a person during a whole day; it is formed by twelve links and allows the three finger phalanxes to be flexed simultaneously. The mechanism is coupled only to the dorsal side of the hand and has no interference when grasping objects, in such a way that the orthosis presented in this paper enables the patient to perform the Activities of Daily Living. The synthesis of the mechanism presented in this paper focuses on the middle finger, nevertheless, it is possible to use the same configuration for the others fingers only by scaling.

Resumen: En los últimos años un considerable número de pacientes con problemas de movilidad en las manos ha sido reportado; en la mayoría de los casos, los pacientes deben pasar un tiempo determinado en un centro especializado para llevar a cabo una terapia para rehabilitar las partes afectadas. En este artículo se presenta el diseño de una ortesis para rehabilitación de un dedo. La novedad de esta propuesta es que el diseño está formado por eslabones rígidos y tres correderas semicirculares, cuyo centro de rotación coincide con el centro de rotación de los dedos; además, la síntesis de estas correderas se realizó de una manera sencilla y nueva. El mecanismo diseñado es suficientemente compacto para ser utilizado por una persona durante un día entero; está formado por doce eslabones y permite que las tres falanges se muevan simultáneamente. El mecanismo es acoplado al dorso de la mano para no interferir con la sujeción de objetos, y por tanto permitir el desarrollo de las actividades de la vida diaria. La síntesis del mecanismo presentada en este artículo se enfoca en el dedo medio, sin embargo es posible usar la misma configuración para los otros dedos, solo escalando el mecanismo.

Galaxy growth in a massive halo in the first billion years of cosmic history.

According to the current understanding of cosmic structure formation, the precursors of the most massive structures in the Universe began to form shortly after the Big Bang, in regions corresponding to the largest fluctuations in the cosmic density field. Observing these structures during their period of active growth and assembly-the first few hundred million years of the Universe-is challenging because it requires surveys that are sensitive enough to detect the distant galaxies that act as signposts for these structures and wide enough to capture the rarest objects. As a result, very few such objects have been detected so far. Here we report observations of a far-infrared-luminous object at redshift 6.900 (less than 800 million years after the Big Bang) that was discovered in a wide-field survey. High-resolution imaging shows it to be a pair of extremely massive star-forming galaxies. The larger is forming stars at a rate of 2,900 solar masses per year, contains 270 billion solar masses of gas and 2.5 billion solar masses of dust, and is more massive than any other known object at a redshift of more than 6. Its rapid star formation is probably triggered by its companion galaxy at a projected separation of 8 kiloparsecs. This merging companion hosts 35 billion solar masses of stars and has a star-formation rate of 540 solar masses per year, but has an order of magnitude less gas and dust than its neighbour and physical conditions akin to those observed in lower-metallicity galaxies in the nearby Universe. These objects suggest the presence of a dark-matter halo with a mass of more than 100 billion solar masses, making it among the rarest dark-matter haloes that should exist in the Universe at this epoch.

Robots modulares para cirugía mínimamente invasiva / Modular Robots for Minimally Invasive Surgery

Este artículo se enfoca en las consideraciones que se deben tomar en cuenta sobre el diseño de robots modulares que permitan auxiliar al médico en intervenciones de CMI (Cirugía Mínimamente Invasiva). Se presenta el estado del arte de los sistemas robóticos modulares tanto re-configurables como auto re-configurables, así como los dispositivos y materiales quirúrgicos usados en cirugía de mínima invasión con el fin de tomarlos como referencia en las propuestas de diseño, considerando la normatividad para dispositivos médicos y con un enfoque de diseño para dispositivos de ablación durante laparoscopías abdominales.

This article concerns the aspects that have to be taken into account for mechanical design of modular robots to be used as a surgical tool in MIS (Minimally Invasive Surgery) interventions. For this purpose, several works concerning modular, reconfigurable and autoreconfigurable robots are presented. Materials and surgical devices that are used for MIS are taken into account as a reference for modular and reconfigurable robots design considering regulations on medical devices and technology. The information presented in this document is oriented to abdominal ablations in laparoscopic interventions.

Dusty starburst galaxies in the early Universe as revealed by gravitational lensing.

In the past decade, our understanding of galaxy evolution has been revolutionized by the discovery that luminous, dusty starburst galaxies were 1,000 times more abundant in the early Universe than at present. It has, however, been difficult to measure the complete redshift distribution of these objects, especially at the highest redshifts (z > 4). Here we report a redshift survey at a wavelength of three millimetres, targeting carbon monoxide line emission from the star-forming molecular gas in the direction of extraordinarily bright millimetre-wave-selected sources. High-resolution imaging demonstrates that these sources are strongly gravitationally lensed by foreground galaxies. We detect spectral lines in 23 out of 26 sources and multiple lines in 12 of those 23 sources, from which we obtain robust, unambiguous redshifts. At least 10 of the sources are found to lie at z > 4, indicating that the fraction of dusty starburst galaxies at high redshifts is greater than previously thought. Models of lens geometries in the sample indicate that the background objects are ultra-luminous infrared galaxies, powered by extreme bursts of star formation.

A massive, cooling-flow-induced starburst in the core of a luminous cluster of galaxies.

In the cores of some clusters of galaxies the hot intracluster plasma is dense enough that it should cool radiatively in the cluster's lifetime, leading to continuous 'cooling flows' of gas sinking towards the cluster centre, yet no such cooling flow has been observed. The low observed star-formation rates and cool gas masses for these 'cool-core' clusters suggest that much of the cooling must be offset by feedback to prevent the formation of a runaway cooling flow. Here we report X-ray, optical and infrared observations of the galaxy cluster SPT-CLJ2344-4243 (ref. 11) at redshift z = 0.596. These observations reveal an exceptionally luminous (8.2 × 10(45) erg s(-1)) galaxy cluster that hosts an extremely strong cooling flow (around 3,820 solar masses a year). Further, the central galaxy in this cluster appears to be experiencing a massive starburst (formation of around 740 solar masses a year), which suggests that the feedback source responsible for preventing runaway cooling in nearby cool-core clusters may not yet be fully established in SPT-CLJ2344-4243. This large star-formation rate implies that a significant fraction of the stars in the central galaxy of this cluster may form through accretion of the intracluster medium, rather than (as is currently thought) assembling entirely via mergers.

Association between allergic rhinitis, bottle feeding, non-nutritive sucking habits, and malocclusion in the primary dentition.

AIM: To determine the association between allergic rhinitis, bottle feeding, non-nutritive sucking habits, and malocclusion in the primary dentition. METHODS: Data were collected on 1160 children aged 4-5 years, who had been longitudinally followed since the age of 4 months, when they were admitted to nurseries in a suburban area of Tampico-Madero, Mexico. Periodically, physical examinations were conducted and a questionnaire was given to their parents or tutors. RESULTS: Malocclusion was detected in 640 of the children (51.03% had anterior open bite and 7.5% had posterior cross-bite). Allergic rhinitis alone (adjusted odds ratio = 2.87; 95% CI 1.57 to 5.25) or together with non-nutritive sucking habits (adjusted odds ratio = 3.31; 95% CI 1.55 to 7.09) had an effect on anterior open bite. Bottle feeding alone (adjusted odds ratio = 1.95; 95% CI 1.07 to 3.54) or together with allergic rhinitis (adjusted odds ratio = 3.96; 95% CI 1.80 to 8.74) had an effect on posterior cross-bite. Posterior cross-bite was more frequent in children with allergic rhinitis and non-nutritive sucking habits (10.4%). CONCLUSIONS: Allergic rhinitis alone or together with non-nutritive sucking habits is related to anterior open bite. Non-nutritive sucking habits together with allergic rhinitis seem to be the most important factor for development of posterior open bite in children under the age of 5 years.

On-line complexation/preconcentration system for the determination of lead in wine by inductively coupled plasma-atomic emission spectrometry with ultrasonic nebulization.

An on-line lead preconcentration and determination system implemented with inductively coupled plasma-atomic emission spectrometry (ICP-AES) with ultrasonic nebulization (USN) in association with flow injection was studied. For the preconcentration of lead, a Pb-quinolin-8-ol complex was formed on-line at pH 6.8 and retained on Amberlite XAD-16 resin. The lead was removed from the microcolumn by countercurrent elution with nitric acid. A total enhancement factor of 225 was obtained with respect to ICP-AES with pneumatic nebulization (15.0 for USN and 15.0 for the column). The detection limit for Pb for the preconcentration of a 10 mL wine sample was 0.15 microg/L. The precision for 10 replicate determinations at a Pb level of 25 microg/L was a relative standard deviation of 2.5%, calculated from the peak heights obtained. The calibration graph obtained by using the preconcentration system for lead was linear with a correlation coefficient of 0.9995 for levels near the detection limit up to > or = 1000 microg/L. The method was successfully applied to the determination of lead in wine samples.

Non-invasive management of Ascaris lumbricoides biliary tact migration: a prospective study in 69 patients from Ecuador.

Ascariasis is one of the most common helminthic diseases. Its most feared complication is migration into the biliary tree. Some authors recommend immediate duodenoscopy in all cases of biliary migration, with sphincterotomy for the extraction of the parasites, and surgical extraction in case of intrahepatic ascariasis. We followed prospectively 69 patients with ultrasonographical evidence of migration. Initial treatment consisted of intravenous analgesics and antispasmodics, and albendazole 800 mg by mouth. Only patients with persisting symptoms or with high amylasaemia underwent duodenoscopy, with extraction in case of a visible worm. Surgery was limited to cases with persistent or progressive complications. In 97% of our cases the worms disappeared with noninvasive therapy alone. A duodenoscopy was done in 30 (42%) cases; in 10 (14%) a worm was found in the ampulla of Vater and extracted without sphincterotomy. In none of the 6 cases with A. lumbricoides in the intrahepatic biliary tree did the parasite persist. Only one patient required surgical intervention. Treatment of A. lumbricoides migration to the biliary tract should be principally medical. Duodenoscopy with extraction of a visible worm should be limited to cases with persisting pain and/or hyperamylasaemia. Invasive methods like sphincterotomy and surgery should be restricted to patients who do not respond to conservative treatment.

A community-wide outbreak of cryptosporidiosis associated with swimming at a wave pool.

OBJECTIVE: To determine the cause of a community-wide outbreak of cryptosporidiosis. DESIGN: A matched case-control study. SETTING: General community of Lane County, Oregon. PATIENTS AND OTHER PARTICIPANTS: Persons with Cryptosporidium detected in their stool from June to October 1992 were identified by contacting laboratories serving the area. Exposures of the first 18 case patients identified were compared with those of 18 age- and neighborhood-matched controls selected from a reverse telephone directory. MAIN OUTCOME MEASURES: Reported exposures to risk factors for cryptosporidiosis and abatement of cryptosporidiosis outbreak. RESULTS: Fifty-five patients with cryptosporidiosis were detected, including 37 who were the first individuals ill in their households. The case-control study involving the first 18 case patients showed no association between illness and attendance at day care or drinking municipal water or drinking untreated surface waters (river or lake water) in the 2 weeks before onset of illness. However, nine of 18 case patients reported swimming at a local wave pool, compared with none of 18 controls. We ultimately identified 17 case patients who reported swimming at the same wave pool during their incubation periods, whose exposure dates spanned a 2-month period. Inspection of the pool's filtration system did not detect any abnormalities. The outbreak subsided after the pool water was drained and replaced. CONCLUSIONS: This prolonged outbreak of cryptosporidiosis was likely caused by exposure to fecally contaminated wave pool water. Since Cryptosporidium is highly chlorine resistant and inadequately removed by sand filters, such outbreaks may represent an unrecognized hazard of wave pools, where the likelihood of inadvertent water ingestion is high. Such outbreaks may go undetected in areas where cryptosporidiosis is not reportable or laboratory screening is infrequent.

Stability of viable-bacterium counts in liquid media used for preparation of inocula and subsequent impact on antimicrobial susceptibility test results.

We evaluated the consequences of prolonging the time between initial bacterial inoculum suspension preparation and susceptibility test inoculation. Extending the current National Committee for Clinical Laboratory Standards-recommended time of 15 min between suspension preparation and test inoculation should allow laboratories more flexibility to optimize efficiency from the standpoint of workflow. We assessed the length of time for which viable-bacterium counts remain stable in three liquid media at room temperature. Fifty isolates were examined in water, saline, and cation-supplemented Mueller-Hinton broth (CSMHB). Disk diffusion and microdilution MIC tests were performed on nine of these. Our results suggest that directly prepared inoculum suspensions of members of the family Enterobacteriaceae, Pseudomonas aeruginosa, staphylococci, and enterococci can be held for up to 6 h in water or saline prior to inoculation of disk diffusion and MIC tests without compromising test accuracy. The same organisms can be held for at least 1 h in CSMHB. Viridans group streptococci can be held for up to 6 h in saline and CSMHB and for up to 3 h in water. Similarly, Haemophilus influenzae and Streptococcus pneumoniae isolates may be held in CSMHB for up to 3 h. Because of an early decrease in viable-bacterium counts in water and saline with some H. influenzae and S. pneumoniae isolates, we recommend that National Committee for Clinical Laboratory Standards recommendations be followed for these species.

In-vitro activity of dapsone and two potentiators against Mycobacterium avium complex.

The efficacy of dapsone against Mycobacterium avium, M. intracellulare, M. kansasii, M. fortuitum and M. tuberculosis was determined by disc elution in agar. The minimal inhibitory concentration at which 90% of the colony forming units were inhibited (90MIC) by dapsone was 8 mg/l for M. avium, M. intracellulare and M. kansasii and greater than or equal to 32 mg/l for M. tuberculosis and M. fortuitum. The 90MICs were confirmed by culturing these test organisms with dapsone in the BACTEC 460 system. Reduction of the 90MIC from 8 mg/l to 2 mg/l was observed by combining dapsone with either or both of the potentiators tested. The dapsone-potentiator combinations had no effect on the bacteria with 90MICs of greater than or equal to 32 mg/l. The clinical relevance of this drug combination against M. avium complex infections remains to be evaluated.