Assisted navigation for a brain-actuated intelligent wheelchair

This paper presents an Assistive Navigation System (ANS) for a Robotic Wheelchair (RW) relying on a Brain–Computer Interface (BCI), as the Human–Machine Interface (HMI). A two-layer collaborative control approach is proposed to steer the RW, taking into account both user and machine commands. The first layer, a virtual-constraint layer, is responsible for enabling/disabling the user commands, based on context. More specifically, user commands are enabled for a set of situations requiring user decision, namely, bifurcations, multiple-directions caused by new obstacles in the environment, and deadlocks. The second layer is a user-intent matching responsible for determining the suitable steering command that better fits the user selection, taking into account the user competence to steer the wheelchair, and situation awareness of potential directions at a given location. A P300-based BCI allows the selection of commands to steer the RW. Experimental results using RobChair (Pires and Nunes (2002) [7], Lopes et al. (2007) [42]) are presented, showing the effectiveness of the proposed methodologies. The ANS was validated with ten able-bodied participants, and one participant with cerebral palsy, in two different scenarios: a structured known environment, and a structured unknown environment with moving objects. The overall result was that all participants were able to successfully operate the device, showing a high level of robustness of both, the BCI system, and the navigation system.     

A survey on the sanitary condition of commercial foods of plant origin sold in Brazil

The objective of the study was to evaluate the hygienic conditions and practices of commercial foods of plant origin in establishments and street marketed by street vendors in cities in the State of Rio de Janeiro, Brazil. Forty different sales points were evaluated (establishments that prepared and sold fruit juices and street vendors that commercialized fresh coconut water, sugarcane juice and orange juice) using a questionnaire with 12 items, divided into three blocks (salesmen/handlers, operations, installations). The results indicated that the activities related to the commerce of fruit beverages in the cities of São Gonçalo and Rio de Janeiro required the elaboration of a set of actions by the Sanitary Vigilance Agency in order to improve the hygienic and sanitary level and minimize health risk to consumers. Important requirements in the legislation relevant to this type of food are still not followed; adequate packaging and storage of the raw material, obtaining the raw material from registered suppliers, hygiene of the handlers and adequate management of wastes produced during the activities in question are amongst the main items deserving attention.     

Recovery of platinum, tin and indium from spent catalysts in chloride medium using strong basic anion exchange resins

This work describes a route for platinum recovery from spent commercial Pt and PtSnIn/Al₂O₃ catalysts using strong basic mesoporous and macroporous anion exchange resins (Cl⁻ form). The catalysts were leached with aqua regia (75 °C, 20-25 min). Platinum adsorption was influenced by the presence of other metals which form chlorocomplexes (tin, indium) and also base metals (aluminum). However, it was possible to overcome this fact by a sequential desorption procedure. Aluminum was selectively removed from the resins by elution with 3 mol L⁻¹ HCl. Platinum was desorbed passing 1 mol L⁻¹ Na₂S₂O₃ (pH 9). Tin was removed by elution with 0.1 mol L⁻¹ ascorbic acid. Indium was removed using 0.1 mol L⁻¹ EDTA as eluent. Desorption efficiency exceeded 99% for all metals. Metals were recovered in high yields (>98 wt%).     

131I dose-dependent thyroid autoimmune disorders in children living around Chernobyl

The nucleotide sequence of 35,400 bp at approximately 10 kb from the right telomere of chromosome VII was determined. The segment contains the MAL1 locus, one of the five unlinked loci sufficient for maltose utilization. Until now, each of these loci was considered to contain three genes (for regulator, permease and alpha-glucosidase), but a fourth gene, presumably an extra alpha-glucosidase gene, was found at MAL1 adjacent to the usual cluster of three genes. The two glucosidase genes are present in opposite orientation, forming an inverted repeat structure. In addition to the four genes at MAL1, there are 11 complete, non-overlapping open reading frames (ORFs) longer than 300 bp in the sequence presented here. A new ABC transporter gene (YGR281w), required for oligomycin resistance was found (YOR1; Katzman et al., 1995), and the previously sequenced BGL2 (YGR282c), ZUO1 (YGR285c) and BIO2 (YGR286c) genes were located. The sequence of BIO2, a biotin synthetase gene, required substantial correction and the size of Bio2p is 375, rather than 356, amino acids. Two ORFs show rather weak similarities to animal genes: YGR278w to an unknown ORF of Caenorhabditis elegans and YGR284c to the murine Surf-4, a member of a cluster of at least four housekeeping genes. The remaining five ORFs do not encode known functions, but three of these show weak to high similarities to other ORFs in the Saccharomyces cerevisiae genome and one (YGR280c) codes for a particularly lysine-rich protein.     

Robust probabilistic planning with ilao

In probabilistic planning problems which are usually modeled as Markov Decision Processes (MDPs), it is often difficult, or impossible, to obtain an accurate estimate of the state transition probabilities. This limitation can be overcome by modeling these problems as Markov Decision Processes with imprecise probabilities (MDP-IPs). Robust LAO* and Robust LRTDP are efficient algorithms for solving a special class of MDP-IPs where the probabilities lie in a given interval, known as Bounded-Parameter Stochastic-Shortest Path MDP (BSSP-MDP). However, they do not make clear what assumptions must be made to find a robust solution (the best policy under the worst model). In this paper, we propose a new efficient algorithm for BSSP-MDPs, called Robust ILAO* which has a better performance than Robust LAO* and Robust LRTDP, considered the-state-of-the art of robust probabilistic planning. We also define the assumptions required to ensure a robust solution and prove that Robust ILAO* algorithm converges to optimal values if the initial value of all states is admissible.     

Stereotaxic surgery of temporal lobe epilepsy

Forty patients with temporal epilepsy were operated on with a stereotaxic technique. Eleven patients had a unilateral localization of the epileptic focus, and in 29 bitemporal foci were diagnosed. In evaluating the results of the treatment the dynamics of the epileptic fits, the peculiarities of changes in the mental status, and the degree of social adaptation were taken into consideration. A postoperative improvement was achieved in 73% of the patients with monotemporal lesions, while in those with bitemporal epilepsy and distinct persistent mental disorders the state was improved in 44% of the cases. Indications for the choice of the zone of destruction depending on the clinical peculiarities of the lesion are presented.     

Breast abscess with lethal septicemia due to Pseudomonas aeruginosa in a patient with AIDS

OBJECTIVE: The incidence of Pseudomonas aeruginosa in HIV-infected patients has increased over the last years. We describe a case of pseudomonal breast abscess complicated with fatal septicemia in an AIDS patient. CASE REPORT: A 21-year-old woman was admitted for fever, chills, nausea, vomiting and pain in the breast. She had a swelling in the right breast of 3 days duration. HIV infection had been confirmed 6 years earlier. CD4 count was 2/mm3. Surgical drainage produced a blue-green purulent discharge which grew Pseudomonas aeruginosa on culture. Despite cloxacilin, then ceftazidime and amikacin, initial improvement was followed 2 weeks later by nodular pulmonary infiltration with cavitation. P. aeruginosa was recovered from sputum and blood cultures, but stepwise resistance developed and the patient died 3 months after admission. DISCUSSION: Breast abscesses are infrequent in nonlactating women. P. aeruginosa is rarely involved, even in HIV patients. Due to the risk of resistance, prompt administration of appropriate antibiotics is required.     

Lesbian mothers who conceived after donor insemination: a follow-up study

This study investigated the development of family relationships in lesbian families who conceived after donor insemination (DI). The main characteristics of this unknown family structure were analysed. An anonymous donor was used to conceive, the family unit consisted of two mothers and a father was non-existent, and both women had a homosexual orientation. A total of 50 lesbian couples who conceived after DI with children aged between 1 and 2 years participated in this study, using a standardized interview created for this study. After the birth of their child, 56% of the lesbian mothers (n = 100) would have wanted the identity of the donor to be registered, while 10% would have done so at the time of the insemination. Opinions differed in 12 of the 50 couples: the biological mother was in favour of identity registration while the social mother was not. Both women considered themselves a parent of the child with equally shared responsibilities. Mothers were open about the special features of their family structure with children and within their immediate social network. Only 30% disclosed their lesbian identity in a broader social environment. The features of these newly created families may influence the psychological development of the children and therefore make long-term follow-up studies indispensable.