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In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliance avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment, Accepted for presentation at ICRA 2022

Made available in DSpace on 2018-08-01T23:26:41Z (GMT). No. of bitstreams: 1 tese_11255_Dissertação - Evelyn Trevisan.pdf: 1360083 bytes, checksum: d0a47305c56a36192a62285de70a9c71 (MD5) Previous issue date: 2017-07-28 O café Conilon é uma espécie originalmente adaptada a ambientes parcialmente sombreados, entretanto, no Brasil, seu cultivo é realizado a pleno sol. Durante a fase crítica de enchimento dos grãos, o cafeeiro frequentemente é submetido a temperaturas elevadas, o que pode causar estresse à cultura, exigindo diferentes técnicas para mitigar esses problemas. Dessa forma, o sombreamento surge como uma técnica para mitigação de variáveis climáticas. Neste contexto, desenvolveram-se dois trabalhos: o primeiro objetivou-se avaliar o microclima e o desenvolvimento do cafeeiro Conilon, em um sistema de cultivo de café consorciado com mamoeiro. O mamoeiro foi plantado no espaçamento de 3,20x2,40m, em julho de 2014, já o café, foi implantado no espaçamento de 3,20x1,60m, em março de 2015, na linha do mamoeiro. Considerou-se como tratamentos as distâncias da linha do cafeeiro e mamoeiro (40 e 80cm norte e sul) e a pleno sol, na orientação norte e sul. Avaliou-se as variáveis atmosféricas (temperatura, irradiância, umidade relativa), área foliar e índice relativo de clorofila, comprimento dos ramos plagiotrópicos, ortotrópicos e número de nós, em três épocas do ano. O consórcio do cafeeiro Conilon com Mamoeiro proporcionou diminuição da irradiância e da temperatura, e valores superiores de umidade relativa do ar durante o dia em todas as épocas avaliadas. O sombreamento proporcionou maior expansão foliar, entretanto não influenciou no crescimento de ramos plagiotrópicos e ortotrópicos e no número de nós. O sistema de consórcio do cafeeiro Conilon com mamoeiro nas condições estudadas apresentou potencial. O segundo teve como objetivo avaliar as variações dos fatores ambientais sob a copa do mamoeiro, plantado no sentido de orientação Norte-Sul e Leste-Oeste. Foram utilizadas duas áreas de mamão, uma plantada na orientação Norte-Sul e outra Leste-Oeste, implantadas no espaçamento 3,20x2,40m, ambas plantadas em abril de 2015. Considerou-se como tratamentos as distâncias da linha do mamoeiro, e um local a pleno sol, onde avaliou-se, no sentido Norte-Sul: na linha de plantio do mamão (T1), à 40cm lado oeste (T2 O), 40cm lado leste (T3 L) e a pleno sol (T4 Sol); no sentido Leste-Oeste: na linha de plantio do mamão (T1), à 40cm lado norte (T2 N), 40cm lado Sul (T3 S) e na linha de plantio a pleno sol (T4 Sol). Avaliou-se as variáveis atmosféricas (temperatura, irradiância, humidade relativa). O mamoeiro plantado no sentido Leste-Oeste, nas condições estudadas, proporcionou menor irradiação incidente, redução na temperatura e valores superiores de umidade relativa do ar sob sua copa. De acordo com as condições microclimática apresentadas, torna-se possível o consórcio do mamoeiro plantado nos dois sentidos.

BACKGROUND: Glioblastoma Multiforme (GBM) is the most common malignant brain tumor in adults, but its aetiology remains unknown. Recent reports have demonstrated the presence of neurotropic viruses in glioma samples, leading to the hypothesis that viral infection could be involved in tumorigenesis. AIM OF THE STUDY: To assess the burden of HPV infection in a cohort of malignant gliomas. MATERIALS AND METHODS: Seventy-one fresh frozen tumour samples of 62 glioblastomas and 9 grade III astrocytomas have been retrospectively analyzed. The presence of HPV genome in tumour DNA was assessed by MY/GP nested PCR. PCR products were sequenced with Sanger technology in order to define the viral genotype involved in the infection. A PCR with genotype-specific primer sets was carried out as confirmation of the infection. RESULTS: Viral DNA was detected after PCR in 8 (11%) cases. According to our previous studies both low- and high risk genotypes were isolated. Sequencing analysis showed that HPV16 genome was present in 4 (50%) infected samples whereas the remaining 4 resulted positive to HPV6. All positive cases were diagnosed as primary glioblastomas, and no positivity was found in lower grade glioma samples. Median overall survival did not significantly differ between HPV-positive and HPV-negative patients. CONCLUSIONS: The presence of HPV in high grade glioma specimens deserves further investigation. The analysis of a large cohort of tumors, along with in vitro studies on glioblastoma cell lines, will allow to better clarify the role of HPV in gliomagenesis and assess its potential use as a prognostic factor.

BACKGROUND: Meningiomas are the most common primary brain tumors. Resection and/or radiation therapy are the treatments of choice. Medical therapies have been investigated for inoperable, recurrent and aggressive meningiomas, but the optimal medical treatment is still to be defined. Among biologic agents, somatostatin has been found to inhibit meningioma growth due to the presence of somatostatin receptors on the surface of the tumors. AIM: We retrospectively reviewed our experience with sandostatin to assess the efficacy and toxicity in the treatment of recurrent meningiomas failing standard treatments. PATIENTS AND METHODS: A total of 17 patients (7 women and 10 men, median age 65 years) with recurrent grade I or II or III meningiomas have been studied. All patients had already been treated with multiple surgeries or radiation treatments, and all had an overexpression of somatostatin receptors by octreotide scintigraphy. Before treatment KPS ranged from 60 to 90. The patients received long-acting somatostatin on a monthly administration schedule. Radiographic response on MRI has been assessed by MacDonald Criteria. RESULTS: Patients received 3 to 18 cycles (median 9) of somatostatin. Progression-free survival (PFS) at 6 months was 56%, while PFS ranged from 3 to 25 months with a median of 6 months. Two radiological responses on MRI were achieved (1 PR and 1). Toxicity was uncommon and manageable (2 patients with diarrhea). CONCLUSION: Long acting somatostatin displays minor activity as salvage treatment for recurrent meningiomas after surgery and radiation therapy.

O crescimento infantil é um dos melhores indicadores de saúde e seu acompanhamento constitui uma das prioridades na atenção a esse grupo populacional. O objetivo geral desse trabalho foi realizar uma avaliação antropométrica de crianças de seis a vinte e três meses de idade residentes na área de abrangência de uma unidade básica de saúde (UBS) de Londrina-PR e identificar fatores associados aos desvios nutricionais. Como objetivo complementar, comparou-se a avaliação do estado nutricional utilizando-se os referenciais NCHS de 1977 e OMS de 2006. Estudo transversal, com amostra de 268 crianças identificadas no SINASC, Ficha A e outros registros do serviço. Os desfechos estudados foram excesso de peso e baixa estatura, definidos por meio de percentil e escore z, segundo referencial proposto pela OMS em 2006. As variáveis independentes foram as relacionadas às crianças, às mães, às condições sociossanitárias, ao acesso ao serviço e a algumas características alimentares. Realizou-se análise descritiva, e, para a associação entre as variáveis, foi utilizado o teste de qui-quadrado, com correção de Yates e teste exato de Fisher. Entre as crianças avaliadas, observou-se maior proporção de sexo masculino (53,7%), de peso adequado de nascimento (94,8%) e de crianças que são cuidadas pela mãe (63,1%). A maioria das crianças faz acompanhamento na UBS (75,4%), e 91,7% iniciaram a puericultura antes de 30 dias de vida. Encontrou-se também uma frequência alta de ingestão de biscoitos salgados industrializados (59,3%), refrigerante (59,7%) e doces (69,4%). Na avaliação antropométrica verificou-se prevalência de 14,9% de risco de sobrepeso, 7,1% de sobrepeso e obesidade, 2,6% de déficit de peso e 4,1% de baixa estatura. Na comparação entre os dois referenciais, verificou-se maior sensibilidade do referencial OMS de 2006 tanto no diagnóstico de excesso de peso na relação peso para estatura, quanto no de baixa estatura. Os fatores que se associaram significativamente na análise bivariada ao excesso de peso no índice peso para estatura foram: quem cuida a maior parte do tempo da criança não é a mãe, trabalho materno e a não convivência da mãe com o companheiro. Em relação ao déficit de estatura, a prevalência do desfecho foi significativamente mais elevada entre as crianças cujo cuidador não é a mãe. A maior importância do excesso de peso em relação ao déficit sugere transição nutricional em curso, e o seu envolvimento com doenças crônicas não transmissíveis aponta a necessidade de ações efetivas em faixas etárias de vida cada vez mais precoces. Infant growth is one of the best health indicators and its monitoring is one of the priorities in caring for this population group. The aim of the present study was to evaluate the anthropometric profile of six to twenty-three-month-old children in a Basic Health Unit (UBS) of Londrina-PR and identify factors associated with nutritional problems. The supplementary aim of this study compared the nutritional status using the 1997 NCHS references and 2006 WHO (World Health Organization). Cross-sectional study with a sample of 268 children identified at SINASC, Form A and other service records. The outcomes studied were under weight and low height; they were defined by the z score according to 2006 WHO. The independent variables were related to children, mothers, socioeconomic conditions, service access and some alimentary characteristics. Descriptive analysis was performed and regarding the association among the variables a chi-square test with Yates correction and Fisher exact test were used. A large proportion of male gender (53.7%) was observed among the children studied of appropriate birth weight (94.8%) and children who are looked after by their mother (63.1%). The majority of children have UBS supervision (75.4%) and 91.7% started childcare before 30 days of life. A high frequency of industrialized salted crackers (59.3%), soda (59.7%) and sweets (69.4%) intake was perceived. The anthropometric profile assessment found prevalence of 14.9% of risk overweight, 7.1% children with overweight and obesity, prevalence of 2.6% underweight and 4.1% low height. Comparing the two frames, there was greater sensitivity of 2006 WHO reference, in both overweight diagnosis regarding weight for stature, and short stature. The variables that were significantly associated in bivariate analysis to overweight in connection between weight for stature were: working mother, who looks after most of the time and living with a partner. Regarding the outcome of low height, the outcome prevalence was significantly higher among children whose caregiver is not the mother. The most important of overweight in relation to the deficit suggests ongoing nutritional transition, and its involvement with non-communicable chronic diseases highlights the need for effective action in increasingly precocious age groups.

Brainstem gliomas in adults are rare tumors, with heterogeneous clinical course; only a few studies in the MRI era describe the features in consistent groups of patients. In this retrospective study, we report clinical features at onset, imaging characteristics and subsequent course in a group of 34 adult patients with either histologically proven or clinico-radiologically diagnosed brainstem gliomas followed at two centers in Northern Italy. Of the patients 18 were male, 14 female, with a median age of 31. In 21 of the patients histology was obtained and in 20 it was informative (2 pilocytic astrocytoma, 9 low-grade astrocytoma, 8 anaplastic astrocytoma and 1 glioblastoma). Contrast enhancement at MRI was present in 14 patients. In all of the 9 patients who were investigated with MR spectroscopy, the Cho/NAA ratio was elevated at diagnosis. In 8 of the patients, an initial watch and wait policy was adopted, while 24 were treated shortly after diagnosis with either radiotherapy alone [4] or radiotherapy and chemotherapy [20] (mostly temozolomide). Only minor radiological responses were observed after treatments; in a significant proportion of patients (9 out of 15) clinical improvement during therapy occurred in the context of radiologically (MRI) stable disease. Grade III or IV myelotoxicity was observed in 6 patients. After a follow-up ranging from 9 to 180 months, all but 2 patients have progressed and 14 have died (12 for disease progression, 2 for pulmonary embolism). Median overall survival time was of 59 months. Investigation of putative prognostically relevant parameters showed that a short time between disease onset and diagnosis was related to a shorter survival. Compared with literature data, our study confirms the clinical and radiological heterogeneity of adult brainstem gliomas and underscores the need for multicenter trials in order to assess the efficacy of treatments in these tumors.