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In this paper, a robust geometric navigation algorithm, designed on the special Euclidean group SE(3), of a quadrotor is proposed. The equations of motion for the quadrotor are obtained using the Newton–Euler formulation. The geometric navigation considers a guidance frame which is designed to perform autonomous flights with a convergence to the contour of the task with small normal velocity. For this purpose, a super twisting algorithm controls the nonlinear rotational and translational dynamics as a cascade structure in order to establish the fast and yet smooth tracking with the typical robustness of sliding modes. In this sense, the controller provides robustness against parameter uncertainty, disturbances, convergence to the sliding manifold in finite time, and asymptotic convergence of the trajectory tracking. The algorithm validation is presented through experimental results showing the feasibility of the proposed approach and illustrating that the tracking errors converge asymptotically to the origin.
Describe the epidemiological and molecular characteristics of an outbreak of Klebsiella pneumoniae carbapenemase (KPC)–producing organisms and the novel use of a cohorting unit for its control.
A 566-room academic teaching facility in Milwaukee, Wisconsin.
Solid-organ transplant recipients.
Infection control bundles were used throughout the time of observation. All KPC cases were intermittently housed in a cohorting unit with dedicated nurses and nursing aids. The rooms used in the cohorting unit had anterooms where clean supplies and linens were placed. Spread of KPC-producing organisms was determined using rectal surveillance cultures on admission and weekly thereafter among all consecutive patients admitted to the involved units. KPC-positive strains underwent pulsed-field gel electrophoresis and whole-genome sequencing.
A total of 8 KPC cases (5 identified by surveillance) were identified from April 2016 to April 2017. After the index patient, 3 patients acquired KPC-producing organisms despite implementation of an infection control bundle. This prompted the use of a cohorting unit, which immediately halted transmission, and the single remaining KPC case was transferred out of the cohorting unit. However, additional KPC cases were identified within 2 months. Once the cohorting unit was reopened, no additional KPC cases occurred. The KPC-positive species identified during this outbreak included Klebsiella pneumoniae, Enterobacter cloacae complex, and Escherichia coli. blaKPC was identified on at least 2 plasmid backbones.
A complex KPC outbreak involving both clonal and plasmid-mediated dissemination was controlled using weekly surveillances and a cohorting unit.
The disease caused by the influenza virus is a global public health problem due to its high rates of morbidity and mortality. Thus, analysis of the information generated by epidemiological surveillance systems has vital importance for health decision making. A retrospective analysis was performed using data generated by the four molecular diagnostic laboratories of the Mexican Social Security Institute between 2010 and 2016. Demographics, influenza positivity, seasonality, treatment choices and vaccination status analyses were performed for the vaccine according to its composition for each season. In all cases, both the different influenza subtypes and different age groups were considered separately. The circulation of A/H1N1pdm09 (48.7%), influenza A/H3N2 (21.1%), influenza B (12.6%), influenza A not subtyped (11%) and influenza A/H1N1 (6.6%) exhibited well-defined annual seasonality between November and March, and there were significant increases in the number of cases every 2 years. An inadequate use of oseltamivir was determined in 38% of cases, and the vaccination status in general varied between 12.1 and 18.5% depending on the season. Our results provide current information about influenza in Mexico and demonstrate the need to update both operational case definitions and medical practice guidelines to reduce the inappropriate use of antibiotics and antivirals.
In this work we apply high-resolution X-ray diffractometry to the study of InGaAs/GaAs multiple quantum well structures on (001) and(lll)B GaAs substrates. The samples consisted of p-i-n diodes with a multiple quantum well embedded in the i-region and were simultaneously grown on (001) and (111)B substrates by molecular beam epitaxy. For the characterization we have used symmetric and asymmetric reflections at different azimuthal positions. The interpretation of the diffraction profiles has been possible thanks to our recently developed simulation model, which allows the calculation of any reflection regardless of the substrate orientation. X-ray results about composition and thickness are very similar in the samples simultaneously grown on both orientations as expected from our specific growth conditions. The information obtained from X-ray characterization is consistent with the results of photoluminescence and photocurrent measurements within the experimental uncertainty of the techniques. In (lll)B samples, X-ray diffractometry provides structural information which cannot be easily obtained from optical characterization techniques.
The continual rise of anthropogenic disturbance of ecosystems has been associated with an increasing incidence of emerging diseases. The largest amount of data on emerging diseases relates to bacterial and viral pathogens, but there is a lack of parasite data, especially from wildlife. Monitoring wildlife parasitic diseases should be considered a priority, especially in high biodiversity regions with strong anthropogenic impacts, like Mexico, where the wildlife/livestock/human interface is associated with increased risk of disease transmission. Mexico belongs to the top-ten megadiverse countries and is located between two biogeographic regions. This situation makes Mexico a favourable region for the spillover of animal pathogens to human beings, causing pandemics, such as the one recently caused by influenza virus A (H1N1). The current state of knowledge of Mexican wildlife parasites is scarce and focuses mainly in Neotropical fauna. Moreover, this knowledge is heterogeneous for different parasite groups, especially concerning their pathologic effects and epidemiology. The goals of this review are to compile information on Mexican wildlife parasites and to identify knowledge gaps in order to stimulate research on pending epidemiological, public health, ecological and pathological areas, and to encourage the creation of more specialized groups from the perspective of the One-Health concept.
The purpose of this work is to study the effect of SiO2- and Al2O3-NPs on the microstructure and mechanical properties of the weld bead (WB) created by a process of Submerged Arc Welding (SAW) between two AISI 1025 steel plates. Also it was necessary consider the chemical compositions of slags and burned fluxes, in order to determine the elements that are deposited and contribute in the final microstructure of WB. The welding materials to form each WB were a M12K electrode, a commercial fused flux (CFF) and AISI 1025 steel plates bevelled at 45°. In addition SiO2- or Al2O3-NPs an ethylic alcohol mixture were applied directly to the beveled surfaces, just before the SAW process, which was carried out according to the AWS A5.17 norm. Microstructural and phase changes at the Heat Affected Zone (HAZ) and Welding Zone (WZ) were analysed by metallographic Optical and Scanning Electron Microscopies. The mechanical properties of the WBs were determined through Tensile, Charpy impact and Vickers Hardness tests. By means of metallography of WBs, it was determined that the length of the AF needles increases in 113 and 183 % when adding SiO2- or Al2O3-NPs, respectively. Related to the mechanical properties of the WB, the tensile and yield strength decreases with both additions, SiO2- or Al2O3-NPs. The microhardness at WZ was found to decrease by adding such oxide-NPs. Moreover, the impact energy absorbed by the WBs increases approximately by 83 or 57% due to SiO2- or Al2O3-NPs addition, respectively.
In 2018, the Clostridium difficile LabID event methodology changed so that hospitals doing 2-step tests, nucleic acid amplification test (NAAT) plus enzyme immunofluorescence assay (EIA), had their adjustment modified to EIA-based tests, and only positive final tests (eg, EIA) were counted in the numerator. We report the immediate impact of this methodological change at 3 Milwaukee hospitals.
Social workers all around the world work with families and family complexity in their everyday practice. In this article, we present findings from a cross-national study exploring how social workers in child welfare conceptualise ‘family’, and how they relate to ‘family’ in their practice. Data presented is taken from focus groups with twenty-eight social workers from Chile, Mexico and Norway. The findings reveal that in Chilean, Mexican, and Norwegian social work, the conceptualisation of family has expanded over time, acknowledging various family forms and displays, and an increased orientation towards networks regardless of biological ties. However, differences were found, particularly in the way professionals view extended family, perspectives on family intervention, and the position of children in the family. Practical implications will be discussed.
Hemiparasitic plants obtain water and solutes from their hosts, but much remains to be learned about these transfers. We used a forest girdling experiment to investigate how leaf gas exchange, carbon and nitrogen cycling in the root hemiparasite Melampyrum lineare Desr. responded to disturbance and changes in physiology of potential host trees. By preventing belowground C allocation by 35% of the canopy, girdling decreased the starch and soluble sugar contents of bulk forest floor fine roots. Photosynthetic rates of M. lineare were statistically significantly lower in the girdled plot, but their hypothesized drivers (foliar N, stomatal conductance and transpiration) had no statistically significant differences between girdled and non-girdled plots. However, M. lineare in the girdled plot had higher foliar C concentrations and Δ14C than in the control plot, suggesting possible photosynthetic down-regulation in the girdled plot due to influx of older (e.g., host-derived) C into the leaves of M. lineare. Within the girdled plot (but not the control plot), M. lineare foliar C concentrations were positively correlated with foliar Δ14C and δ15N, suggesting that M. lineare may respond to changes in both C and N biogeochemistry during the decline of dominant canopy species.
Colonic effects of extruded whole-grain sorghum diets were evaluated using a model of growing rats. In all, twenty-four male Wistar rats were fed control (C), extruded white sorghum (EWS) or red sorghum (ERS). Consumption of sorghum diets showed satiety properties, with reduction of caecal pH, and lower activity of β-glucosidase and β-glucuronidase enzymes. Decreased copper zinc superoxide dismutase and manganese superoxide dismutase and increased catalase and glutathione peroxidase levels were observed in colonic mucosa. The induction of antioxidant enzymes occurred through the activation of the nuclear factor erythroid 2-related factor 2 protein and its subsequent translocation into the nucleus. ERS was able to decrease the proliferation of proximal mucosa of colon, demonstrating a possible effect against colorectal tumourigenesis. EWS increased proliferation and also apoptosis, ensuring the re-establishment of homoeostasis of the colonic mucosa. No antioxidant systemic effect (serum or hepatic level) was observed. It is likely that despite the extrusion the low bioavailability of the phenolic compounds of sorghum diets caused them to exert mainly acute effects at the colon level. Extruded whole-grain sorghum is a good functional ingredient that might be promising in dietary prevention of intestinal diseases.
Different aging heat treatments were performed in a Titanium alloy using as aging media metallic baths in comparison to typical furnace aging. As a first step, a Duplex Aging (DA) consisted of solubilization followed by quenching to room temperature after aging heat treatment in different metallic baths (Zn, Sn and Bi). A second procedure was Alternative Aging (AA) which consisted of solubilization and direct aging inside three different aforementioned baths. Microstructural aging variations begins at half hour until 30 h at 550°C inside metallic bath of Zn, Sn or Bi. Both kinds of aging promoted a microstructural variation and so on microhardness values. Microstructural analysis by Optical Microscopy showed a structural refinement after AA treatment. The highest hardness value of 375 HVN was achieved in Alternative Aging with Zn bath, which was found to be dependent on laminar α phase refining. Moreover, after AA treatment for 0.5, 1, 2, 3, 4, 10 and 30 h at 550°C in the metallic bath of Zn and Sn, the results indicated similar hardness values in different times, resulting in the fastest kinetic for Sn metallic bath at 2 h compared to that 4 h in Zn metallic bath. The observed increase in micro-hardness is not very attractive, it is recommended to use large aging times in order to stabilize final spacing of microstructural features in AA treatment.
The presence of triaxial bulges has been suggested as a mechanism for sweeping out the interstellar gas into the nuclear zones of normal spiral galaxies, giving rise to star formation processes (Zaritsky and Lo, 1986). In an initial phase of the present study, we have analysed the bulge component of a sample of spiral galaxies, obtained using the 4.2m WHT at La Palma Observatory, selected from among those which exhibit moderate activity. The results obtained are: (a) There is evidence, from the misalignment between the semi–major axes of the isophotes of the bulge and disc components, to support the presence of triaxial bulges in these galaxies; (b) The high spatial resolution of the images allows us to sample the bulges, showing that the surface brightness distribution is not always represented by a family of homologous coaxial ellipses, but rather by a set of ellipses which precess around a common centre, and whose ellipticity varies (see Beckman et al., 1991; Varela, 1992). It is possible to reproduce this structure with a family of concentric triaxial ellipsoidal shells. The presence of a disc offers the advantage of enabling us to interpret the geometry of the bulge correctly, but poses the disadvantage of requiring to interpret the disc emission in order to reconstruct that associated only with the bulge, i.e. to decontaminate the bulge from the disc light. To this end we carried out a photometric analysis, which enabled us to effect a valid bulge/disc decomposition. The preliminary results yielded by the analysis of the bulge component (after decontaminating the disc) show the presence of “transparent” discs in the galaxies analysed.
The Brangus breed was developed to combine the superior characteristics of both of its founder breeds, Angus and Brahman. It combines the high adaptability to tropical and subtropical environments, disease resistance, and overall hardiness of Zebu cattle with the reproductive potential and carcass quality of Angus. It is known that the major histocompatibility complex (MHC, also known as bovine leucocyte antigen: BoLA), located on chromosome 23, encodes several genes involved in the adaptive immune response and may be responsible for adaptation to harsh environments. The objective of this work was to evaluate whether the local breed ancestry percentages in the BoLA locus of a Brangus population diverged from the estimated genome-wide proportions and to identify signatures of positive selection in this genomic region. For this, 167 animals (100 Brangus, 45 Angus and 22 Brahman) were genotyped using a high-density single nucleotide polymorphism array. The local ancestry analysis showed that more than half of the haplotypes (55.0%) shared a Brahman origin. This value was significantly different from the global genome-wide proportion estimated by cluster analysis (34.7% Brahman), and the proportion expected by pedigree (37.5% Brahman). The analysis of selection signatures by genetic differentiation (Fst) and extended haplotype homozygosity-based methods (iHS and Rsb) revealed 10 and seven candidate regions, respectively. The analysis of the genes located within these candidate regions showed mainly genes involved in immune response-related pathway, while other genes and pathways were also observed (cell surface signalling pathways, membrane proteins and ion-binding proteins). Our results suggest that the BoLA region of Brangus cattle may have been enriched with Brahman haplotypes as a consequence of selection processes to promote adaptation to subtropical environments.
Because individuals develop dementia as a manifestation of neurodegenerative or neurovascular disorder, there is a need to develop reliable approaches to their identification. We are undertaking an observational study (Ontario Neurodegenerative Disease Research Initiative [ONDRI]) that includes genomics, neuroimaging, and assessments of cognition as well as language, speech, gait, retinal imaging, and eye tracking. Disorders studied include Alzheimer’s disease, amyotrophic lateral sclerosis, frontotemporal dementia, Parkinson’s disease, and vascular cognitive impairment. Data from ONDRI will be collected into the Brain-CODE database to facilitate correlative analysis. ONDRI will provide a repertoire of endophenotyped individuals that will be a unique, publicly available resource.
Two bioassays were conducted in parallel to assess the effects of cattle treated with either 1% ivermectin (IVM) or 3.15% IVM (dosed at 0.2 and 0.63 mg kg−1, respectively) on reproduction and survival of Onthophagus landolti Harold. Adult beetles were exposed 10 days to faeces of treated cattle starting at: one day before treatment (controls), 3, 6, 14, 28 and 35 days post-treatment. Adult survival of O. landolti was not affected by either of the two treatments. Faecal residues of 1% IVM almost completely suppressed fecundity of beetles at 3, 6 and 14 days post-treatment (dPT), and reduced fecundity of O. landolti at 28 dPT ( 38.3%), relative to controls. Meanwhile, IVM residues after treatment with 3.15% IVM almost completely suppressed fecundity of beetles at 3, 6, 14 and 28 dPT, and reduced fecundity of O. landolti at 35 dPT (80.9%), relative to controls. Larval survival was significantly reduced only at 3 dPT with 1% IVM. Meanwhile, treatment with 3.15% IVM significantly reduced larval survival at 6, 14 and 28 dPT. Larval mortality was recorded only in L-I and L-II instars. Moreover, in both bioassays, most of the L-I and L-II specimens that survived showed signs of toxicity. In conclusion, residual IVM in cattle faeces after treatment with injectable IVM has a detrimental effect on the fecundity of adult O. landolti up to 4 weeks post-treatment and on the subsequent larval survival.
The importance of PRE herbicide applications in cotton has increased since the evolution of glyphosate-resistant (GR) Palmer amaranth. Cotton producers are relying on residual herbicides for control of Palmer amaranth, as POST options are limited or ineffective. S-Metolachlor, acetochlor, fomesafen, and dicamba all provide PRE control of Palmer amaranth; however, little is known about the effect of irrigation rate on incorporation and herbicidal efficacy. In 2015, an experiment was conducted on fine sand and loamy sand soils to evaluate the influence of irrigation volume (0.0 to 12.7 mm ha−1) on Palmer amaranth control with PRE herbicides. Irrigation volume after herbicide application was significant for both S-metolachlor and acetochlor. Efficacy of S-metolachlor was greatest in plots receiving 6.4 and 12.7 mm of irrigation where Palmer amaranth biomass was reduced to 4 and 2% of a nontreated control (NTC), respectively, compared with 61% in plots with the 0-mm irrigation treatment. Palmer amaranth control by acetochlor incorporated at 3.2- to 12.7-mm irrigation did not differ but did reduce Palmer amaranth biomass compared with the 1.6-mm irrigation rate. Irrigation volume was not significant for the soil incorporation of fomesafen or dicamba. Across all herbicides, fomesafen-treated plots provided the most consistent control of Palmer amaranth, reducing its biomass to < 3% of NTC at all irrigation rates. Dicamba provided the least and most inconsistent control of Palmer amaranth, producing 17 to 51% of NTC biomass.
The possibilities of Ni as contact material in electronic applications has motivated the interest on the intermetallic phases of the Ni-Sb system, in relation to their use in lead free micro-soldering processes. In this work, a detailed theoretical study of the cohesive and thermodynamic properties of the compound Ni3Sb in the (cF16) Fm-3m structure is reported. To this aim, the Full Potential Linearized Augmented Plane Waves method, within the framework of the Density Functional Theory and both Generalized Gradient and Local Density approximations, has been applied. The structural parameters, cohesive and elastic properties of this compound and its constituent elements have been determined. In particular, the equilibrium structural properties are determined through the minimization of the energy, including the full relaxation of the internal degrees of freedom of the cell. It is shown that the calculated properties agree well with the available experimental data. Moreover, various contributions to the electronic density of sates are studied. On this basis, a discussion is presented of the bonding characteristics of this compound, in the framework of the current ideas about cohesion in p-d bonded intermetallics.
Carbon nanotubes (CNTs) were synthesized by Chemical Vapor Deposition (CVD) from diethyl ether, butanol, hexane and ethyl acetate. A quartz tube with a stainless steel tube catalyst core with 0.019 m diameter and 0.6 m large formed the reactor. To avoid combustion, argon was used as the carrier gas. Time process ranged 30 to 60 min. The range of CNTs synthesis temperature was 680-850 °C for different precursors. Scanning Electron Microscopy micrographs have demonstrated tangled CNTs growth in all samples, thus presenting difficult length measurement. The CNTs diameters from diethyl ether are 45-200 nm, butanol diameter range from 55-230 nm, hexane diameter range is 50-130 nm and ethyl acetate range from 100 to 300 nm. Carbon content for all samples was higher than 93 %, CNTs from butanol showed carbon concentration up to 99%. FTIR, Raman and X-Ray Spectroscopies spectra for all samples demonstrated the characteristics signals present in carbon nanotubes. This research proposes a simple, effective and innovative method to synthesize CNTs by CVD on iron stainless steel catalyst in combination with diethyl ether, ethyl acetate, butanol and hexane as precursors by applying the principles of green chemistry, sustainability and its ease to be scaled.
In this work, the deposition and photocatalytic response of V2O5 thin films modified with different amounts of Ag (Ag:V2O5) is reported. Films were deposited on glass and silicon substrates (100), using the pulsed laser deposition (PLD) technique. A high purity vanadium target, with a different number of silver pellets attached on it were used. Thin films were characterized by energy dispersive spectroscopy (EDS) to determine the elemental chemical composition; structural changes due to the addition of Ag were monitored by Raman spectroscopy; Optical microscopy was used to observe the surface morphology and UV-Vis spectroscopy was employed to determine optical properties. Photocatalytic response of the prepared films was studied through the degradation of a malachite green solution using a solar irradiation source.