EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration.

Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the ocean water is ejected to space. An existing study has shown that sending small robots into the vents and directly sampling the ocean water is likely possible. To enable such a mission, NASA's Jet Propulsion Laboratory is developing a snake-like robot called Exobiology Extant Life Surveyor (EELS) that can navigate Enceladus' extreme surface and descend an erupting vent to capture unaltered liquid samples and potentially reach the ocean. However, navigating to and through Enceladus' environment is challenging: Because of the limitations of existing orbital reconnaissance, there is substantial uncertainty with respect to its geometry and the physical properties of the surface/vents; communication is limited, which requires highly autonomous robots to execute the mission with limited human supervision. Here, we provide an overview of the EELS project and its development effort to create a risk-aware autonomous robot to navigate these extreme ice terrains/environments. We describe the robot's architecture and the technical challenges to navigate and sense the icy environment safely and effectively. We focus on the challenges related to surface mobility, task and motion planning under uncertainty, and risk quantification. We provide initial results on mobility and risk-aware task and motion planning from field tests and simulated scenarios.

Multicenter study of MTT and resazurin assays for testing susceptibility to first-line anti-tuberculosis drugs.

OBJECTIVE: A multicentre evaluation was performed to assess two rapid low-cost methods, MTT (3-[4.5-dimethylthiazol-2-yl]-2.5-diphenyltetrazolium bromide) and resazurin assays, for testing the susceptibility of Mycobacterium tuberculosis to the first-line anti-tuberculosis drugs rifampicin (RMP), isoniazid (INH), ethambutol (EMB) and streptomycin (SM). METHODS: Thirty coded M. tuberculosis strains were sent to seven laboratories located in Latin America, representing six countries. Each site performed the colorimetric assays, MTT and resazurin, blind for the first-line drugs RMP, INH, EMB and SM. The minimum inhibitory concentration results obtained were compared to the conventional proportion method on Lowenstein-Jensen medium. RESULTS: After establishing the breakpoint concentrations, excellent results were obtained for RMP, INH and EMB, with levels of specificity and sensitivity of between 96% and 99%. CONCLUSION: MTT and resazurin assays are promising, accessible new alternative methods for middle- and low-resource countries that need low-cost methods to perform rapid susceptibility testing of M. tuberculosis to key anti-tuberculosis drugs.

Estudio de la suceptibilidad in vitro de aislados de microsporum canis al ajoene terbinafina y griseofulvina: utilizando el método de microdilución / Suceptibility in vitro of microsporum canis to ajoene terninafine and griseofulvin: evaluatiom of a microdilution test

Ajoene es un agente seguro y eficaz en el tratamiento de algunas dermatofitosis; ha mostrado su actividad sobre aislados de microsporum canis, prefilándose como una potencial droga para el tratamiento tópico de la tinea capitis; por ello consideramos relevante determinar la suceptibilidad in vitro de seis aislados de microsporum canis, obtenidos de pacientes con dicha patología, a los antifúngicos ajoene, terbinafina y griseofulvina, utilizando procedimientos establecidos por el NCCLS M38-A, con algunas modificaciones. Para el compuesto ajoene los valores de la CIM y CI estuvieron entre 30-204 µM y 1,45-2,96 µM; las CIMs y CI de terbinafina se localizaron entre 10-30 µM y 0,02-0,12 µM para la griseofulvina entre 10-30 µM y 1,08-3,91 µM, respectivamente. M. canis fue suceptible a ajoene de manera dosis-dependiente, pudiendo este compuesto constituir una alternativa eficiente para el tratamiento de la tinea capitis

Rapid alternative methods for detection of rifampicin resistance in Mycobacterium tuberculosis

To study the performance of three rapid low cost methods for the detection of rifampicin resistance.A panel of 20 coded Mycobacterium tuberculosis strains was tested blindly by the low cost methods: nitrate reductase, MTT and resazurin assays, and compared with the results obtained with the gold standard methods: the proportion method on Löwenstein-Jensen medium and the BACTEC TB 460 system. We have also tested two commercial tests: MGIT and INNO LiPA Rif.TB kit. Complete agreement was observed among all methods. These three simple methods might become inexpensive alternative procedures for rapid detection of rifampicin resistance in low-resource countries(AU)

Antiangiogenic effect of betamethasone on the chick cam stimulated by TA3 tumor supernatant.

Tumor growth is the result of combined cell proliferation overwhelming cell death and neoangiogenesis. This report shows CAM angiogenesis promoted by TA3 tumor supernatant with or without low dosis of betamethasone (Minimal antiangiogenic concentration: beta-MAAC). Methylcellulose discs instilled with 10 microliters of beta-MAAC (0.08 microgram/ml), 10 microliters of tumor supernatant (TA3ts), 5 microliters beta-MAAC + 5 microliters TA3ts, and 10 microliters of PBS as control were implanted in host chick eggs. On day 12, the grafts were removed, photographed and fixed. Sections were stained in parallel, one and three with hematoxylin-eosin, and section two by the Tunel method. The number of vessels was evaluated in a microscopic field of the CAM (2250 micron 2). The results show that beta-MAAC produced a significant inhibition of neovascularization in comparison to that observed in controls (P < 0.0025; Student t-Test). Discs instilled with TA3ts produced an intense stimulation of angiogenesis in contrast, when discs were instilled with 5 microliters of beta-MAAC + 5 microliters of TA3ts the angiogenesis was significantly inhibited (P < 0.001). The results show that effective antiangiogenic doses of betamethasone are in the range of 10(-7) M, (probably a genomic mediated action) and that this effect of low concentration may have clinical applications.

Dermatofitos causantes de tiña en las uñas de los pies en población menor de 20 años / Dermatophyte causing of tinea in the nails of the foot in population minor of 20 years

Se realizó un estudio retrospectivo de 52 pacientes con tiña de las uñas de ambos pies, en menores de 20 años, correspondiendo 33 (63,5 por ciento) al género femenino y 19 (36,5 por ciento) al masculino. El mayor número de casos se concentró en el grupo etario de 15 a 19 años. El único dermatofito aislado fue trichophyton rubrum, en una 63,5 por ciento. En el 36,5 por ciento restante no hubo crecimiento. El total de uñas dañadas fue de 143, predominando el primer dedo en un 36,4 por ciento. Al comparar los resultados entre el EMD y el cultivo, vemos que no hay discordia entre las dos técnicas, aunque en la literatura revisada se han encontrado diferencias

Histochemical detection of sugar residues in lizard teeth (Liolaemus gravenhorsti): a lectin-binding study.

The structural diversity of the many oligosaccharide chains of surface glycoconjugates renders them likely candidates for modulators of cell-interactions, cellular movements, differentiation, and cellular recognition. A selection of different lectins was used to investigate the appearance of cellular distribution and changes in sugar residues during tooth development in the polyphyodont lizard, Liolaemus gravenhorsti. Lectins from three groups were used: (1) N-acetylgalactosamine specificity: BS-1, PNA, RCA-120; (2) N-acetylglucosamine specificity: ECA; and (3) fucose specificity: UEA 1 and LTA.. Digital images were processed using Scion Image. Grayscale graphics in each image were obtained. The lectins used showed a strong, wide distribution of the L-fucose and N-acetylgalactosamine at the cell surface and in the cytoplasm of multinucleate odontoclast cell, while mononuclear odontoclast cells showed no binding, suggesting some roles that the residues sugar might play in the resorption of dentine or with multinucleation of odontoclast after the attachment to the dentine surface in this polyphyodont species. Further studies must be planned to determine the specific identities of these glycoconjugates,and to elucidate the roles played by these sugar residues in the complex processes related to odontogenesis in polyphyodont species.

Histochemical detection of sugar residues in lizard teeth (Liolaemus gravenhorsti): a lectin-binding study

The structural diversity of the many oligosaccharide chains of surface glycoconjugates renders them likely candidates for modulators of cell-interactions, cellular movements, differentiation, and cellular recognition. A selection of different lectins was used to investigate the appearance of cellular distribution and changes in sugar residues during tooth development in the polyphyodont lizard, Liolaemus gravenhorsti. Lectins from three groups were used: (1) N-acetylgalactosamine specificity: BS-1, PNA, RCA-120; (2) N-acetylglucosamine specificity: ECA; and (3) fucose specificity: UEA 1 and LTA.. Digital images were processed using Scion Image. Grayscale graphics in each image were obtained. The lectins used showed a strong, wide distribution of the L-fucose and N-acetylgalactosamine at the cell surface and in the cytoplasm of multinucleate odontoclast cell, while mononuclear odontoclast cells showed no binding, suggesting some roles that the residues sugar might play in the resorption of dentine or with multinucleation of odontoclast after the attachment to the dentine surface in this polyphyodont species. Further studies must be planned to determine the specific identities of these glycoconjugates,and to elucidate the roles played by these sugar residues in the complex processes related to odontogenesis in polyphyodont species.

Microscopic and histochemical study of odontoclasts in physiologic resorption of teeth of the polyphyodont lizard, Liolaemus gravenhorsti.

Using tartrate-resistant acid phosphatase (TRAP), we examined the cytodifferentiation of odontoclast cells in resorbing areas of dental tissues during the replacement of teeth in a polyphyodont lizard, Liolaemus gravenhorsti. We also report, by means of Lectin-HRP histochemistry, the distribution pattern of some specific sugar residues of TRAPase-positive cells. For detection of TRAPase activity, the azo dye-coupling technique was used. Lectin binding sites were demonstrated by means of specific HRP-lectins. The process of tooth resorption was divided into four stages: 1) preresorption-the wall of the dental pulp is covered with an odontoblast layer, and no TRAP-positive cells are in the dental pulp; 2) early resorption-TRAP-positive multinucleate odontoclasts are present on the dental wall, but the rest of the pulp surface is still covered with an odontoblast layer; 3) later resorption-the entire surface of the pulp chamber is lined with multinucleate odontoclasts; and 4) final resorption-the tooth has been totally resorbed. Odontoclasts are usually detached from the resorbed surface, and show signs of degeneration. Of the six lectins used, PNA, ECA, and UEA-1 bind to multinucleated but not mononuclear cells. All the remaining lectins, BS-1, RCA(120), and LTA showed no binding to any cells of the teeth. The significance of saccharidic moieties such as acetyl-galactosamine, acetyl-glucosamine, and fucose sugar residues is difficult to ascertain. Perhaps these oligosaccharides might be borne on molecules associated with odontoclastic resorption or associated with multinucleation of odontoclasts after attachment to the dentine surface.

Effect of cholinergic agonists on muscular tonus of the lizard small intestine and esophagus.

The underlying mechanisms of acetylcholine-induced intestinal relaxation in the lizard Liolaemus tenuis tenuis are still unknown. By using a classical model of intestinal recording of isometric contraction and relaxation in conjunction with specific pharmacological tools, this article studies the possible influence of EDRF/NO and nicotinic ganglionar receptors on the Ach-induced relaxation in an effort to elucidate the probable mechanisms involved in ACh effect. It was observed that the relaxation of the lizard intestine elicited by ACh (10(-7) - 4 x 10(-4) M) was not affected by hexametonium (5 x 10(-4) M) or tetrodotoxin (10(-6) M). Nicotine (10(-7) to 10(-4) M) induced relaxation was significantly antagonized by hexametonium; however, it was not influenced by tetrodotoxin. These results allow us to discard a neuronal pathway in cholinergic-induced relaxation, suggesting a more direct cholinergic effect on the smooth muscle, perhaps mediated by an unknown substance released by some specialized tissue. N-nitro-L-arginine, used to block NO-synthase and NO production, induced no changes in ACh-induced relaxation. Methylene blue, a soluble guanylate cyclase inhibitor, induced no changes in ACh-induced relaxation. These results allow us to discard a probable role of EDRF/nitric oxide in the ACh-induced relaxation of lizard small intestine, providing evidence that this mechanism could be different from that reported in other species.

Ethanol effect on the chick embryo ossification: a macroscopic and microscopic study.

This study attempts to analyze anomalies in avian embryos induced macroscopically and microscopically when exposed to ethanol (EtOH) during the first stages of development. Fertilized chicken eggs were employed in this study. The eggs were incubated at 37.8 degrees C. Some of the eggs were treated on day 0 with EtOH (20%, 40% and 60%) by instillation in the air sac. The control group was instilled with 0.1 ml of NaCl at 0.9%. Other eggs were treated on the 4th post-incubation day, employing the same methodology. The embryos in both groups were removed from the eggs on the 11th incubation day and examined using a dissecting binocular microscope. After macroscopic analysis, the samples obtained were fixed in 10% formol, photographed and processed according to common histological techniques and the Picrosirius method. Embryos treated with EtOH demonstrated a significant weight decrease. Microscopic analysis by means of the Picrosirius method revealed that the intra-membranous ossification process presents less development, and therefore there was less type I collagen in trabecular bone in the embryos post-exposure to EtOH with respect to the control.

Detection of sugar residues in rabbit embryo teeth with lectin-horseradish peroxidase conjugate: II. A light microscopal study.

The cellular distribution and changes of sugar residues during tooth development in embryos of the rabbit Oryctolagus cuniculus were investigated by using horseradish peroxidase-conjugated lectins (lectin-HRP). The lectins SBA, ECA, and LTA show no binding to any region of the dental cap and bell stages, whereas BS-1 and UEA-1 bind to dental cells at both stages. Appropriate control studies confirmed the specificity of the binding of the lectins. At cap stage, the lectins BS-1 and UEA-1 show moderate binding to the (pre)-ameloblast and (pre)-odontoblast cells. These results suggest that the acetylgalactosamine and alpha-L-fucose residues present in (pre)-ameloblasts and (pre)-odontoblasts, respectively, are common to determined but relatively undifferentiated cells capable of forming matrices of hard tissues. Since the odontoblast and ameloblast express dentin and enamel, respectively, it can be speculated that the abundance of these residues in these cells might be associated with the maintenance of the capacity of the cells to produce such matrices. At the bell stage, the odontoblasts display considerable amounts of alpha-L-fucose, whereas alpha-L-fucose is poorly localized in ameloblasts. However, ameloblasts contain significant quantities of N-acetylgalactosamine, whereas only a diffuse positivity for this carbohydrate is apparent in odontoblasts. The marked changes of the glycosylation pattern of these glycoconjugates might indicate that they play a role during the cell-to-cell interaction and might also be involved in the odontoblastic and ameloblastic functional activity. Such a possibility is entirely speculative until specific in vitro experiments are conducted.

Light microscopic detection of sugar residues in rabbit embryo teeth with lectin-horseradish peroxidase conjugates.

We investigated the binding of five HRP-conjugated lectins to rabbit tooth germs at the cap and late bell stages of development. The results revealed some changes in the glycosylation patterns of the glycoconjugates. Sugar residues, such as alpha-D-mannose, methyl-D-glucose, N-acetylglucosamine, beta-D-galactosamine, D-galactose, and sialic acid, were detectable in some components of the tooth germs. The most conspicuous developmental change was increased binding of Con A and WGA. These lectins showed, at the cap stage, moderate binding to the (pre)-ameloblasts and (pre)-odontoblasts. With further development to the late bell stage, but prior to the achievement of well-defined morphological-functional characteristics, the odontoblasts and ameloblasts displayed considerable amounts of alpha-D-mannose, alpha-D-glucose as well as beta-D-acetylglucosamine and sialic acid. Appropriate control studies confirmed the specificity of the binding of the lectins. Two lectins (DBA and PNA) with known specificity for N-acetylgalactosamine groups were bound by the basement membranes in tooth germs at the cap stage. A third lectin (RCA) with the same specificity did not produce any detectable staining in the same material. Further studies must be planned to determine the specific functions and significance of lectin-HRP-binding glycoconjugates in odontogenesis.

Contributions of heterospecific tissue recombinations to odontogenesis.

Determining the functions of cell surface and substrate adhesion molecules during heterospecific tissue recombinations constitutes a significant problem in biology. The developing tooth organ provides a fine model to pursue this problem, especially in the context of instructive epithelial-mesenchymal interactions. The interpretation of many experimental heterospecific tissue combinations is difficult because of the complexity of the embryonic systems. According to some authors, the expressed phenotype corresponds to the genotype of the epithelium; on the contrary, other studies have demonstrated the leading role of the mesenchyme. The importance of cranial neural crest in tooth morphogenesis has been established. Lizard teeth maintain a continuous morphogenetic field throughout life (polyphyodont). These tissues can be considered as biological models and are ideally suited to study neural crest cell differentiation. Oral cavity of chick embryos show a rudiment resembling the dental lamina of amphibian, reptilian and mammalian embryos, though further odontogenic interactions between the epithelial and mesenchymal tissues are not operating. Some authors have suggested that genes involved in tooth formation, which have remained silent in birds for more than 200 million years, can be activated by appropriate signals. Chick epithelium combined with mesenchyme from mouse molar tooth produced dental structures with differentiated ameloblasts depositing enamel matrix. Quail neural crest combined with lizard dental bud showed quail cells with odontoblastic processes. Combinants (quail ectoderm-lizard papilla, and quail ectoderm-rabbit embryo papilla) showed differentiated chimeric-tooth-like structures. However, controversy persists regarding the ability of avian epithelium to express the ameloblast phenotype and to secrete enamel protein.(ABSTRACT TRUNCATED AT 250 WORDS)

Detection of sugar residues in lizard tooth germs (Liolaemus gravenhorsti) using lectin histochemistry.

The appearance, cellular distribution, and changes of sugar residues during tooth development in adults of the polyphyodont, Liolaemus gravenhorsti, were investigated by using horseradish-peroxidase-conjugate lectins (lectin-HRP). With Con A (Canavalia ensiformis), the ameloblasts (late bell stage) show granular supranuclear positivity and also at the Golgi zone and on their tomes process. Reactivity also appears at the apical surface of the odontoblasts and odontoblastic process. With WGA (Triticum vulgaris), the tooth germs (late bell stage) show cytoplasmatic granular positivity in the ameloblast cells, Golgi regions, and in a lesser extent of the cytoplasm. Also, the apical surface and the odontoblastic process react. WGA reaction is depressed following sialidase treatment. The significance in tooth germs of α-D-mannose, α-D-glucose as well as ß-D-N-acetylglucosamine and sialic acid is difficult to ascertain. These oligosaccharides may have some significance in odontogenesis. In fact, Con A-HRP- and WGA-HRP-binding components in ameloblasts and odontoblasts may be functionally related to molecules that are thought to contribute to odontogenesis in lizards. © 1994 Wiley-Liss, Inc.

Behavior of rabbit dental tissues in heterospecific association with embryonic quail ectoderm.

The behavior of dental tissues from the rabbit, Oryctolagus cuniculus, in association with epithelium from the quail, Coturnix coturnix japonica, has been examined. Adult and embryo rabbits were employed in this study. Dental papillae from teeth at the cap stage from rabbit embryos and dental pulp from adult rabbits were isolated surgically and recombined with skin ectoderm from 72-hour-old quail embryos. The recombined tissues were cultured for 48 hours on semi-solid medium and subsequently removed and placed on chorio-allantoic membranes of 7-day-old chick embryos. Control cultures (dental pulp, dental papillae, and quail ectoderm) showed regression, atrophy, or differentiation according to the phenotype of the tissue. After 8 days in explant culture, heterologous recombinants composed of dental papillae and flank skin ectoderm from quail embryos developed differentiated chimeric tooth structures. It was unclear whether or not enamel was being secreted. The fact that the interactions between the enamel epithelium and the dental papillae are reciprocal is well known. The differentiation of odontoblasts can only occur in the presence of an enamel organ. Thus, the quail epithelium must have been induced to become an enamel organ, the lack of enamel proteins notwithstanding. Apical pulp and root pulp from adult rabbits plus quail ectoderm showed a high degree of regression and atrophy. At around 15 days of gestation, the rabbit dental papillae at the cap stage have already acquired odontogenic potential. By contrast, under the same experimental conditions, the dental pulp from continuous-growth teeth from adult rabbits did not show odontogenic potential.(ABSTRACT TRUNCATED AT 250 WORDS)

Cysticercosis vaccine: cross protecting immunity with T. solium antigens against experimental murine T. crassiceps cysticercosis.

Vaccination of mice with an antigen extract from Taenia solium cysticerci induced protection against challenge with T. crassiceps cysticerci as successfully as did antigen extracts from T. crassiceps. Vaccination was more effective in male than in female mice and in the resistant strain (BALB/B) more so than in the susceptible strain (BALB/c). While only the resistant strain was completely protected by vaccination, the parasite load of the susceptible strain was significantly reduced by vaccination. Cross immunity between the human and murine parasites establishes murine T. crassiceps cysticercosis as a convenient laboratory model in which to test promising T. solium antigens aimed at vaccine development against T. solium cysticercosis. Further, results point to strong interactions of the immune system with sexual and histocompatibility factors in the host's dealing with cysticercosis.

[Involution of the tooth germ in sheep (Ovis aries)]. / Involución de germenes dentarios en la oveja (Ovis aries).

In this study we examined some histologic and histochemical characteristics of the embryonic sheep dental epithelium in early odontogenesis. During the first trimester of development, a short-lived dental lamina was observed. Apparently in the sheep, the interactions between epithelial and ectomesenchymal cells required for tooth normal morphogenesis are altered.

Odontogenesis and amelogenesis in interacting lizard-quail tissue combinations.

In this study we examined the possible inductive role of the dental papilla from polyphyodont lizard tooth germs. Flank skin sheets of quail ectoderm enzymatically separated from dermal tissue were recombined with lizard tooth papillae and placed on semisolid medium and cultured for 2 days. Subsequently, the recombinants were removed and placed on the chorioallantoic membrane of chick hosts and incubated for 6 days. After this period of 8 days in explant, control tissues differentiated according to their own phenotypes. Lizard dental papilla alone differentiated as fibroblasts. Quail flank skin ectoderm differentiated into epithelial sheets. Intact lizard tooth buds developed into teeth with dentine and incipient enamel. In the best experimental recombinants, advanced and relatively well-constructed teeth were observed, with clear indications of hard tissue deposition in association with quail epithelium. The results show that mesenchyme of the adult lizard dental papilla and embryonic quail ectoderm of heterotopic origin are capable of carrying out the complex sequence of morphogenetic interactions involved in normal odontogenesis.