We report the detection of a strong, organized magnetic field in the secondary component of the massive O8III/I+O7.5V/III double-lined spectroscopic binary system HD 47129 (Plaskett's star) in the context of the Magnetism in Massive Stars survey. Eight independent Stokes V observations were acquired using the Echelle SpectroPolarimetric Device for the Observations of Stars (ESPaDOnS) spectropolarimeter at the Canada–France–Hawaii Telescope and the Narval spectropolarimeter at the Télescope Bernard Lyot. Using least-squares deconvolution we obtain definite detections of signal in Stokes V in three observations. No significant signal is detected in the diagnostic null (N) spectra. The Zeeman signatures are broad and track the radial velocity of the secondary component; we therefore conclude that the rapidly rotating secondary component is the magnetized star. Correcting the polarized spectra for the line and continuum of the (sharp-lined) primary, we measured the longitudinal magnetic field from each observation. The longitudinal field of the secondary is variable and exhibits extreme values of −810 ± 150 and +680 ± 190 G, implying a minimum surface dipole polar strength of 2850 ± 500 G. In contrast, we derive an upper limit (3σ) to the primary's surface magnetic field of 230 G. The combination of a strong magnetic field and rapid rotation leads us to conclude that the secondary hosts a centrifugal magnetosphere fed through a magnetically confined wind. We revisit the properties of the optical line profiles and X-ray emission – previously interpreted as a consequence of colliding stellar winds – in this context. We conclude that HD 47129 represents a heretofore unique stellar system – a close, massive binary with a rapidly rotating, magnetized component – that will be a rich target for further study.

As a strategy to conserve tropical rainforests of the East Usambara block of the Eastern Arc Mountains, Tanzania, I developed a set of models that can identify above-average tree species richness areas within the humid forests. I developed the model based on geo-referenced field data and satellite image-based variables from the Amani Nature Reserve, the largest forest sector in the East Usambara. I then verified the model by applying it to the Nilo Forest Reserve. The field data, part of the Tanzanian National Biodiversity Database, were collected by Frontier-Tanzania between 1999 and 2001, through the East Usambara Conservation Area Management Program, Government of Tanzania. The field data used are rapidly collectible by people with varied backgrounds and education. I gathered spectral reflectance values from pixels in the Landsat Enhanced Thematic Mapper (Landsat ETM) image covering the study area that corresponded to the ground sample points. The spectral information from different bands formed the satellite image-based variables in the dataset. The best satellite image logistic regression and discriminant analysis models were based on a single band, raw Landsat ETM mid-infrared band 7 (RB7). In the Amani forest, the RB7-based model resulted in 65.3% overall accuracy in identifying above average tree species locations. When the logistic and discriminant models were applied to Nilo forest sector, the overall accuracy was 62.3%. Of the rapidly collectible field variables, only tree density (number of trees) was selected in the logistic regression and the discriminant analysis models. Logistic and discriminant models using both RB7 and number of trees recorded 76.3% overall accuracy in Amani, and when applied to Nilo, 76.8% accuracy. It is possible to apply and adapt the current set of models to identify above-average tree species richness areas in East Usambara and other forest blocks of the Eastern Arc Mountains. Potentially, managers and researchers can periodically use the model to rapidly assess, monitor, update, and map the tree species rich areas within the forest. The same or similar models could be applied to check their applicability in other humid tropical forest areas. / Ph. D.

Glykane aus exokrinen Drüsen stellen ein Schutzsystem der Schleimhautoberflächen dar, indem sie an mikrobielle Adhäsine binden und dadurch Einfluß auf die mikrobielle Besiedelung und Invasion des Wirtes nehmen. 11 Patienten mit rasch fortschreitender Parodontitis (RPP) wurde über jeweils 20 Minuten in Ruhe und unter adrenerger Belastung Speichel aus den großen Speicheldrüsen entnommen und in einem kompetitiven Lektinbindungsinhibitionstest auf die Bindungsfähigkeit an 8 verschiedene Planzenlektine untersucht. Patienten mit RPP zeigen ein anderes Verteilungsmuster der antiadhäsiven Glycane als die Kontrollgruppe. Sie zernieren u.a. aus den Unterkieferdrüsen konstant signifikant mehr Glykane mit endständigen Mannosegruppen, aus der Parotis dagegen nur unter adrenerger Stimulation. Dies zeigt die unterschiedliche Funktion der Drüsen bei der Beeinflussung des Milieus in der Mundhöhle als auch einen unterschiedlichen Erregungszustand des Schleimhautschutzsystems bei Erkrankten und Kontrollen. Aus den Ergebnissen können sich diagnostische Aspekte für das Risiko und den Aktivitätszustand einer parodontalen Erkrankung ergeben. / Glycans from exocrine glands create a defense system of the mucosal surfaces by binding to microbial adhesins and interfering with colonisation and invasion of the host. Saliva from 11 patients with rapidly progressive periodontitis (RPP) was collected over a period of 20 minutes each in rest and during adrenergic stimulation. The samples were tested for binding properties to 8 different plant lectins by a competitive lectin binding inhibition test. A pattern of antiadhesive glycans different from the control group is secreted in patients with RPP. The latter constantly secrete significantly more glycans with terminal mannose from the mandibular glands. In the parotis this is only the case during adrenergic stimulation. This demonstrates the different purpose of the glands in maintaining the oral milieu as well as different states of activity of the mucosal defense system in RPP patients and controls. Diagnostic aspects for risk and activity of periodontal diseases can be drawn from these findings.

As micobactérias de crescimento rápido causam infecções pulmonares, infecções relacionadas a traumas cutâneos e aos cuidados com a saúde. Ha um número reduzido de opções terapêuticas para o tratamento dessas infecções e os dados nacionais sobre os determinantes genéticos dessa resistência são escassos. Duas classes de antimicrobianos importantes no tratamento são as fluorquinolonas e os macrolídeos. Enquanto a maioria dos isolados do Grupo M. chelonae-abscessus apresenta resistência intrínseca às fluorquinolonas, e são sensíveis aos macrolídeos, a maioria dos isolados do Grupo M. fortuitum é sensível às fluorquinolonas e expressa RNA-metilases que impedem a ação dos macrolídeos. Os determinantes da resistência às fluorquinolonas conhecidos em micobactérias são mutações no gene gyrA e para os macrolídeos é a expressão de genes erm, que codificam RNA-metilases. Nos dois casos os determinantes tem localização cromossômica. Outros determinantes de resistência podem ter localização plasmidial, a exemplo do gene aacA4\'-8, presente em plasmídio do grupo de incompatibilidade IncP, detectado em M. abscessus, que codifica resistência à kanamicina e tobramicina. Neste estudo foram avaliados: a correlação entre à susceptibilidade ao ciprofloxacino e moxifloxacino e presença de mutações nos genes gyrA e gyrB; a susceptibilidade à claritromicina e presença de genes que codificam RNA-metilases; a presença de plasmídios do grupo de incompatibilidade IncP em diferentes espécies de micobactérias; a estabilidade e a transferência por conjugação do plasmídio pBRA-100; a relação clonal entre isolados que albergam plasmídios IncP e o perfil de susceptibilidade antimicrobiana de uma coleção de isolados da espécie M. abscessus. Cento e vinte e dois isolados dos Grupos M. abscessus e M. fortuitum foram analisados quanto às concentrações inibitórias mínimas, por microdiluição, utilizando-se o painel RAPMYCO®. As sequências parciais dos genes gyrA e gyrB e a presença de genes que codificam RNA-metilases foram determinadas em 69 e 59 desses isolados, respectivamente. A presença de plasmídios do grupo IncP foi determinada por PCR e os produtos de amplificação tiveram suas sequencias caracterizadas. A estabilidade do plasmídio pBRA-100 em Escherichia coli TOP10® foi avaliada realizando-se repiques sucessivos por 57 dias e semeadura em agar LB contendo kanamicina. A transferência horizontal foi avaliada por ensaio de conjugação com E. coli J53 resistente à azida sódica. Em M. abscessus não houve diferença entre as sequencias da região QRDR de GyrA e GyrB entre isolados sensíveis e resistentes ao ciprofloxacino. Em M. abscessus subsp. abscessus e M. abscessus subsp. bolletii todos os isolados testados apresentaram genes erm; entretanto não foi observada correlação entre a presença dos genes e resistência indutiva a claritromicina. O gene erm(45), descrito neste trabalho, foi detectado apenas em M. abscessus subsp. bolletii. Os ensaios de microdiluição evidenciaram que os antimicrobianos mais ativos contra M. abscessus subsp. abscessus foram amicacina (89%), tigeciclina (96%) e claritromicina (86%). Apenas nos dois isolados da espécie M. fortuitum resistentes ao ciprofloxacino foi detectada a substituição S83W na proteína GyrA. Trata-se de substituição ainda não descrita em micobactérias. Nao foi observada correlação entre substituições em GyrB e resistência ao ciprofloxacino ou moxifloxacino. O gene erm(46), descrito neste estudo, foi detectado em 65% dos isolados. Nos demais isolados foram detectados três outros genes: erm(47), erm(48) e erm(49), ainda nao descritos. Os plasmídios IncP foram detectados apenas em \"M. massiliense\" pertencentes a três grupos clonais distintos com índice de similaridade maior que 92%, quando analisados por ERIC-PCR. Houve sucesso na conjugação entre E. coli TOP-Myco e E. coli J53. Os ensaios de estabilidade evidenciaram que o plasmídio pBRA-100 é estável em E. coli com aproximadamente 100% da população bacteriana albergando o plasmídio após 57 subcultivos. / The rapidly growing mycobacteria cause lung infections, skin infections related to trauma and health care associated infections. There are a limited number of therapeutic options for treating these infections and national data on the genetic determinants of this resistance are scarce. Two major classes of antimicrobials used in treatment of these infections are macrolides and fluoroquinolones. While the majority of the isolates from M. chelonae-abscessus Group have intrinsic resistance to fluoroquinolones, and are sensitive to macrolides, most isolates from M. fortuitum Group are sensitive to fluoroquinolones and express RNA methylases that prevent the action of macrolides. The known fluoroquinolones resistance determinants in to mycobacteria are mutations in thegyrA gene and for macrolides the main determinant is the expression of erm genes which encode RNA methylases. In both cases the determinants are located at the chromosome. Other resistance determinants may have a plasmidial location, such as aacA4\'-8 gene, present in the pBRA100 plasmid detected in M. abscessus, which encodes resistance to kanamycin and tobramycin. This study evaluated the correlation between the susceptibility to ciprofloxacin and moxifloxacin and mutations in genes gyrA and gyrB; susceptibility to clarithromycin and the presence of RNA-methylases encodinggenes , the presence of plasmids of the incompatibility group IncP in different species mycobacteria; stability and conjugal transfer of plasmid pBRA-100; the clonal relationship between isolates harboring plasmids IncP and antimicrobial susceptibility profile of a collection of isolates of M. abscessus. One hundred and twenty-two isolates of M. chenolae-abscessus and M. fortuitum Groups were analyzed for their minimal inhibitory concentrations by microdilution, using the RAPMYCO® Panel. The partial sequences of the genes gyrA and gyrB and the presence of genes encoding RNA methylases were determined in 69 and 59 isolates, respectively. The presence of IncP group plasmids was determined by PCR and the sequence of PCR products were characterized. The stability of the pBRA-100 plasmid in Escherichia coli TOP10® was evaluated by performing successive subcultures for 57 days, and plating on LB agar containing kanamycin. The horizontal transfer was evaluated by conjugation with E. coli J53 a sodium azide resistant strain. In M. abscessus no differences between the sequences of the QRDR region of gyrA or gyrB among isolates susceptible and resistant to ciprofloxacin were observed. In M. abscessus subsp. abscessus and M. abscessus subsp. bolletii all isolates tested had erm genes; however there was no correlation between the presence of these genes and inducible resistance to clarithromycin. The erm(45), gene described in this paper, was only detected in M. abscessus subsp. bolletii. Microdilution tests showed that the most active antibiotics against M. abscessus subsp. abscessus were amikacin (89%), tigecycline (96%) and clarithromycin (86%). In only in two M. fortuitum isolates resistant to ciprofloxacin the amino acid substitution S83W was detected in GyrA. This substitution had not been described mycobacteria. No correlation was observed between substitutions in GyrB and resistance to ciprofloxacin or moxifloxacin. The erm(46) gene described in this study, was detected in 65% of the isolates. In the remaining isolates other three not yet described genes were detected: erm(47), erm(48) and erm(49). IncP plasmids were detected only in \"M. massiliense\" belonging to three clonal groups with at similarity index greater than 92% when analyzed by ERIC-PCR.We succeeded in conjugating E. coli TOP-Myco and E. coli J53. The stability tests showed that the plasmid pBRA-100 is stable in E. coli since approximately 100% of the bacterial population harbored the plasmid after 57 subcultures.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Em diversos estados do Brasil, foram relatadas epidemias de infecções causadas por micobactérias de crescimento rápido (MCR) desde o ano 2000. A maioria dos casos foi principalmente associada ao clone BRA100 de Mycobacterium massiliense, recentemente renomeada para Mycobacterium abscessus subsp. bolletii, isolado de pacientes submetidos a procedimentos invasivos nos quais os instrumentos médicos não foram adequadamente esterilizados e/ou desinfetados. Sendo as quinolonas uma opção no tratamento de infecções por MCR e sugerida para esquemas terapêuticos para esses surtos, foram avaliadas nesse trabalho as atividades in vitro de quatro gerações de quinolonas para cepas clinicas e de referência de MCR através da microdiluição em caldo. Também foram analisadas as sequências peptídicas das regiões determinantes da resistência a quinolonas (RDRQ) das subunidades A e B da DNA gyrase (GyrA e GyrB) após o seqüenciamento de DNA seguido pela tradução da sequência de aminoácidos. Cinquenta e quatro cepas de M. abscessus subsp bolletii, incluindo o clone BRA100, isoladas em diferentes estados do Brasil, e 19 cepas de referência de MCR foram caracterizadas. Todas as 54 cepas clínicas de M. abscessus subsp. bolletii foram resistentes a todas as gerações de quinolonas e mostraram o mesmo resíduo nas RDRQ, incluindo Ala-83 em GyrA, Arg-447 e Asp-464 em GyrB, descritos como sendo responsáveis por gerar um baixo nível de resistência a quinolonas em micobactérias. Porém, outras espécies de MCR apresentaram diferentes susceptibilidade e padrões de mutações contrários aos classicamente já definidos, sugerindo que outros mecanismos de resistência, diferentes de mutações em gyrA e gyrB também possam estar envolvidos na alta resistência a quinolonas. / Several outbreaks of infections caused by rapidly growing mycobacteria (RGM) have been reported in many Brazilian states since 2000. Most of the cases were mainly associated to Mycobacterium massiliense, recently renamed as Mycobacterium abscessus subsp. bolletii, BRA100 clone recovered from patients who had undergone invasive procedures, in which medical instruments have not been properly sterilized and / or disinfected. Since quinolones have represented an option for the treatment of general RGM infections and suggested for therapeutic schemes for these outbreaks, we evaluated the in vitro activities of four generations of quinolones for clinical and reference RGM by broth microdilution, and analysis of peptide sequences of the quinolone resistance determining regions (QRDR) of GyrA and GyrB after DNA sequencing followed by amino acid translation. Fifty four isolates of M. abscessus subsp bolletii, including clone BRA100, recovered in different states of Brazil, and 19 reference strains of RGM species were characterized. All 54 M. abscessus subsp. bolletii isolates were resistant to all generations of quinolones and showed the same amino acids in the QRDR including the Ala-83 in GyrA, Arg-447 and Asp-464 in GyrB, described as responsible for an intrinsic low level of resistance to quinolones in mycobacteria. But other RGM species presented distinct susceptibilities to this class of antimicrobials and patterns of mutations contrary to what has been traditionally defined, suggesting that other mechanisms of resistance, different from gyrA or gyrB mutations, may also be involved in resistance to high levels of quinolones.

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Hospital Universitário Antonio Pedro / A micobacteriose pós-cirúrgica (MPC) vem emergindo nos últimos anos no Brasil e no mundo como uma infecção relacionada à assistência a saúde, representando um grave problema de saúde pública. Em 2006, vários casos foram informados à Secretaria de Estado de Saúde do Rio de Janeiro (SES/RJ). A partir de março daquele ano, teve início um trabalho conjunto dessa Secretaria e do Ministério da Saúde, que definiu diretrizes para a confirmação do surto/epidemia, para o levantamento das causas, para a identificação das espécies do patógeno envolvido e para estabelecer medidas de prevenção e controle. Este estudo teve como objetivo descrever os aspectos clínicos e sociodemográficos dos pacientes atendidos no Serviço de Infectologia do Hospital Universitário Antônio Pedro (HUAP), Universidade Federal Fluminense, com diagnóstico de MPC no período 2006-2009. Casuística e métodos: De abril de 2006 a junho de 2009 foram atendidos no Serviço de Infectologia do HUAP 125 pacientes encaminhados pela SES/RJ por serem casos suspeitos ou confirmados de micobacteriose não tuberculosa adquirida após procedimentos cirúrgicos. Os pacientes chegaram ao HUAP com a ficha própria de notificação de caso de MPC preenchida com os dados da identificação, do procedimento relacionado à infecção, da abordagem diagnóstica e da terapêutica prévia. O tratamento medicamentoso obedeceu às diretrizes estabelecidas pela SES/RJ e pela Agência Nacional de Saúde. Os dados contidos nestas fichas, bem como outras informações concernentes à evolução clínica, tratamento dispensado no HUAP e resposta terapêutica, foram inseridos em um banco de dados especialmente desenvolvido para a pesquisa. Resultados: A maior parte dos casos de MPC ocorreu em pacientes do sexo feminino (77,6%) e a colecistectomia laparoscópica foi o procedimento cirúrgico mais frequente (48,8%). A média do período de incubação foi de 41 dias e a mediana de 31 dias, O sinal clínico mais comum foi a presença de secreção (86,5%), seguida da de nodulações (65,6%). A maior parte dos casos apresentou lesões superficiais e múltiplas (44,8%). Em 45,6% dos casos foram colhidos suabes e tecido para cultura antes do início do tratamento e a positividade deste material foi de 43,5%, valor significantemente maior que o observado quando a coleta de material foi feita após o início do tratamento (16,7%). O tratamento com três fármacos (claritromicina, etambutol e terizidona) foi feito em 90,4% (113/125) dos pacientes, com duração média de 226 dias e mediana de 229 dias. Foram submetidos a pelo menos uma abordagem cirúrgica 77,6% (97/125) dos casos, principalmente aqueles que apresentavam lesões profundas (44/56). Efeitos adversos foram observados em 62,4% (78/125) dos casos, sendo boca amarga o mais frequente. Conclusão: Apesar do longo tempo de tratamento com múltiplos fármacos, a grande maioria dos pacientes aderiu ao tratamento e evoluiu para a cura sem recidivas. / Post-surgical mycobacteriosis (PSM) is emerging as a serious public health problem in Brazil and in the world. In 2006 a number of infections were reported to the Secretary of Health in the Rio de Janeiro State. Starting in March of this year, a joint effort was initiated by this Secretary and the Ministry of Health, in order to set up guidelines to confirm the outbreak/epidemic, to identify its causes, to identify the species of the pathogen involved, and to establish measures of prevention and control. The aim of this work was to describe the clinical and sociodemographic findings of the patients treated at the Infectious Diseases Service of Hospital Universitário Antônio Pedro (HUAP), Universidade Federal Fluminense, who had PSM from 2006 to 2009. Patients and Methods: From April 2006 to June 2009, 125 patients were referred by the Secretary of Health of the Rio de Janeiro State to HUAP with suspected or confirmed PSM. Each patient arrived at HUAP had a PSM case report form with data on identification, infection-related procedures, diagnostic approaches, and previous therapy. The treatment was defined by the Secretary of Health of the Rio de Janeiro State and the Health National Agency. The data from these case report forms, as well as other information associated with clinical evolution, treatment at HUAP, and therapeutic response were inserted into a database specially developed for this research. Results: Most PSM cases occurred in female patients (77.6%) and laparoscopic cholecystectomy was the most frequent surgery (48.8%). The mean incubation period was 41 days (median: 31 days). The most common presentation was drainage (86.5%) and nodules (65.6%). Most cases had multiple and superficial lesions (44.8%). Swab and tissue cultures were performed before treatment in 45.6% of the patients and their positivity was 43.5%, value significantly higher than that found when the specimens were obtained after the onset of treatment (16,7%). Most patients (90.4% - 113/125) were treated with a combined therapy using 3 drugs (clarithromycin, ethambutol and terizidone), with a mean duration of 226 days (median: 229 days). Surgical debridement was performed in 77.6% (97/125) of the cases, mainly in those with deep tissues lesions (44/56). Drug adverse effects occurred in 62.4% (78/125) of the cases, and bitter taste was the most common. Conclusion: In spite of multiple-drug and long-term treatment, most patients adhered to therapy and evolved to cure without relapses.

Genetische Einflüsse stellen in der Ätiologie der Alzheimer-Demenz (AD) eine zentrale Rolle dar. In den letzten Jahren konnte eine Vielzahl neuer Kandidatengene entdeckt werden, die in sogenannten Genome-wide association studies (GWAS) eine signifikante Assoziation zur AD zeigten. Inwieweit diese neu entdeckten Polymorphismen auch die Progressionsgeschwindigkeit der AD beeinflussen, ist bislang jedoch nur unzureichend untersucht. Das Ziel dieser Arbeit war es daher, die 11 Polymorphismen mit der stärksten Assoziation zur AD in einem Kollektiv von 42 AD-Patienten hinsichtlich des Einflusses auf die Progressionsgeschwindigkeit zu untersuchen. Dazu wurde bei den Studienteilnehmern der Punktverlust im Mini-Mental-Status-Test (MMST) innerhalb eines Jahres gemessen. Unter den Polymorphismen wurde zusätzlich nach möglichen prädiktiven genetischen Markern für die „rapid-progressive AD“ (MMST-Verlust > 5 Punkte/Jahr) gesucht. Für den untersuchten rs541458-Polymorphismus des PICALM-Gens ließ sich bei C-Allel-Trägern eine signifikant höhere durchschnittliche MMST-Progression als bei Nicht-C-Trägern nachweisen (p = 0,039). Beim rs5930-Polymorphismus des LDLR-Gens konnte zudem für weibliche G-Allel-Träger eine signifikant erhöhte MMST-Progression gezeigt werden (p = 0,040). Prädiktive Marker für die rapid-progressive AD konnten nicht nachgewiesen werden. Der AG-Genotyp des untersuchten BIN1-Polymorphismus (rs744373) war jedoch signifikant häufiger in der langsamen Gruppe (≤ 5 Punkte Verlust im MMST/Jahr) anzutreffen (p = 0,026). Da bisher keine vergleichbaren Studien vorliegen, sind weitere Untersuchungen mit weitaus größeren Teilnehmerzahlen nötig, um die Ausprägung dieser möglichen Effekte genauer zu bestimmen. Die Möglichkeit, die gefundenen Polymorphismen als prognostische Marker zu verwenden und somit das Risiko des Krankheitsverlaufes zu bestimmen, hätte sowohl für Patienten und ihre Angehörigen als auch für die behandelnden Ärzte große Bedeutung.

Robots moving about in complex environments must be capable of determining and performing difficult motion sequences to accomplish tasks. As the tasks become more complicated, robots with greater dexterity are required. An increase in the number of degrees of freedom and a desire for autonomy in uncertain environments with real-time requirements leaves much room for improvement in the current popular robot motion planning algorithms. In this thesis, state of the art robot motion planning techniques are surveyed. A solution to the general movers problem in the context of motion planning for robots is presented. The proposed robot motion planner solves the general movers problem using a sample-based tree planner combined with an incremental simulator. The robot motion planner is demonstrated both in simulation and the real world. Experiments are conducted and the results analyzed. Based on the results, methods for tuning the robot motion planner to improve the performance are proposed.

Robot motion planning is one of the central problems in robotics, and has received considerable amount of attention not only from roboticists but also from the control and artificial intelligence (AI) communities. Despite the different types of applications and physical properties of robotic systems, many high-level tasks of autonomous systems can be decomposed into subtasks which require point-to-point navigation while avoiding infeasible regions due to the obstacles in the workspace. This dissertation aims at developing a new class of sampling-based motion planning algorithms that are fast, efficient and asymptotically optimal by employing ideas from Machine Learning (ML) and Dynamic Programming (DP). First, we interpret the robot motion planning problem as a form of a machine learning problem since the underlying search space is not known a priori, and utilize random geometric graphs to compute consistent discretizations of the underlying continuous search space. Then, we integrate existing DP algorithms and ML algorithms to the framework of sampling-based algorithms for better exploitation and exploration, respectively. We introduce a novel sampling-based algorithm, called RRT#, that improves upon the well-known RRT* algorithm by leveraging value and policy iteration methods as new information is collected. The proposed algorithms yield provable guarantees on correctness, completeness and asymptotic optimality. We also develop an adaptive sampling strategy by considering exploration as a classification (or regression) problem, and use online machine learning algorithms to learn the relevant region of a query, i.e., the region that contains the optimal solution, without significant computational overhead. We then extend the application of sampling-based algorithms to a class of stochastic optimal control problems and problems with differential constraints. Specifically, we introduce the Path Integral - RRT algorithm, for solving optimal control of stochastic systems and the CL-RRT# algorithm that uses closed-loop prediction for trajectory generation for differential systems. One of the key benefits of CL-RRT# is that for many systems, given a low-level tracking controller, it is easier to handle differential constraints, so complex steering procedures are not needed, unlike most existing kinodynamic sampling-based algorithms. Implementation results of sampling-based planners for route planning of a full-scale autonomous helicopter under the Autonomous Aerial Cargo/Utility System Program (AACUS) program are provided.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Em diversos estados do Brasil, foram relatadas epidemias de infecções causadas por micobactérias de crescimento rápido (MCR) desde o ano 2000. A maioria dos casos foi principalmente associada ao clone BRA100 de Mycobacterium massiliense, recentemente renomeada para Mycobacterium abscessus subsp. bolletii, isolado de pacientes submetidos a procedimentos invasivos nos quais os instrumentos médicos não foram adequadamente esterilizados e/ou desinfetados. Sendo as quinolonas uma opção no tratamento de infecções por MCR e sugerida para esquemas terapêuticos para esses surtos, foram avaliadas nesse trabalho as atividades in vitro de quatro gerações de quinolonas para cepas clinicas e de referência de MCR através da microdiluição em caldo. Também foram analisadas as sequências peptídicas das regiões determinantes da resistência a quinolonas (RDRQ) das subunidades A e B da DNA gyrase (GyrA e GyrB) após o seqüenciamento de DNA seguido pela tradução da sequência de aminoácidos. Cinquenta e quatro cepas de M. abscessus subsp bolletii, incluindo o clone BRA100, isoladas em diferentes estados do Brasil, e 19 cepas de referência de MCR foram caracterizadas. Todas as 54 cepas clínicas de M. abscessus subsp. bolletii foram resistentes a todas as gerações de quinolonas e mostraram o mesmo resíduo nas RDRQ, incluindo Ala-83 em GyrA, Arg-447 e Asp-464 em GyrB, descritos como sendo responsáveis por gerar um baixo nível de resistência a quinolonas em micobactérias. Porém, outras espécies de MCR apresentaram diferentes susceptibilidade e padrões de mutações contrários aos classicamente já definidos, sugerindo que outros mecanismos de resistência, diferentes de mutações em gyrA e gyrB também possam estar envolvidos na alta resistência a quinolonas. / Several outbreaks of infections caused by rapidly growing mycobacteria (RGM) have been reported in many Brazilian states since 2000. Most of the cases were mainly associated to Mycobacterium massiliense, recently renamed as Mycobacterium abscessus subsp. bolletii, BRA100 clone recovered from patients who had undergone invasive procedures, in which medical instruments have not been properly sterilized and / or disinfected. Since quinolones have represented an option for the treatment of general RGM infections and suggested for therapeutic schemes for these outbreaks, we evaluated the in vitro activities of four generations of quinolones for clinical and reference RGM by broth microdilution, and analysis of peptide sequences of the quinolone resistance determining regions (QRDR) of GyrA and GyrB after DNA sequencing followed by amino acid translation. Fifty four isolates of M. abscessus subsp bolletii, including clone BRA100, recovered in different states of Brazil, and 19 reference strains of RGM species were characterized. All 54 M. abscessus subsp. bolletii isolates were resistant to all generations of quinolones and showed the same amino acids in the QRDR including the Ala-83 in GyrA, Arg-447 and Asp-464 in GyrB, described as responsible for an intrinsic low level of resistance to quinolones in mycobacteria. But other RGM species presented distinct susceptibilities to this class of antimicrobials and patterns of mutations contrary to what has been traditionally defined, suggesting that other mechanisms of resistance, different from gyrA or gyrB mutations, may also be involved in resistance to high levels of quinolones.