Tech United Eindhoven RoboCup adult size humanoid team description 2012

This document presents the 2012 Tech United Eindhoven adult size humanoid robot team from The Netherlands. The team contributes the adult-size humanoid robot TUlip. Here we present the mechanical design and kinematic structure of the robot. We introduce the walking gait and contribute a controller structure including gravity compensation. Finally, we describe the vision system, self localization and world model, which are used for the attacker and defender strategy in the humanoid robot soccer game

RAS gene polymorphisms, classical risk factors and the advent of coronary artery disease in the Portuguese population

<p>Abstract</p> <p>Background</p> <p>Several polymorphisms within the renin-angiotensin system cluster of genes have been associated with the advent of coronary artery disease (CAD) or related pathologies. We investigated the distribution of 5 of these polymorphisms in order to find any association with CAD development and distinguish if any of the biochemical and behavioural factors interact with genetic polymorphisms in the advent of the disease.</p> <p>Methods</p> <p><it>ACE </it>I/D (rs4340), <it>ACE </it>A11860G (rs4343), <it>AT1R </it>A1166C (rs5186), <it>AGT </it>T174M (rs4762) and <it>AGT </it>M235T (rs699) gene polymorphisms were PCR-RFLP analysed in 298 CAD patients and 510 controls from Portugal. Several biochemical and behavioural markers were obtained.</p> <p>Results</p> <p><it>ACE </it>I/D DD and <it>ACE</it>11860 GG genotypes are risk factors for CAD in this population. The simultaneous presence of <it>ACE </it>I/D I and <it>ACE</it>11860 A alleles corresponds to a significant trend towards a decrease in CAD incidence. We found several synergistic effects between the studied polymorphisms and classical risk factors such as hypertension, obesity, diabetes and dyslipidaemia: the presence of the DD genotype of <it>ACE </it>I/D (and also <it>ACE</it>11860 GG) increases the odds of developing CAD when associated to each one of these classical risk factors, particularly when considering the male and early onset CAD subgroup analysis; <it>AGT</it>235 TT also increases the CAD risk in the presence of hypertension and dyslipidaemia, and <it>AT1R</it>1166 interacts positively with hypertension, smoking and obesity.</p> <p>Conclusion</p> <p><it>ACE </it>polymorphisms were shown to play a major role in individual susceptibility to develop CAD. There is also a clear interaction between RAS predisposing genes and some biochemical/environmental risk factors in CAD onset, demonstrating a significant enhancement of classical markers particularly by <it>ACE </it>I/D and <it>ACE</it>11860.</p

Atmosphere-ocean-ice interactions in the Amundsen Sea Embayment, West Antarctica

Over recent decades outlet glaciers of the Amundsen Sea Embayment (ASE), West Antarctica, have accelerated, thinned and retreated, and are now contributing approximately 10% to global sea level rise. All the ASE glaciers flow into ice shelves, and it is the thinning of these since the 1970s, and their ungrounding from “pinning points” that is widely held to be responsible for triggering the glaciers’ decline. These changes have been linked to the inflow of warm Circumpolar Deep Water (CDW) onto the ASE's continental shelf. CDW delivery is highly variable, and is closely related to the regional atmospheric circulation. The ASE is south of the Amundsen Sea Low (ASL), which has a large variability and which has deepened in recent decades. The ASL is influenced by the phase of the Southern Annular Mode, along with tropical climate variability. It is not currently possible to simulate such complex atmosphere-ocean-ice interactions in models, hampering prediction of future change. The current retreat could mark the beginning of an unstable phase of the ASE glaciers that, if continued, will result in collapse of the West Antarctic Ice Sheet, but numerical ice-sheet models currently lack the predictive power to answer this question. It is equally possible that the recent retreat will be short-lived and that the ASE will find a new stable state. Progress is hindered by incomplete knowledge of bed topography in the vicinity of the grounding line. Furthermore, a number of key processes are still missing or poorly represented in models of ice-flow