The Association of the Human Leukocyte Antigen (HLA) with the Pathogenesis of Helicobacter pylori

H. pylori pathogenesis is related to various virulence factor which some of them involved to adhesions. Urease as a main pathogenecity factor to attach to HLA-II is expressed on the surface of Gastric Epithelial Cells (GECs). Apoptosis induced by caspase3 activation as a result of urease effects on Spermine-Spermidine cycle. There is a contribution of HLA-DQA1 gene to the host's response against H. pylon. HLA allele type as an immune-genetic factors are related to host susceptibility to H. pylori. HLA-DQA1 might be contributed to the susceptibility or resistance to H. pylori infection. Based on the existed evidences the current review aimed to evaluate the results obtained by different studies carried out so far on correlation of human HLA and the pathogenesis of the H. pylori in gastric epithelial cells

Optimum-synthesis methods for cable-driven parallel mechanisms

Les mécanismes parallèles entraînés par câbles sont une classe spéciale de mécanismes parallèles pours lesquels les liaisons rigides sont remplacées par des câbles. Ces mécanismes comprennent une plateforme mobile et une base fixe, qui sont reliées par plusieurs câbles. Le contrôle des longueurs des câbles produit le mouvement désiré de la plateforme mobile. Ces mécanismes ont le potentiel de fournir des espaces de travail à grande échelle comparativement aux mécanismes parallèles conventionnels car les câbles peuvent être enroulés sur des bobines sur de grandes longueurs. Cependant, cette caractéristique est limitée par la nature des câbles, qui doivent demeurer en tension afin de produire un mouvement désiré de la plateforme principale. L'objectif principal de cette thèse est de concevoir des méthodes efficaces pour la synthèse dimensionelle optimale des mécanismes parallèles entraînés par câbles surcontraints, c'est-à-dire, des mécanismes pour lesquels le nombre de câbles excède le nombre de degrés de liberté. Plus précisément, nous souhaitons obtenir la géométrie des mécanismes parallèles entraînés par câbles dont l'espace des poses polyvalente (EPP) comprend des espaces de travail prescrits. L'espace des poses polyvalentes d'un mécanisme parallèle entraîné par câbles est l'ensemble des poses (les positions et les orientations) de l'organe terminal pour lesquelles tous les torseurs appliqués sont réalisables. Un torseur appliqué est dit réalisable, s'il peut être produit par un ensemble de câbles dont les tensions sont non-négatives. Une fois le problème de la synthèse dimensionnelle résolu, nous pouvons appliquer la solution à plusieurs reprises pour différents nombres de câbles afin d'effectuer la synthèse de la structure. Cette thèse est divisée en trois parties principales. Tout d'abord, l'espace des poses polyvalentes des mécanismes parallèles plans entraînés par câbles et les caractéristiques de leurs frontières sont étudiés. Cette étude révèle les relations jusqu'ici inconnues entre l'EPP à orientation constante (EPPOC) et les aires orientées. Un algorithme graphique est proposé afin de déterminer les types de sections coniques formant les frontières de l'EPPOC . Puis, sur la base des expressions mathématiques obtenues, une méthodologie est proposée pour résoudre le problème de la synthèse dimensionnelle des mécanismes parallèles plans entraînés par câbles pour les orientations discrètes c'est-àdire, les translations. L'algorithme est basé sur des techniques de relaxation convexe qui nous amènent à formuler la synthèse dimensionnelle comme un programme non linéaire. L'idée est de maximiser la taille de plusieurs boîtes qui représentent une approximation d'un espace de travail prescrit, tout en essayant de les garder à l'intérieur de l'EPP du mécanisme parallèle plan entraîné par câbles pendant la procédure d' optimisation. Une telle approximation de l'espace de travail prescrit est obtenue via la méthode d'analyse par intervalles. L'algorithme obtenu est étendu au cas de l'orientation en continu pour un intervalle donné d'angles d'orientation. En fait, nous introduisons un programme non linéaire permettant de varier la géométrie du mécanisme parallèle plan entraîné par câbles et maximiser le facteur d'échelle de l'ensemble prescrit de boîtes. Lorsque le facteur d'échelle optimal est supérieur ou égal à un, l'EPP du mécanismes parallèle plan entraîné par câbles résultant contient l'ensemble des boîtes prescrit. Sinon, l'EPP obtenu offre généralement une bonne couverture des boîtes prescrites. Enfin, sur la base des résultats obtenus pour des mécanismes parallèles plans entraînés par câbles, un algorithme est proposé pour résoudre la synthèse dimensionelle de mécanismes parallèles spatiaux entraînés par câbles. Comme pour le cas plan, nous proposons un programme non linéaire à grande échelle dont les solutions optimales peuvent fournir des geometries de mécanismes parallèles spatiaux entraînés par câbles pour un espace de travail prescrit dans une plage donnée des angles d'orientation. L'efficacité de ces méthodes est émontrée par plusieurs exemples en utilisant un logiciel développé. En outre, cette thèse fournit un outil efficace pour les concepteurs de robots parallèles entraînés par câble

Image-Guided Robot-Assisted Techniques with Applications in Minimally Invasive Therapy and Cell Biology

There are several situations where tasks can be performed better robotically rather than manually. Among these are situations (a) where high accuracy and robustness are required, (b) where difficult or hazardous working conditions exist, and (c) where very large or very small motions or forces are involved. Recent advances in technology have resulted in smaller size robots with higher accuracy and reliability. As a result, robotics is fi nding more and more applications in Biomedical Engineering. Medical Robotics and Cell Micro-Manipulation are two of these applications involving interaction with delicate living organs at very di fferent scales.Availability of a wide range of imaging modalities from ultrasound and X-ray fluoroscopy to high magni cation optical microscopes, makes it possible to use imaging as a powerful means to guide and control robot manipulators. This thesis includes three parts focusing on three applications of Image-Guided Robotics in biomedical engineering, including: Vascular Catheterization: a robotic system was developed to insert a catheter through the vasculature and guide it to a desired point via visual servoing. The system provides shared control with the operator to perform a task semi-automatically or through master-slave control. The system provides control of a catheter tip with high accuracy while reducing X-ray exposure to the clinicians and providing a more ergonomic situation for the cardiologists. Cardiac Catheterization: a master-slave robotic system was developed to perform accurate control of a steerable catheter to touch and ablate faulty regions on the inner walls of a beating heart in order to treat arrhythmia. The system facilitates touching and making contact with a target point in a beating heart chamber through master-slave control with coordinated visual feedback. Live Neuron Micro-Manipulation: a microscope image-guided robotic system was developed to provide shared control over multiple micro-manipulators to touch cell membranes in order to perform patch clamp electrophysiology. Image-guided robot-assisted techniques with master-slave control were implemented for each case to provide shared control between a human operator and a robot. The results show increased accuracy and reduced operation time in all three cases

Partial discharge behavior under operational and anomalous conditions in HVDC systems

Power cables undergo various types of overstressing conditions during their operation that influence the integrity of their insulation systems. This causes accelerated ageing and might lead to their premature failure in severe cases. This paper presents an investigation of the impacts of various dynamic electric fields produced by ripples, polarity reversal and transient switching impulses on partial discharge (PD) activity within solid dielectrics with the aim of considering such phenomena in high voltage direct current (HVDC) cable systems. Appropriate terminal voltages of a generic HVDC converter were reproduced - with different harmonic contaminations - and applied to the test samples. The effects of systematic operational polarity reversal and superimposed switching impulses with the possibility of transient polarity reversal were also studied in this investigation. The experimental results show that the PD is greatly affected by the dynamic changes of electric field represented by polarity reversal, ripples and switching. The findings of this study will assist in understanding the behaviour of PDs under HVDC conditions and would be of interest to asset managers considering the effects of such conditions on the insulation diagnostics

INVOLVEMENT OF THE RECEPTOR FOR ADVANCED GLYCATION END PRODUCTS (RAGE) IN PROGRESSION OF PANCREATIC CANCER

Oncogenic KRAS is central to several cancer types including pancreatic ductal adenocarcinoma (PDAC), but has been determined to be “undruggable”. Recent studies have indicated that oncogenic KRAS is not constitutively active but relies on a feed-forward stimulatory mechanism involving inflammation. In the current study we investigated the mechanisms by which, the receptor for advanced glycation end products (RAGE) affects and maintains KRAS activity. We observed that RAGE levels were elevated and there was a shift in the levels of specific isoforms upon inflammation in pancreatic cells and PDAC. Furthermore, RAGE agonists were found to increase Ras activity and downstream signaling in a time- and dose-dependent manner. Likewise, inhibition of RAGE decreased Ras signaling activity and downstream signals in multiple PDAC cell lines. In vivo, inhibition of RAGE activity using an antagonist inhibited tumor progression and increased survival rate. These data indicate that RAGE plays a central role in maintaining the activity of oncogenic KRAS and supporting tumor growth. These data raises the possibility of new approaches to inhibit the carcinogenic actions of KRAS indirectly by blocking the mechanisms through which, RAGE maintains its activity

Effects of data resolution and stream delineation threshold area on the results of a kinematic wave based GIUH model

This research addresses the effect of using digital elevation models (DEMs) derived from different sources on the results of a kinematic wave based GIUH model. DEMs from different sources exhibit data-resolution effects on the important derived geomorphological properties of watersheds used in rainfall–runoff modelling. Using DEMs derived from topography maps (TOPO DEM) and the SRTM DEM, it was illustrated that different threshold areas for stream network extraction affect GIUH model performance. The results show that the SRTM DEM gives higher values for sub-basin and channel slope as well as number of streams, than the TOPO DEM, while mean length of overland and channel flow is greater for the latter source. The results also indicate that peak flow and slope of the hydrograph rising limb obtained from the SRTM DEM at different threshold areas (ranging from 0.25% to 3%) are greater than that for the TOPO DEM. Investigating the effects of stream network delineation threshold area on the simulated peak flow shows that the maximum and minimum differences (12% and 1%) occur at the threshold areas of 0.5% and 1%, respectively, while for threshold areas higher than 2% the difference in peak flow of the two sources is limited to 10%. Based on the results of this research, it is deduced that the effects of data resolution and stream network delineation threshold areas on the geomorphological parameter values and the performance of GIUH-based models are significant and should be  considered when using SRTM DEMs in ungauged watersheds.Keywords: SRTM DEM, topographic maps, rainfall–runoff Modelling, KW-GIUH, threshold are