Coverage of deformable contour shapes with minimal multi-camera system

Perception over time is a critical problem in those cases where deformable objects are manipulated. The goal of this study is to cover the contour of an object along a deformation process and according to a prescribed coverage objective, in terms of visibility and resolution. This task is carried out by a set of limited field-of-view cameras. We propose novel methods for guaranteeing feasibility of the coverage objectives, which include the computation of the maximum visibility and resolution of the contour. Then, we introduce the coverage objectives in an offline constrained optimization problem to compute a priori the minimum number of cameras that achieve the coverage requirements. Finally, we propose an online technique that provides optimized configurations faster than the offline one, even when the object’s reference deformation is unknown. We report experimental results in which our method achieves 100% of the coverage in simulation and in a real task

Enclosing a moving target with an optimally rotated and scaled multiagent pattern

We propose a novel control method to enclose a moving target in a two-dimensional setting with a team of agents forming a prescribed geometric pattern. The approach optimises a measure of the overall agent motion costs, via the minimisation of a suitably defined cost function encapsulating the pattern rotation and scaling. We propose two control laws which use global information and make the agents exponentially converge to the prescribed formation with an optimal scale that remains constant, while the team's centroid tracks the target. One control law results in a multiagent pattern that keeps a constant orientation in the workspace; for the other, the pattern rotates with constant speed. These behaviours, whose optimality and steadiness are very relevant for the task addressed, occur independently from the target's velocity. Moreover, the methodology does not require distance measurements, common coordinate references, or communications. We also present formal guarantees of collision avoidance for the proposed approach. Illustrative simulation examples are provided

Robust stability analysis of formation control in local frames under time-varying delays and actuator faults

This paper investigates the robust stability of a multiagent system moving to a desired rigid formation in presence of unknown time-varying communication delays and actuator faults. Each agent uses relative position measurements to implement the proposed control method, which does not require common coordinate references. However, the presence of time delays in the measurements, which is inherent to the communication links between agents, has a negative impact in the control system performance leading, in some cases, to instability. Furthermore, the robust stability analysis becomes more complex if failures on actuators are taken into account. In addition, delays may be subject to time variations, depending on network load, availability of communication resources, dynamic routing protocols, or other environmental conditions. To cope with these problems, a sufficient condition based on Linear Matrix Inequalities (LMI) is provided to ensure the robust asymptotic convergence of the agents to the desired formation. This condition is valid for any arbitrarily fast time-varying delays and actuator faults, given a worst-case point-to-point delay. Finally, simulation results show the performance of the proposed approach

Aging and trace elements in human coronal tooth dentine

© The Author(s) 2020. This manuscript version is made available under the CC-BY 4.0 license http://creativecommons.org/licenses/by/4.0/. This document is the Published version of a Published Work that appeared in final form in Scientific Reports. To access the final edited and published work see https://doi.org/10.1038/s41598-020-66472-1Teeth are a fundamental tool in forensic odontology for identification in a legal context of those individuals who cannot be identified visually or by other means. Dentine presents physiological exchanges of in trace elements after a period of mineralization and several factors can affect its concentration. The aim of this study was to investigate the concentration of 25 trace elements in the coronal dentine according to sex and type of tooth to determine their relationship with age. A total of 25 trace elements were analyzed in 150 human coronal dentine. Teeth were classified into three age groups, sex and tooth type. The trace elements were grouped as potentially toxic or essential. Inductively Coupled Plasma-Mass Spectrometry and Atomic Emission Spectroscopy were used. The toxic and essential elements were detected in the following order of concentration: Al > Pb > Sn > Li > As > Cd and Ca > P > Mg > Na > S > K > Sr > Zn > Ba > Fe > B > Ti > Mn > Cr > Ni > Cu > Co > Se > V. Our findings show an increase in the concentration of toxic (Pb, Li and Sn) and essential (B, Ba, K, Sr, S and Mg) elements in coronal dentin related to the age of the teeth, regardless of sex. The concentrations of Pb and K in dentin of molars and premolars are the elements that best relate their variations with age. In view of our results, the analysis of these trace elements in dentin in combination with other types of techniques could be established as an element to consider in age dating studies in different forensic situations

870 μm continuum observations of the bubble-shaped nebula Gum 31

Aims. We present here a study of the cold dust in the close environs of the ring nebula Gum 31. We aim at deriving the physical properties of the molecular gas and dust associated with the nebula, and investigating its correlation with the star formation in the region, which was probably triggered by the expansion of the ionization front against its environment. Methods. We make use of 870 μm emission data obtained with the Large APEX Bolometer Camera (LABOCA) to map the dust emission. The 870 μm emission provides an excellent probe of mass and density of dense molecular clouds. The obtained LABOCA image was compared to archival infrared, radio continuum, and optical images. Results. The 870 μm emission follows the 8 μm (Spitzer), 250 μm, and 500 μm (Herschel) emission distributions showing the classical morphology of a two-dimensional projection of a spherical shell. We use the 870 μm and 250 μm images to identify 60 dust clumps in the collected layers of molecular gas using the Gaussclumps algorithm. The clumps have effective deconvolved radii between 0.16 pc and 1.35 pc, masses between 70 M⊙ and 2800 M⊙, and volume densities between 1.1 × 103 cm-3 and ~2.04 × 105 cm-3. The total mass of the clumps is ~37 600 M⊙. The dust temperature of the clumps is in the range from 21 K to 32 K, while inside the Hii region it reaches ~40 K. The clump mass distribution for the sample is fitted by a power law dN/dlog (M/M⊙) ∝ M-α, with α = 0.93 ± 0.28. The slope differs from those obtained for the stellar IMF in the solar neighborhood, suggesting that the clumps are not direct progenitors of single stars/protostars. The mass-radius relationship for the 41 clumps detected in the 870 μm emission shows that only 37% of them lie in or above the high-mass star formation threshold. Most of this 37% have candidate YSOs projected inside their limits. A comparison of the dynamical age of the Hii region with the fragmentation time, allowed us to conclude that the collect-and-collapse mechanism may be important for the star formation at the edge of Gum 31, although other processes may be acting simultaneously. The position of the identified young stellar objects in the region is also a strong indicator that the collect-and-collapse process is acting.Facultad de Ciencias Astronómicas y GeofísicasInstituto Argentino de Radioastronomí

Molecular gas and star formation toward the IR dust bubble S 24 and its environs

Aims. We present a multiwavelength analysis of the infrared dust bubble S 24 and the extended IR sources G341.220-0.213 and G341.217-0.237 located in its environs. We aim to investigate the characteristics of the molecular gas and the interstellar dust linked to them and analyze the evolutionary state of the young stellar objects identified there and the relation of the bubble to S 24 and the IR sources. Methods. Using the APEX telescope, we mapped the molecular emission in the CO(2-1), 13CO(2-1), C18O(2-1), and 13CO(3-2) lines in a region of about 5′ × 5′ in size around the bubble. The cold dust distribution was analyzed using submillimeter continuum images from ATLASGAL and Herschel. Complementary IR and radio data at different wavelengths were used to complete the study of the interstellar medium in the region. Results. The molecular gas distribution shows that gas linked to the S 24 bubble and to G341.220-0.213 and G341.217-0.237 has velocities of between -48.0 km s-1 and -40.0 km s-1, compatible with the kinematical distance of 3.7 kpc that is generally adopted for the region. The gas distribution reveals a shell-like molecular structure of ∼0.8 pc in radius bordering the S 24 bubble. A cold dust counterpart of the shell is detected in the LABOCA and Herschel-SPIRE images. The weak extended emission at 24 μm from warm dust and radio continuum emission projected inside the bubble indicates exciting sources and that the bubble is a compact Hii region. Part of the molecular gas bordering the S 24 Hii region coincides with the extended infrared dust cloud SDC341.194-0.221. A molecular and cold dust clump is present at the interface between the S 24 Hii region and G341.217-0.237, shaping the eastern border of the IR bubble. The arc-like molecular structure encircling the northern and eastern sections of the IR source G341.220-0.213 indicates that the source is interacting with the molecular gas. The analysis of the available IR point source catalogs reveals some young stellar object candidates linked to the IR-extended sources, thus confirming their nature as active star-forming regions. Gas and dust masses were estimated for the different features. The total gas mass in the region and the H2 ambient density amount to 10 300 M⊙ and 5900 cm-3, indicating that G341.220-0.213, G341.217-0.237, and the S 24 Hii region are evolving in a high-densit © ESO, 2015.Facultad de Ciencias Astronómicas y Geofísica

Deciphering the Role and Signaling Pathways of PKCα in Luminal A Breast Cancer Cells.

Protein kinase C (PKC) comprises a family of highly related serine/threonine protein kinases involved in multiple signaling pathways, which control cell proliferation, survival, and differentiation. The role of PKCα in cancer has been studied for many years. However, it has been impossible to establish whether PKCα acts as an oncogene or a tumor suppressor. Here, we analyzed the importance of PKCα in cellular processes such as proliferation, migration, or apoptosis by inhibiting its gene expression in a luminal A breast cancer cell line (MCF-7). Differential expression analysis and phospho-kinase arrays of PKCα-KD vs. PKCα-WT MCF-7 cells identified an essential set of proteins and oncogenic kinases of the JAK/STAT and PI3K/AKT pathways that were down-regulated, whereas IGF1R, ERK1/2, and p53 were up-regulated. In addition, unexpected genes related to the interferon pathway appeared down-regulated, while PLC, ERBB4, or PDGFA displayed up-regulated. The integration of this information clearly showed us the usefulness of inhibiting a multifunctional kinase-like PKCα in the first step to control the tumor phenotype. Then allowing us to design a possible selection of specific inhibitors for the unexpected up-regulated pathways to further provide a second step of treatment to inhibit the proliferation and migration of MCF-7 cells. The results of this study suggest that PKCα plays an oncogenic role in this type of breast cancer model. In addition, it reveals the signaling mode of PKCα at both gene expression and kinase activation. In this way, a wide range of proteins can implement a new strategy to fine-tune the control of crucial functions in these cells and pave the way for designing targeted cancer therapies.Work in Murcia was supported by grants BFU2017-87222-P (MICINN, Spain-FEDER) to S.C.-G. and J.C.G.-F. and Fundación Séneca Region de Murcia 20885/PI/18 to S.C.-G.S

Spatially resolved analysis of neutralwWinds, stars, and ionized gas kinematics with MEGARA/GTC: new insights on the nearby galaxy UGC 10205

We present a comprehensive analysis of the multiphase structure of the interstellar medium (ISM) and the stellar kinematics in the edge-on nearby galaxy UGC 10205 using integral field spectroscopy (IFS) data taken with MultiEspectrógrafo en GTC de Alta Resolución para Astronomía (MEGARA) at the GTC. We explore both the neutral and the ionized gas phases using the interstellar Na I D doublet absorption (LR−V setup, R ∼ 6000) and the Hα emission line (HR−R setup, R ∼ 18000), respectively. The high-resolution data show the complexity of the Hα emission-line profile revealing the detection of up to three kinematically distinct gaseous components. Despite of this fact, a thin-disk model is able to reproduce the bulk of the ionized gas motions in the central regions of UGC 10205. The use of asymmetric drift corrections is needed to reconciliate the ionized and the stellar velocity rotation curves. We also report the detection of outflowing neutral gas material blueshifted by ∼ 87 km s^(−1) . The main physical properties that describe the observed outflow are a total mass M_(out) = (4.55 ± 0.06) × 10^(7) Mʘ and a coldgas mass outflow rate M_(out) = 0.78 0.03 Mʘ yr^(−1) . This work points out the necessity of exploiting highresolution IFS data to understand the multiphase components of the ISM and the multiple kinematical components in the central regions of nearby galaxies

Boar sperm motility is modulated by CCK at a low concentration of bicarbonate under capacitation conditions

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