Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking

This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is used to guide the rotorcraft during a 3Dtrajectory tracking task. In the sequel, the simulation framework and the results obtained using it are presented and discussed, validating the proposed controller when a visual system is used to determine the helicopter pose information.Fil: Brandão, Alexandre . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; BrasilFil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; ArgentinaFil: Sarcinelli Filho, Mario . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; BrasilFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentin

Non-invasive absolute measurement of leaf water content using terahertz quantum cascade lasers

Background: Plant water resource management is one of the main future challenges to fight recent climatic changes. The knowledge of the plant water content could be indispensable for water saving strategies. Terahertz spectroscopic techniques are particularly promising as a non-invasive tool for measuring leaf water content, thanks to the high predominance of the water contribution to the total leaf absorption. Terahertz quantum cascade lasers (THz QCL) are one of the most successful sources of THz radiation. Results: Here we present a new method which improves the precision of THz techniques by combining a transmission measurement performed using a THz QCL source, with simple pictures of leaves taken by an optical camera. As a proof of principle, we performed transmission measurements on six plants of Vitis vinifera L. (cv "Colorino"). We found a linear law which relates the leaf water mass to the product between the leaf optical depth in the THz and the projected area. Results are in optimal agreement with the proposed law, which reproduces the experimental data with 95% accuracy. Conclusions: This method may overcome the issues related to intra-variety heterogeneities and retrieve the leaf water mass in a fast, simple, and non-invasive way. In the future this technique could highlight different behaviours in preserving the water status during drought stress

Human-machine interfaces based on EMG and EEG applied to robotic systems

<p>Abstract</p> <p>Background</p> <p>Two different Human-Machine Interfaces (HMIs) were developed, both based on electro-biological signals. One is based on the EMG signal and the other is based on the EEG signal. Two major features of such interfaces are their relatively simple data acquisition and processing systems, which need just a few hardware and software resources, so that they are, computationally and financially speaking, low cost solutions. Both interfaces were applied to robotic systems, and their performances are analyzed here. The EMG-based HMI was tested in a mobile robot, while the EEG-based HMI was tested in a mobile robot and a robotic manipulator as well.</p> <p>Results</p> <p>Experiments using the EMG-based HMI were carried out by eight individuals, who were asked to accomplish ten eye blinks with each eye, in order to test the eye blink detection algorithm. An average rightness rate of about 95% reached by individuals with the ability to blink both eyes allowed to conclude that the system could be used to command devices. Experiments with EEG consisted of inviting 25 people (some of them had suffered cases of meningitis and epilepsy) to test the system. All of them managed to deal with the HMI in only one training session. Most of them learnt how to use such HMI in less than 15 minutes. The minimum and maximum training times observed were 3 and 50 minutes, respectively.</p> <p>Conclusion</p> <p>Such works are the initial parts of a system to help people with neuromotor diseases, including those with severe dysfunctions. The next steps are to convert a commercial wheelchair in an autonomous mobile vehicle; to implement the HMI onboard the autonomous wheelchair thus obtained to assist people with motor diseases, and to explore the potentiality of EEG signals, making the EEG-based HMI more robust and faster, aiming at using it to help individuals with severe motor dysfunctions.</p

Harmonic technology versus neodymium-doped yttrium aluminium garnet laser and electrocautery for lung metastasectomy: An experimental study

We compared the efficacy of non-anatomical lung resections with that of three other techniques: monopolar electrocautery; neodymium-doped yttrium aluminium garnet laser and harmonic technology. We hypothesized that the thermal damage with harmonic technology could be reduced because of the lower temperatures generated by harmonic technology compared with that of other devices.OBJECTIVES We compared the efficacy of non-anatomical lung resections with that of three other techniques: monopolar electrocautery; neodymium-doped yttrium aluminium garnet laser and harmonic technology. We hypothesized that the thermal damage with harmonic technology could be reduced because of the lower temperatures generated by harmonic technology compared with that of other devices. METHODS Initial studies were performed in 13 isolated pig lungs for each group. A 1.5-cm capsule was inserted within the lung to mimic a tumour and a total of 25 non-anatomical resections were performed with each device. The damage of the resected lung surface and of the tumour border were evaluated according to the colour (ranging from 0 - pink colour to 4 - black colour), histological (ranging from Score 0 - no changes to Score 3 - presence of necrotic tissue) and radiological (ranging from Score 0 - isointense T2 signal at magnetic resonance imaging to Score 3 - hyperintense T2 signal) criteria. A total of seven non-anatomical resections with harmonic technology were also performed in two live pigs to assess if ex vivo results could be reproducible in live pigs with particular attention to haemostatic and air-tightness properties. RESULTS In the ex vivo lung, there was a statistical significant difference between depth of thermal damage (P < 0.0001) in electrocautery (1.3 [1.2-1.4]), laser (0.9 [0.6-0.9]) and harmonic (0.4 [0.3-0.5]) groups. Electrocautery had a higher depth of thermal damage compared with that of the laser (P = 0.01) and harmonic groups (P = 0.0005). The harmonic group had a less depth of thermal damage than that of the laser group (P = 0.01). Also, histological damages of tumour borders (P < 0.001) and resected lung surface (P < 0.001), radiological damage of tumour borders (P < 0.001) and resected lung surface (P < 0.001) and colour changes (P < 0.001) were statistically different between three study groups. Resections of in vivo pig lungs showed no bleeding; 2 of 7 cases of low air leaks were found; however, they ceased by sealing lung parenchyma with harmonic technology. CONCLUSIONS Our experimental data support the resections performed with the use of harmonic technology. The lack of severe tissue alterations could favour healing of parenchyma, assure air tightness and preserve functional lung parenchyma. However, randomized controlled studies are needed in an in vivo model to corroborate our findings

Metabolomics hallmarks OPA1 variants correlating with their in-vitro phenotype and predicting clinical severity

Interpretation of variants of uncertain significance is an actual major challenge. We addressed this question on a set of OPA1 missense variants responsible for variable severity of neurological impairments. We used targeted metabolomics to explore the different signatures of OPA1 variants expressed in Opa1 deleted mouse embryonic fibroblasts (Opa1 12/ 12 MEFs), grown under selective conditions. Multivariate analyses of data discriminated Opa1+/+ from Opa1 12/ 12 MEFs metabolic signatures and classified OPA1 variants according to their in-vitro severity. Indeed, the mild p.I382M hypomorphic variant was segregating close to the wild-type allele, while the most severe p.R445H variant was close to Opa1 12/ 12 MEFs, and the p.D603H and p.G439V alleles, responsible for isolated and syndromic presentations respectively, were intermediary between the p.I382M and the p.R445H variants. The most discriminant metabolic features were hydroxyproline, the spermine/spermidine ratio, amino acid pool and several phospholipids, emphasizing proteostasis, endoplasmic reticulum stress and phospholipid remodeling as the main mechanisms ranking OPA1 allele impacts on metabolism. These results demonstrate the high resolving power of metabolomics in hierarchizing OPA1 missense mutations by their in-vitro severity, fitting clinical expressivity. This suggests that our methodological approach can be used to discriminate the pathological significance of variants in genes responsible for other rare metabolic diseases and may be instrumental to select possible compounds eligible for supplementation treatment

Deciphering OPA1 mutations pathogenicity by combined analysis of human, mouse and yeast cell models

OPA1 is the major gene responsible for Dominant Optic Atrophy (DOA) and the syndromic form DOA “plus”. Over 370 OPA1 mutations have been identified so far, although their pathogenicity is not always clear. We have analyzed one novel and a set of known OPA1 mutations to investigate their impact on protein functions in primary skin fibroblasts and in two “ad hoc” generated cell systems: the MGM1/OPA1 chimera yeast model and the Opa1−/− MEFs model expressing the mutated human OPA1 isoform 1. The yeast model allowed us to confirm the deleterious effects of these mutations and to gain information on their dominance/recessivity. The MEFs model enhanced the phenotypic alteration caused by mutations, nicely correlating with the clinical severity observed in patients, and suggested that the DOA “plus” phenotype could be induced by the combinatorial effect of mitochondrial network fragmentation with variable degrees of mtDNA depletion. Overall, the two models proved to be valuable tools to functionally assess and define the deleterious mechanism and the pathogenicity of novel OPA1 mutations, and useful to testing new therapeutic interventions

Feasibility Study of Supercritical Light Water Cooled Reactors for Electrical Power Production, 5th Quarterly Report, October - December 2002

The overall objective of this project is to evaluate the feasibility of supercritical light water cooled reactors for electric power production. The use of light water at supercritical pressures as the coolant in a nuclear reactor offers the potential for considerable plant simplification and consequent capital and O&M cost reduction compared with current light water reactor (LWR) designs. Also, given the thermodynamic conditions of the coolant at the core outlet (i.e. temperature and pressure beyond the water critical point), very high thermal efficiencies for the power conversion cycle are possible (i.e. up to about 45%). Because no change of phase occurs in the core, the need for steam separators and dryers as well as for BWR-type re-circulation pumps is eliminated, which, for a given reactor power, results in a substantially shorter reactor vessel and smaller containment building than the current BWRs. Furthermore, in a direct cycle the steam generators are not needed. If no additional moderator is added to the fuel rod lattice, it is possible to attain fast neutron energy spectrum conditions in a supercritical water-cooled reactor (SCWR). This type of core can make use of either fertile or fertile-free fuel and retain a hard spectrum to effectively burn plutonium and minor actinides from LWR spent fuel while efficiently generating electricity. One can also add moderation and design a thermal spectrum SCWR that can also burn actinides. The project is organized into three tasks

OPA1 Isoforms in the Hierarchical Organization of Mitochondrial Functions

OPA1 is a GTPase that controls mitochondrial fusion, cristae integrity, and mtDNA maintenance. In humans, eight isoforms are expressed as combinations of long and short forms, but it is unclear whether OPA1 functions are associated with specific isoforms and/or domains. To address this, we expressed each of the eight isoforms or different constructs of isoform 1 in Opa1−/− MEFs. We observed that any isoform could restore cristae structure, mtDNA abundance, and energetic efficiency independently of mitochondrial network morphology. Long forms supported mitochondrial fusion; short forms were better able to restore energetic efficiency. The complete rescue of mitochondrial network morphology required a balance of long and short forms of at least two isoforms, as shown by combinatorial isoform silencing and co-expression experiments. Thus, multiple OPA1 isoforms are required for mitochondrial dynamics, while any single isoform can support all other functions. These findings will be useful in designing gene therapies for patients with OPA1 haploinsufficiency

Deciphering OPA1 mutations pathogenicity by combined analysis of human, mouse and yeast cell models

OPA1 is the major gene responsible for Dominant Optic Atrophy (DOA) and the syndromic form DOA “plus”. Over 370 OPA1 mutations have been identified so far, although their pathogenicity is not always clear. We have analyzed one novel and a set of known OPA1 mutations to investigate their impact on protein functions in primary skin fibroblasts and in two “ad hoc” generated cell systems: the MGM1/OPA1 chimera yeast model and the Opa1−/− MEFs model expressing the mutated human OPA1 isoform 1. The yeast model allowed us to confirm the deleterious effects of these mutations and to gain information on their dominance/recessivity. The MEFs model enhanced the phenotypic alteration caused by mutations, nicely correlating with the clinical severity observed in patients, and suggested that the DOA “plus” phenotype could be induced by the combinatorial effect of mitochondrial network fragmentation with variable degrees of mtDNA depletion. Overall, the two models proved to be valuable tools to functionally assess and define the deleterious mechanism and the pathogenicity of novel OPA1 mutations, and useful to testing new therapeutic interventions

Analysis of high-identity segmental duplications in the grapevine genome

<p>Abstract</p> <p>Background</p> <p>Segmental duplications (SDs) are blocks of genomic sequence of 1-200 kb that map to different loci in a genome and share a sequence identity > 90%. SDs show at the sequence level the same characteristics as other regions of the human genome: they contain both high-copy repeats and gene sequences. SDs play an important role in genome plasticity by creating new genes and modeling genome structure. Although data is plentiful for mammals, not much was known about the representation of SDs in plant genomes. In this regard, we performed a genome-wide analysis of high-identity SDs on the sequenced grapevine (<it>Vitis vinifera</it>) genome (PN40024).</p> <p>Results</p> <p>We demonstrate that recent SDs (> 94% identity and >= 10 kb in size) are a relevant component of the grapevine genome (85 Mb, 17% of the genome sequence). We detected mitochondrial and plastid DNA and genes (10% of gene annotation) in segmentally duplicated regions of the nuclear genome. In particular, the nine highest copy number genes have a copy in either or both organelle genomes. Further we showed that several duplicated genes take part in the biosynthesis of compounds involved in plant response to environmental stress.</p> <p>Conclusions</p> <p>These data show the great influence of SDs and organelle DNA transfers in modeling the <it>Vitis vinifera </it>nuclear DNA structure as well as the impact of SDs in contributing to the adaptive capacity of grapevine and the nutritional content of grape products through genome variation. This study represents a step forward in the full characterization of duplicated genes important for grapevine cultural needs and human health.</p