Expression et caractérisation du récepteur hypophysaire de rat du facteur de libération de l'hormone de croissance ainsi que de ses isoformes

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal

DRIVE: Data-driven Robot Input Vector Exploration

An accurate motion model is a fundamental component of most autonomous navigation systems. While much work has been done on improving model formulation, no standard protocol exists for gathering empirical data required to train models. In this work, we address this issue by proposing Data-driven Robot Input Vector Exploration (DRIVE), a protocol that enables characterizing uncrewed ground vehicles (UGVs) input limits and gathering empirical model training data. We also propose a novel learned slip approach outperforming similar acceleration learning approaches. Our contributions are validated through an extensive experimental evaluation, cumulating over 7 km and 1.8 h of driving data over three distinct UGVs and four terrain types. We show that our protocol offers increased predictive performance over common human-driven data-gathering protocols. Furthermore, our protocol converges with 46 s of training data, almost four times less than the shortest human dataset gathering protocol. We show that the operational limit for our model is reached in extreme slip conditions encountered on surfaced ice. DRIVE is an efficient way of characterizing UGV motion in its operational conditions. Our code and dataset are both available online at this link: https://github.com/norlab-ulaval/DRIVE.Comment: 6 pages, 7 figures, submitted to 2024 IEEE International Conference on Robotics and Automation (ICRA 2024

The 20S proteasome core, active within apoptotic exosome-like vesicles, induces autoantibody production and accelerates rejection

Autoantibodies to components of apoptotic cells, such as anti-perlecan antibodies, contribute to rejection in organ transplant recipients. However, mechanisms of immunization to apoptotic components remain largely uncharacterized. We used large-scale proteomics, with validation by electron microscopy and biochemical methods, to compare the protein profiles of apoptotic bodies and apoptotic exosome-like vesicles, smaller extracellular vesicles released by endothelial cells downstream of caspase-3 activation. We identified apoptotic exosome-like vesicles as a central trigger for production of anti-perlecan antibodies and acceleration of rejection. Unlike apoptotic bodies, apoptotic exosome-like vesicles triggered the production of anti-perlecan antibodies in naïve mice and enhanced anti-perlecan antibody production and allograft inflammation in mice transplanted with an MHC (major histocompatibility complex)–incompatible aortic graft. The 20S proteasome core was active within apoptotic exosome-like vesicles and controlled their immunogenic activity. Finally, we showed that proteasome activity in circulating exosome-like vesicles increased after vascular injury in mice. These findings open new avenues for predicting and controlling maladaptive humoral responses to apoptotic cell components that enhance the risk of rejection after transplantation