Vision dynamique pour la navigation d'un robot mobile

Les travaux présentés dans cette thèse concernent l’étude des fonctionnalités visuelles sur des scènes dynamiques et ses applications à la robotique mobile. Ces fonctionnalités visuelles traitent plus précisément du suivi visuel d’objets dans des séquences d’images. Quatre méthodes de suivi visuel ont été étudiées, dont trois ont été développées spécifiquement dans le cadre de cette thèse. Ces méthodes sont : (1) le suivi de contours par un snake, avec deux variantes permettant son application à des séquences d’images couleur ou la prise en compte de contraintes sur la forme de l’objet suivi, (2) le suivi de régions par différences de motifs, (3) le suivi de contours par corrélation 1D, et enfin (4) la méthode de suivi d’un ensemble de points, fondée sur la distance de Hausdorff, développée lors d’une thèse précédente. Ces méthodes ont été analysées pour différentes tâches relatives à la navigation d’un robot mobile; une comparaison dans différents contextes a été effectuée, donnant lieu à une caractérisation des cibles et des conditions pour lesquelles chaque méthode donne de bons résultats. Les résultats de cette analyse sont pris en compte dans un module de planification perceptuelle, qui détermine quels objets (amers plans) le robot doit suivre pour se guider le long d’une trajectoire. Afin de contrôler l’exécution d’un tel plan perceptuel, plusieurs protocoles de collaboration ou d’enchaînement entre méthodes de suivi visuel ont été proposés. Finalement, ces méthodes, ainsi qu’un module de contrôle d’une caméra active (site, azimut, zoom), ont été intégrées sur un robot. Trois expérimentations ont été effectuées: a) le suivi de route en milieu extérieur, b) le suivi de primitives pour la navigation visuelle en milieu intérieur, et c) le suivi d’amers plans pour la navigation fondée sur la localisation explicite du robot. ABSTRACT : The work presented on this thesis concerns the study of visual functionalities over dynamic scenes and their applications to mobile robotics. These visual functionalities consist on visual tracking of objects on image sequences. Four methods of visual tracking has been studied, from which tree of them has been developed specifically for the context of this thesis. These methods are: (1) snakes contours tracking, with two variants, the former, to be able to applying it to a sequence of color images and the latter to consider form constraints of the followed object, (2) the tracking of regions by templates differences, (3) contour tracking by 1D correlation, and (4) the tracking method of a set of points, based on Hausdorff distance, developed on a previous thesis. These methods have been analyzed for different tasks, relatives to mobile robot’s navigation. A comparison for different contexts has been done, given to a characterization of objects and conditions for which each method gives the best results. Results from this analysis has been take into account on a perceptual planification module, that determines which objects (plane landmarks) must be tracked by the robot, to drive it over a trajectory. In order to control the execution of perceptual plan, a lot of collaboration or chaining protocols have been proposed between methods. Finally, these methods and a control module of an active camera (pan, tilt, zoom), has been integrated on a robot. Three experiments have been done: a) road tracking over natural environments, b) primitives tracking for visual navigation over human environments and c) landmark tracking for navigation based on explicit localization of robo

Death receptor 5 expression is inversely correlated with prostate cancer progression.

Prostate carcinoma (PCa) is one of the most common cancers in men. Prostate-specific antigen (PSA) has been widely used to predict the outcome of PCa and screening with PSA has resulted in a decline in mortality. However, PSA is not an optimal prognostic tool as its sensitivity may be too low to reduce morbidity and mortality. Consequently, there is a demand for additional robust biomarkers for prostate cancer. Death receptor 5 (DR5) has been implicated in the prognosis of several cancers and it has been previously shown that it is negatively regulated by Yin Yang 1 (YY1) in prostate cancer cell lines. The present study investigated the clinical significance of DR5 expression in a prostate cancer patient cohort and its correlation with YY1 expression. Immunohistochemical analysis of protein expression distribution was performed using tissue microarray constructs from 54 primary PCa and 39 prostatic intraepithelial neoplasia (PIN) specimens. DR5 expression was dramatically reduced as a function of higher tumor grade. By contrast, YY1 expression was elevated in PCa tumors as compared with that in PIN, and was increased with higher tumor grade. DR5 had an inverse correlation with YY1 expression. Bioinformatic analyses corroborated these data. The present findings suggested that DR5 and YY1 expression levels may serve as progression biomarkers for prostate cancer

Atresia anal en el perro y el gato

Ponencia en el XXXI CONGRESO NACIONAL DE LA ASOCIACIÓN MEXICANA DE MÉDICOS VETERINARIOS ESPECIALISTAS EN PEQUEÑAS ESPECIES, A.C.La atresia anal es una patología poco frecuente con una prevalencia del 0.13% y del 1.6% para el caso de los perros y de los gatos menores de un año de edad respectivamente, atendidos en nuestro centro hospitalario. En el presente documento se expone la experiencia en el diagnóstico y manejo de tres pacientes con atresia anal, realizamos una revisión de las teorías de los mecanismos fisiopatológicos involucrados en el desarrollo embrionario, y con base en esos criterios, sugerimos la mejor clasificación del tipo de atresia anal partiendo del análisis de las propuestas existentes y su relación con los conceptos actuales de la anatomía embriológica

Anal atresia in dogs and cats: the scope from three clinical cases

Anal atresia is defined as the lack of a complete communication between rectum and the anus, it is the most common anorectal malformation and has been observed mainly in dogs. It has been associated to alterations of anogenital differentiation of the cloaca in the embryo, however, the exact mechanisms remain unclear. Different criteria have been proposed in the literature to classify anal atresia. This study shows the diagnosis, treatment and outcome of three cases (two dogs and one cat) with anal atresia. The frequency of this malformation in our hospital is reported as well as a discussion of the theories of the processes involved in the development of anal atresia, and a revised classification for this pathology according to embryo anatomy and development is proposed.La atresia anal se define como la falta de comunicación del recto y el perineo a través del ano, siendo esta la malformación anorrectal reportada con mayor frecuencia en el perro y el gato. Está asociada a alteraciones en la diferenciación de la cloaca en el embrión en desarrollo; sin embargo los mecanismos fisiopatológicos involucrados hasta el momento no han sido completamente esclarecidos. En el presente documento se expone la experiencia en el diagnóstico y manejo de tres pacientes (dos perros y un gato) con atresia anal, presentamos los resultados del análisis de la frecuencia de esta patología en nuestro centro hospitalario, realizamos una revisión detallada de las teorías de los mecanismos fisiopatológicos involucrados en el desarrollo embrionario y con base en estos criterios, sugerimos la clasificación del tipo de atresia anal más apropiada partiendo del análisis de las propuestas existentes y su relación con los conceptos actuales de la anatomía embriológica.Al Consejo Nacional de Ciencia y Tecnología de México (CONACyT) por el esquema de becas para los alumnos en el Programa de Especialización en Medicina y Cirugía en Perros y Gatos de la Facultad de Medicina Veterinaria y Zootecnia de la Universidad Autónoma del Estado de México, inserto en el Padrón Nacional de Excelencia-CONACyT

Estimation of the transverse sway motion of a biped robot during the march

Debido al balanceo generado por la dinámica natural y perturbaciones durante la marcha de un robot humanoide, es difícil predecir su postura en determinado instante a lo largo de la misma, complicando así el desarrollo de tareas de manipulación, cooperación, evasión de obstáculos, retroalimentación servo-visual, entre otras. En este documento se describe una metodología para predecir el movimiento de balanceo en el plano transversal del robot, a partir de la trayectoria de un punto fijo en su estructura mecánica. Se considera el estudio de dos modelos matemáticos para aproximar el movimiento de balanceo del humanoide: aproximación mediante una función sinusoidal y aproximación por series de Fourier. En ambos casos, es necesario el conocimiento de los parámetros involucrados del modelo, por lo que se implementan tres técnicas de aproximación paramétrica: mínimos cuadrados e identificación algebraica para el caso de la aproximación sinusoidal, y el cálculo de coeficientes para el caso de las series de Fourier. Para validar la metodología, se lleva a cabo el seguimiento del robot en tiempo real puesto que la trayectoria del punto de interés es afectada por diversos factores como la fricción, inclinación e imperfecciones de la superficie, el estado de conservación del robot, entre otros. A partir de diversos experimentos, se desarrolla una comparación cuantitativa entre las diferentes aproximaciones para verificar aquel que mejor reproduce a la dinámica del balanceo del robot.Peer Reviewe

MSPEP: PROGRAMA PARA LA SINTESIS MULTIPLE Y SIMULTANEA DE PEPTIDOS

Los péptidos sintéticos son de gran aplicabilidad en la actualidad por su utilización en el desarrollo de vacunas, comó antigenos especificos en sistemas diagnosticos para la detección de anticuerpos y en el estudio de la estructura y la actividad de las diferentes zonas activas de los virus, entre otras aplicaciones. En este trabajo describimos la síntesis química en fase sólida de varios péptidos correspondientes a HCV, VIH, y Trypanosoma cruzi. El diseño de péptidos se realizó mediante programas de computación y consulta en base de datos de proteínas y con el objetivo de auxiliar Ia síntesis múltiple y simultánea de los péptidos en fase sólida se diseño y desarrolló un nuevo programa (MSPep). Esta aplicación se ejecuta sobre Microsoft Windows 95' utilizando Las facilidades inherentes a esta plataforma gráfica e incluye nuevas opciones que no se encuentran en sistemas anteriores que se ejecutan sobre MS-DOS. Todos los péptidos sintetizados fueron evaluados en Los ensayos ultramicroELISA respectivos, frente a muestras positivas caracterizadas para cada agente etiológieo, obteniéndose una sensibilidad en HCV entre 77,7 y 100 %, en VIH del 53 y 100 % y en Trypanosoma cruzi de on 100 %. En todos los casos la especificidad fue de un 100 %

CD133-directed CAR T-cells for MLL leukemia: on-target, off-tumor myeloablative toxicity

This work has been supported by the European Research Council (CoG-2014-646903, PoC-2018-811220) to PM, the Spanish Ministry of Economy and Competitiveness (MINECO, SAF-SAF2016-80481- R, BIO2017-85364-R) to PM and EE, the Generalitat de Catalunya (SGR330, SGR102 and PERIS) to PM and EE, the Spanish Association against cancer (AECC-CI-2015) to CB, and the Health Institute Carlos III (ISCIII/FEDER, PI14-01191) to CB. PM also acknowledges financial support from the Obra Social La Caixa-Fundaciò Josep Carreras. SRZ and TV are supported by a Marie Curie fellowships. OM is supported by the Catalan Government through a Beatriu de Pinos fellowship. MB is supported by MINECO through a PhD scholarship. PM is an investigator of the Spanish Cell Therapy cooperative network (TERCEL)

Energy Metabolism in H460 Lung Cancer Cells: Effects of Histone Deacetylase Inhibitors

BACKGROUND: Tumor cells are characterized by accelerated growth usually accompanied by up-regulated pathways that ultimately increase the rate of ATP production. These cells can suffer metabolic reprogramming, resulting in distinct bioenergetic phenotypes, generally enhancing glycolysis channeled to lactate production. In the present work we showed metabolic reprogramming by means of inhibitors of histone deacetylase (HDACis), sodium butyrate and trichostatin. This treatment was able to shift energy metabolism by activating mitochondrial systems such as the respiratory chain and oxidative phosphorylation that were largely repressed in the untreated controls. METHODOLOGY/PRINCIPAL FINDINGS: Various cellular and biochemical parameters were evaluated in lung cancer H460 cells treated with the histone deacetylase inhibitors (HDACis), sodium butyrate (NaB) and trichostatin A (TSA). NaB and TSA reduced glycolytic flux, assayed by lactate release by H460 cells in a concentration dependent manner. NaB inhibited the expression of glucose transporter type 1 (GLUT 1), but substantially increased mitochondria bound hexokinase (HK) activity. NaB induced increase in HK activity was associated to isoform HK I and was accompanied by 1.5 fold increase in HK I mRNA expression and cognate protein biosynthesis. Lactate dehydrogenase (LDH) and pyruvate kinase (PYK) activities were unchanged by HDACis suggesting that the increase in the HK activity was not coupled to glycolytic flux. High resolution respirometry of H460 cells revealed NaB-dependent increased rates of oxygen consumption coupled to ATP synthesis. Metabolomic analysis showed that NaB altered the glycolytic metabolite profile of intact H460 cells. Concomitantly we detected an activation of the pentose phosphate pathway (PPP). The high O(2) consumption in NaB-treated cells was shown to be unrelated to mitochondrial biogenesis since citrate synthase (CS) activity and the amount of mitochondrial DNA remained unchanged. CONCLUSION: NaB and TSA induced an increase in mitochondrial function and oxidative metabolism in H460 lung tumor cells concomitant with a less proliferative cellular phenotype

The Fourteenth Data Release of the Sloan Digital Sky Survey: First Spectroscopic Data from the extended Baryon Oscillation Spectroscopic Survey and from the second phase of the Apache Point Observatory Galactic Evolution Experiment

The fourth generation of the Sloan Digital Sky Survey (SDSS-IV) has been in operation since July 2014. This paper describes the second data release from this phase, and the fourteenth from SDSS overall (making this, Data Release Fourteen or DR14). This release makes public data taken by SDSS-IV in its first two years of operation (July 2014-2016). Like all previous SDSS releases, DR14 is cumulative, including the most recent reductions and calibrations of all data taken by SDSS since the first phase began operations in 2000. New in DR14 is the first public release of data from the extended Baryon Oscillation Spectroscopic Survey (eBOSS); the first data from the second phase of the Apache Point Observatory (APO) Galactic Evolution Experiment (APOGEE-2), including stellar parameter estimates from an innovative data driven machine learning algorithm known as "The Cannon"; and almost twice as many data cubes from the Mapping Nearby Galaxies at APO (MaNGA) survey as were in the previous release (N = 2812 in total). This paper describes the location and format of the publicly available data from SDSS-IV surveys. We provide references to the important technical papers describing how these data have been taken (both targeting and observation details) and processed for scientific use. The SDSS website (www.sdss.org) has been updated for this release, and provides links to data downloads, as well as tutorials and examples of data use. SDSS-IV is planning to continue to collect astronomical data until 2020, and will be followed by SDSS-V.Comment: SDSS-IV collaboration alphabetical author data release paper. DR14 happened on 31st July 2017. 19 pages, 5 figures. Accepted by ApJS on 28th Nov 2017 (this is the "post-print" and "post-proofs" version; minor corrections only from v1, and most of errors found in proofs corrected

Measurement of the top quark-pair production cross section with ATLAS in pp collisions at \sqrt{s}=7\TeV

A measurement of the production cross-section for top quark pairs(\ttbar) in $pp$ collisions at \sqrt{s}=7 \TeV is presented using data recorded with the ATLAS detector at the Large Hadron Collider. Events are selected in two different topologies: single lepton (electron $e$ or muon $\mu$) with large missing transverse energy and at least four jets, and dilepton ($ee$, $\mu\mu$ or $e\mu$) with large missing transverse energy and at least two jets. In a data sample of 2.9 pb-1, 37 candidate events are observed in the single-lepton topology and 9 events in the dilepton topology. The corresponding expected backgrounds from non-\ttbar Standard Model processes are estimated using data-driven methods and determined to be $12.2 \pm 3.9$ events and $2.5 \pm 0.6$ events, respectively. The kinematic properties of the selected events are consistent with SM \ttbar production. The inclusive top quark pair production cross-section is measured to be \sigmattbar=145 \pm 31 ^{+42}_{-27} pb where the first uncertainty is statistical and the second systematic. The measurement agrees with perturbative QCD calculations.Comment: 30 pages plus author list (50 pages total), 9 figures, 11 tables, CERN-PH number and final journal adde