Design, construction and testing of an 3-axis joint system

El trabajo de fin de master ha consistido en el diseño y montaje de un prototipo de maquina con 3 grados de rotacion que será usado en un robot que se encarge del mantenimiento automatico de jardines verticales.Para desarrollar este prototipo se ha creado una lista con los requerimientos generales del sistema y,de acuerdo con estos requerimientos, se han seleccionado una combinación de articulaciones y motores que permitan moverse al sistema de la forma deseada.Para finalizar se ha diseñado y producido una base para colocar todos los elementos del sistema y se ha testeado las carácteristicas del prototipo.<br /

Response of Predatory Mites to a Herbivore-Induced Plant Volatile: Genetic Variation for Context-Dependent Behaviour

Plants infested with herbivores release specific volatile compounds that are known to recruit natural enemies. The response of natural enemies to these volatiles may be either learned or genetically determined. We asked whether there is genetic variation in the response of the predatory mite Phytoseiulus persimilis to methyl salicylate (MeSa). MeSa is a volatile compound consistently produced by plants being attacked by the two-spotted spider mite, the prey of P. persimilis. We predicted that predators express genetically determined responses during long-distance migration where previously learned associations may have less value. Additionally, we asked whether these responses depend on odors from uninfested plants as a background to MeSa. To infer a genetic basis, we analyzed the variation in response to MeSa among iso-female lines of P. persimilis by using choice-tests that involved either (1) MeSa presented as a single compound or (2) MeSa with background-odor from uninfested lima bean plants. These tests were conducted for starved and satiated predators, i.e., two physiological states, one that approximates migration and another that mimics local patch exploration. We found variation among iso-female lines in the responses to MeSa, thus showing genetic variation for this behavior. The variation was more pronounced in the starved predators, thus indicating that P. persimilis relies on innate preferences when migrating. Background volatiles of uninfested plants changed the predators’ responses to MeSa in a manner that depended on physiological state and iso-female line. Thus, it is possible to select for context-dependent behavioral responses of natural enemies to plant volatiles

Innate responses of the predatory mite Phytoseiulus persimilis to a herbivore-induced plant volatile

The responses of the predatory mite P. persimilis to herbivore-induced plant volatiles are at least partly genetically determined. Thus, there is potential for the evolution of this behaviour by natural selection. We tested whether distinct predator genotypes with contrasting responses to a specific herbivore-induced plant volatile, i.e. methyl salicylate (MeSa), could be found in a base population collected in the field (Sicily). To this end, we imposed purifying selection on individuals within iso-female lines of P. persimilis such that the lines were propagated only via the individual that showed either a preference or avoidance of MeSa. The responses of the lines were characterized as the mean proportion of individuals choosing MeSa when given a choice between MeSa and clean air. Significant variation in predator responses was detected among iso-female lines, thus confirming the presence of a genetic component for this behaviour. Nevertheless, we did not find a significant difference in the response to MeSa between the lines that were selected to avoid MeSa and the lines selected to prefer MeSa. Instead, in the course of selection the lines selected to avoid MeSa shifted their mean response towards a preference for MeSa. An inverse, albeit weaker, shift was detected for the lines selected to prefer MeSa. We discuss the factors that may have caused the apparent lack of a response to selection within iso-female line in this study and propose experimental approaches that address them

Stage T1c prostate cancer: defining the appropriate staging evaluation and the role for pelvic lymphadenectomy

A good staging system should be able to accurately reflect the natural history of a malignant disease, to express the extent of the disease at the time of diagnosis, and stratify patients in prognostically distinctive groups. The staging system for prostate cancer, as it is today, fails to fulfill these requirements. Approximately one third of the patients who undergo surgery for complete excision of prostate cancer in fact do not have a localize disease. The incidence of tumor at the inked margin may reach 30% for T1 stage and up to 60% for clinical T2b prostate cancer according to comparision with pathologic examination of resected specimen. Several concepts have been recently proposed as a means of improving the accuracy of the available staging system. In this paper, we review current aspects of clinical and pathological staging of prostate cancer, and the importance of these new concepts on the early stages of prostate cancer.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/47057/1/345_2005_Article_BF01300182.pd

Ethnology of religion: chapters from the European history of a discipline. Studies in ethnology 1. Gábor Barna (ed.). - Budapest: Akadémiai Kiadó, 2004. 367 p. : recenzija

Reikšminiai žodžiai: Religija; Ethnology; Religio

Removing Excess Topology from Isosurfaces

Many high-resolution surfaces are created through isosurface extraction from volumetric representations, obtained by 3D photography, CT, or MRI. Noise inherent in the acquisition process can lead to geometrical and topological errors. Reducing geometrical errors during reconstruction is well studied. However, isosurfaces often contain many topological errors in the form of tiny handles. These nearly invisible artifacts hinder subsequent operations like mesh simplification, remeshing, and parametrization. In this article we present a practical method for removing handles in an isosurface. Our algorithm makes an axis-aligned sweep through the volume to locate handles, compute their sizes, and selectively remove them. The algorithm is designed to facilitate out-of-core execution. It finds the handles by incrementally constructing and analyzing a Reeb graph. The size of a handle is measured by a short nonseparating cycle. Handles are removed robustly by modifying the volume rather than attempting “mesh surgery.” Finally, the volumetric modifications are spatially localized to preserve geometrical detail. We demonstrate topology simplification on several complex models, and show its benefits for subsequent surface processing