Spatial sampling methods for improved communication for wireless relay robots

Having reliable wireless communication in a network of mobile robots is an ongoing challenge, especially when the mobile robots are given tasks in hostile or harmful environments such as radiation environments in scientific facilities, tunnels with large metallic components and complicated geometries as found at CERN. In this paper, we propose a decentralised method for improving the wireless network throughput by optimizing the wireless relay robot position to receive the best wireless signal strength using implicit spatial diversity concepts and gradient-search algorithms. We experimentally demonstrate the effectiveness of the proposed solutions with a KUKA Youbot omni-directional mobile robot. The performance of the algorithms is compared under various scenarios in an underground scientific facility at CERN

Planification visuelle et interactive d'interventions dans des environnements d'accélérateur de particules émettant des rayonnements ionisants

Les radiations sont omniprésentes. Elles ont de nombreuses applications dans des domaines variés: en médecine, elles permettent de réaliser des diagnostiques et de guérir des patients; en communication, tous les systèmes modernes utilisent des formes de rayonnements électromagnétiques; et en science, les chercheurs les utilisent pour découvrir la composition et la structure des matériaux, pour n'en nommer que quelques-unes. Concrètement, la radiation est un processus au cours duquel des particules ou des ondes voyagent à travers différents types de matériaux. La radiation peut être très énergétique, et aller jusqu'à casser les atomes de la matière ordinaire. Dans ce cas, on parlera de radiation ionisante. Il est communément admis que la radiation ionisante peut être bien plus nocif pour les êtres vivants que la radiation non ionisante. Dans cette dissertation, nous traiterons de la radiation ionisante. La radioactivité est le processus d'émission des radiations ionisantes. Elle existe sous forme naturelle, et est présente dans les sols, dans l'air et notre planète entière est bombardée en permanence de rayonnements cosmiques énergétiques. Depuis le début du XXe siècle, les chercheurs sont capables de créer artificiellement de la matière radioactive. Cette découverte a offert de multiples avancées technologiques, mais a eu également de lourdes conséquences pour l'humanité comme l'ont démontrés les évènements de Tchernobyl et de Fukushima ou d'autres accidents dans le monde médical. Cette dangerosité a conduit à l'élaboration d'un système de radioprotection. Dans la pratique, la radioprotection est principalement mise en œuvre en utilisant la méthode ALARA. Cette méthodologie consiste à justifier, optimiser et limiter les doses reçues. Elle est utilisée conjointement avec les limites légales. Le facteur d'optimisation est contraint par le fait que l'exposition volontaire d'un travailleur aux radiations lors d'une opération doit être plus bénéfique que si aucune intervention humaine n'était conduite dans une situation donnée. Dans le monde industriel et scientifique, il existe des infrastructures qui émettent des rayonnements ionisants. La plupart d'entre elles nécessitent des opérations de maintenance. Dans l'esprit du principe ALARA, ces interventions doivent être optimisées pour réduire l'exposition des travailleurs aux rayonnements ionisants. Cette optimisation ne peut pas être réalisée de manière automatique car la faisabilité des interventions nécessite dans tous les cas une évaluation humaine. La planification des interventions peut cependant être facilitée par des moyens techniques et scientifiques comme par exemple un outil informatique. Dans le contexte décrit ci-dessus, cette thèse regroupe des considérations techniques et scientifiques, et présente la méthodologie utilisée pour développer des outils logiciels pour la mise en œuvre de la radioprotection.Radiation is omnipresent. It has many interesting applications: in medicine, where it allows curing and diagnosing patients; in communication, where modern communication systems make use of electromagnetic radiation; and in science, where it is used to discover the structure of materials; to name a few. Physically, radiation is a process in which particles or waves travel through any kind of material, usually air. Radiation can be very energetic, in which case it can break the atoms of ordinary matter (ionization). If this is the case, radiation is called ionizing. It is known that ionizing radiation can be far more harmful to living beings than non-ionizing radiation. In this dissertation, we are concerned with ionizing radiation. Naturally occurring ionizing radiation in the form of radioactivity is a most natural phenomenon. Almost everything is radioactive: there is radiation emerging from the soil, it is in the air, and the whole planet is constantly undergoing streams of energetic cosmic radiation. Since the beginning of the twentieth century, we are also able to artificially create radio-active matter. This has opened a lot of interesting technological opportunities, but has also given a tremendous responsibility to humanity, as the nuclear accidents in Chernobyl and Fukushima, and various accidents in the medical world have made clear. This has led to the elaboration of a radiological protection system. In practice, the radiological protection system is mostly implemented using a methodology that is indicated with the acronym ALARA: As Low As Reasonably Achievable. This methodology consists of justifying, optimizing and limiting the radiation dose received. This methodology is applied in conjunction with the legal limits. The word "reasonably" means that the optimization of radiation exposure has to be seen in context. The optimization is constrained by the fact that the positive effects of an operation might surpass the negative effects caused by the radiation. Several industrial and scientific procedures give rise to facilities with ionizing radiation. Most technical and scientific facilities also need maintenance operations. In the spirit of ALARA, these interventions need to be optimized in terms of the exposure of the maintenace workers to ionizing radiation. This optimization cannot be automated since the feasibility of the intervention tasks requires human assessment. The intervention planning could however be facilitated by technical-scientific means, e.g. software tools. In the context sketched above, this thesis provides technical-scientific considerations and the development of technical-scientific methodologies and software tools for the implementation of radiation protection.In particular, this thesis addresses the need for an interactive visual intervention planning tool in the context of high energy particle accelerator facilities.SAVOIE-SCD - Bib.électronique (730659901) / SudocGRENOBLE1/INP-Bib.électronique (384210012) / SudocGRENOBLE2/3-Bib.électronique (384219901) / SudocSudocFranceF

Long-term results after acute therapy of obstructive pyelonephritis

INTRODUCTION To evaluate therapeutic results till 5 years after therapy of obstructive pyelonephritis (OPN) emphasizing regular follow-up. MATERIAL AND METHODS During 5 years, 57 patients with OPN were treated. The patients' charts were reviewed retrospectively for clinical data. These were completed by a questionnaire. RESULTS In the group of 57 patients (average age 56 years), about two third were women. Urolithiasis (65%) and tumors (21%) were the main causes of obstruction; fever (91%) and loin pain (86%) the main symptoms. Three fourth of the patients showed renal insufficiency and nearly 50% anemia. E. coli and Proteus spp. were the dominating organisms. Sonography detected obstruction in 93% cases. In one third of cases, CT scan was added; 81% percutaneous nephrostomy and 19% ureteral stenting were the initial methods of urinary drainage. During therapy, 23% nephrectomies (19% complete, 4% partial) were performed. Long-term follow-up showed 11% recurrent OPN and 33% recurrent UTI. CONCLUSIONS After diagnosis of OPN, primary nephrostomy or ureteral stenting and antibiotic therapy are the first measures. If recurrent urinary tract infections or OPN occur, long-term follow-up and low-dose antibiotic prophylaxis may be discussed

Acidification increases abundances of Vibrionales and Planctomycetia associated to a seaweed-grazer system: potential consequences for disease and prey digestion efficiency

Ocean acidification significantly affects marine organisms in several ways, with complex interactions. Seaweeds might benefit from rising CO2 through increased photosynthesis and carbon acquisition, with subsequent higher growth rates. However, changes in seaweed chemistry due to increased CO2 may change the nutritional quality of tissue for grazers. In addition, organisms live in close association with a diverse microbiota, which can also be influenced by environmental changes, with feedback effects. As gut microbiomes are often linked to diet, changes in seaweed characteristics and associated microbiome can affect the gut microbiome of the grazer, with possible fitness consequences. In this study, we experimentally investigated the effects of acidification on the microbiome of the invasive brown seaweed Sargassum muticum and a native isopod consumer Synisoma nadejda. Both were exposed to ambient CO2 conditions (380 ppm, pH 8.16) and an acidification treatment (1,000 ppm, pH 7.86) for three weeks. Microbiome diversity and composition were determined using high-throughput sequencing of the variable regions V5-7 of 16S rRNA. We anticipated that as a result of acidification, the seaweed-associated bacterial community would change, leading to further changes in the gut microbiome of grazers. However, no significant effects of elevated CO2 on the overall bacterial community structure and composition were revealed in the seaweed. In contrast, significant changes were observed in the bacterial community of the grazer gut. Although the bacterial community of S. muticum as whole did not change, Oceanospirillales and Vibrionales (mainly Pseudoalteromonas) significantly increased their abundance in acidified conditions. The former, which uses organic matter compounds as its main source, may have opportunistically taken advantage of the possible increase of the C/N ratio in the seaweed under acidified conditions. Pseudoalteromonas, commonly associated to diseased seaweeds, suggesting that acidification may facilitate opportunistic/pathogenic bacteria. In the gut of S. nadejda, the bacterial genus Planctomycetia increased abundance under elevated CO2. This shift might be associated to changes in food (S. muticum) quality under acidification. Planctomycetia are slow-acting decomposers of algal polymers that could be providing the isopod with an elevated algal digestion and availability of inorganic compounds to compensate the shifted C/N ratio under acidification in their food. In conclusion, our results indicate that even after only three weeks of acidified conditions, bacterial communities associated to ungrazed seaweed and to an isopod grazer show specific, differential shifts in associated bacterial community. These have potential consequences for seaweed health (as shown in corals) and isopod food digestion. The observed changes in the gut microbiome of the grazer seem to reflect changes in the seaweed chemistry rather than its microbial composition.Erasmus Mundus Doctoral Programme MARES on Marine Ecosystem Health Conservation [MARES_13_08]; FCT (Foundation for Science and Technology, Portugal) [SFRH/BPD/63703/2009, SFRH/BPD/107878/2015, SFRH/BPD/116774/2016]; EU SEAS-ERA project INVASIVES [SEAS-ERA/0001/2012]; [CCMAR/Multi/04326/2013

Breakdown of the Endothelial Barrier Function in Tumor Cell Transmigration

The ability of tumor cells to metastasize is associated with a poor prognosis for cancer. During the process of metastasis, tumor cells circulating in the blood or lymph vessels can adhere to, and potentially transmigrate through, the endothelium and invade the connective tissue. We studied the effectiveness of the endothelium as a barrier against the invasion of 51 tumor cell lines into a three-dimensional collagen matrix. Only nine tumor cell lines showed attenuated invasion in the presence of an endothelial cell monolayer, whereas 17 cell lines became invasive or showed a significantly increased invasion. Endothelial cells cocultured with invasive tumor cells increased chemokine gene expression of IL-8 and Gro-β. Expression of the IL-8 and Gro-β receptor, CXCR2, was upregulated in invasive tumor cells. Addition of IL-8 or Gro-β increased tumor cell invasiveness by more than twofold. Tumor cell variants selected for high CXCR2 expression were fourfold more invasive in the presence of an endothelial cell layer, whereas CXCR2 siRNA knock-down cells were fivefold less invasive. We demonstrate that Gro-β and IL-8 secreted by endothelial cells, together with CXCR2 receptor expression on invasive tumor cells, contribute to the breakdown of the endothelial barrier by enhancing tumor cell force generation and cytoskeletal remodeling dynamics

Nonuniform ocean acidification and attenuation of the ocean carbon sink

Author Posting. © American Geophysical Union, 2017. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geophysical Research Letters 44 (2017): 8404–8413, doi:10.1002/2017GL074389.Surface ocean carbon chemistry is changing rapidly. Partial pressures of carbon dioxide gas (pCO2) are rising, pH levels are declining, and the ocean's buffer capacity is eroding. Regional differences in short-term pH trends primarily have been attributed to physical and biological processes; however, heterogeneous seawater carbonate chemistry may also be playing an important role. Here we use Surface Ocean CO2 Atlas Version 4 data to develop 12 month gridded climatologies of carbonate system variables and explore the coherent spatial patterns of ocean acidification and attenuation in the ocean carbon sink caused by rising atmospheric pCO2. High-latitude regions exhibit the highest pH and buffer capacity sensitivities to pCO2 increases, while the equatorial Pacific is uniquely insensitive due to a newly defined aqueous CO2 concentration effect. Importantly, dissimilar regional pH trends do not necessarily equate to dissimilar acidity ([H+]) trends, indicating that [H+] is a more useful metric of acidification.2018-02-1

Health Newscasts for Increasing Influenza Vaccination Coverage: An Inductive Reasoning Game Approach

Both pandemic and seasonal influenza are receiving more attention from mass media than ever before. Topics such as epidemic severity and vaccination are changing the way in which we perceive the utility of disease prevention. Voluntary influenza vaccination has been recently modeled using inductive reasoning games. It has thus been found that severe epidemics may occur because individuals do not vaccinate and, instead, attempt to benefit from the immunity of their peers. Such epidemics could be prevented by voluntary vaccination if incentives were offered. However, a key assumption has been that individuals make vaccination decisions based on whether there was an epidemic each influenza season; no other epidemiological information is available to them. In this work, we relax this assumption and investigate the consequences of making more informed vaccination decisions while no incentives are offered. We obtain three major results. First, individuals will not cooperate enough to constantly prevent influenza epidemics through voluntary vaccination no matter how much they learned about influenza epidemiology. Second, broadcasting epidemiological information richer than whether an epidemic occurred may stabilize the vaccination coverage and suppress severe influenza epidemics. Third, the stable vaccination coverage follows the trend of the perceived benefit of vaccination. However, increasing the amount of epidemiological information released to the public may either increase or decrease the perceived benefit of vaccination. We discuss three scenarios where individuals know, in addition to whether there was an epidemic, (i) the incidence, (ii) the vaccination coverage and (iii) both the incidence and the vaccination coverage, every influenza season. We show that broadcasting both the incidence and the vaccination coverage could yield either better or worse vaccination coverage than broadcasting each piece of information on its own

Seasonality and spatial heterogeneity of the surface ocean carbonate system in the northwest European continental shelf

In 2014–5 the UK NERC sponsored an 18 month long Shelf Sea Biogeochemistry research programme which collected over 1500 nutrient and carbonate system samples across the NW European Continental shelf, one of the largest continental shelves on the planet. This involved the cooperation of 10 different Institutes and Universities, using 6 different vessels. Additional carbon dioxide (CO2) data were obtained from the underway systems on three of the research vessels. Here, we present and discuss these data across 9 ecohydrodynamic regions, adapted from those used by the EU Marine Strategy Framework Directive (MSFD). We observed strong seasonal and regional variability in carbonate chemistry around the shelf in relation to nutrient biogeochemistry. Whilst salinity increased (and alkalinity decreased) out from the near-shore coastal waters offshore throughout the year nutrient concentrations varied with season. Spatial and seasonal variations in the ratio of DIC to nitrate concentration were seen that could impact carbon cycling. A decrease in nutrient concentrations and a pronounced under-saturation of surface pCO2 was evident in the spring in most regions, especially in the Celtic Sea. This decrease was less pronounced in Liverpool Bay and to the North of Scotland, where nutrient concentrations remained measurable throughout the year. The near-shore and relatively shallow ecosystems such as the eastern English Channel and southern North Sea were associated with a thermally driven increase in pCO2 to above atmospheric levels in summer and an associated decrease in pH. Non-thermal processes (such as mixing and the remineralisation of organic material) dominated in winter in most regions but especially in the northwest of Scotland and in Liverpool Bay. The large database collected will improve understanding of carbonate chemistry over the North-Western European Shelf in relation to nutrient biogeochemistry, particularly in the context of climate change and ocean acidification

Treatment of keratinocytes with 4-phenylbutyrate in epidermolysis bullosa: Lessons for therapies in keratin disorders

Missense mutations in keratin 5 and 14 genes cause the severe skin fragility disorder epidermolysis bullosa simplex (EBS) by collapsing of the keratin cytoskeleton into cytoplasmic protein aggregates. Despite intense efforts, no molecular therapies are available, mostly due to the complex phenotype of EBS, comprising cell fragility, diminished adhesion, skin inflammation and itch.Methods: We extensively characterized KRT5 and KRT14 mutant keratinocytes from patients with severe generalized EBS following exposure to the chemical chaperone 4-phenylbutyrate (4- PBA).Findings: 4-PBA diminished keratin aggregates within EBS cells and ameliorated their inflammatory phenotype. Chemoproteomics of 4-PBA-treated and untreated EBS cells revealed reduced IL1β expression- but also showed activation of Wnt/β-catenin and NF-kB pathways. The abundance of extracellular matrix and cytoskeletal proteins was significantly altered, coinciding with diminished keratinocyte adhesion and migration in a 4-PBA dose-dependent manner.Interpretation: Together, our study reveals a complex interplay of benefits and disadvantages that challenge the use of 4-PBA in skin fragility disorders