Iterator-based temporal logic task planning

Temporal logic task planning for robotic systemssuffers from state explosion when specifications involve largenumbers of discrete locations. We provide a novel approach,particularly suited for tasks specifications with universallyquantified locations, that has constant time with respect tothenumber of locations, enabling synthesis of plans for an arbitrarynumber of them. We propose a hybrid control framework thatuses an iterator to manage the discretised workspace hidingitfrom a plan enacted by a discrete event controller. A downsideof our approach is that it incurs in increased overhead whenexecuting a synthesised plan. We demonstrate that the overheadis reasonable for missions of a fixed-wing Unmanned AerialVehicle in simulated and real scenarios for up to700 000locations

Unified devs-based platform for modelling and simulation of hybrid control systems

Recent robotic research has led to different architectural approaches that support enactment of automatically synthesized discrete event controllers from user specifications over low-level continuous variable controllers. Simulation of these hybrid control approaches to robotics can be a useful validation tool for robot users and architecture designers, but presents the key challenge of working with discrete and continuous representations of the robot, its environment and its mission plans. In this work we address this challenge showcasing a unified DEVS-based hybrid simulation platform. We model and simulate the hybrid robotic software architecture of a fixed-wing UAV, including the full stack of controllers involved: discrete, hybrid and continuous. We validate the approach experimentally on a typical UAV mapping mission and show that with our unified approach we are able to achieve simulation speed-ups up to one order of magnitude above our previous Software In The Loop simulation setup

Principios básicos de resonancia magnética cardiovascular (RMC): secuencias, planos de adquisición y protocolo de estudio

ABSTRACT Evaluation of the cardiovascular system with magnetic resonance (CMR) has become one of the most relevant and up-to-the-minute clinical applications of this diagnostic technique, as CMR makes possible an exact and reproducible study of the anatomy and function of the heart and great vessels. The complexity of this technique is mainly due to the anatomical location and orientation of the cardiovascular structures, the specific CMR sequences that have to be used and a lack of familiarity amongst radiologists regarding cardiovascular pathology. In this report the most basic principles of CMR are described. The clinical usefulness of anatomical, functional, and flow quantification sequences are discussed, conventional CMR acquisition planes are described, and an easy CMR study protocol is proposed

Characterization of MCF mammary epithelial cells overexpressing the Arylhydrocarbon receptor (AhR)

<p>Abstract</p> <p>Background</p> <p>Recent reports indicate the existence of breast cancer cells expressing very high levels of the Arylhydrocarbon receptor (AhR), a ubiquitous intracellular receptor best known for mediating toxic action of dioxin and related pollutants. Positive correlation between the degree of AhR overexpression and states of increasing transformation of mammary epithelial cells appears to occur in the absence of any exogenous AhR ligands. These observations have raised many questions such as why and how AhR is overexpressed in breast cancer and its physiological roles in the progression to advanced carcinogenic transformation. To address those questions, we hypothesized that AhR overexpression occurs in cells experiencing deficiencies in normally required estrogen receptor (ER) signaling, and the basic role of AhR in such cases is to guide the affected cells to develop orchestrated cellular changes aimed at substituting the normal functions of ER. At the same time, the AhR serves as the mediator of the cell survival program in the absence of ER signaling.</p> <p>Methods</p> <p>We subjected two lines of Michigan Cancer Foundation (MCF) mammary epithelial cells to 3 different types ER interacting agents for a number of passages and followed the changes in the expression of AhR mRNA. The resulting sublines were analyzed for phenotypical changes and unique molecular characteristics.</p> <p>Results</p> <p>MCF10AT1 cells continuously exposed to 17-beta-estradiol (E2) developed sub-lines that show AhR overexpression with the characteristic phenotype of increased proliferation, and distinct resistance to apoptosis. When these chemically selected cell lines were treated with a specific AhR antagonist, 3-methoxy-4-nitroflavone (MNF), both of the above abnormal cellular characteristics disappeared, indicating the pivotal role of AhR in expressing those cellular phenotypes. The most prominent molecular characteristics of these AhR overexpressing MCF cells were found to be overexpression of ErbB2 and COX-2. Furthermore, we could demonstrate that suppression of AhR functions through anti-AhR siRNA or MNF causes the recovery of ERalpha functions.</p> <p>Conclusion</p> <p>One of the main causes for AhR overexpression in these MCF breast cancer cells appears to be the loss of ERalpha functions. This phenomenon is likely to be based on the mutually antagonistic relationship between ER and AhR.</p

New trends on the numerical representability of semiordered structures

[EN] We introduce a survey, including the historical back-ground, on different techniques that have recently been issued in the search for a characterization of the representability of semiordered structures, in the sense of Scott and Suppes, by means of a real-valued function and a strictly positive threshold of discrimination.This work has been supported by the research projects MTM2007-62499, ECO2008-01297, MTM2009-12872-C02-02 and MTM2010-17844 (Spain)Abrísqueta, F.; Campión, M.; Catalán, R.; De Miguel, J.; Estevan, A.; Induráin, E.; Zudaire, M.... (2012). New trends on the numerical representability of semiordered structures. Mathware & Soft Computing Magazine. 19(1):25-37. http://hdl.handle.net/10251/57632S253719

Biodegradable DFADs: Current status and prospects

Until recently, dFAD structure, materials and designs have remained quite rudimentary and virtually the same since their discovery, characterized by the increase of the dimensions and prevailing heavy use of plastic components. Biodegradable materials are called to be an important part of the solution, as they can faster degrade in the environment, free of toxins and heavy metals, reducing their lifespan, and preventing them from accumulating in sensitive areas once they are abandoned, lost or discarded. During last decades, regulatory measures at tRFMOs have advanced in the gradual implementation of biodegradable materials in dFAD constructions together with other measures limiting the number of active dFADs and the use of netting materials. However, more clarity is needed starting with a standardised definition of biodegradable dFADs among tRFMOs, to provide operational guidance. Research with those natural and synthetic materials is required, along with updated data collection for monitoring standards, as well as alternative and complementary actions need to be explored to contribute to minimising dFAD adverse effects on environment. Acknowledging the current difficulties for the implementation of fully biodegradable dFADs a stepwise process towards the implementation of fully biodegradable dFADs should be considered.Postprin

Adrenomedullin and tumour angiogenesis

The angiogenic activity of peptide adrenomedullin (AM) was first shown in 1998 . Since then, a number of reports have confirmed the ability of AM to induce the growth and migration of isolated vascular endothelial and smooth muscle cells in vitro and to promote angiogenesis in xenografted tumours in vivo. In addition, knockout murine models point to an essential role for AM in embryonic vasculogenesis and ischaemic revascularisation. AM expression is upregulated by hypoxia (a typical feature of solid tumours) and a potential role as a regulator of carcinogenesis and tumour progression has been proposed based on studies in vitro and in animal models. Nevertheless, translational research on AM, and in particular, confirmation of its importance in the vascularisation of human tumours has lagged behind. In this commentary, we review current progress and potential directions for future research into the role of AM in tumour angiogenesis

Ki-67 and outcome in clinically localised prostate cancer: analysis of conservatively treated prostate cancer patients from the Trans-Atlantic Prostate Group study

Treatment decisions after diagnosis of clinically localised prostate cancer are difficult due to variability in tumour behaviour. We therefore examined one of the most promising biomarkers in prostate cancer, Ki-67, in a cohort of 808 patients diagnosed with prostate cancer between 1990 and 1996 and treated conservatively. Ki-67 expression was assessed immunohistochemically, in two laboratories, by two different scoring methods and the results compared with cancer-specific and overall survival. The power of the biomarker was compared with Gleason score and initial serum prostate-specific antigen (PSA). Both methods showed that Ki-67 provided additional prognostic information beyond that available from Gleason score and PSA: for the semi-quantitative method, Δχ2 (1 d.f.)=24.6 (P<0.0001), overall survival χ2=20.5 (P<0.0001), and for the quantitative method, Δχ2 (1 d.f.)=15.1 (P=0.0001), overall survival χ2=10.85 (P=0.001). Ki-67 is a powerful biomarker in localised prostate cancer and adds to a model predicting the need for radical or conservative therapy. As it is already in widespread use in routine pathology, it is confirmed as the most promising biomarker to be applied into routine practice

Grazing Rates of Calanus finmarchicus on Thalassiosira weissflogii Cultured under Different Levels of Ultraviolet Radiation

UVB alters photosynthetic rate, fatty acid profiles and morphological characteristics of phytoplankton. Copepods, important grazers of primary production, select algal cells based upon their size, morphological traits, nutritional status, and motility. We investigated the grazing rates of the copepod Calanus finmarchicus on the diatom Thalassiosira weissflogii cultured under 3 levels of ultraviolet radiation (UVR): photosynthetically active radiation (PAR) only (4 kJ-m−2/day), and PAR supplemented with UVR radiation at two intensities (24 kJ-m−2/day and 48 kJ-m−2/day). There was no significant difference in grazing rates between the PAR only treatment and the lower UVR treatment. However, grazing rates were significantly (∼66%) higher for copepods feeding on cells treated with the higher level of UVR. These results suggest that a short-term increase in UVR exposure results in a significant increase in the grazing rate of copepods and, thereby, potentially alters the flow rate of organic matter through this component of the ecosystem