Sistema de manteniment de l'equilibri per a un robot bípede

Dins el departament d’Electrònica, Informàtica i Automàtica de la Universitat de Girona s’handissenyat i construït dues plataformes bípedes per a l’ús docent. La mésevolucionada d’elles, finalitzada l’any 1999, està composada per dues cames d’alumini ambtres actuadors lineals cada una, simulant la funció del turmell, del genoll i del maluc. Els objectius que es pretenen aconseguir amb aquest projecte són molt concrets i tots ellsestan destinats a millorar el funcionament del robot bípede. Aquests objectius són: (1)dissenyar dos graus de llibertat lineals en forma de pla XY per moure el pes que convinguiper assegurar l’equilibri durant el moviment de la plataforma bípede, (2) dissenyar una placaamb una FPGA que generi senyals PWM pels vuit motors disponibles, que llegeixi els dosencoders dels motors del pla XY i que es comuniqui amb un PC equipat amb una tarjad’adquisició de dades específica, (3) dissenyar una placa de potència adequada pel controldels motors, (4) finalment realitzar un programa per comprovar el correcte funcionament deles plaques, dels actuadors i dels sensors utilitzats en la plataforma bípede

Trends in qualifying biomarkers in drug safety. Consensus of the 2011 meeting of the spanish society of clinical pharmacology.

In this paper we discuss the consensus view on the use of qualifying biomarkers in drug safety, raised within the frame of the XXIV meeting of the Spanish Society of Clinical Pharmacology held in Málaga (Spain) in October, 2011. The widespread use of biomarkers as surrogate endpoints is a goal that scientists have long been pursuing. Thirty years ago, when molecular pharmacogenomics evolved, we anticipated that these genetic biomarkers would soon obviate the routine use of drug therapies in a way that patients should adapt to the therapy rather than the opposite. This expected revolution in routine clinical practice never took place as quickly nor with the intensity as initially expected. The concerted action of operating multicenter networks holds great promise for future studies to identify biomarkers related to drug toxicity and to provide better insight into the underlying pathogenesis. Today some pharmacogenomic advances are already widely accepted, but pharmacogenomics still needs further development to elaborate more precise algorithms and many barriers to implementing individualized medicine exist. We briefly discuss our view about these barriers and we provide suggestions and areas of focus to advance in the field.

Male accessory gland substances from Aedes albopictus affect the locomotor activity of Aedes aegypti females

Dengue is one of the world’s most important mosquito-borne diseases and is usually transmitted by one of two vector species: Aedes aegypti or Aedes albopictus . These two diurnal mosquitoes are frequently found coexisting in similar habitats, enabling interactions between adults, such as cross-mating. The objective of this study was to assess cross-mating between Ae. aegypti females and Ae. albopictus males under artificial conditions and evaluate the locomotor activity of Ae. aegypti virgin females injected with male accessory gland (MAG) homogenates to infer the physiological and behavioural responses to interspecific mating. After seven days of exposure, 3.3-16% of Ae. aegypti females mated with Ae. albopictus males. Virgin Ae. aegypti females injected with conspecific and heterospecific MAGs showed a general decrease in locomotor activity compared to controls and were refractory to mating with conspecific males. The reduction in diurnal locomotor activity induced by injections of conspecific or heterospecific MAGs is consistent with regulation of female reproductive activities by male substances, which are capable of sterilising female Ae. aegypti through satyrisation by Ae. albopictus .

Differentiation of postmitotic neuroblasts into substance P-immunoreactive sensory neurons in dissociated cultures of chick dorsal root ganglion.

Counts performed on dissociated cell cultures of E10 chick embryo dorsal root ganglia (DRG) showed after 4-6 days of culture a pronounced decline of the neuronal population in neuron-enriched cultures and a net gain in the number of ganglion cells in mixed DRG cell cultures (containing both neurons and nonneuronal cells). In the latter case, the increase in the number of neurons was found to depend on NGF and to average 119% in defined medium or 129% in horse serum-supplemented medium after 6 days of culture. The lack of [3H]thymidine incorporation into the neuronal population indicated that the newly formed ganglion cells were not generated by proliferation. On the contrary, the differentiation of postmitotic neuroblasts present in the nonneuronal cell compartment was supported by sequential microphotographs of selected fields taken every hour for 48-55 hr after 3 days of culture. Apparently nonneuronal flat dark cells exhibited morphological changes and gradually evolved into neuronal ovoid and refringent cell bodies with expanding neurites. The ultrastructural organization of these evolving cells corresponded to that of primitive or intermediate neuroblasts. The neuronal nature of these rounding up cell bodies was indeed confirmed by the progressive expression of various neuronal cell markers (150 and 200-kDa neurofilament triplets, neuron specific enolase, and D2/N-CAM). Besides a constant lack of immunoreactivity for tyrosine hydroxylase, somatostatin, parvalbumin, and calbindin-D 28K and a lack of cytoenzymatic activity for carbonic anhydrase, all the newly produced neurons expressed three main phenotypic characteristics: a small cell body, a strong immunoreactivity to MAG, and substance P. Hence, ganglion cells newly differentiated in culture would meet characteristics ascribed to small B sensory neurons and more specifically to a subpopulation of ganglion cells containing substance P-immunoreactive material.

Síntesi i caracterització de compostos azobenzènics per la preparació de nous interruptors moleculars

Aquest treball de recerca té com a objectiu la síntesi i caracterització de nous interruptors moleculars basats en cromòfors azobenzènics i amb aplicació a nivell biològic. Més concretament, es planteja el desenvolupament d’interruptors moleculars basats en el sistema MAG per a controlar el funcionament d’un canal iònic de les cèl·lules del sistema nerviós central governat pel receptor iGluR. Tot i que ja s’han descrit interruptors moleculars tipus MAG que permeten el control d’aquest canal, en aquest treball es pretenen optimitzar dues de les seves propietats: augmentar el rendiment quàntic de fotoisomerització entre els estats trans i cis de l’interruptor i augmentar la constant tèrmica d’isomerització cis-&trans. Aquestes dues propietats depenen de les característiques estructurals del cromòfor azobenzènic central del sistema MAG.

Mélanges de poésie.

Poème de Tobie (1). — Mag. Alexandri Laus sapientiae divinae {40). — Pièces de vers composées par Jo. Prevost (89), Fr, Caulier (90), Lud. Hurillon (91, 93), J. Mentel (94), N. Leon. Bursarius (95), J. Fr. Mondolot. (96), Fr. Boutard (99), Am. du Mas (106), Car. Thiery (112), Ben. Thibaud (113), Fr. de Clermont Thoury (139), Pet, Neveletus. Doschius (169), Car. Fr. Thiery (184), Seb. Tripier (276), Franc. Linant (323), Jos. Rosset (351), Rob. Wallery (363), Ren. Pr. Tassin (371), Jo. Henr. Wentsel (373). — Extr. du ms. 553 du Vatican (104). — Lettre des religieux de Tiron à Jean Casimir, roi de Pologne (178). — Épitaphes et inscriptions modernes, plusieurs composées par Mabillon. — Deux vieilles épitaphes de l'église de: Lagny (262). Inscription antique de Vicence (311). — Distiques de l'abbé Serlon (355). Épitaphe. de Ratherius (356). — Qq. pièces en français et en italien.

Sermons des auteurs suivants : G. ep. Paris., Joh. Polinus, G. ep. Cameracensis, Odo cardinalis, N. de Byart, Gerardus de Remis, Galterus de Castro Theoderic, Odo de Castro Radulfi cardinalis, Odo cancellarius Paris., Philippus cancellarius Paris., Henricus Theuthonicus, Stephanus de ordine Predicatorum, Hugo de S. Victore.

Au fol. 492v : In processione facta pro regina Blancha infirma, mag. Odo cancellarius.

Disseny i implementació d'un conjunt de perifèrics de comunicació per a la seva incorporació en nous dissenys hardware del grup de robòtica i visió per computador

El grupo de robòtica i Visió fabricó la tarjeta gráfica MAGCL para el tratamiento de imágenes en tiempo real, en la que se incluyó un conector IDC20 proveniente de parte del bus de datos, de la FPGA que contiene, destinado a futuras aplicaciones. Con este proyecto se quiere aprovechar este conector para la comunicación de la placa con un PC, y se desarrollarán los puertos de comunicación serie RS232 y USB, Universal Serial Bus.El objetivo de este proyecto es establecer la comunicación de la tarjeta gráfica con un PC a través de estos dos tipos de puerto. Una vez conseguida la comunicación, quedan una serie de librerías hardware que pueden ayudar en la realización de futuros proyectos. La placa posee una FPGA (field programable gate array) destinada al desarrollo, pero programando esas librerías sobre otros componentes, se pueden utilizar estos puertos de forma permanente o exclusiva

Hitsausohjeet (WPS) hydraulisylintereille

Tässä insinöörityössä tutkittiin hitsausohjeiden (WPS) laatimista ja niiden hyväksymistä metallisille materiaaleille. Tutkimuksen tarkoituksena oli hitsausosaamisen kehittäminen ja alustavan hitsausohjeen (pWPS) laatiminen hydraulisylintereille Polarteknik PMC Oy Ab:n Nastolan tehtaalle. Työssä pyrittiin löytämään oikeat hitsausparametrit erilaisille vakiokappaleille, mm. JKV2300- sylinterisarjan nimellissuuruuksille NS50 ja NS80. Projektissa perehdyttiin hitsausohjeiden hyväksymisvaiheisiin kuvaamalla standardisarjan SFS-EN 288 kaikki tärkeät kohdat. Tutkimuksessa käsiteltiin myös MAG/ MAG-täytelankahitsauksen hitsausliitosten parannusehdotuksia sekä sitä miten niiden hitsausvirheet voitaisiin estää. Tämän jälkeen valmistettiin ja hitsattiin koekappaleita sekä menetelmäkokeisiin että hitsausliitosten ongelmien selvittämiseksi. Koekappaleet hitsattiin Polarteknik PMC Oy Ab:n Nastolan tehtaassa, jossa hitsausprosessina oli MAG/MAG-täytelanka ja koemateriaalina oli rakenneteräs Fe 52 / S355K2. Koekappaleiden hitsaussaumat tarkastettiin ja ne testattiin menetelmäkokeella, makrohietutkimuksella, jolla saatiin näkyviin niiden tunkeumat, muutosvyöhykkeet (HAZ), hitsausvirheet ja niiden vakavuudet. Tämän projektin oli tarkoitus selvittää hitsausarvot ja laskea niiden mukaan hitsausenergi-at ja lämmöntuonnit. Lisäksi työn oli tarkoitus selvittää testausten tulokset menetelmäkoe-pöytäkirjan laatimista varten. Näiden pohjalta oli tarkoitus hyväksyä alustava hitsausohje, esimerkiksi Polartest Oy:llä.

[Archives de la Parole]. , Pūrbi Song (mélodie) : magahli of Gaya / [Sir George Grierson], éd. ; Linguistic survey of India ; [Jadunandan Sahay], voix

[Traditions. Asie. Inde. Province du Bihar. Gaya]

Mononuclear cell transcriptome response after sustained virgin olive oil consumption in humans: an exploratory nutrigenomics study

Virgin olive oil (VOO) is considered to be one of the main components responsible for the health benefits of the Mediterranean diet, particularly against atherosclerosis where peripheral blood mononuclear cells (PBMNCs) play a crucial role in atherosclerosis development and progression. The objective of this article was to identify the PBMNC genes that respond to VOO consumption in order to ascertain the molecular mechanisms underlying the beneficial action of VOO in the prevention of atherosclerosis. Gene expression profiles of PBMNCs from healthy individuals were examined in pooled RNA samples by microarrays after 3 weeks of moderate and regular consumption of VOO, as the main fat source in a diet controlled for antioxidant content. Gene expression was verified by qPCR. The response to VOO consumption was confirmed for individual samples (n = 10) by qPCR for 10 upregulated genes (ADAM17, ALDH1A1, BIRC1, ERCC5, LIAS, OGT, PPARBP, TNFSF10, USP48, and XRCC5). Their putative role in the molecular mechanisms involved in atherosclerosis development and progression is discussed, focusing on a possible relation with VOO consumption. Our data support the hypothesis that 3 weeks of nutritional intervention with VOO supplementation, at doses common in the Mediterranean diet, can alter the expression of genes related to atherosclerosis development and progression.