Un entorno de programación multinivel y control modular de robots

En este proyecto final de carrera se van a tratar los aspectos referentes a la ampliación de robots. Para ello se utilizará una placa Arduino que se comunicará con el robot por puerto serie. Esta placa, servirá de plataforma de comunicación entre un PC y el robot, ofreciendo una interfaz del robot anterior con la capacidad de ampliación de la placa Arduino. En el transcurso del proyecto se ha realizado una capa intermedia de código C++ que gestiona el uso de la placa Arduino y del robot iRobot Create a través de la misma. Con objeto de dar también soporte a la programación del robot iRobot Create, se ha elegido un simulador y se le ha dado soporte en la capa anteriormente citada.

Diagonal forms, linear algebraic methods and Ramsey-type problems

This thesis focuses mainly on linear algebraic aspects of combinatorics. Let N_t(H) be an incidence matrix with edges versus all subhypergraphs of a complete hypergraph that are isomorphic to H. Richard M. Wilson and the author find the general formula for the Smith normal form or diagonal form of N_t(H) for all simple graphs H and for a very general class of t-uniform hypergraphs H.

As a continuation, the author determines the formula for diagonal forms of integer matrices obtained from other combinatorial structures, including incidence matrices for subgraphs of a complete bipartite graph and inclusion matrices for multisets.

One major application of diagonal forms is in zero-sum Ramsey theory. For instance, Caro's results in zero-sum Ramsey numbers for graphs and Caro and Yuster's results in zero-sum bipartite Ramsey numbers can be reproduced. These results are further generalized to t-uniform hypergraphs. Other applications include signed bipartite graph designs.

Research results on some other problems are also included in this thesis, such as a Ramsey-type problem on equipartitions, Hartman's conjecture on large sets of designs and a matroid theory problem proposed by Welsh.

Nitrogen and phosphorus forms in water and the food requirements of algae. [Translation from: Wiadomosci Ekologiczne 19 238-244, 1973. ]

When dissolved in water, compounds of nitrogen and phosphorus ought to contain the basic assimilated food requirements for autotrophic plants and therefore autotrophic algae. This article summarises the occurrence of nitrogen in water, how species of algae utilize nitrogen and phosphorus forms for growth and the capacities of algae to adapt to environments of different nutrient wealth. This topic has unquestionable importance not only for the purpose of survival of a species but also in deciding indirectly about the stability of ecosystems.

Part I. Synthesis of L-amino acid oxidase by a serine- or glycine-requiring strain of neurospora. Part II. Studies concerning multiple electrophoretic forms of tyrosinase in neurospora

Part I: Synthesis of L-Amino Acid Oxidase by a Serine- or Glycine-Requiring Strain of Neurospora

Wild-type cultures of Neurospora crassa growing on minimal medium contain low levels of L-amino acid oxidase, tyrosinase, and nicotinarnide adenine dinucleotide glycohydrase (NADase). The enzymes are derepressed by starvation and by a number of other conditions which are inhibitory to growth. L-amino acid oxidase is, in addition, induced by growth on amino acids. A mutant which produces large quantities of both L-amino acid oxidase and NADase when growing on minimal medium was investigated. Constitutive synthesis of L-amino acid oxidase was shown to be inherited as a single gene, called P110, which is separable from constitutive synthesis of NADase. P110 maps near the centromere on linkage group IV.

L-amino acid oxidase produced constitutively by P110 was partially purified and compared to partially purified L-amino acid oxidase produced by derepressed wild-type cultures. The enzymes are identical with respect to thermostability and molecular weight as judged by gel filtration.

The mutant P110 was shown to be an incompletely blocked auxotroph which requires serine or glycine. None of the enzymes involved in the synthesis of serine from 3-phosphoglyceric acid or glyceric acid was found to be deficient in the mutant, however. An investigation of the free intracellular amino acid pools of P110 indicated that the mutant is deficient in serine, glycine, and alanine, and accumulates threonine and homoserine.

The relationship between the amino acid requirement of P110 and its synthesis of L-amino acid oxidase is discussed.

Part II: Studies Concerning Multiple Electrophoretic Forms of Tyrosinase in Neurospora

Supernumerary bands shown by some crude tyrosinase preparations in paper electrophoresis were investigated. Genetic analysis indicated that the location of the extra bands is determined by the particular T allele present. The presence of supernumerary bands varies with the method used to derepress tyrosinase production, and with the duration of derepression. The extra bands are unstable and may convert to the major electrophoretic band, suggesting that they result from modification of a single protein. Attempts to isolate the supernumerary bands by continuous flow paper electrophoresis or density gradient zonal electrophoresis were unsuccessful.

Varieties generated by modular lattices of width four

A variety (equational class) of lattices is said to be finitely based if there exists a finite set of identities defining the variety. Let M^∞_n denote the lattice variety generated by all modular lattices of width not exceeding n. M^∞₁ and M^∞₂ are both the class of all distributive lattices and consequently finitely based. B. Jónsson has shown that M^∞₃ is also finitely based. On the other hand, K. Baker has shown that M^∞_n is not finitely based for 5 ≤ n ˂ ω. This thesis settles the finite basis problem for M^∞₄. M^∞₄ is shown to be finitely based by proving the stronger result that there exist ten varieties which properly contain M^∞₄ and such that any variety which properly contains M^∞₄ contains one of these ten varieties.

The methods developed also yield a characterization of sub-directly irreducible width four modular lattices. From this characterization further results are derived. It is shown that the free M^∞₄ lattice with n generators is finite. A variety with exactly k covers is exhibited for all k ≥ 15. It is further shown that there are 2^Ӄo sub- varieties of M^∞₄.

From social to political. New forms of mobilization and democratization. Conference proceedings

In the recent evolution of contemporary social movements three phases can be identified. The first phase is marked by the labour movement and the systemic importance attributed to the labour conflict in industrial societies. This conflict has been interpreted as a consequence of the shortcoming of social integration mechanisms by Emile Durkheim, as a rational conflict by entrepreneurs’ and workers’ interests by Max Wener, and as a central class struggle for the transformation of society by Karl Marx. The second phase in this development was led by the new social movements of the post-industrial society of the 1960s and 1970s’ students, women and environmentalist movements. Two new analytical perspectives have explained these movements’ meaning and actions. Resource mobilization theory (McAdam and Tilly) has focuses on rational attitudes and conflicts. Actionalist sociology, in turn, has identified the new protagonists of social conflicts that replaced the labour movement in postindustrial societies. The third phase emerges in a world characterized by the ascendance of markets, the increasingly prominent role of financial capital flows, the closure of communities, and fundamentalism. In this context, human rights and pro-democratization movements constitute alternatives to global domination and the systemic conditioning of individual and groups.

A atividade da pterocarpanoquinona LQB 118 in vitro e in vivo em Leishmania braziliensis

As leishmanioses estão entre as mais importantes endemias brasileiras e encontram-se entre as doenças mais negligenciadas no mundo. O arsenal terapêutico disponível é restrito, tóxico, caro e em algumas situações ineficazes, devido ao surgimento de cepas resistentes do parasito. No Brasil são registrados anualmente mais de 20 mil casos de leishmaniose tegumentar e a Leishmania braziliensis é a principal espécie causadora das formas clínicas cutânea e mucosa. Portanto tornam-se importantes estudos que conduzam ao desenvolvimento de novas alternativas terapêuticas. O objetivo do presente estudo foi avaliar a atividade da pterocarpanoquinona denominada LQB118 sobre Leishmania braziliensis in vitro e in vivo usando hamsters como modelo experimental. O efeito antiparasitário foi avaliado sobre o crescimento in vitro das formas promastigotas e sobre amastigotas intracelulares em macrófagos peritoneais de camundongos. Para avaliar o modo ação in vitro foi investigada a indução de apoptose usando marcação por TUNEL e Anexina V-FITC. O efeito sobre a modulação da ativação de macrófagos murinos foi analisada pela dosagem de óxido nítrico (reagente de Griess) e de citocinas IL-12, TNF-alfa e IL-10 (por ELISA) nos sobrenadantes de macrófagos. In vivo a atividade terapêutica da LQB 118 foi estudada em grupos de hamsters infectados com L.braziliensis na pata, tratados com a LQB118 pelas vias intralesional (100M/3x/semana) ou oral (0,5mg/5x/semana) após 7 dias de infecção durante oito semanas. A ação terapêutica foi analisada através do tamanho da lesão. A resposta imune foi avaliada durante o tratamento, pela resposta de hipersensibilidade tardia (DTH) ao antígeno total de L. braziliensis. A ação da LQB118 in vitro foi dose-dependente tanto na forma promastigota inibindo 45%, 64,7% e 99,95%, quanto nas amastigotas intracelulares 22%, 72% e 81% nas concentrações de 5M, 10M e 20M, respectivamente para ambas as formas evolutivas. A LQB118 foi capaz de induzir a externalização de fosfatidilserina em promastigotas (18,57% das células incubadas por 24 h e em 25,79% de células tratadas por 48h) e também promoveu aumento da fluorescência nas duas formas evolutivas da Leishmania quando comparadas aos controles, demonstrando a indução de fragmentação do DNA do parasito. Esta substância também foi capaz de modular a resposta dos macrófagos infectados por 24 horas aumentando de forma dose-dependente a IL-12 e NO, mantendo constante TNF-α. In vivo, na sétima semana de tratamento, observamos uma redução significativa do tamanho das lesões nos animais tratados com LQB 118 intralesional (p<0, 001) e no grupo tratado pela via oral (p<0,05) quando comparado com o controle. Estes resultados demonstram que a atividade anti-Leishmania da LQB118 é direta sobre o parasito pela indução de morte por apoptose, apresentando também uma ação moduladora da resposta dos macrófagos contribuindo para ação leishmanicida, sem alterar a morfologia da célula hospedeira e que a LQB 118 apresenta uma atividade terapêutica no modelo hamster e pode ser uma importante molécula para o desenvolvimento de um novo fármaco.

Modular integration and on-chip sensing approaches for tunable fluid control polymer microdevices

228 p.

Modular Multimodal Iron Oxide-Based Nanocarriers for Image-Guided dsRNA Immunostimulation and Platinum Anticancer Drug Design

237 p.

Genotypes, Recombinant Forms, and Variants of Norovirus GII.4 in Gipuzkoa (Basque Country, Spain), 2009-2012

Background: Noroviruses (NoVs) are genetically diverse, with genogroup II-and within it-genotype 4 (GII.4) being the most prevalent cause of acute gastroenteritis worldwide. The aim of this study was to characterize genogroup II NoV causing acute gastroenteritis in the Basque Country (northern Spain) from 2009-2012. Methods: The presence of NoV RNA was investigated by reverse transcriptase-polymerase chain reaction (RT-PCR) in stool specimens from children younger than 15 years old with community-acquired acute gastroenteritis, and from hospitalized adults or elderly residents of nursing homes with acute gastroenteritis. For genotyping, the open reading frames ORF1 (encoding the polymerase) and ORF2 (encoding the major capsid protein) were partially amplified and sequenced. Recombinant strains were confirmed by PCR of the ORF1/ORF2 junction region. Results: NoV was detected in 16.0% (453/2826) of acute gastroenteritis episodes in children younger than 2 years, 9.9% (139/1407) in children from 2 to 14 years, and 35.8% (122/341) in adults. Of 317 NoVs characterized, 313 were genogroup II and four were genogroup I. The GII.4 variants Den Haag-2006b and New Orleans-2009 predominated in 2009 and 2010-2011, respectively. In 2012, the New Orleans-2009 variant was partially replaced by the Sydney-2012 variant (GII.Pe/GII.4) and New Orleans-2009/Sydney-2012 recombinant strains. The predominant capsid genotype in all age groups was GII.4, which was the only genotype detected in outbreaks. The second most frequent genotype was GII.3 (including the recently described recombination GII.P16/GII.3), which was detected almost exclusively in children. Conclusion: Nine different genotypes of NoV genogroup II were detected; among these, intergenotype recombinant strains represented an important part, highlighting the role of recombination in the evolution of NoVs. Detection of new NoV strains, not only GII.4 strains, shortly after their first detection in other parts of the world shows that many NoV strains can spread rapidly.

Closed G2 forms and special metrics

170 p.

A novel brain partition highlights the modular skeleton shared by structure and function

Elucidating the intricate relationship between brain structure and function, both in healthy and pathological conditions, is a key challenge for modern neuroscience. Recent progress in neuroimaging has helped advance our understanding of this important issue, with diffusion images providing information about structural connectivity (SC) and functional magnetic resonance imaging shedding light on resting state functional connectivity (rsFC). Here, we adopt a systems approach, relying on modular hierarchical clustering, to study together SC and rsFC datasets gathered independently from healthy human subjects. Our novel approach allows us to find a common skeleton shared by structure and function from which a new, optimal, brain partition can be extracted. We describe the emerging common structure-function modules (SFMs) in detail and compare them with commonly employed anatomical or functional parcellations. Our results underline the strong correspondence between brain structure and resting-state dynamics as well as the emerging coherent organization of the human brain.