981 resultados para Hardware-in-the-Loop
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Includes bibliography
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science
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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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A better understanding of the paracrine and autocrine regulatory loops within the cumulus-oocyte complex (COC) is fundamental for the improvement of in vitro maturation (IVM) outcomes in humans and domestic species. This review presents the most important local regulators identified in the COC to date with special attention to those secreted by the oocyte and acting on cumulus cells, as well as their roles in different processes crucial for the successful maturation of the COC. An autocrine regulatory loop mediated by epidermal growth factor-like (EGF-like) peptides in cumulus cells triggers COC maturation. During COC differentiation, oocyte secreted factors (OSFs), particularly members of the transforming growth factor-beta (TGF beta) and fibroblast growth factor (FGF) families, regulate meiotic resumption, cumulus expansion, cumulus metabolism, apoptosis and steroidogenesis.
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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
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In the early vertebrate embryo, cardiac progenitor/precursor cells (CPs) give rise to cardiac structures. Better understanding their biological character is critical to understand the heart development and to apply CPs for the clinical arena. However, our knowledge remains incomplete. With the use of single-cell expression profiling, we have now revealed rapid and dynamic changes in gene expression profiles of the embryonic CPs during the early phase after their segregation from the cardiac mesoderm. Progressively, the nascent mesodermal gene Mesp1 terminated, and Nkx2-5+/Tbx5+ population rapidly replaced the Tbx5low+ population as the expression of the cardiac genes Tbx5 and Nkx2-5 increased. At the Early Headfold stage, Tbx5-expressing CPs gradually showed a unique molecular signature with signs of cardiomyocyte differentiation. Lineage-tracing revealed a developmentally distinct characteristic of this population. They underwent progressive differentiation only towards the cardiomyocyte lineage corresponding to the first heart field rather than being maintained as a progenitor pool. More importantly, Tbx5 likely plays an important role in a transcriptional network to regulate the distinct character of the FHF via a positive feedback loop to activate the robust expression of Tbx5 in CPs. These data expands our knowledge on the behavior of CPs during the early phase of cardiac development, subsequently providing a platform for further study.
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Myxobolus cerebralis, the cause of whirling disease in salmonids, has dispersed to waters in 25 states within the USA, often by an unknown vector. Its incidence in Yellowstone cutthroat trout Oncorhynchus clarkii bouvieri within the highly protected environment of Yellowstone Lake, Yellowstone National Park, is a prime example. Given the local abundances of piscivorous birds, we sought to clarify their potential role in the dissemination of M. cerebralis. Six individuals from each of three bird species (American white pelican Pelecanus erythrorhynchos, double-crested cormorant Phalacrocorax auritus, and great blue heron Ardea herodias) were fed known-infected or uninfected rainbow trout O. mykiss. Fecal material produced during 10-d periods before and after feeding was collected to determine whether M. cerebralis could be detected and, if so, whether it remained viable after passage through the gastrointestinal tract of these birds. For all (100%) of the nine birds fed known-infected fish, fecal samples collected during days 1–4 after feeding tested positive for M. cerebralis by polymerase chain reaction. In addition, tubificid worms Tubifex tubifex that were fed fecal material from known-infected great blue herons produced triactinomyxons in laboratory cultures, confirming the persistent viability of the parasite. No triactinomyxons were produced from T. tubifex fed fecal material from known-infected American white pelicans or double-crested cormorants, indicating a potential loss of parasite viability in these species. Great blue herons have the ability to concentrate and release viable myxospores into shallow-water habitats that are highly suitable for T. tubifex, thereby supporting a positive feedback loop in which the proliferation of M. cerebralis is enhanced. The presence of avian piscivores as an important component of aquatic ecosystems should continue to be supported. However, given the distances traveled by great blue herons between rookeries and foraging areas in just days, any practices that unnaturally attract them may heighten the probability of M. cerebralis dispersal and proliferation within the Greater Yellowstone Ecosystem.
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The present report describes an 8-year-old gelding presenting with signs of severe abdominal pain. After performing a thorough physical examination, including rectal palpation and additional diagnostic tests, an exploratory laparotomy was recommended. The jejunum was found herniated through the gastrosplenic ligament, and the stomach was severely distended with gas. Given a poor prognosis, the horse was euthanized on the table. At necropsy, the stomach appeared dilated, with an 180 horizontal gastric torsion, from left (lateral) to right (medial), dividing the organ into dorsal and ventral compartments. We believe that the chronic traction exerted by an incarcerated and distended loop of jejunum, in the dorsal aspect of the gastrosplenic ligament, associated with trauma during episodes of intense rolling, enlarged the rent until it ruptured. Because of this rupture, the lateral dorsal aspect of the stomach became unattached, predisposing it to the torsion. (C) 2012 Elsevier Inc. All rights reserved.
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In the paper of Bonora et al. (2008) [3] we have shown, in the context of type II superstring theory, the classification of the allowed B-field and A-field configurations in the presence of anomaly-free D-branes, the mathematical framework being provided by the geometry of gerbes. Here we complete the discussion considering in detail the case of a stack of D-branes, carrying a non-abelian gauge theory, which was just sketched in Bonora et al. (2008) [3]. In this case we have to mix the geometry of abelian gerbes, describing the B-field, with the one of higher-rank bundles, ordinary or twisted. We describe in detail the various cases that arise according to such a classification, as we did for a single D-brane, showing under which hypotheses the A-field turns out to be a connection on a canonical gauge bundle. We also generalize to the non-abelian setting the discussion about "gauge bundles with non-integral Chern classes", relating them to twisted bundles with connection. Finally, we analyze the geometrical nature of the Wilson loop for each kind of gauge theory on a D-brane or stack of D-branes.
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mitochondrial genomes are generally thought to be under selection for compactness, due to their small size, consistent gene content, and a lack of introns or intergenic spacers. As more animal mitochondrial genomes are fully sequenced, rearrangements and partial duplications are being identified with increasing frequency, particularly in birds (Class Ayes). In this study, we investigate the evolutionary history of mitochondrial control region states within the avian order Psittaciformes (parrots and cockatoos). To this aim, we reconstructed a comprehensive multi-locus phylogeny of parrots, used PCR of three diagnostic fragments to classify the mitochondrial control region state as single or duplicated, and mapped these states onto the phylogeny. We further sequenced 44 selected species to validate these inferences of control region state. Ancestral state reconstruction using a range of weighting schemes identified six independent origins of mitochondrial control region duplications within Psittaciformes. Analysis of sequence data showed that varying levels of mitochondrial gene and tRNA homology and degradation were present within a given clade exhibiting duplications. Levels of divergence between control regions within an individual varied from 0-10.9% with the differences occurring mainly between 51 and 225 nucleotides 3' of the goose hairpin in domain I. Further investigations into the fates of duplicated mitochondrial genes, the potential costs and benefits of having a second control region, and the complex relationship between evolutionary rates, selection, and time since duplication are needed to fully explain these patterns in the mitochondrial genome. (C) 2012 Elsevier Inc. All rights reserved.
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[EN] We apply an inverse model to a hydrographic cruise that completely closes the Canary Islands to investigate their effect on the water masses transports. Most central waters are transported south between the eastern islands and the African coast, with 2.5 Sv out of a total of 3.5 Sv. Intermediate waters are effectively blocked by the islands passages, with Mediterranean/Antarctic waters predominantly found north/south of the islands, and most deep waters loop around the archipelago plateau. A process model upholds the existence of intense two-way exchange between central and intermediate waters along the eastern passage, with vertical velocities of order 10 m s.
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High serum levels of Interleukin-6 (IL-6) correlate with poor outcome in breast cancer patients. However no data are available on the relationship between IL-6 and stem/progenitor cells which may fuel the genesis of breast cancer in vivo. Herein, we address this issue in mammospheres (MS), multi-cellular structures enriched in stem/progenitor cells of the mammary gland, and also in MCF-7 breast cancer cells. We show that MS from node invasive breast carcinoma tissues express IL-6 mRNA at higher levels than MS from matched non-neoplastic mammary glands. We find that IL-6 mRNA is detectable only in basal-like breast carcinoma tissues, an aggressive variant showing stem cell features. Our results reveal that IL-6 triggers a Notch-3-dependent up-regulation of the Notch ligand Jagged-1, whose interaction with Notch-3 promotes the growth of MS and MCF-7 derived spheroids. Moreover, IL-6 induces a Notch-3-dependent up-regulation of the carbonic anhydrase IX gene, which promotes a hypoxia-resistant/invasive phenotype in MCF-7 cells and MS. Finally, an autocrine IL-6 loop relies upon Notch-3 activity to sustain the aggressive features of MCF-7-derived hypoxia-selected cells. In conclusion, our data support the hypothesis that IL-6 induces malignant features in Notch-3 expressing, stem/progenitor cells from human ductal breast carcinoma and normal mammary gland.
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The increasing precision of current and future experiments in high-energy physics requires a likewise increase in the accuracy of the calculation of theoretical predictions, in order to find evidence for possible deviations of the generally accepted Standard Model of elementary particles and interactions. Calculating the experimentally measurable cross sections of scattering and decay processes to a higher accuracy directly translates into including higher order radiative corrections in the calculation. The large number of particles and interactions in the full Standard Model results in an exponentially growing number of Feynman diagrams contributing to any given process in higher orders. Additionally, the appearance of multiple independent mass scales makes even the calculation of single diagrams non-trivial. For over two decades now, the only way to cope with these issues has been to rely on the assistance of computers. The aim of the xloops project is to provide the necessary tools to automate the calculation procedures as far as possible, including the generation of the contributing diagrams and the evaluation of the resulting Feynman integrals. The latter is based on the techniques developed in Mainz for solving one- and two-loop diagrams in a general and systematic way using parallel/orthogonal space methods. These techniques involve a considerable amount of symbolic computations. During the development of xloops it was found that conventional computer algebra systems were not a suitable implementation environment. For this reason, a new system called GiNaC has been created, which allows the development of large-scale symbolic applications in an object-oriented fashion within the C++ programming language. This system, which is now also in use for other projects besides xloops, is the main focus of this thesis. The implementation of GiNaC as a C++ library sets it apart from other algebraic systems. Our results prove that a highly efficient symbolic manipulator can be designed in an object-oriented way, and that having a very fine granularity of objects is also feasible. The xloops-related parts of this work consist of a new implementation, based on GiNaC, of functions for calculating one-loop Feynman integrals that already existed in the original xloops program, as well as the addition of supplementary modules belonging to the interface between the library of integral functions and the diagram generator.