CHARACTERIZATION OF THE COUNT RATE PERFORMANCE AND EVALUATION OF THE EFFECTS OF HIGH COUNT RATES ON MODERN GAMMA CAMERAS

CHARACTERIZATION OF THE COUNT RATE PERFORMANCE AND EVALUATION OF THE EFFECTS OF HIGH COUNT RATES ON MODERN GAMMA CAMERAS Michael Stephen Silosky, B.S. Supervisory Professor: S. Cheenu Kappadath, Ph.D. Evaluation of count rate performance (CRP) is an integral component of gamma camera quality assurance and measurement of system dead time (τ) is important for quantitative SPECT. The CRP of three modern gamma cameras was characterized using established methods (Decay and Dual Source) under a variety of experimental conditions. For the Decay method, input count rate was plotted against observed count rate and fit to the paralyzable detector model (PDM) to estimate τ (Rates method). A novel expression for observed counts as a function of measurement time interval was derived and the observed counts were fit to this expression to estimate τ (Counts method). Correlation and Bland-Altman analysis were performed to assess agreement in estimates of τ between methods. The dependencies of τ on energy window definition and incident energy spectrum were characterized. The Dual Source method was also used to estimate τ and its agreement with the Decay method under identical conditions and the effects of total activity and the ratio of source activities were investigated. Additionally, the effects of count rate on several performance metrics were evaluated. The CRP curves for each system agreed with the PDM at low count rates but deviated substantially at high count rates. Estimates of τ for the paralyzable portion of the CRP curves using the Rates and Counts methods were highly correlated (r=0.999) but with a small (~6%) difference. No significant difference was observed between the highly correlated estimates of τ using the Decay or Dual Source methods under identical experimental conditions (r=0.996). Estimates of τ increased as a power-law function with decreasing ratio of counts in the photopeak to the total counts and linearly with decreasing spectral effective energy. Dual Source method estimates of τ varied as a quadratic with the ratio of the single source to combined source activities and linearly with total activity used across a large range. Image uniformity, spatial resolution, and energy resolution degraded linearly with count rate and image distorting effects were observed. Guidelines for CRP testing and a possible method for the correction of count rate losses for clinical images have been proposed.

IMMUNOLOGICAL MECHANISMS OF EXTRACORPOREAL PHOTOPHERESIS IN CUTANEOUS T CELL LYMPHOMA AND GRAFT VERSUS HOST DISEASE

IMMUNOLOGICAL MECHANISMS OF EXTRACORPOREAL PHOTOPHERESIS IN CUTANEOUS T CELL LYMPHOMA AND GRAFT VERSUS HOST DISEASE Publication No.___________ Lisa Harn-Ging Shiue, B.S. Supervisory Professor: Madeleine Duvic, M.D. Extracorporeal photopheresis (ECP) is an effective, low-risk immunomodulating therapy for leukemic cutaneous T cell lymphoma (L-CTCL) and graft versus host disease (GVHD), but whether the mechanism(s) of action in these two diseases is (are) identical or different is unclear. To determine the effects of ECP in vivo, we studied regulatory T cells (T-regs), cytotoxic T lymphocytes (CTLs), and dendritic cells (DCs) by immunofluorescence flow cytometry in 18 L-CTCL and 11 GVHD patients before and after ECP at Day 2, 1 month, 3 months, and 6 months. In this study, ECP was effective in 12/18 L-CTCL patients with a 66.7% overall response rate (ORR) and 6/11 GVHD patients with a 54.5% ORR. Prior to ECP, the percentages of CD4+Foxp3+ T cells in 9 L-CTCL patients were either lower (L-CTCL-Low, n=2) or higher (L-CTCL-High, n=7) than normal. Five of the 7 GVHD patients had high percentages of CD4+Foxp3+ T cells (GVHD-High). Six of 7 L-CTCL-High patients had >80% CD4+Foxp3+ T cells which were correlated with tumor cells, and were responders. Both L-CTCL-High and GVHD-High patients had decreased percentages of CD4+Foxp3+ and CD4+Foxp3+CD25- T cells after 3 months of treatment. CD4+Foxp3+CD25+ T cells increased in GVHD-High patients but decreased in L-CTCL-High patients after 3 months of ECP. In addition, numbers of CTLs were abnormal. We confirmed that numbers of CTLs were low in L-CTCL patients, but high in GVHD patients prior to ECP. After ECP, CTLs increased after 1 month in 4/6 L-CTCL patients whereas CTLs decreased after 6 months in 3/3 GVHD patients. Myeloid (mDCs) and plasmacytoid DCs (pDCs) were also low at baseline in L-CTCL and GVHD patients confirming the DC defect. After 6 months of ECP, numbers and percentages of mDCs and pDCs increased in L-CTCL and GVHD. MDCs were favorably increased in 8/12 L-CTCL responders whereas pDCs were favorably increased in GVHD patients. These data suggest that ECP is favorably modulating the DC subsets. In L-CTCL patients, the mDCs may orchestrate Th1 cell responses to overcome immune suppression and facilitate disease regression. However, in GVHD patients, ECP is favorably down-regulating the immune system and may be facilitating immune tolerance to auto-or allo-antigens. In both L-CTCL and GVHD patients, DCs are modulated, but the T cell responses orchestrated by the DCs are different, suggesting that ECP modulates depending on the immune milieu. _______________

INTERACTION BETWEEN BRK AND HER2 IN BREAST CANCER

INTERACTION BETWEEN BRK AND HER2 IN BREAST CANCER Midan Ai, Ph.D. Supervisory Professor: Zhen Fan, M.D. Breast tumor kinase (Brk) is a nonreceptor protein-tyrosine kinase that is highly expressed in approximately two thirds of breast cancers but is not detectable or is expressed at very low levels in normal mammary epithelium. Brk plays important roles in promoting proliferation, survival, invasion, and metastasis of breast cancer cells, but the mechanism(s) of which remain largely unknown. Recent studies showed that Brk is frequently co-overexpressed with human epidermal growth factor receptor-2 (HER2) and is physically associated with HER2 in breast cancer. The mechanism needs to be determined. In my studies, I found that high expression of HER2 is correlated with high expression of Brk in breast cancer cell lines. Silencing HER2 expression via RNA interference in HER2 over-expressed breast cancer cells resulted in Brk protein decrease and overexpression of HER2 in HER2 low-expressed breast cancer cells up-regulated Brk expression. The mechanism study indicated that overexpression of HER2 increased Brk protein stability. Brk was degraded through a Ca2+-dependent protease pathway involving calpain and HER2 stimulated Brk expression via inhibiting calpain activity. Calpastatin is a calpain endogenous inhibitor and the calpain-calpastatin system has been implicated in a number of cell physiological functions. HER2 restrained calpain activation via up-regulating calpastatin expression and HER2 downstream signaling, MAPK pathway, was involved in the regulation. Furthermore, silencing of Brk expression by RNA interference in HER2-overexpressing breast cancer cells decreased HER2-mediated cell proliferation, survival, invasion/metastasis potential and increased cell sensitivity to HER2 kinase inhibitor, lapatinib, treatment, indicating that Brk plays important roles in regulating and mediating the oncogenic functions of HER2. The Stat3 pathway played important roles in Brk mediated cell survival and invasion/metastasis in the context of HER2-overexpressing breast cancer cells. However, transgenic mice with inducible expression of constitutively active Brk (CA) in the mammary epithelium failed to develop malignant change in the mammary glands after Brk induction for 15 months which indicated that expression of Brk protein alone was not sufficiently to induce spontaneous breast tumor. Bitransgenic mice with co-expression of HER2/neu and inducible expression of Brk in the mammary epithelium developed multifocal mammary tumors, but there were no significant difference in the tumor occurring time, tumor size, tumor weight and tumor multiplicity between the mouse group with co-expression of Brk and HER2/neu and the mouse group with HER2/neu expression only.

Analysis of the traded volume drivers of the Iberian power futures market

A comprehensive assessment of the liquidity development in the Iberian power futures market managed by OMIP (“Operador do Mercado Ibérico de Energia, Pólo Português”) in its first 4 years of existence is performed. This market started on July 2006. A regression model tracking the evolution of the traded volumes in the continuous market is built as a function of 12 potential liquidity drivers. The only significant drivers are the traded volumes in OMIP compulsory auctions, the traded volumes in the “Over The Counter” (OTC) market, and the OTC cleared volumes in OMIP clearing house (OMIClear). Furthermore, the enrollment of financial members shows strong correlation with the traded volumes in the continuous market. OMIP liquidity is still far from the levels reached by the most mature European markets (Nord Pool and EEX). The market operator and its clearing house could develop efficient marketing actions to attract new entrants active in the spot market (energy intensive industries, suppliers, and small producers) as well as volumes from the opaque OTC market, and to improve the performance of existing illiquid products. An active dialogue with all the stakeholders (market participants, spot market operator, and supervisory authorities) will help to implement such actions.

Propuestas regulatorias para el diseño de un mercado ibérico a plazo eficiente de la energía = Regulatory proposals for the development of an efficient iberian energy forward market

El mercado ibérico de futuros de energía eléctrica gestionado por OMIP (“Operador do Mercado Ibérico de Energia, Pólo Português”, con sede en Lisboa), también conocido como el mercado ibérico de derivados de energía, comenzó a funcionar el 3 de julio de 2006. Se analiza la eficiencia de este mercado organizado, por lo que se estudia la precisión con la que sus precios de futuros predicen el precio de contado. En dicho mercado coexisten dos modos de negociación: el mercado continuo (modo por defecto) y la contratación mediante subasta. En la negociación en continuo, las órdenes anónimas de compra y de venta interactúan de manera inmediata e individual con órdenes contrarias, dando lugar a operaciones con un número indeterminado de precios para cada contrato. En la negociación a través de subasta, un precio único de equilibrio maximiza el volumen negociado, liquidándose todas las operaciones a ese precio. Adicionalmente, los miembros negociadores de OMIP pueden liquidar operaciones “Over-The-Counter” (OTC) a través de la cámara de compensación de OMIP (OMIClear). Las cinco mayores empresas españolas de distribución de energía eléctrica tenían la obligación de comprar electricidad hasta julio de 2009 en subastas en OMIP, para cubrir parte de sus suministros regulados. De igual manera, el suministrador de último recurso portugués mantuvo tal obligación hasta julio de 2010. Los precios de equilibrio de esas subastas no han resultado óptimos a efectos retributivos de tales suministros regulados dado que dichos precios tienden a situarse ligeramente sesgados al alza. La prima de riesgo ex-post, definida como la diferencia entre los precios a plazo y de contado en el periodo de entrega, se emplea para medir su eficiencia de precio. El mercado de contado, gestionado por OMIE (“Operador de Mercado Ibérico de la Energía”, conocido tradicionalmente como “OMEL”), tiene su sede en Madrid. Durante los dos primeros años del mercado de futuros, la prima de riesgo media tiende a resultar positiva, al igual que en otros mercados europeos de energía eléctrica y gas natural. En ese periodo, la prima de riesgo ex-post tiende a ser negativa en los mercados de petróleo y carbón. Los mercados de energía tienden a mostrar niveles limitados de eficiencia de mercado. La eficiencia de precio del mercado de futuros aumenta con el desarrollo de otros mecanismos coexistentes dentro del mercado ibérico de electricidad (conocido como “MIBEL”) –es decir, el mercado dominante OTC, las subastas de centrales virtuales de generación conocidas en España como Emisiones Primarias de Energía, y las subastas para cubrir parte de los suministros de último recurso conocidas en España como subastas CESUR– y con una mayor integración de los mercados regionales europeos de energía eléctrica. Se construye un modelo de regresión para analizar la evolución de los volúmenes negociados en el mercado continuo durante sus cuatro primeros años como una función de doce indicadores potenciales de liquidez. Los únicos indicadores significativos son los volúmenes negociados en las subastas obligatorias gestionadas por OMIP, los volúmenes negociados en el mercado OTC y los volúmenes OTC compensados por OMIClear. El número de creadores de mercado, la incorporación de agentes financieros y compañías de generación pertenecientes a grupos integrados con suministradores de último recurso, y los volúmenes OTC compensados por OMIClear muestran una fuerte correlación con los volúmenes negociados en el mercado continuo. La liquidez de OMIP está aún lejos de los niveles alcanzados por los mercados europeos más maduros (localizados en los países nórdicos (Nasdaq OMX Commodities) y Alemania (EEX)). El operador de mercado y su cámara de compensación podrían desarrollar acciones eficientes de marketing para atraer nuevos agentes activos en el mercado de contado (p.ej. industrias consumidoras intensivas de energía, suministradores, pequeños productores, compañías energéticas internacionales y empresas de energías renovables) y agentes financieros, captar volúmenes del opaco OTC, y mejorar el funcionamiento de los productos existentes aún no líquidos. Resultaría de gran utilidad para tales acciones un diálogo activo con todos los agentes (participantes en el mercado, operador de mercado de contado, y autoridades supervisoras). Durante sus primeros cinco años y medio, el mercado continuo presenta un crecimento de liquidez estable. Se mide el desempeño de sus funciones de cobertura mediante la ratio de posición neta obtenida al dividir la posición abierta final de un contrato de derivados mensual entre su volumen acumulado en la cámara de compensación. Los futuros carga base muestran la ratio más baja debido a su buena liquidez. Los futuros carga punta muestran una mayor ratio al producirse su menor liquidez a través de contadas subastas fijadas por regulación portuguesa. Las permutas carga base liquidadas en la cámara de compensación ubicada en Madrid –MEFF Power, activa desde el 21 de marzo de 2011– muestran inicialmente valores altos debido a bajos volúmenes registrados, dado que esta cámara se emplea principalmente para vencimientos pequeños (diario y semanal). Dicha ratio puede ser una poderosa herramienta de supervisión para los reguladores energéticos cuando accedan a todas las transacciones de derivados en virtud del Reglamento Europeo sobre Integridad y Transparencia de los Mercados de Energía (“REMIT”), en vigor desde el 28 de diciembre de 2011. La prima de riesgo ex-post tiende a ser positiva en todos los mecanismos (futuros en OMIP, mercado OTC y subastas CESUR) y disminuye debido a la curvas de aprendizaje y al efecto, desde el año 2011, del precio fijo para la retribución de la generación con carbón autóctono. Se realiza una comparativa con los costes a plazo de generación con gas natural (diferencial “clean spark spread”) obtenido como la diferencia entre el precio del futuro eléctrico y el coste a plazo de generación con ciclo combinado internalizando los costes de emisión de CO2. Los futuros eléctricos tienen una elevada correlación con los precios de gas europeos. Los diferenciales de contratos con vencimiento inmediato tienden a ser positivos. Los mayores diferenciales se dan para los contratos mensuales, seguidos de los trimestrales y anuales. Los generadores eléctricos con gas pueden maximizar beneficios con contratos de menor vencimiento. Los informes de monitorización por el operador de mercado que proporcionan transparencia post-operacional, el acceso a datos OTC por el regulador energético, y la valoración del riesgo regulatorio pueden contribuir a ganancias de eficiencia. Estas recomendaciones son también válidas para un potencial mercado ibérico de futuros de gas, una vez que el hub ibérico de gas –actualmente en fase de diseño, con reuniones mensuales de los agentes desde enero de 2013 en el grupo de trabajo liderado por el regulador energético español– esté operativo. El hub ibérico de gas proporcionará transparencia al atraer más agentes y mejorar la competencia, incrementando su eficiencia, dado que en el mercado OTC actual no se revela precio alguno de gas. ABSTRACT The Iberian Power Futures Market, managed by OMIP (“Operador do Mercado Ibérico de Energia, Pólo Português”, located in Lisbon), also known as the Iberian Energy Derivatives Market, started operations on 3 July 2006. The market efficiency, regarding how well the future price predicts the spot price, is analysed for this energy derivatives exchange. There are two trading modes coexisting within OMIP: the continuous market (default mode) and the call auction. In the continuous trading, anonymous buy and sell orders interact immediately and individually with opposite side orders, generating trades with an undetermined number of prices for each contract. In the call auction trading, a single price auction maximizes the traded volume, being all trades settled at the same price (equilibrium price). Additionally, OMIP trading members may settle Over-the-Counter (OTC) trades through OMIP clearing house (OMIClear). The five largest Spanish distribution companies have been obliged to purchase in auctions managed by OMIP until July 2009, in order to partly cover their portfolios of end users’ regulated supplies. Likewise, the Portuguese last resort supplier kept that obligation until July 2010. The auction equilibrium prices are not optimal for remuneration purposes of regulated supplies as such prices seem to be slightly upward biased. The ex-post forward risk premium, defined as the difference between the forward and spot prices in the delivery period, is used to measure its price efficiency. The spot market, managed by OMIE (Market Operator of the Iberian Energy Market, Spanish Pool, known traditionally as “OMEL”), is located in Madrid. During the first two years of the futures market, the average forward risk premium tends to be positive, as it occurs with other European power and natural gas markets. In that period, the ex-post forward risk premium tends to be negative in oil and coal markets. Energy markets tend to show limited levels of market efficiency. The price efficiency of the Iberian Power Futures Market improves with the market development of all the coexistent forward contracting mechanisms within the Iberian Electricity Market (known as “MIBEL”) – namely, the dominant OTC market, the Virtual Power Plant Auctions known in Spain as Energy Primary Emissions, and the auctions catering for part of the last resort supplies known in Spain as CESUR auctions – and with further integration of European Regional Electricity Markets. A regression model tracking the evolution of the traded volumes in the continuous market during its first four years is built as a function of twelve potential liquidity drivers. The only significant drivers are the traded volumes in OMIP compulsory auctions, the traded volumes in the OTC market, and the OTC cleared volumes by OMIClear. The amount of market makers, the enrolment of financial members and generation companies belonging to the integrated group of last resort suppliers, and the OTC cleared volume by OMIClear show strong correlation with the traded volumes in the continuous market. OMIP liquidity is still far from the levels reached by the most mature European markets (located in the Nordic countries (Nasdaq OMX Commodities) and Germany (EEX)). The market operator and its clearing house could develop efficient marketing actions to attract new entrants active in the spot market (e.g. energy intensive industries, suppliers, small producers, international energy companies and renewable generation companies) and financial agents as well as volumes from the opaque OTC market, and to improve the performance of existing illiquid products. An active dialogue with all the stakeholders (market participants, spot market operator, and supervisory authorities) will help to implement such actions. During its firs five and a half years, the continuous market shows steady liquidity growth. The hedging performance is measured through a net position ratio obtained from the final open interest of a month derivatives contract divided by its accumulated cleared volume. The base load futures in the Iberian energy derivatives exchange show the lowest ratios due to good liquidity. The peak futures show bigger ratios as their reduced liquidity is produced by auctions fixed by Portuguese regulation. The base load swaps settled in the clearing house located in Spain – MEFF Power, operating since 21 March 2011, with a new denomination (BME Clearing) since 9 September 2013 – show initially large values due to low registered volumes, as this clearing house is mainly used for short maturity (daily and weekly swaps). The net position ratio can be a powerful oversight tool for energy regulators when accessing to all the derivatives transactions as envisaged by European regulation on Energy Market Integrity and Transparency (“REMIT”), in force since 28 December 2011. The ex-post forward risk premium tends to be positive in all existing mechanisms (OMIP futures, OTC market and CESUR auctions) and diminishes due to the learning curve and the effect – since year 2011 – of the fixed price retributing the indigenous coal fired generation. Comparison with the forward generation costs from natural gas (“clean spark spread”) – obtained as the difference between the power futures price and the forward generation cost with a gas fired combined cycle plant taking into account the CO2 emission rates – is also performed. The power futures are strongly correlated with European gas prices. The clean spark spreads built with prompt contracts tend to be positive. The biggest clean spark spreads are for the month contract, followed by the quarter contract and then by the year contract. Therefore, gas fired generation companies can maximize profits trading with contracts of shorter maturity. Market monitoring reports by the market operator providing post-trade transparency, OTC data access by the energy regulator, and assessment of the regulatory risk can contribute to efficiency gains. The same recommendations are also valid for a potential Iberian gas futures market, once an Iberian gas hub – currently in a design phase, with monthly meetings amongst the stakeholders in a Working Group led by the Spanish energy regulatory authority since January 2013 – is operating. The Iberian gas hub would bring transparency attracting more shippers and improving competition and thus its efficiency, as no gas price is currently disclosed in the existing OTC market.

Human-robot interaction for telemanipulation in large workspaces

Independientemente de la existencia de técnicas altamente sofisticadas y capacidades de cómputo cada vez más elevadas, los problemas asociados a los robots que interactúan con entornos no estructurados siguen siendo un desafío abierto en robótica. A pesar de los grandes avances de los sistemas robóticos autónomos, hay algunas situaciones en las que una persona en el bucle sigue siendo necesaria. Ejemplos de esto son, tareas en entornos de fusión nuclear, misiones espaciales, operaciones submarinas y cirugía robótica. Esta necesidad se debe a que las tecnologías actuales no pueden realizar de forma fiable y autónoma cualquier tipo de tarea. Esta tesis presenta métodos para la teleoperación de robots abarcando distintos niveles de abstracción que van desde el control supervisado, en el que un operador da instrucciones de alto nivel en la forma de acciones, hasta el control bilateral, donde los comandos toman la forma de señales de control de bajo nivel. En primer lugar, se presenta un enfoque para llevar a cabo la teleoperación supervisada de robots humanoides. El objetivo es controlar robots terrestres capaces de ejecutar tareas complejas en entornos de búsqueda y rescate utilizando enlaces de comunicación limitados. Esta propuesta incorpora comportamientos autónomos que el operador puede utilizar para realizar tareas de navegación y manipulación mientras se permite cubrir grandes áreas de entornos remotos diseñados para el acceso de personas. Los resultados experimentales demuestran la eficacia de los métodos propuestos. En segundo lugar, se investiga el uso de dispositivos rentables para telemanipulación guiada. Se presenta una aplicación que involucra un robot humanoide bimanual y un traje de captura de movimiento basado en sensores inerciales. En esta aplicación, se estudian las capacidades de adaptación introducidas por el factor humano y cómo estas pueden compensar la falta de sistemas robóticos de alta precisión. Este trabajo es el resultado de una colaboración entre investigadores del Biorobotics Laboratory de la Universidad de Harvard y el Centro de Automática y Robótica UPM-CSIC. En tercer lugar, se presenta un nuevo controlador háptico que combina velocidad y posición. Este controlador bilateral híbrido hace frente a los problemas relacionados con la teleoperación de un robot esclavo con un gran espacio de trabajo usando un dispositivo háptico pequeño como maestro. Se pueden cubrir amplias áreas de trabajo al cambiar automáticamente entre los modos de control de velocidad y posición. Este controlador háptico es ideal para sistemas maestro-esclavo con cinemáticas diferentes, donde los comandos se transmiten en el espacio de la tarea del entorno remoto. El método es validado para realizar telemanipulación hábil de objetos con un robot industrial. Por último, se introducen dos contribuciones en el campo de la manipulación robótica. Por un lado, se presenta un nuevo algoritmo de cinemática inversa, llamado método iterativo de desacoplamiento cinemático. Este método se ha desarrollado para resolver el problema cinemático inverso de un tipo de robot de seis grados de libertad donde una solución cerrada no está disponible. La eficacia del método se compara con métodos numéricos convencionales. Además, se ha diseñado una taxonomía robusta de agarres que permite controlar diferentes manos robóticas utilizando una correspondencia, basada en gestos, entre los espacios de trabajo de la mano humana y de la mano robótica. El gesto de la mano humana se identifica mediante la lectura de los movimientos relativos del índice, el pulgar y el dedo medio del usuario durante las primeras etapas del agarre. ABSTRACT Regardless of the availability of highly sophisticated techniques and ever increasing computing capabilities, the problems associated with robots interacting with unstructured environments remains an open challenge. Despite great advances in autonomous robotics, there are some situations where a humanin- the-loop is still required, such as, nuclear, space, subsea and robotic surgery operations. This is because the current technologies cannot reliably perform all kinds of task autonomously. This thesis presents methods for robot teleoperation strategies at different levels of abstraction ranging from supervisory control, where the operator gives high-level task actions, to bilateral teleoperation, where the commands take the form of low-level control inputs. These strategies contribute to improve the current human-robot interfaces specially in the case of slave robots deployed at large workspaces. First, an approach to perform supervisory teleoperation of humanoid robots is presented. The goal is to control ground robots capable of executing complex tasks in disaster relief environments under constrained communication links. This proposal incorporates autonomous behaviors that the operator can use to perform navigation and manipulation tasks which allow covering large human engineered areas of the remote environment. The experimental results demonstrate the efficiency of the proposed methods. Second, the use of cost-effective devices for guided telemanipulation is investigated. A case study involving a bimanual humanoid robot and an Inertial Measurement Unit (IMU) Motion Capture (MoCap) suit is introduced. Herein, it is corroborated how the adaptation capabilities offered by the human-in-the-loop factor can compensate for the lack of high-precision robotic systems. This work is the result of collaboration between researchers from the Harvard Biorobotics Laboratory and the Centre for Automation and Robotics UPM-CSIC. Thirdly, a new haptic rate-position controller is presented. This hybrid bilateral controller copes with the problems related to the teleoperation of a slave robot with large workspace using a small haptic device as master. Large workspaces can be covered by automatically switching between rate and position control modes. This haptic controller is ideal to couple kinematic dissimilar master-slave systems where the commands are transmitted in the task space of the remote environment. The method is validated to perform dexterous telemanipulation of objects with a robotic manipulator. Finally, two contributions for robotic manipulation are introduced. First, a new algorithm, the Iterative Kinematic Decoupling method, is presented. It is a numeric method developed to solve the Inverse Kinematics (IK) problem of a type of six-DoF robotic arms where a close-form solution is not available. The effectiveness of this IK method is compared against conventional numerical methods. Second, a robust grasp mapping has been conceived. It allows to control a wide range of different robotic hands using a gesture based correspondence between the human hand space and the robotic hand space. The human hand gesture is identified by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of grasping.

Análisis de ataques avanzados y sus técnicas de detección

Los ataques a redes de información son cada vez más sofisticados y exigen una constante evolución y mejora de las técnicas de detección. Para ello, en este proyecto se ha diseñado e implementado una plataforma cooperativa para la detección de intrusiones basada en red. En primer lugar, se ha realizado un estudio teórico previo del marco tecnológico relacionado con este ámbito, en el que se describe y caracteriza el software que se utiliza para realizar ataques a sistemas (malware) así como los métodos que se utilizan para llegar a transmitir ese software (vectores de ataque). En el documento también se describen los llamados APT, que son ataques dirigidos con una gran inversión económica y temporal. Estos pueden englobar todos los malware y vectores de ataque existentes. Para poder evitar estos ataques, se estudiarán los sistemas de detección y prevención de intrusiones, describiendo brevemente los algoritmos que se tienden a utilizar en la actualidad. En segundo lugar, se ha planteado y desarrollado una plataforma en red dedicada al análisis de paquetes y conexiones para detectar posibles intrusiones. Este sistema está orientado a sistemas SCADA (Supervisory Control And Data Adquisition) aunque funciona sobre cualquier red IPv4/IPv6, para ello se definirá previamente lo que es un sistema SCADA, así como sus partes principales. Para implementar el sistema se han utilizado dispositivos de bajo consumo llamados Raspberry PI, estos se ubican entre la red y el equipo final que se quiera analizar. En ellos se ejecutan 2 aplicaciones desarrolladas de tipo cliente-servidor (la Raspberry central ejecutará la aplicación servidora y las esclavas la aplicación cliente) que funcionan de forma cooperativa utilizando la tecnología distribuida de Hadoop, la cual se explica previamente. Mediante esta tecnología se consigue desarrollar un sistema completamente escalable. La aplicación servidora muestra una interfaz gráfica que permite administrar la plataforma de análisis de forma centralizada, pudiendo ver así las alarmas de cada dispositivo y calificando cada paquete según su peligrosidad. El algoritmo desarrollado en la aplicación calcula el ratio de paquetes/tiempo que entran/salen del equipo final, procesando los paquetes y analizándolos teniendo en cuenta la información de señalización, creando diferentes bases de datos que irán mejorando la robustez del sistema, reduciendo así la posibilidad de ataques externos. Para concluir, el proyecto inicial incluía el procesamiento en la nube de la aplicación principal, pudiendo administrar así varias infraestructuras concurrentemente, aunque debido al trabajo extra necesario se ha dejado preparado el sistema para poder implementar esta funcionalidad. En el caso experimental actual el procesamiento de la aplicación servidora se realiza en la Raspberry principal, creando un sistema escalable, rápido y tolerante a fallos. ABSTRACT. The attacks to networks of information are increasingly sophisticated and demand a constant evolution and improvement of the technologies of detection. For this project it is developed and implemented a cooperative platform for detect intrusions based on networking. First, there has been a previous theoretical study of technological framework related to this area, which describes the software used for attacks on systems (malware) as well as the methods used in order to transmit this software (attack vectors). In this document it is described the APT, which are attacks directed with a big economic and time inversion. These can contain all existing malware and attack vectors. To prevent these attacks, intrusion detection systems and prevention intrusion systems will be discussed, describing previously the algorithms tend to use today. Secondly, a platform for analyzing network packets has been proposed and developed to detect possible intrusions in SCADA (Supervisory Control And Data Adquisition) systems. This platform is designed for SCADA systems (Supervisory Control And Data Acquisition) but works on any IPv4 / IPv6 network. Previously, it is defined what a SCADA system is and the main parts of it. To implement it, we used low-power devices called Raspberry PI, these are located between the network and the final device to analyze it. In these Raspberry run two applications client-server developed (the central Raspberry runs the server application and the slaves the client application) that work cooperatively using Hadoop distributed technology, which is previously explained. Using this technology is achieved develop a fully scalable system. The server application displays a graphical interface to manage analytics platform centrally, thereby we can see each device alarms and qualifying each packet by dangerousness. The algorithm developed in the application calculates the ratio of packets/time entering/leaving the terminal device, processing the packets and analyzing the signaling information of each packet, reating different databases that will improve the system, thereby reducing the possibility of external attacks. In conclusion, the initial project included cloud computing of the main application, being able to manage multiple concurrent infrastructure, but due to the extra work required has been made ready the system to implement this funcionality. In the current test case the server application processing is made on the main Raspberry, creating a scalable, fast and fault-tolerant system.

Supervisión de un sistema de tiempo real distribuido

En el presente proyecto se propone la definición e implementación de un subsistema de monitorización para un sistema de tiempo real distribuido. Este monitor supervisará el estado de todos los componentes software y hardware del sistema original, y permitirá el arranque y parada de cada componente individualmente o del subsistema completo. Constará de dos componentes básicos: un supervisor local para cada subsistema, y un supervisor central con interfaz gráfica. El supervisor local es un componente software asociado a cada subsistema que realizará las funciones de monitorización, arranque/parada de los componentes y envío de informes al supervisor central. Atenderá además a los comandos de arranque y parada provenientes del supervisor central. El supervisor central recibirá los informes de estado de cada uno de los supervisores locales y permitirá el arranque y parada de los subsistemas. Contará con un interfaz gráfico a modo de posición de control. El sistema será desarrollado íntegramente (salvo la posición gráfica) en ADA95, y podrá ejecutarse en cualquiera de las distribuciones Linux más extendidas. En el contexto de Ingeniería de Software, se seguirá un desarrollo en cascada, aportándose los requisitos, el diseño, la codificación y un plan de pruebas. Abstract In this project, the definition and implementation of a monitoring system is proposed for a previously defined real-time distributed system. This supervisory system will monitor the status of each subsystem and its software and hardware components. This new system will also be able to start and stop each individual component and start or stop the entire system. It will consist of two basic components: a local supervisor for each subsystem, and a central supervisor with a graphical unit interface (GUI). The local supervisor will be a software component attached to each original subsystem, which will perform functions such as components monitoring, start and stop the associated subsystem, and sending reports to the central supervisor. It also will attend the start and stop commands from the central supervisor. The central supervisor will receive status reports from each of the local supervisors and will allow starting and stopping the subsystems. It will offer a graphical interface to be used as a main control panel. The system will be developed in ADA 95 (except the graphical position), and should work on any of the most common Linux distributions. In the context of Software Engineering, the project will be developed following a waterfall life cycle. Reports on the stages of requirements, design, coding and testing plan shall be provided.

Ouida Sprye Tolbert

Ouida Tolbert began her career at Lincoln University in 1950 as a Supervisory teacher of English, French, Speech, and Drama in the Laboratory High School and as an Associate Professor in the Department of Education. She retired from Lincoln as an Associate Professor of English in 1993. Tolbert was a mentor, role model, and life-long educator. Her dedication to pedagogy and passionate attitude touched many of her students’ and colleagues’ lives. She still contributes to the educating community today.

A hierarchical neuronal network for planning behavior

Planning a goal-directed sequence of behavior is a higher function of the human brain that relies on the integrity of prefrontal cortical areas. In the Tower of London test, a puzzle in which beads sliding on pegs must be moved to match a designated goal configuration, patients with lesioned prefrontal cortex show deficits in planning a goal-directed sequence of moves. We propose a neuronal network model of sequence planning that passes this test and, when lesioned, fails in a way that mimics prefrontal patients’ behavior. Our model comprises a descending planning system with hierarchically organized plan, operation, and gesture levels, and an ascending evaluative system that analyzes the problem and computes internal reward signals that index the correct/erroneous status of the plan. Multiple parallel pathways connecting the evaluative and planning systems amend the plan and adapt it to the current problem. The model illustrates how specialized hierarchically organized neuronal assemblies may collectively emulate central executive or supervisory functions of the human brain.

Limites ao poder de fiscalização nas relações de trabalho

A maioria das demandas envolvendo pedidos de danos morais no judiciário trabalhista brasileiro é originada a partir de abusos patronais cometidos no exercício do poder diretivo, em especial de sua dimensão fiscalizatória. Embora inexista, no Brasil, disciplina normativa específica quanto aos limites à maior parte das manifestações do poder de fiscalização, seu exercício é restringido pela dignidade da pessoa humana, que deve ser compreendida de acordo com a noção de trabalho decente propugnada pela OIT. A dignidade humana constitui cláusula geral de proteção aos direitos da personalidade, dentre eles, os direitos à intimidade e à vida privada, os mais ofendidos por meio da fiscalização patronal abusiva nas fases précontratual, contratual e pós-contratual. Práticas como a revista pessoal nos trabalhadores e em seus pertences, a limitação à utilização de banheiros, a instalação de câmeras e microfones no local de trabalho e o monitoramento dos computadores utilizados na empresa revelam, por vezes, violações a esses direitos. A revista não encontra fundamento no poder de fiscalização e no direito de propriedade do empregador, salvo quando tiver por objetivo a garantia da saúde ou segurança no ambiente laboral. A instalação de equipamentos audiovisuais, quando visar a proteção patrimonial do empregador ou for essencial ao procedimento de gestão, somente pode se dar nos espaços em que o trabalho for efetivamente desenvolvido e por tempo determinado, fundada em situação específica, sendo imprescindível a ciência dos monitorados quanto à instalação e à localização dos equipamentos. A escuta telefônica e o monitoramento de computadores e e-mails somente será possível quando o empregador determinar a utilização dos meios exclusivamente para os fins da prestação laboral, com ciência inequívoca dos trabalhadores, além de disponibilizar ou autorizar a utilização de meios alternativos para a comunicação pessoal. Não devem ser admitidas quaisquer limitações à utilização de banheiros, bem como o estabelecimento de escala de gravidez no âmbito empresarial. Sendo o tomador de serviços legitimado a exercer o poder fiscalizatório sobre a atividade produtiva empreendida no estabelecimento e havendo a indiscutível imperatividade da proteção aos direitos da personalidade obreiros, é necessária a fixação normativa de limites ao poder patronal, em prol do estabelecimento da segurança jurídica. O direito de resistência é contraface do poder diretivo, no sentido de que o uso irregular deste faz nascer aquele e, consequentemente, os limites do poder diretivo condicionam os do ius resistentiae. Os trabalhadores devem exercê-lo com fulcro nos direitos à vida privada, à intimidade, à honra e à dignidade humana. A doutrina deve valer-se da técnica da ponderação para estabelecer os limites ao poder fiscalizatório patronal, com fulcro no princípio da proporcionalidade. A divergência jurisprudencial deve ser minimizada pela atividade criativa dos juízes quanto aos limites ao poder fiscalizatório, consoante o princípio da proporcionalidade, e por meio da utilização de mecanismos específicos voltados à redução da insegurança jurídica no Judiciário Trabalhista, tais como recursos de revista, embargos de divergência, incidentes de uniformização de jurisprudência, súmulas, precedentes normativos e orientações jurisprudenciais. Nada impede, ainda, que limites ao poder fiscalizatório patronal sejam estabelecidos por meio de negociação coletiva.

Análise de incerteza de um sistema automatizado para ensaios de aspersores de irrigação

Ensaios de distribuição de água de aspersores são convencionalmente realizados manualmente, requerendo tempo e mão de obra treinada. A automação desses ensaios proporciona redução da demanda por esses recursos e apresenta potencial para minimizar falhas e/ou desvios de procedimento. Atualmente, laboratórios de ensaio e calibração acreditados junto a organismos legais devem apresentar em seus relatórios a incerteza de medição de seus instrumentos e sistemas de medição. Além disso, normas de ensaio e calibração apresentam especificação de incerteza aceitável, como a norma de ensaios de distribuição de água por aspersores, ISO 15886-3 (2012), a qual exige uma incerteza expandida de até 3% em 80% dos coletores. Os objetivos deste trabalho foram desenvolver um sistema automatizado para os ensaios de aspersores em laboratório e realizar a análise de incerteza de medição, para sua quantificação nos resultados de ensaio e para dar suporte ao dimensionamento dos tubos de coleta. O sistema automático foi constituído por um subsistema de gerenciamento, por meio de um aplicativo supervisório, um de pressurização e um de coleta, por meio de módulos eletrônicos microprocessados desenvolvidos. De acordo com instruções do sistema de gerenciamento o sistema de pressurização ajustava a pressão no aspersor por meio do controle da rotação da motobomba, e o sistema de coleta realizava a medição da intensidade de precipitação de água ao longo do raio de alcance do aspersor. A água captada por cada coletor drenava para um tubo de coleta, que estava conectado a uma das válvulas solenoides de um conjunto, onde havia um transmissor de pressão. Cada válvula era acionada individualmente numa sequência para a medição do nível de água em cada tubo de coleta, por meio do transmissor. Por meio das análises realizadas, as menores incertezas foram obtidas para os menores diâmetros de tubo de coleta, sendo que se deve utilizar o menor diâmetro possível. Quanto ao tempo de coleta, houve redução da incerteza de medição ao se aumentar a duração, devendo haver um tempo mínimo para se atingir a incerteza-alvo. Apesar de cada intensidade requer um tempo mínimo para garantir a incerteza, a diferença mínima de nível a ser medida foi a mesma. Portanto, para os ensaios visando atender a incerteza, realizou-se o monitoramento da diferença de nível nos tubos, ou diferença de nível, facilitando a realização do ensaio. Outra condição de ensaio considerou um tempo de coleta para 30 voltas do aspersor, também exigido pela norma ISO 15886-3 (2012). A terceira condição considerou 1 h de coleta, como tradicionalmente realizado. As curvas de distribuição de água obtidas por meio do sistema desenvolvido foram semelhantes às obtidas em ensaios convencionais, para as três situações avaliadas. Para tempos de coleta de 1 h ou 30 voltas do aspersor o sistema automático requereu menos tempo total de ensaio que o ensaio convencional. Entretanto, o sistema desenvolvido demandou mais tempo para atingir a incerteza-alvo, o que é uma limitação, mesmo sendo automatizado. De qualquer forma, o sistema necessitava apenas que um técnico informasse os parâmetros de ensaio e o acionasse, possibilitando que o mesmo alocasse seu tempo em outras atividades.

The Impact of Sexual Boundary Violations in Supervision and Therapy: A Qualitative Study of a Trainee's First-Hand Account

This study involves a qualitative analysis of a doctoral-level psychology trainee's first-hand account of sexual attraction and boundary violations that occurred in her clinical supervision and psychotherapy. Concepts of power, gender, social performance theory, and relational framing are applied to two case examples, illustrating the differing demands on a trainee when her relationships were sexualized in two distinct professional contexts. Ramifications of supervisory exploitation and the impact of such an experience on a trainee's professional development are discussed. Recommendations are provided for improving psychology training programs' prevention and response efforts.

The impact of marketing practices and its regulation policies on childhood obesity. Opinions of stakeholders in Spain

The aim of this study was to identify Spanish stakeholders’ views on the relationship between childhood obesity and the marketing and advertising of food and beverages aimed at children in Spain, as well as on the corresponding of regulations. We performed a qualitative study based on semi-structured interviews with Stakeholders/Key Informants (KI) from 13 organisations: experts (2), consumer advocates (1), public health advocates (2), food manufacturers (2), advertising advocates (1), government representatives (1), child/family/school advocates (2) and media (1). The variables studied were Prevalence of childhood obesity and its relationship to marketing/advertising and Regulation of marketing. In order to identify the most relevant arguments (pearls) in the discourses, a blind independent analysis by four members of the research team was performed. We found that the prevalence of childhood obesity was perceived to be higher than the European average. Self-regulation was identified as the main form of marketing control. Only food manufacturers and advertising agencies considered voluntary action and supervisory procedures to be effective. The other stakeholders advocated state control through legislation and non-state actions such as external assessment and sanctions. Despite the divergence of opinion between stakeholders, there was agreement on the need to improve supervision and to ensure compliance with current self-regulatory codes in Spain.

International financial regulation: A role for the Eurozone? EU Diplomacy Paper 08/2012, October 2012

The deepest financial crisis to strike the global economy since the Great Depression has unceremoniously called into question the very foundations of the Western economic model. The liberalisation of capital flows and the growing internationalisation of financial markets outpaced global regulatory and supervisory efforts. The repercussions of the financial crisis have given new dynamism to the reform of financial regulation both globally and within the European Union (EU). The Eurozone, by way of its own failings, has emerged as a stronger conceptual and legitimate entity since the onset of the crisis, but to what extent does this equate to a greater external role, in particular in the reform of international financial regulation? This paper argues that the Eurozone is currently not in a position to play an important role in the reform of international financial regulation, as it is a weak actor in the context of the EU financial architecture, which is still largely characterised by differing national regimes, a prevailing influence from the UK and fragmented external representation. The key finding from this study is that internal tensions in the EU are at the very heart of the Eurozone’s difficulties in playing a role in the reform of international financial regulation. Surmounting these tensions is a pre-requisite for the Eurozone if it is to overcome its structural weakness in international financial politics. However, the implications of such evolutions to the Eurozone, as an entity, and to European integration are far-reaching.