Loss-of-Function Mutations in PTPN11 Cause Metachondromatosis, but Not Ollier Disease or Maffucci Syndrome.

Metachondromatosis (MC) is a rare, autosomal dominant, incompletely penetrant combined exostosis and enchondromatosis tumor syndrome. MC is clinically distinct from other multiple exostosis or multiple enchondromatosis syndromes and is unlinked to EXT1 and EXT2, the genes responsible for autosomal dominant multiple osteochondromas (MO). To identify a gene for MC, we performed linkage analysis with high-density SNP arrays in a single family, used a targeted array to capture exons and promoter sequences from the linked interval in 16 participants from 11 MC families, and sequenced the captured DNA using high-throughput parallel sequencing technologies. DNA capture and parallel sequencing identified heterozygous putative loss-of-function mutations in PTPN11 in 4 of the 11 families. Sanger sequence analysis of PTPN11 coding regions in a total of 17 MC families identified mutations in 10 of them (5 frameshift, 2 nonsense, and 3 splice-site mutations). Copy number analysis of sequencing reads from a second targeted capture that included the entire PTPN11 gene identified an additional family with a 15 kb deletion spanning exon 7 of PTPN11. Microdissected MC lesions from two patients with PTPN11 mutations demonstrated loss-of-heterozygosity for the wild-type allele. We next sequenced PTPN11 in DNA samples from 54 patients with the multiple enchondromatosis disorders Ollier disease or Maffucci syndrome, but found no coding sequence PTPN11 mutations. We conclude that heterozygous loss-of-function mutations in PTPN11 are a frequent cause of MC, that lesions in patients with MC appear to arise following a "second hit," that MC may be locus heterogeneous since 1 familial and 5 sporadically occurring cases lacked obvious disease-causing PTPN11 mutations, and that PTPN11 mutations are not a common cause of Ollier disease or Maffucci syndrome.

Linkage arrangement in the vitellogenin gene family of Xenopus laevis as revealed by gene segregation analysis.

Using restriction fragment length polymorphism (RFLP) we have analyzed the segregation of alleles of the different vitellogenin genes of Xenopus laevis. The results demonstrate that the four genes whose expression is controlled by oestrogen, form two linkage groups. The genes A1, A2 and B1 are linked genetically whereas the fourth gene, the gene B2, segregates independently. The possible origin of this unexpected arrangement is discussed.

Parallel imaging with phase scrambling.

PURPOSE: Most existing methods for accelerated parallel imaging in MRI require additional data, which are used to derive information about the sensitivity profile of each radiofrequency (RF) channel. In this work, a method is presented to avoid the acquisition of separate coil calibration data for accelerated Cartesian trajectories. METHODS: Quadratic phase is imparted to the image to spread the signals in k-space (aka phase scrambling). By rewriting the Fourier transform as a convolution operation, a window can be introduced to the convolved chirp function, allowing a low-resolution image to be reconstructed from phase-scrambled data without prominent aliasing. This image (for each RF channel) can be used to derive coil sensitivities to drive existing parallel imaging techniques. As a proof of concept, the quadratic phase was applied by introducing an offset to the x(2) - y(2) shim and the data were reconstructed using adapted versions of the image space-based sensitivity encoding and GeneRalized Autocalibrating Partially Parallel Acquisitions algorithms. RESULTS: The method is demonstrated in a phantom (1 × 2, 1 × 3, and 2 × 2 acceleration) and in vivo (2 × 2 acceleration) using a 3D gradient echo acquisition. CONCLUSION: Phase scrambling can be used to perform parallel imaging acceleration without acquisition of separate coil calibration data, demonstrated here for a 3D-Cartesian trajectory. Further research is required to prove the applicability to other 2D and 3D sampling schemes. Magn Reson Med, 2014. © 2014 Wiley Periodicals, Inc.

Spacial debris collector robot : An AI-based and autonomous debris collector satellite simulation

In this paper the core functions of an artificial intelligence (AI) for controlling a debris collector robot are designed and implemented. Using the robot operating system (ROS) as the base of this work a multi-agent system is built with abilities for task planning.

Integració d’ una unitat inercial i d’ un giroscopi de fibra òptica en un robot submarí i desenvolupament d’ un sistema de posicionament dins una piscina

El Grup de Visió per Computador i Robòtica (VICOROB) del departament d'Electrònica, Informàtica i Automàtica de la Universitat de Girona investiga en el camp de la robòtica submarina. Al CIRS (Centre d’Investigació en Robòtica Submarina), laboratori que forma part del grup VICOROB, el robot submarí Ictineu és la principal eina utilitzada per a desenvolupar els projectes de recerca. Recentment, el CIRS ha adquirit un nou sistema de sensors d' orientació basat en una unitat inercial i un giroscopi de fibra òptica. Aquest projecte pretén realitzar un estudi d' aquests dispositius i integrar-los al robot Ictineu. D' altra banda, aprofitant les característiques d’aquests sensors giroscopics i les mesures d' un sonar ja integrat al robot, es vol desenvolupar un sistema de localització capaç de determinar la posició del robot en el pla horitzontal de la piscina en temps real

Inherently self-calibrating non-Cartesian parallel imaging.

The use of self-calibrating techniques in parallel magnetic resonance imaging eliminates the need for coil sensitivity calibration scans and avoids potential mismatches between calibration scans and subsequent accelerated acquisitions (e.g., as a result of patient motion). Most examples of self-calibrating Cartesian parallel imaging techniques have required the use of modified k-space trajectories that are densely sampled at the center and more sparsely sampled in the periphery. However, spiral and radial trajectories offer inherent self-calibrating characteristics because of their densely sampled center. At no additional cost in acquisition time and with no modification in scanning protocols, in vivo coil sensitivity maps may be extracted from the densely sampled central region of k-space. This work demonstrates the feasibility of self-calibrated spiral and radial parallel imaging using a previously described iterative non-Cartesian sensitivity encoding algorithm.

Entorn de programació pel robot Stäubli mitjantçant MatLab, aplicació a un sistema de recol·lecció de peces basat en visió artificial

Els objectius del projecte són: realitzar un intèrpret de comandes en VAL3 que rebi les ordres a través d’una connexió TCP/IP; realitzar una toolbox de Matlab per enviar diferents ordres mitjançant una connexió TCP/IP; adquirir i processar mitjançant Matlab imatges de la càmera en temps real i detectar la posició d’objectes artificials mitjançant la segmentació per color i dissenyar i realitzar una aplicació amb Matlab que reculli peces detectades amb la càmera. L’abast del projecte inclou: l’estudi del llenguatge de programació VAL3 i disseny de l’ intèrpret de comandes, l’estudi de les llibreries de Matlab per comunicació mitjançant TCP/IP, per l’adquisició d’imatges, pel processament d’imatges i per la programació en C; el disseny de la aplicació recol·lectora de peces i la implementació de: un intèrpret de comandes en VAL3, la toolbox pel control del robot STAUBLI en Matlab i la aplicació recol·lectora de peces mitjançant el processament d’imatges en temps real també en Matlab

Disseny i construcció d’ un braç de robot de 5 graus de llibertat governat des de PC via USB.

El braç robot es va crear com a resposta a una necessitat de fabricació d’elements mitjançant la producció en cadena i en tasques que necessiten precisió. Hi ha, però, altres tipus de tasques les quals no són repetitives, ni poden ésser programades, que necessiten però ser controlades en tot moment per un ésser humà. Són activitats que han d’estar realitzades per un ésser humà, però que requereixen molta precisió, és per això que es creu necessari el disseny d’un prototipus de control d’un braç robot estàndard, que permeti a una persona el control total sobre aquest en temps real per a la realització d’una tasca no repetitiva i no programable prèviament.Pretenem, en el present projecte, dissenyar i construir un braç robot de 5 graus de llibertat, controlat des d’un PC mitjançant un microcontrolador PIC amb comunicació a través d’un bus USB. El robot serà governat des d’un PC a través d’un software de control específic

Control de posició del robot wifibot

Aquest projecte pretén presentar de forma clara i detallada l’estructura i el funcionament del robot així com dels components que el conformen. Aquesta informació és de vital importància a l’hora de desenvolupar aplicacions per al robot. Un cop descrites les característiques del robot s’analitzaran les eines necessàries i/o disponibles per poder desenvolupar programari per cada nivell de la forma més senzilla i eficient possible. Posteriorment s’analitzaran els diferents nivells de programació i se’n contrastaran els avantatges i els inconvenients de cada un. Aquest anàlisi es començarà fent pel nivell més alt i anirà baixant amb la intenció de no entrar en nivells més baixos del necessari. Baixar un nivell en la programació suposa haver de crear aplicacions sempre compatibles amb els nivells superiors de forma que com més es baixa més augmenta la complexitat. A partir d’aquest anàlisi s’ha arribat a la conclusió que per tal d’aprofitar totes les prestacions del robot és precís arribar a programar en el nivell més baix del robot. Finalment l’objectiu és obtenir una sèrie de programes per cada nivell que permetin controlar el robot i fer-lo seguir senzilles trajectòries

Parallel scheduling of multiclass M/M/m queues: Approximate and heavy-traffic optimization of achievable performance

We address the problem of scheduling a multiclass $M/M/m$ queue with Bernoulli feedback on $m$ parallel servers to minimize time-average linear holding costs. We analyze the performance of a heuristic priority-index rule, which extends Klimov's optimal solution to the single-server case: servers select preemptively customers with larger Klimov indices. We present closed-form suboptimality bounds (approximate optimality) for Klimov's rule, which imply that its suboptimality gap is uniformly bounded above with respect to (i) external arrival rates, as long as they stay within system capacity;and (ii) the number of servers. It follows that its relativesuboptimality gap vanishes in a heavy-traffic limit, as external arrival rates approach system capacity (heavy-traffic optimality). We obtain simpler expressions for the special no-feedback case, where the heuristic reduces to the classical $c \mu$ rule. Our analysis is based on comparing the expected cost of Klimov's ruleto the value of a strong linear programming (LP) relaxation of the system's region of achievable performance of mean queue lengths. In order to obtain this relaxation, we derive and exploit a new set ofwork decomposition laws for the parallel-server system. We further report on the results of a computational study on the quality of the $c \mu$ rule for parallel scheduling.

Patterns of calcium-binding proteins support parallel and hierarchical organization of human auditory areas.

The human primary auditory cortex (AI) is surrounded by several other auditory areas, which can be identified by cyto-, myelo- and chemoarchitectonic criteria. We report here on the pattern of calcium-binding protein immunoreactivity within these areas. The supratemporal regions of four normal human brains (eight hemispheres) were processed histologically, and serial sections were stained for parvalbumin, calretinin or calbindin. Each calcium-binding protein yielded a specific pattern of labelling, which differed between auditory areas. In AI, defined as area TC [see C. von Economo and L. Horn (1930) Z. Ges. Neurol. Psychiatr.,130, 678-757], parvalbumin labelling was dark in layer IV; several parvalbumin-positive multipolar neurons were distributed in layers III and IV. Calbindin yielded dark labelling in layers I-III and V; it revealed numerous multipolar and pyramidal neurons in layers II and III. Calretinin labelling was lighter than that of parvalbumin or calbindin in AI; calretinin-positive bipolar and bitufted neurons were present in supragranular layers. In non-primary auditory areas, the intensity of labelling tended to become progressively lighter while moving away from AI, with qualitative differences between the cytoarchitectonically defined areas. In analogy to non-human primates, our results suggest differences in intrinsic organization between auditory areas that are compatible with parallel and hierarchical processing of auditory information.

Pattern of attack of a galling insect reveals an unexpected preference-performance linkage on medium-sized resources

Pattern of attack of a galling insect reveals an unexpected preference-performance linkage on medium-sized resources. The Plant Vigor Hypothesis (PVH) predicts oviposition preference and higher offspring performance on longer and fast-growing shoots, and although several studies have tested its predictions, long-term studies concerning the patterns of host selection by galling species are still lacking. The PVH was tested in this study using Bauhinia brevipes (Fabaceae) as the host of a leaf gall midge, Asphondylia microcapillata (Diptera, Cecidomyiidae) during three consecutive years. Shoots were collected from the same 80 plants between 2001 and 2003 and shoot length, number of healthy and galled leaves, gall number, and mortality factors were recorded. Nearly 600 galls were found on the 5,800 shoots collected. Medium-sized shoots supported from 46 to 70% of all galls, with greater gall survival rate in 2002 and 2003. A decrease in parasitism rate coupled with an increase in gall predation lead to a constant similar gall survivorship rate in all years (x = 22.7%). Although gall abundance varied among years (122 in 2001, 114 in 2002 and 359 in 2003) preference for longer shoots was not observed because the percentage of galled shoots and galled leaves were higher on medium shoot length classes in all years. The observed distribution of gall abundance and galled shoots were always greater than the expected distribution on medium shoot length classes. These findings do not support the PVH, and show that A. microcapillata can maximize the female preference and larval performance on medium-sized shoots of B. brevipes.

The acquisition of pronouns by French children: A parallel study of production and comprehension

This study examines syntactic and morphological aspects of the production and comprehension of pronouns by 99 typically developing French-speaking children aged 3 years, 5 months to 6 years, 5 months. A fine structural analysis of subject, object, and reflexive clitics suggests that whereas the object clitic chain crosses the subject chain, the reflexive clitic chain is nested within it. We argue that this structural difference introduces differences in processing complexity, chain crossing being more complex than nesting. In support of this analysis, both production and comprehension experiments show that children have more difficulty with object than with reflexive clitics (with more omissions in production and more erroneous judgments in sentences involving Principle B in comprehension). Concerning the morphological aspect, French subject and object pronouns agree in gender with their referent. We report serious difficulties with pronoun gender both in production and comprehension in children around the age of 4 (with nearly 30% errors in production and chance level judgments in comprehension), which tend to disappear by age 6. The distribution of errors further suggests that the masculine gender is processed as the default value. These findings provide further insights into the relationship between comprehension and production in the acquisition process.

Disseny i control d'un robot equilibrista sobre dues rodes

Dissenyar un robot equilibrista i construir-lo. A més implementar les funcions per poder fer que s'aguanti dret. El robot ens permetrà transportar documents i ens detectarà obstacles mentres fa el transport. Estarà controlat per una aplicació java construida especialment per poder fer el control per bluetooth i també podrem monitoritzar informació i fer canvis en la configuració.

Evidence against close linkage of the loci for fraXq of Martin-Bell syndrome and for factor IX.

Linkage between the loci for fraXq of Martin-Bell syndrome and factor IX was studied in nine families exhibiting this syndrome by means of a restriction fragment length polymorphism at the factor IX locus. Computer analysis of the data indicates there to be no evidence for close linkage between the syndrome and the factor IX locus.