Control de la reproducción en pequeños animales.

El control de la reproducción indeseada, en la especie felina, está muy lejos de ser manejado nacional e internacionalmente. Este hecho implica un problema social, medio ambiental y sanitario (mordeduras y zoonosis) grave. La comúnmente realizada, gonadectomía, es costosa, requiere personal entrenado, infraestructura, equipamiento y tiempos de ejecución y recuperación muy prolongados para el control masivo de grandes poblaciones de felinos. Por lo expuesto resulta relevante contribuir al control de la reproducción indeseada de los felinos domésticos evaluando nuevas tecnologías farmacológicas en etapas claves de la vida reproductiva. En los felinos domésticos no está descrito el efecto de los análogos de GnRH durante el periodo posnatal. En base a lo descrito en otros mamíferos y a nuestros estudios piloto en la especie, hipotetizamos que la administración de antagonistas de GnRH durante el periodo posnatal produce una severa alteración del desarrollo sexual futuro en los felinos domésticos. Estas alteraciones consistirían en postergación de la pubertad e infertilidad adulta. Por lo expuesto, nuestro objetivo específico es probar la eficacia (postergación de la pubertad e infertilidad) y la seguridad (ausencia de efectos colaterales) del antagonista GnRH, acyline en neonatos felinos para la postergación de la pubertad e infertilidad adulta.

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

Mission control system for dam inspection with an AUV

This paper presents a complete control architecture that has been designed to fulfill predefined missions with an autonomous underwater vehicle (AUV). The control architecture has three levels of control: mission level, task level and vehicle level. The novelty of the work resides in the mission level, which is built with a Petri network that defines the sequence of tasks that are executed depending on the unpredictable situations that may occur. The task control system is composed of a set of active behaviours and a coordinator that selects the most appropriate vehicle action at each moment. The paper focuses on the design of the mission controller and its interaction with the task controller. Simulations, inspired on an industrial underwater inspection of a dam grate, show the effectiveness of the control architecture

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Mission control system for dam inspection with an AUV

This paper presents a complete control architecture that has been designed to fulfill predefined missions with an autonomous underwater vehicle (AUV). The control architecture has three levels of control: mission level, task level and vehicle level. The novelty of the work resides in the mission level, which is built with a Petri network that defines the sequence of tasks that are executed depending on the unpredictable situations that may occur. The task control system is composed of a set of active behaviours and a coordinator that selects the most appropriate vehicle action at each moment. The paper focuses on the design of the mission controller and its interaction with the task controller. Simulations, inspired on an industrial underwater inspection of a dam grate, show the effectiveness of the control architecture

Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

A DESCRIPTIVE STUDY OF ANIMAL BITES TO HUMANS IN HOUSTON, TEXAS, JANUARY 1, 1982 - JULY 30, 1982 (RABIES)

This study describes animal bites which occurred within the city of Houston, Texas from January 1, 1982, through July 30, 1982. The Rabies Investigation Branch (RIB) recorded 2,047 bite cases. The study has as its foundation a data base management system that was developed to improve the planning and evaluation of the activities of the Rabies Investigation Branch of the Animal Control Center of the City of Houston Health Department. The study provides information which will allow for the development of a more effective animal bite program to meet the needs of the citizens of Houston. ^

Multiple imprinted sense and antisense transcripts, differential methylation and tandem repeats in a putative imprinting control region upstream of mouse Igf2

The mouse insulin-like growth factor 2 (Igf2) locus is a complex genomic region that produces multiple transcripts from alternative promoters. Expression at this locus is regulated by parental imprinting. However, despite the existence of putative imprinting control elements in the Igf2 upstream region, imprinted transcriptional repression is abolished by null mutations at the linked H19 locus. To clarify the extent to which the Igf2 upstream region contains autonomous imprinting control elements we have performed functional and comparative analyses of the region in the mouse and human. Here we report the existence of multiple, overlapping imprinted (maternally repressed) sense and antisense transcripts that are associated with a tandem repeat in the mouse Igf2 upstream region. Regions flanking the repeat exhibit tissue-specific parental allelic methylation patterns, suggesting the existence of tissue-specific control elements in the upstream region. Studies in H19 null mice indicate that both parental allelic methylation and monoallelic expression of the upstream transcripts depends on an intact H19 gene acting in cis. The homologous region in human IGF2 is structurally conserved, with the significant exception that it does not contain a tandem repeat. Our results support the proposal that tandem repeats act to target methylation to imprinted genetic loci.

Supervisão, comando e controlo para sistemas robóticos

Mestrado em Engenharia Electrotécnica e de Computadores. Área de Especialização em Sistemas Autónomos

ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

Proyecto de viabilidad para la creación de una empresa exportadora de carne de caracol a Francia

Este trabajo es un proyecto de viabilidad en cuanto a la creación de una empresa exportadora de carne de caracol a Francia como mercado objetivo, en el proyecto se explora el sector de la helicicultura, sector que para la mayoría de la población es una palabra desconocida, un sector que podría abrir paso a un mercado muy grande de exportación y también podría llegar a ser una propuesta de negocio muy innovadora tanto nacional como internacionalmente. La helicicultura, tiene como propósito obtener la parte cárnica del caracol, este es un negocio que actualmente se encuentra en crecimiento y lo mas importante de todo es que su desarrollo es a nivel mundial ya que esta carne esta satisfaciendo una demanda alta debido a varias características que posee, como su alto contenido de elementos minerales y su bajo contenido de grasa. La idea principal es poder lograr una excelente producción de carne de caracol, equipados con alta capacidad técnica, infraestructura adecuada y tecnología para así poder generar los más altos estándares de calidad, creando las mejores condiciones del producto para lograr un proceso de producción y comercialización y ser competitivos en el mercado. En Colombia se hallan todas las facilidades para poner en práctica la helicicultura dado que la especie de caracol Hélix Aspersa se cultiva en trece de los treinta y dos departamentos Colombianos, lo que nos da una idea de cuan valiosa seria esta producción y el volumen que se podría producir para su posterior comercialización y su exportación hacia otros continentes.

Envolvimento de receptores 5-HT1A no hipocampo ventral na regulação de comportamentos defensivos relacionados com a ansiedade generalizada e com o pânico

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)