Mobile robot experimental modeling and control strategies using sensor fusion

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational, and research tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system. In this context the research developed includes the visual information as a meaningful source that allows detecting the obstacle position coordinates as well as planning the free obstacle trajectory that should be reached by the robot

Fièvres virales d'ailleurs [Viral fevers from elsewhere].

Some viruses are transmitted only in specific parts of the world and do not exist in Switzerland. However, the increase in intercontinental travels, the tendency of travelers to have activities in remote rural areas, the transportation (sometimes forbidden) of exotic animals, the climatic warming and the adaptation of viruses to new vectors produce an extension of viral diseases towards Northern countries. To improve the identification of these infections in travelers, but also in European autochthonous populations, it is necessary to know the clinical characteristics and the websites announcing the epidemics. Neurological or hemorrhagic signs should incite the clinician to suspect a viral hemorrhagic fever, diagnosis to be considered if the destination and chronology are compatible, strict isolation measures being necessary.

Host and viral genetic correlates of clinical definitions of HIV-1 disease progression.

Background: Various patterns of HIV-1 disease progression are described in clinical practice and in research. There is a need to assess the specificity of commonly used definitions of long term non-progressor (LTNP) elite controllers (LTNP-EC), viremic controllers (LTNP-VC), and viremic non controllers (LTNP-NC), as well as of chronic progressors (P) and rapid progressors (RP). Methodology and Principal Findings: We re-evaluated the HIV-1 clinical definitions, summarized in Table 1, using the information provided by a selected number of host genetic markers and viral factors. There is a continuous decrease of protective factors and an accumulation of risk factors from LTNP-EC to RP. Statistical differences in frequency of protective HLA-B alleles (p-0.01), HLA-C rs9264942 (p-0.06), and protective CCR5/CCR2 haplotypes (p-0.02) across groups, and the presence of viruses with an ancestral genotype in the "viral dating" (i.e., nucleotide sequences with low viral divergence from the most recent common ancestor) support the differences among principal clinical groups of HIV-1 infected individuals. Conclusions: A combination of host genetic and viral factors supports current clinical definitions that discriminate among patterns of HIV-1 progression. The study also emphasizes the need to apply a standardized and accepted set of clinical definitions for the purpose of disease stratification and research.

Stomatal analysis of citrus somatic hybrids obtained by protoplast fusion

The objective of this work was to evaluate leaf epidermis morphological characteristics of three citrus somatic hybrids, compared to their parents. Parental and somatic hybrid young leaves were collected and processed for scanning electron microscope observations. Citrus polyploid hybrids have fewer stomata per area and these are larger compared to their diploid parental parents. No differences in internal arrangement of the stomatal cells were detected between parental plants and somatic hybrids. Additional studies may determine if these differences will influence physiological behavior of the plants in the field.

Sequence similarity between the viral cp gene and the transgene in transgenic papayas

The Papaya ringspot virus (PRSV) coat protein transgene present in 'Rainbow' and 'SunUp' papayas disclose high sequence similarity (>89%) to the cp gene from PRSV BR and TH. Despite this, both isolates are able to break down the resistance in 'Rainbow', while only the latter is able to do so in 'SunUp'. The objective of this work was to evaluate the degree of sequence similarity between the cp gene in the challenge isolate and the cp transgene in transgenic papayas resistant to PRSV. The production of a hybrid virus containing the genome backbone of PRSV HA up to the Apa I site in the NIb gene, and downstream from there, the sequence of PRSV TH was undertaken. This hybrid virus, PRSV HA/TH, was obtained and used to challenge 'Rainbow', 'SunUp', and an R2 population derived from line 63-1, all resistant to PRSV HA. PRSV HA/TH broke down the resistance in both papaya varieties and in the 63-1 population, demonstrating that sequence similarity is a major factor in the mechanism of resistance used by transgenic papayas expressing the cp gene. A comparative analysis of the cp gene present in line 55-1 and 63-1-derived transgenic plants and in PRSV HA, BR, and TH was also performed.

Maximum likelihood Linear Programming Data Fusion for Speaker Recognition

Biometric system performance can be improved by means of data fusion. Several kinds of information can be fused in order to obtain a more accurate classification (identification or verification) of an input sample. In this paper we present a method for computing the weights in a weighted sum fusion for score combinations, by means of a likelihood model. The maximum likelihood estimation is set as a linear programming problem. The scores are derived from a GMM classifier working on a different feature extractor. Our experimental results assesed the robustness of the system in front a changes on time (different sessions) and robustness in front a change of microphone. The improvements obtained were significantly better (error bars of two standard deviations) than a uniform weighted sum or a uniform weighted product or the best single classifier. The proposed method scales computationaly with the number of scores to be fussioned as the simplex method for linear programming.

Viral suppression rates in salvage treatment with raltegravir improved with the administration of genotypic partially active or inactive nucleoside/tide reverse transcriptase inhibitors.

BACKGROUND: Nucleoside reverse transcriptase inhibitors (NRTIs) are often administered in salvage therapy even if genotypic resistance tests (GRTs) indicate high-level resistance, but little is known about the benefit of these additional NRTIs. METHODS: The effect of <2 compared with 2 NRTIs on viral suppression (HIV-1 RNA < 50 copies/mL) at week 24 was studied in salvage patients receiving raltegravir. Intent-to-treat and per-protocol analyses were performed; last observation carried forward imputation was used to deal with missing information. Logistic regressions were weighted to create a pseudopopulation in which the probability of receiving <2 and 2 NRTIs was unrelated to baseline factors predicting treatment response. RESULTS: One-hundred thirty patients were included, of whom 58.5% (n = 76) received <2 NRTIs. NRTIs were often replaced by other drug classes. Patients with 2 NRTIs received less additional drug classes compared with patients with <2 NRTIs [median (IQR): 1 (1-2) compared with 2 (1-2), P Wilcoxon < 0.001]. The activity of non-NRTI treatment components was lower in the 2 NRTIs group compared with the <2 NRTIs group [median (IQR) genotypic sensitivity score: 2 (1.5-2.5) compared with 2.5 (2-3), P Wilcoxon < 0.001]. The administration of <2 NRTIs was associated with a worse viral suppression rate at week 24. The odds ratios were 0.34 (95% confidence interval: 0.13 to 0.89, P = 0.027) and 0.19 (95% confidence interval: 0.05 to 0.79, P = 0.023) when performing the last observation carried forward and the per-protocol approach, respectively. CONCLUSIONS: Our findings showed that partially active or inactive NRTIs contribute to treatment response, and thus the use of 2 NRTIs in salvage regimens that include raltegravir seems warranted.

JARID2 is a direct target of the PAX3-FOXO1 fusion protein and inhibits myogenic differentiation of rhabdomyosarcoma cells.

Rhabdomyosarcomas (RMS) are the most frequent soft-tissue sarcoma in children and characteristically show features of developing skeletal muscle. The alveolar subtype is frequently associated with a PAX3-FOXO1 fusion protein that is known to contribute to the undifferentiated myogenic phenotype of RMS cells. Histone methylation of lysine residues controls developmental processes in both normal and malignant cell contexts. Here we show that JARID2, which encodes a protein known to recruit various complexes with histone-methylating activity to their target genes, is significantly overexpressed in RMS with PAX3-FOXO1 compared with the fusion gene-negative RMS (t-test; P < 0.0001). Multivariate analyses showed that higher JARID2 levels are also associated with metastases at diagnosis, independent of fusion gene status and RMS subtype (n = 120; P = 0.039). JARID2 levels were altered by silencing or overexpressing PAX3-FOXO1 in RMS cell lines with and without the fusion gene, respectively. Consistent with this, we demonstrated that JARID2 is a direct transcriptional target of the PAX3-FOXO1 fusion protein. Silencing JARID2 resulted in reduced cell proliferation coupled with myogenic differentiation, including increased expression of Myogenin (MYOG) and Myosin Light Chain (MYL1) in RMS cell lines representative of both the alveolar and embryonal subtypes. Induced myogenic differentiation was associated with a decrease in JARID2 levels and this phenotype could be rescued by overexpressing JARID2. Furthermore, we that showed JARID2 binds to and alters the methylation status of histone H3 lysine 27 in the promoter regions of MYOG and MYL1 and that the interaction of JARID2 at these promoters is dependent on EED, a core component of the polycomb repressive complex 2 (PRC2). Therefore, JARID2 is a downstream effector of PAX3-FOXO1 that maintains an undifferentiated myogenic phenotype that is characteristic of RMS. JARID2 and other components of PRC2 may represent novel therapeutic targets for treating RMS patients.

The V-ATPase proteolipid cylinder promotes the lipid-mixing stage of SNARE-dependent fusion of yeast vacuoles.

The V-ATPase V(0) sector associates with the peripheral V(1) sector to form a proton pump. V(0) alone has an additional function, facilitating membrane fusion in the endocytic and late exocytic pathways. V(0) contains a hexameric proteolipid cylinder, which might support fusion as proposed in proteinaceous pore models. To test this, we randomly mutagenized proteolipids. We recovered alleles that preserve proton translocation, normal SNARE activation and trans-SNARE pairing but that impair lipid and content mixing. Critical residues were found in all subunits of the proteolipid ring. They concentrate within the bilayer, close to the ring subunit interfaces. The fusion-impairing proteolipid substitutions stabilize the interaction of V(0) with V(1). Deletion of the vacuolar v-SNARE Nyv1 has the same effect, suggesting that both types of mutations similarly alter the conformation of V(0). Also covalent linkage of subunits in the proteolipid cylinder blocks vacuole fusion. We propose that a SNARE-dependent conformational change in V(0) proteolipids might stimulate fusion by creating a hydrophobic crevice that promotes lipid reorientation and formation of a lipidic fusion pore.

Landmark detection for fusion of fundus and MRI toward a patient-specific multimodal eye model.

Ophthalmologists typically acquire different image modalities to diagnose eye pathologies. They comprise, e.g., Fundus photography, optical coherence tomography, computed tomography, and magnetic resonance imaging (MRI). Yet, these images are often complementary and do express the same pathologies in a different way. Some pathologies are only visible in a particular modality. Thus, it is beneficial for the ophthalmologist to have these modalities fused into a single patient-specific model. The goal of this paper is a fusion of Fundus photography with segmented MRI volumes. This adds information to MRI that was not visible before like vessels and the macula. This paper contributions include automatic detection of the optic disc, the fovea, the optic axis, and an automatic segmentation of the vitreous humor of the eye.

Mitochondrial fusion is increased by the nuclear coactivator PGC-1beta

Background There is no evidence to date on whether transcriptional regulators are able to shift the balance between mitochondrial fusion and fission events through selective control of gene expression. Methodology/Principal Findings Here, we demonstrate that reduced mitochondrial size observed in knock-out mice for the transcriptional regulator PGC-1β is associated with a selective reduction in Mitofusin 2 (Mfn2) expression, a mitochondrial fusion protein. This decrease in Mfn2 is specific since expression of the remaining components of mitochondrial fusion and fission machinery were not affected. Furthermore, PGC-1β increases mitochondrial fusion and elongates mitochondrial tubules. This PGC-1β-induced elongation specifically requires Mfn2 as this process is absent in Mfn2-ablated cells. Finally, we show that PGC-1β increases Mfn2 promoter activity and transcription by coactivating the nuclear receptor Estrogen Related Receptor α (ERRα). Conclusions/Significance Taken together, our data reveal a novel mechanism by which mammalian cells control mitochondrial fusion. In addition, we describe a novel role of PGC-1β in mitochondrial physiology, namely the control of mitochondrial fusion mainly through Mfn2.

Metastatic leishmaniasis. A chronic inflammatory response to Leishmania's viral endosymbiont.

Leishmania parasites have been plaguing humankind for centuries as a range of skin diseases named the cutaneous leishmaniases (CL). Carried in a hematophagous sand fly, Leishmania usually infests the skin surrounding the bite site, causing a destructive immune response that may persist for months or even years. The various symptomatic outcomes of CL range from a benevolent self- healing reddened bump to extensive open ulcerations, resistant to treatment and resulting in life- changing disfiguration. Many of these more aggressive outcomes are geographically isolated within the habitats of certain Neotropical Leishmania species; where about 15% of cases experience metastatic complications. However, despite this correlation, genetic analysis has revealed no major differences between species causing the various disease forms. We have recently identified a cytoplasmic dsRNA virus within metastatic L. guyanensis parasites that acts as a potent innate immunogen capable of worsening lesionai inflammation and prolonging parasite survival. The dsRNA genome of Leishmania RNA virus (LRV) binds and stimulates Toll-Like-Receptor-3 (TLR3), inducing this destructive inflammation, which we speculate as a factor contributing to the development of metastatic disease. This thesis establishes the first experimental model of LRV-mediated leishmanial metastasis and investigates the role of non-TLR3 viral recognition pathways in LRV-mediated pathology. Viral dsRNA can be detected by various non-TLR3 pattern recognition receptors (PRR); two such PRR groups are the RLRs (Retinoic acid-inducible gene 1 like receptors) and the NLRs (nucleotide- binding domain, leucine-rich repeat containing receptors). The RLRs are designed to detect viral dsRNA in the cytoplasm, while the NLRs react to molecular "danger" signals of cell damage, often oligomerizing into molecular scaffolds called "inflammasomes" that activate a potent inflammatory cascade. Interestingly, we found that neither RLR signalling nor the inflammasome pathway had an effect on LRV-mediated pathology. In contrast, we found a dramatic inflammasome independent effect for the NLR family member, NLRP10, where a knockout mouse model showed little evidence of disease. This phenotype was mimicked in an NLR knockout with which NLRP10 is known to interact: NLRC2. As this pathway induces the chronic inflammatory cell lineage TH17, we investigated the role of its key chronic inflammatory cytokine, IL-17A, in human patients infected by L. guyanensis. Indeed, patients infected with LRV+ parasites had a significantly increased level of IL-17A in lesionai biopsies. Interestingly, LRV presence was also associated with a significant decrease in the correlate of protection, IFN-y. This association was repeated in our murine model, where after we were able to establish the first experimental model of LRV-dependent leishmanial metastasis, which was mediated by IL-17A in the absence of IFN-y. Finally, we tested a new inhibitor of IL-17A secretion, SR1001, and reveal its potential as a Prophylactic immunomodulator and potent parasitotoxic drug. Taken together, these findings provide a basis for anti-IL-17A as a feasible therapeutic intervention to prevent and treat the metastatic complications of cutaneous leishmaniasis. -- Les parasites Leishmania infectent l'homme depuis des siècles causant des affections cutanées, appelées leishmanioses cutanées (LC). Le parasite est transmis par la mouche des sables et réside dans le derme à l'endroit de la piqûre. Au niveau de la peau, le parasite provoque une réponse immunitaire destructrice qui peut persister pendant des mois voire des années. Les symptômes de LC vont d'une simple enflure qui guérit spontanément jusqu' à de vastes ulcérations ouvertes, résistantes aux traitements. Des manifestations plus agressives sont déterminées par les habitats géographiques de certaines espèces de Leishmania. Dans ces cas, environ 15% des patients développent des lésions métastatiques. Aucun «facteur métastatique» n'a encore été trouvé à ce jour dans ces espèces. Récemment, nous avons pu identifier un virus résidant dans certains parasites métastatiques présents en Guyane française (appelé Leishmania-virus, ou LV) et qui confère un avantage de survie à son hôte parasitaire. Ce virus active fortement la réponse inflammatoire, aggravant l'inflammation et prolongeant l'infection parasitaire. Afin de diagnostiquer, prévenir et traiter ces lésions, nous nous sommes intéressés à identifier les composants de la voie de signalisation anti-virale, responsables de la persistance de cette inflammation. Cette étude décrit le premier modèle expérimental de métastases de la leishmaniose induites par LV, et identifie plusieurs composants de la voie inflammatoire anti-virale qui facilite la pathologie métastatique. Contrairement à l'homme, les souris de laboratoire infectées par des Leishmania métastatiques (contenant LV, LV+) ne développent pas de lésions métastatiques et guérissent après quelques semaines d'infection. Après avoir analysé un groupe de patients atteints de leishmaniose en Guyane française, nous avons constaté que les personnes infectées avec les parasites métastatiques LV+ avaient des niveaux significativement plus faibles d'un composant immunitaire protecteur important, appelé l'interféron (IFN)-y. En utilisant des souris génétiquement modifiées, incapables de produire de l'IFN-y, nous avons observé de telles métastases. Après inoculation dans le coussinet plantaire de souris IFN-y7" avec des parasites LV+ ou LV-, nous avons démontré que seules les souris infectées avec des leishmanies ayant LV développent de multiples lésions secondaires sur la queue. Comme nous l'avons observé chez l'homme, ces souris sécrètent une quantité significativement élevée d'un composant inflammatoire destructeur, l'interleukine (IL)-17. IL-17 a été incriminée pour son rôle dans de nombreuses maladies inflammatoires chroniques. On a ainsi trouvé un rôle destructif similaire pour l'IL-17 dans la leishmaniose métastatique. Nous avons confirmé ce rôle en abrogeant IL-17 dans des souris IFN-y7- ce qui ralentit l'apparition des métastases. Nous pouvons donc conclure que les métastases de la leishmaniose sont induites par l'IL-17 en absence d'IFN-v. En analysant plus en détails les voies de signalisation anti-virale induites par LV, nous avons pu exclure d'autres voies d'activation de la réponse inflammatoire. Nous avons ainsi démontré que la signalisation par LV est indépendante de la signalisation inflammatoire de type « inflammasome ». En revanche, nous avons pu y lier plusieurs autres molécules, telles que NLRP10 et NLRC2, connues pour leur synergie avec les réponses inflammatoires. Cette nouvelle voie pourrait être la cible pour des médicaments inhibant l'inflammation. En effet, un nouveau médicament qui bloque la production d'IL-17 chez la souris s'est montré prometteur dans notre modèle : il a réduit le gonflement des lésions ainsi que la charge parasitaire, indiquant que la voie anti-virale /inflammatoire est une approche thérapeutique possible pour prévenir et traiter cette infection négligée.