Interfaz de usuario de un sistema multi-robot de reconocimiento de superficies con Google Earth

Els sistemes multi-robot de reconeixement de superfícies es poden utilitzar tant per a l'exploració de llocs remots, de difícil accés o perillosos. Normalment, els robots no són autònoms, depenen d'operadors humans per dirigir-los. La informació que capten ha de ser processada i mostrada a l'usuari o usuària del sistema de forma intel·ligible. Un exemple d'aplicació seria el d'un sistema multirobot format per diversos helicòpters no tripulats que proporciona informació d'una àrea que ha patit algun desastre. El sistema informàtic recolliria la informació i la transmetria al coordinador de l'operatiu d'assistència de l'emergència. La idea del projecte és la de combinar la informació proporcionada pel sistema multi-robot amb la de la zona disponible a Google Earth i fer d'aquesta eina l'interfície d'usuari de l'aplicació.

Anàlisi, disseny i construcció d'un robot educatiu basat en microcontrolador AVR-ATMEGA

Aquest projecte presenta el disseny, construcció i programació d’un robot autònom, com a base per una proposta educativa. Per aconseguir aquest objectiu s’ha dotat el robot d’una unitat de procés, un sistema de locomoció i un seguit de sensors que proporcionaran a la unitat informació respecte l’entorn. Per gestionar totes aquestes funcionalitats, s’ha fet servir un sistema operatiu en temps real capaç de gestionar amb efectivitat les tasques que puguin ser executades pel robot. Finalment, s’ha exposat una detallada descripció dels costos per una producció de volum mig i de caire merament educatiu.

Estudi: microcontrolador LPC2119 - ARM. Cas pràctic: anàlisi, disseny i construcció d'un robot amb pèndul invertit

Estudi de l'arquitectura i prestacions del microcontrolador LPC2119 tot implementant la proposta d’un cas pràctic. En la besant teòrica, es fa una anàlisi acurada del dispositiu LPC2119, enumerant les principals característiques i exposant les seves parts, aprofundint sobretot en l’arquitectura i core ARM que incorpora. En l'àmbit pràctic, s'introdueix el problema del pèndul invertit com a proposta per a ser integrada sobre un robot que exploti les funcionalitats del dispositiu integrat presentades a l'estudi teòric.

Parasite and egg burden, hepatic collagen and histologic pattern of liver granulomas in selection III high and low antibody responder mice infected with Schistosoma mansoni

Selection III mice have particular immunological characteristics: they are high (H III) or low (L III) antibody producer animals, yet both lines display similar T cell responses and macrophage activities. We submittedthese mice to infection with Schistosoma mansoni to assess in vivo parasite and egg burden, hepatic collagen and cellular composition of granulomas in both lines. Titration of anti-Schistosoma IgG by ELISA showed remarkably higher values inH III line, at both studied periods (8th and 12th weeks post-infection). Nevertheless, the number of adult worms recovered from the portal system was similar inboth lines, being not associated with anti-Schistosoma antibody levels. There isan increase in hepatic collagen from the 8th to the 12th weeks post-infection, which is paralleled by an increase in the number of eggs in the liver. This association apparently occurs at the same radio in H III and L III animals. The most important difference found between the two lines was the outstanding contrast interms of volume and eosinophil counts in the granulomas, with lesions from H IIImice clearly being larger and containing more of these cells than LIII lesions.

Widespread occurrence of non-canonical transcription termination by human RNA polymerase III.

Human RNA polymerase (Pol) III-transcribed genes are thought to share a simple termination signal constituted by four or more consecutive thymidine residues in the coding DNA strand, just downstream of the RNA 3'-end sequence. We found that a large set of human tRNA genes (tDNAs) do not display any T(≥4) stretch within 50 bp of 3'-flanking region. In vitro analysis of tDNAs with a distanced T(≥4) revealed the existence of non-canonical terminators resembling degenerate T(≥5) elements, which ensure significant termination but at the same time allow for the production of Pol III read-through pre-tRNAs with unusually long 3' trailers. A panel of such non-canonical signals was found to direct transcription termination of unusual Pol III-synthesized viral pre-miRNA transcripts in gammaherpesvirus 68-infected cells. Genome-wide location analysis revealed that human Pol III tends to trespass into the 3'-flanking regions of tDNAs, as expected from extensive terminator read-through. The widespread occurrence of partial termination suggests that the Pol III primary transcriptome in mammals is unexpectedly enriched in 3'-trailer sequences with the potential to contribute novel functional ncRNAs.

Utilització del robot mòbil com a eina d'aprenentatge en ensenyaments tècnics

En aquest Projecte de Millora de la Qualitat Docent es descriu el disseny, la construcció i la utilització d’un robot mòbil com a eina docent en titulacions d’Enginyeria. El robot mòbil té com a element de control un PC portàtil convencional per tal de facilitar el procés d’aprenentatge de l’alumnat estigui centrat en l’objectiu de les pràctiques i no en el funcionament i control del robot. A més a més, el robot disposa d’un elevat nombre de sensors i actuadors per tal d’oferir un elevat grau d’interdisciplinaritat.

The immunopathology of human schistosomiasis-III: immunoglobulin isotype profiles and response to praziquantel

Immunoglobulin (Ig) isotype (IgG, IgG1, IgG2, IgG3, IgG4, IgM, IgD and IgE) levels were investigated, both pre- and post-treatment with praziquantel (PZQ), in 43 adults and children chronically infected with Schistosoma mansoni , by means of a two-site, isotype-specific immunoenzymometric assay. The patients were classified as responders (R) or non-responders (NR) on the basis of their circumoval precipitin test (COPT) results 12 months after treatment. In comparison with controls, pre-treatment R children showed significantly higher levels of IgG, IgG1, IgG4 (p<0.001) and IgE (p<0.01), and diminished IgG2 (p<0.05), while NR children showed significantly elevated levels only of IgE (p<0.05). Twelve months after therapy, R children maintained significantly lower levels of IgG2, but showed significantly decreased levels of IgG, IgG1, IgG4, and IgE, while the Ig isotype profile of NR children was unaltered. Adult R and NR showed similar isotype profiles before chemotherapy, with the exception of significantly elevated IgM levels in R. Twelve months after therapy, R adults showed significantly decreased levels of IgG, IgG1, and IgG4, while NR adults showed only diminshed IgG4 levels. These results reveal different Ig isotype profiles in untreated adults and children chronically infected with S. mansoni. The results further show that the pre-treatment Ig isotype profile may be significantly modified after an effective R to chemotherapy, accounted for by down regulation of the IgG1 isotype in association with negative seroconversion of the COPT in R patients. The COPT reaction has been associated with the highly specific egg glycoprotein antigen w1, which shows a significant reduction in reactivity six months after treatment. IgG1 may thus play a main role in the response against the w1 antigen.

Aplicacions de reconeixement de la parla: sistemes de respeaking III

En aquest projecte es fa una introducció als reconeixedors de la parla, el seu funcionament i la seva base matemàtica. Un cop tots els conceptes han quedat clars, es mostra el mètode de creació que hem seguit per obtenir el nostre propi reconeixedor de la parla, utilitzant les eines HTK, en català. S’avaluen les seves virtuts i els seus defectes a través de diferents proves realitzades als seus components. A més a més, el projecte arrodoneix la feina implementant un sistema de dictat automàtic que explota el reconeixedor de la parla utilitzant Julius.

La réhabilitation psychosociale a l'aube du XXIème siècle: III: Méthode d'évaluation interdisciplinaire et bilan biopsycho-social

During the past 20 years, therapeutic and rehabilitative modalities in the field of psychosocial rehabilitation have been diversified in becoming more specific. We have the possibility to offer individualized rehabilitation programs as well as in the general field of socio-professional goals as in the clinical field according to the patients' needs and personal assets. The content of these programs associates various forms of specialized medical and paramedical services. The indications are established trough a careful assessment. The rehabilitation unit of the University Department of Psychiatry in Lausanne has developed a multidisciplinary assessment method based on the bio-psychosocial integrative model and the vulnerability-stress model in integrating the level of experience of Wood for the analysis of the psychosocial functioning. This results in a structured assessment program, which leads to a multidisciplinary comprehensive assessment (difficulties versus adaptative resources)

NovoTTF-100A versus physician's choice chemotherapy in recurrent glioblastoma: A randomised phase III trial of a novel treatment modality.

PURPOSE: NovoTTF-100A is a portable device delivering low-intensity, intermediate frequency electric fields via non-invasive, transducer arrays. Tumour Treatment Fields (TTF), a completely new therapeutic modality in cancer treatment, physically interfere with cell division. METHODS: Phase III trial of chemotherapy-free treatment of NovoTTF (20-24h/day) versus active chemotherapy in the treatment of patients with recurrent glioblastoma. Primary end-point was improvement of overall survival. RESULTS: Patients (median age 54years (range 23-80), Karnofsky performance status 80% (range 50-100) were randomised to TTF alone (n=120) or active chemotherapy control (n=117). Number of prior treatments was two (range 1-6). Median survival was 6.6 versus 6.0months (hazard ratio 0.86 [95% CI 0.66-1.12]; p=0.27), 1-year survival rate was 20% and 20%, progression-free survival rate at 6months was 21.4% and 15.1% (p=0.13), respectively in TTF and active control patients. Responses were more common in the TTF arm (14% versus 9.6%, p=0.19). The TTF-related adverse events were mild (14%) to moderate (2%) skin rash beneath the transducer arrays. Severe adverse events occurred in 6% and 16% (p=0.022) of patients treated with TTF and chemotherapy, respectively. Quality of life analyses favoured TTF therapy in most domains. CONCLUSIONS: This is the first controlled trial evaluating an entirely novel cancer treatment modality delivering electric fields rather than chemotherapy. No improvement in overall survival was demonstrated, however efficacy and activity with this chemotherapy-free treatment device appears comparable to chemotherapy regimens that are commonly used for recurrent glioblastoma. Toxicity and quality of life clearly favoured TTF.

Incoordination, Paralysis and Recovery after Pyrethroid Treatment on Nymphs III of Triatoma infestans (Hemiptera: Reduviidae)

Symptoms of poisoning for deltamethrin and cis-permethrin on nymphs III of Triatoma infestans were described. The time required for incoordination and paralysis were determined. Deltamethrin was equal or more rapid in the onset of the first effect (accordingly to dose), and cis-permethrin in the onset of the second one. There were no significant differences between incoordination doses 50% (IncD50s) at different times for the two pyrethroids. They showed equivalent incoordination power, but the nymphs treated with deltamethrin recovered slightly more rapid and in greater amount than the nymphs treated with cis-permethrin. The recovery was inhibited by the simultaneus application of piperonyl butoxide. This result suggests that biotransformation by mixed-function microsomal oxidases are involved in the process of recovery

Paleopatología dental de una muestra esquelética del área funeraria del suburbio oriental de Tarraco (siglo I-III d. C.)

Los dientes son una importante fuente de información en el estudio de poblaciones del pasado. El estudio de las enfermedades dentales en restos esqueléticos antiguos busca reconstruir la forma de vida de las poblaciones antiguas relacionadas con su estado de salud y enfermedad.