Beaming into the rat world: enabling real-time intereaction between rat and human each at their own scale

Immersive virtual reality (IVR) typically generates the illusion in participants that they are in the displayed virtual scene where they can experience and interact in events as if they were really happening. Teleoperator (TO) systems place people at a remote physical destination embodied as a robotic device, and where typically participants have the sensation of being at the destination, with the ability to interact with entities there. In this paper, we show how to combine IVR and TO to allow a new class of application. The participant in the IVR is represented in the destination by a physical robot (TO) and simultaneously the remote place and entities within it are represented to the participant in the IVR. Hence, the IVR participant has a normal virtual reality experience, but where his or her actions and behaviour control the remote robot and can therefore have physical consequences. Here, we show how such a system can be deployed to allow a human and a rat to operate together, but the human interacting with the rat on a human scale, and the rat interacting with the human on the rat scale. The human is represented in a rat arena by a small robot that is slaved to the human"s movements, whereas the tracked rat is represented to the human in the virtual reality by a humanoid avatar. We describe the system and also a study that was designed to test whether humans can successfully play a game with the rat. The results show that the system functioned well and that the humans were able to interact with the rat to fulfil the tasks of the game. This system opens up the possibility of new applications in the life sciences involving participant observation of and interaction with animals but at human scale.

Adaptabilidade e estabilidade fenotípica de cultivares de café arábica em Minas Gerais

O objetivo deste trabalho foi avaliar a adaptabilidade e a estabilidade fenotípicas para a produtividade de cultivares de cafeeiro do grupo Catuaí, pela metododologia de Annicchiarico. Foram instalados e conduzidos experimentos em Três Pontas, Campos Altos e Capelinha, em Minas Gerais. O delineamento foi o de blocos ao acaso, com quatro repetições e seis plantas por parcela. Os tratamentos foram constituídos por 15 cultivares do grupo Catuaí e cinco testemunhas. As avaliações da produtividade foram realizadas em seis colheitas nas safras de 2003/2004 a 2008/2009. Posteriormente, foi realizada a análise conjunta dos três locais e a avaliação da adaptabilidade e da estabilidade das cultivares. Na safra 2008/2009, foi avaliado o percentual de frutos chochos e a percentagem de grãos em peneira alta. As cultivares Catuaí Vermelho IAC 15, Catuaí Amarelo IAC 30, Catuaí Amarelo IAC 62 e Catuaí Vermelho IAC 72 são mais promissoras, pois aliam maiores estabilidade e adaptabilidade em ambientes favoráveis e desfavoráveis com alta média de produtividade. As cultivares Catuaí Vermelho IAC 100, Catuaí Amarelo IAC 86, Rubi MG 1192 e Catuaí Vermelho IAC 144 têm o mais alto percentual de peneira alta. Todas as progênies têm baixo percentual de grãos chochos

On optimal dividend strategies with deficit or incomplete information

Rapport de synthèse Cette thèse consiste en trois essais sur les stratégies optimales de dividendes. Chaque essai correspond à un chapitre. Les deux premiers essais ont été écrits en collaboration avec les Professeurs Hans Ulrich Gerber et Elias S. W. Shiu et ils ont été publiés; voir Gerber et al. (2006b) ainsi que Gerber et al. (2008). Le troisième essai a été écrit en collaboration avec le Professeur Hans Ulrich Gerber. Le problème des stratégies optimales de dividendes remonte à de Finetti (1957). Il se pose comme suit: considérant le surplus d'une société, déterminer la stratégie optimale de distribution des dividendes. Le critère utilisé consiste à maximiser la somme des dividendes escomptés versés aux actionnaires jusqu'à la ruine2 de la société. Depuis de Finetti (1957), le problème a pris plusieurs formes et a été résolu pour différents modèles. Dans le modèle classique de théorie de la ruine, le problème a été résolu par Gerber (1969) et plus récemment, en utilisant une autre approche, par Azcue and Muler (2005) ou Schmidli (2008). Dans le modèle classique, il y a un flux continu et constant d'entrées d'argent. Quant aux sorties d'argent, elles sont aléatoires. Elles suivent un processus à sauts, à savoir un processus de Poisson composé. Un exemple qui correspond bien à un tel modèle est la valeur du surplus d'une compagnie d'assurance pour lequel les entrées et les sorties sont respectivement les primes et les sinistres. Le premier graphique de la Figure 1 en illustre un exemple. Dans cette thèse, seules les stratégies de barrière sont considérées, c'est-à-dire quand le surplus dépasse le niveau b de la barrière, l'excédent est distribué aux actionnaires comme dividendes. Le deuxième graphique de la Figure 1 montre le même exemple du surplus quand une barrière de niveau b est introduite, et le troisième graphique de cette figure montre, quand à lui, les dividendes cumulés. Chapitre l: "Maximizing dividends without bankruptcy" Dans ce premier essai, les barrières optimales sont calculées pour différentes distributions du montant des sinistres selon deux critères: I) La barrière optimale est calculée en utilisant le critère usuel qui consiste à maximiser l'espérance des dividendes escomptés jusqu'à la ruine. II) La barrière optimale est calculée en utilisant le second critère qui consiste, quant à lui, à maximiser l'espérance de la différence entre les dividendes escomptés jusqu'à la ruine et le déficit au moment de la ruine. Cet essai est inspiré par Dickson and Waters (2004), dont l'idée est de faire supporter aux actionnaires le déficit au moment de la ruine. Ceci est d'autant plus vrai dans le cas d'une compagnie d'assurance dont la ruine doit être évitée. Dans l'exemple de la Figure 1, le déficit au moment de la ruine est noté R. Des exemples numériques nous permettent de comparer le niveau des barrières optimales dans les situations I et II. Cette idée, d'ajouter une pénalité au moment de la ruine, a été généralisée dans Gerber et al. (2006a). Chapitre 2: "Methods for estimating the optimal dividend barrier and the probability of ruin" Dans ce second essai, du fait qu'en pratique on n'a jamais toute l'information nécessaire sur la distribution du montant des sinistres, on suppose que seuls les premiers moments de cette fonction sont connus. Cet essai développe et examine des méthodes qui permettent d'approximer, dans cette situation, le niveau de la barrière optimale, selon le critère usuel (cas I ci-dessus). Les approximations "de Vylder" et "diffusion" sont expliquées et examinées: Certaines de ces approximations utilisent deux, trois ou quatre des premiers moments. Des exemples numériques nous permettent de comparer les approximations du niveau de la barrière optimale, non seulement avec les valeurs exactes mais également entre elles. Chapitre 3: "Optimal dividends with incomplete information" Dans ce troisième et dernier essai, on s'intéresse à nouveau aux méthodes d'approximation du niveau de la barrière optimale quand seuls les premiers moments de la distribution du montant des sauts sont connus. Cette fois, on considère le modèle dual. Comme pour le modèle classique, dans un sens il y a un flux continu et dans l'autre un processus à sauts. A l'inverse du modèle classique, les gains suivent un processus de Poisson composé et les pertes sont constantes et continues; voir la Figure 2. Un tel modèle conviendrait pour une caisse de pension ou une société qui se spécialise dans les découvertes ou inventions. Ainsi, tant les approximations "de Vylder" et "diffusion" que les nouvelles approximations "gamma" et "gamma process" sont expliquées et analysées. Ces nouvelles approximations semblent donner de meilleurs résultats dans certains cas.

Herança da resistência em feijoeiro à murcha causada por Curtobacterium flaccumfaciens pv. flaccumfaciens

O objetivo deste trabalho foi determinar a herança da resistência à murcha de Curtobacterium em feijoeiro. Foram realizados dois experimentos: no primeiro, cinco genótipos de feijoeiro, com diferentes reações de resistência à murcha de Curtobacterium, foram cruzados em arranjo dialélico; e no segundo, dois cruzamentos entre genótipos resistentes e suscetíveis - IAC Carioca Aruã x SCS Guará e IAC Carioca Pyatã x Pérola - foram realizados para dar origem às gerações P1, P2, F1, F2, RC1 e RC2. Em ambos os experimentos, a resistência do feijoeiro à murcha bacteriana foi avaliada por meio da inoculação do isolado Cff 2634. A análise dialélica mostrou que, embora efeitos aditivos e não aditivos estejam envolvidos, houve maior participação de genes com efeito aditivo no controle genético da resistência à murcha bacteriana, o que mostra a possibilidade de se obter sucesso com a seleção. A herança da resistência à murcha de Curtobacterium é complexa, com mais de três genes envolvidos, e herdabilidade no sentido restrito de 29%, para o cruzamento 'IAC Carioca Aruã' x 'SCS Guará', e de 44%, para o cruzamento 'IAC Carioca Pyatã' x 'Pérola'.

Fluxo gênico em milho geneticamente modificado com resistência a insetos

O objetivo deste trabalho foi estimar o fluxo gênico em milho transgênico com resistência a insetos, em lavouras comerciais. Amostras de grãos foram coletadas em lavouras com milho convencional e transgênico, nos municípios de: Itumirim, Uberlândia, Paracatu e Tupaciguara, MG; Itapetininga e Pedrinhas, SP; e Assaí e Ponta Grossa, PR. As amostras foram coletadas em lavouras de milho convencional, a partir de 5 m de distância da fonte com o milho transgênico. Foram coletadas dez espigas de plantas individuais por ponto, em quatro repetições, no total de 40 espigas para cada distância amostrada. As análises de fluxo gênico foram realizadas por meio da técnica de reação em cadeia da polimerase (PCR) em tempo real. Em média, 82% da fecundação cruzada ocorreu nos primeiros 30 m. Em Itapetininga, SP, foram observadas as maiores taxas de fecundação cruzada - acima de 10% até a distância de 50 m -, porém, inferiores a 1% na distância de 100 m. O isolamento de 20 m, com dez linhas de bordadura, não é suficiente para garantir taxas de fecundação cruzada inferiores a 1%.

Identification and prospective validation of clinically relevant chronic obstructive pulmonary disease (COPD) subtypes.

Background Chronic obstructive pulmonary disease (COPD) is increasingly considered a heterogeneous condition. It was hypothesised that COPD, as currently defined, includes different clinically relevant subtypes. Methods To identify and validate COPD subtypes, 342 subjects hospitalised for the first time because of a COPD exacerbation were recruited. Three months after discharge, when clinically stable, symptoms and quality of life, lung function, exercise capacity, nutritional status, biomarkers of systemic and bronchial inflammation, sputum microbiology, CT of the thorax and echocardiography were assessed. COPD groups were identified by partitioning cluster analysis and validated prospectively against cause-specific hospitalisations and all-cause mortality during a 4 year follow-up. Results Three COPD groups were identified: group 1 (n ¼ 126, 67 years) was characterised by severe airflow limitation (postbronchodilator forced expiratory volume in 1 s (FEV 1 ) 38% predicted) and worse performance in most of the respiratory domains of the disease; group 2 (n ¼ 125, 69 years) showed milder airflow limitation (FEV 1 63% predicted); and group 3 (n ¼ 91, 67 years) combined a similarly milder airflow limitation (FEV 1 58% predicted) with a high proportion of obesity, cardiovascular disorders, iabetes and systemic inflammation. During follow-up, group 1 had more frequent hospitalisations due to COPD (HR 3.28, p < 0.001) and higher all-cause mortality (HR 2.36, p ¼ 0.018) than the other two groups, whereas group 3 had more admissions due to cardiovascular disease (HR 2.87, p ¼ 0.014). Conclusions In patients with COPD recruited at their first hospitalisation, three different COPD subtypes were identified and prospectively validated:"severe respiratory COPD","moderate respiratory COPD", and"systemic COPD'

Acting Rehearsal in Collaborative Multimodal Mixed Reality Environments

This paper presents the use of our multimodal mixed reality telecommunication system to support remote acting rehearsal. The rehearsals involved two actors, located in London and Barcelona, and a director in another location in London. This triadic audiovisual telecommunication was performed in a spatial and multimodal collaborative mixed reality environment based on the 'destination-visitor' paradigm, which we define and put into use. We detail our heterogeneous system architecture, which spans the three distributed and technologically asymmetric sites, and features a range of capture, display, and transmission technologies. The actors' and director's experience of rehearsing a scene via the system are then discussed, exploring successes and failures of this heterogeneous form of telecollaboration. Overall, the common spatial frame of reference presented by the system to all parties was highly conducive to theatrical acting and directing, allowing blocking, gross gesture, and unambiguous instruction to be issued. The relative inexpressivity of the actors' embodiments was identified as the central limitation of the telecommunication, meaning that moments relying on performing and reacting to consequential facial expression and subtle gesture were less successful.

Desempenho agronômico de seleções de café Bourbon Vermelho e Bourbon Amarelo de diferentes origens

O objetivo deste trabalho foi avaliar a adaptabilidade e estabilidade fenotípica e outras características de interesse agronômico de genótipos de café Bourbon Vermelho e Bourbon Amarelo, para selecionar os de melhor desempenho no Estado de Minas Gerais. Foram avaliados 17 genótipos pertencentes ao grupo Bourbon, bem pontuados em concursos de qualidade de bebida, além de três cultivares amplamente cultivadas no estado, utilizadas como testemunhas. Os experimentos foram instalados em dezembro de 2005, nos municípios de Lavras, Santo Antônio do Amparo, Três Pontas, Campos Altos e Patrocínio. As avaliações foram realizadas durante as quatro primeiras colheitas, nos anos agrícolas 2007/2008, 2008/2009, 2009/2010 e 2010/2011, e compreenderam as seguintes características: produtividade de grãos, adaptabilidade e estabilidade fenotípica, percentagem de frutos chochos, vigor vegetativo e classificação por peneira. Há variabilidade genética dentro do grupo de Bourbon estudado. Os genótipos de Bourbon apresentam produtividades satisfatórias em todos os locais avaliados. O genótipo Bourbon Vermelho 2 apresenta maior adaptabilidade, tendo-se destacado quanto a todas as características avaliadas.

Chemical characteristics of grape juices from different cultivar and rootstock combinations

The objective of this work was to evaluate the influence of different combinations of grape cultivars and rootstocks on chemical characteristics of grape juices. Six treatments were evaluated, consisting of combinations between the Isabel Precoce and BRS Cora grape cultivars and the 'IAC 766', 'IAC 313', and 'IAC 572' rootstocks. Approximately 10 L of juice were obtained per treatment. Analyses of color, total soluble solids content, pH, anthocyanins, total phenolics, total sugars, and quantification and identification of biogenic amines by HPLC were performed. Biogenic amines, such as putrescine, cadaverine, spermidine, and spermine, were found in all evaluated cultivars. By principal component analysis (PCA), treatments can be divided into two groups, according to the cultivar. Juices obtained from 'Isabel Precoce' are characterized by higher levels of total sugar content and soluble solids; however, juices from 'BRS Cora' are positively correlated with phenolic content, anthocyanins, and color and acidity parameters. The differences found by PCA for juices from the Isabel Precoce and BRS Cora cultivars indicate that, regardless of the rootstock used, the most important factor in the chemical characterization of juices is the grape cultivar.

Análise bayesiana univariada e bivariada para a conversão alimentar de suínos da raça Piau

O objetivo deste trabalho foi apresentar modelagens alternativas, uni e bivariadas, para avaliação da conversão alimentar (CA) de suínos da raça Piau, com uso de inferência bayesiana. Os efeitos de sexo e genótipo sobre a CA dos animais foram avaliados por meio de procedimentos de simulação de Monte Carlo via cadeias de Markov (MCMC) e de integração aproximada aninhada de Laplace (INLA). O modelo univariado foi avaliado com diferentes distribuições para o erro - normal (gaussiana), t de Student, gama, log-normal e skew-normal -, enquanto, para o modelo bivariado, considerou-se o erro normal. A distribuição skew-normal foi o modelo mais parcimonioso para inferir sobre a resposta direta (univariada) da CA aos efeitos de sexo e genótipo, os quais não foram significativos. O modelo bivariado foi capaz de identificar diferenças significativas no ganho de peso e no consumo de ração em níveis de significância não detectados pelo modelo univariado. Além disso, ele também foi capaz de detectar diferenças entre sexos, quando agrupados por genótipos NN (machos, 2,73±0,04; fêmeas, 2,68±0,04) e Nn (machos, 2,70±0,07; fêmeas, 2,64±0,07), e revelou maior acurácia e precisão nas inferências nutricionais. Em ambas as abordagens, o método bayesiano mostra-se flexível e eficiente para a avaliação do desempenho nutricional dos animais.

Touching the void: exploring virtual objects through a vibrotactile glove

This paper describes a simple low-cost approach toadding an element of haptic interaction within a virtualenvironment. Using off-the-shelf hardware and software wedescribe a simple setup that can be used to explore physically virtual objects in space. This setup comprises of a prototype glove with a number of vibrating actuators to provide the haptic feedback, a Kinect camera for the tracking of the user's hand and a virtual reality development environment. As proof of concept and to test the efficiency of the system as well as its potential applications, we developed a simple application where we created 4 different shapes within a virtual environment in order to try toexplore them and guess their shape through touch alone.

Acting rehearsal in collaborative multimodal mixed reality environments

This paper presents the use of our multimodal mixed reality telecommunication system to support remote acting rehearsal. The rehearsals involved two actors, located in London and Barcelona, and a director in another location in London. This triadic audiovisual telecommunication was performed in a spatial and multimodal collaborative mixed reality environment based on the 'destination-visitor' paradigm, which we define and put into use. We detail our heterogeneous system architecture, which spans the three distributed and technologically asymmetric sites, and features a range of capture, display, and transmission technologies. The actors' and director's experience of rehearsing a scene via the system are then discussed, exploring successes and failures of this heterogeneous form of telecollaboration. Overall, the common spatial frame of reference presented by the system to all parties was highly conducive to theatrical acting and directing, allowing blocking, gross gesture, and unambiguous instruction to be issued. The relative inexpressivity of the actors' embodiments was identified as the central limitation of the telecommunication, meaning that moments relying on performing and reacting to consequential facial expression and subtle gesture were less successful.

Respostas à seleção de características de desempenho em tilápia-do-nilo

Resumo:O objetivo deste trabalho foi estimar parâmetros genéticos e respostas direta e indireta à seleção de características de desempenho em tilápia-do-nilo (Oreochromis niloticus), bem como avaliar o impacto da seleção sobre o ganho genético. Foram utilizadas informações de tilápias-do-nilo, sob seleção em um programa de melhoramento genético, cultivadas em sistema de tanques-rede, de 2008 a 2010. Estimaram-se herdabilidades e correlações genéticas das características ganho em peso diário e, à despesca, peso, largura, altura e comprimento do tronco, além dos ganhos genéticos obtidos com as estimativas de tendências genéticas e das respostas à seleção dessas características. As estimativas de herdabilidade ficaram em torno de 30%. As estimativas de correlações genéticas e de postos foram de alta magnitude. O ganho genético direto para ganho em peso diário foi de 7,9, 5,18 e 9,43%, em 2008, 2009 e 2010, respectivamente. Os ganhos genéticos obtidos a partir das tendências genéticas foram de 6,36, 6,30, 1,62, 1,65 e 1,51%, respectivamente, para ganho em peso diário, peso, largura, altura e comprimento do tronco. O incremento na velocidade de crescimento por meio da seleção impacta positivamente características de desempenho em tilápia-do-nilo.

Beaming into the rat world: enabling real-time intereaction between rat and human each at their own scale

Immersive virtual reality (IVR) typically generates the illusion in participants that they are in the displayed virtual scene where they can experience and interact in events as if they were really happening. Teleoperator (TO) systems place people at a remote physical destination embodied as a robotic device, and where typically participants have the sensation of being at the destination, with the ability to interact with entities there. In this paper, we show how to combine IVR and TO to allow a new class of application. The participant in the IVR is represented in the destination by a physical robot (TO) and simultaneously the remote place and entities within it are represented to the participant in the IVR. Hence, the IVR participant has a normal virtual reality experience, but where his or her actions and behaviour control the remote robot and can therefore have physical consequences. Here, we show how such a system can be deployed to allow a human and a rat to operate together, but the human interacting with the rat on a human scale, and the rat interacting with the human on the rat scale. The human is represented in a rat arena by a small robot that is slaved to the human"s movements, whereas the tracked rat is represented to the human in the virtual reality by a humanoid avatar. We describe the system and also a study that was designed to test whether humans can successfully play a game with the rat. The results show that the system functioned well and that the humans were able to interact with the rat to fulfil the tasks of the game. This system opens up the possibility of new applications in the life sciences involving participant observation of and interaction with animals but at human scale.

Beaming into the rat world: enabling real-time intereaction between rat and human each at their own scale

Immersive virtual reality (IVR) typically generates the illusion in participants that they are in the displayed virtual scene where they can experience and interact in events as if they were really happening. Teleoperator (TO) systems place people at a remote physical destination embodied as a robotic device, and where typically participants have the sensation of being at the destination, with the ability to interact with entities there. In this paper, we show how to combine IVR and TO to allow a new class of application. The participant in the IVR is represented in the destination by a physical robot (TO) and simultaneously the remote place and entities within it are represented to the participant in the IVR. Hence, the IVR participant has a normal virtual reality experience, but where his or her actions and behaviour control the remote robot and can therefore have physical consequences. Here, we show how such a system can be deployed to allow a human and a rat to operate together, but the human interacting with the rat on a human scale, and the rat interacting with the human on the rat scale. The human is represented in a rat arena by a small robot that is slaved to the human"s movements, whereas the tracked rat is represented to the human in the virtual reality by a humanoid avatar. We describe the system and also a study that was designed to test whether humans can successfully play a game with the rat. The results show that the system functioned well and that the humans were able to interact with the rat to fulfil the tasks of the game. This system opens up the possibility of new applications in the life sciences involving participant observation of and interaction with animals but at human scale.