Local map update for large scale SLAM

A technique for simultaneous localisation and mapping (SLAM) for large scale scenarios is presented. This solution is based on the use of independent submaps of a limited size to map large areas. In addition, a global stochastic map, containing the links between adjacent submaps, is built. The information in both levels is corrected every time a loop is closed: local maps are updated with the information from overlapping maps, and the global stochastic map is optimised by means of constrained minimisation

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Clonidina para el Tratamiento del Dolor Oncológico: una Revisión Sistemática de la Literatura

El dolor oncológico representa una de las principales causas de dolor crónico, siendo los opioides la primera línea de manejo, sin embargo 10% de los pacientes requieren estrategias analgésicas multimodales. La eficacia analgésica de la clonidina como coadyuvante ha sido demostrada para diversos modelos de dolor. Sin embargo no hay revisiones sistemáticas que validen su eficacia y seguridad en dolor crónico oncológico. Se realizó una revisión sistemática de la literatura a noviembre 26 de 2012, encontrando 15 trabajos (12 reportes de caso y tres ensayos clínicos controlados), n=138 pacientes. La intervención tuvo una eficacia entre 44,7 y 100%, mostrando mayor beneficio en pacientes con componente de dolor neuropático. La adición de clonidina fue bien tolerada, siendo la sedación y la disminución en tensión arterial y frecuencia cardiaca los efectos secundarios más frecuentes, con relación dosis dependiente, de resolución espontánea y en ninguno de los casos se documentó lesión secundaria en los pacientes. La vía de administración más frecuente fue neuroaxial (intratecal y peridural). La revisión sistemática no fue susceptible de metaanálisis por la heterogeneidad clínica de los estudios. Los resultados obtenidos sugieren que la adición de clonidina puede ser una opción terapeútica eficaz y segura en los pacientes con dolor crónico oncológico severo refractario a opioides a altas dosis asociado o no a infusión neuroaxial de anestésico local, en especial en presencia de componente neuropático. Sin embargo se identificó la necesidad de un mayor número de ensayos clínicos controlados aleatorios que permitan establecer conclusiones definitivas.

Shape complexity based on mutual information

Shape complexity has recently received attention from different fields, such as computer vision and psychology. In this paper, integral geometry and information theory tools are applied to quantify the shape complexity from two different perspectives: from the inside of the object, we evaluate its degree of structure or correlation between its surfaces (inner complexity), and from the outside, we compute its degree of interaction with the circumscribing sphere (outer complexity). Our shape complexity measures are based on the following two facts: uniformly distributed global lines crossing an object define a continuous information channel and the continuous mutual information of this channel is independent of the object discretisation and invariant to translations, rotations, and changes of scale. The measures introduced in this paper can be potentially used as shape descriptors for object recognition, image retrieval, object localisation, tumour analysis, and protein docking, among others

Les sHsps en surera: capacitat protectora enfront l'estrés i variabilitat genètica

Els organismes responen a la temperatura i a molts altres estressos sintetitzant un grup de proteïnes anomenat proteïnes de xoc de calor (HSPs). En plantes les sHsps, d'entre 15 i 30 kDa formen el grup més abundant i divers, classificat en funció de la seva localització subcel.lular i homologia en: mitocondrials, cloroplàstiques, de reticle endoplasmàtic i citoplàsmiques de classe I i II. Les sHsps-CI s'ha descrit que s'indueixen per estrès tèrmic, hídric i oxidatiu (peròxid d'hidrògen, llum UV, ozó) i en resposta a algunes hormones. També s'expressen durant el desenvolupament, per exemple durant l'embriogènesi, on es creu que podrien tenir un paper protector de l'embrió enfront la dessecació. Tot i que hi ha abundants treballs que correlacionen la resistència a l'estrès i l'acumulació de sHsps-CI, els mecanismes moleculars d'aquesta activitat són poc conguts. Tot i això, per diverses sHsps-CI ha estat descrita una activitat xaperona in vitro i, més recentment, que la seva sobreexpressió augmenta la viabilitat de cèl.lules d'E.coli en condicions d'estrès tèrmic. L'estudi de l'acumulació de sHsps-CI en surera (Quercus suber) mitjançant immunodetecció en electroforesi bidimensional mostra uns patrons d'acumulació complexos i formats per dos grups d'espècies proteiques principals, a l'entorn dels 10 i 17 kDa respectivament, que mostren una inducció diferencial en funció del teixit i l'estrès. Mentre que les espècies proteiques de 17 kDa s'indueixen per temperatura però no per estrès oxidatiu, les de ca. 10 kDa ho fan per estrès oxidatiu i no per temperatura. Ambdós grups d'espècies proteiques s'acumulen conjuntament en fel.lema. Assajos de PCR i RT-PCR han permès clonar parcialment tres noves sHsps-CI en surera: Qshsp10-CI, QshspC-CI i QshspD-CI. Aquest fet confirma la multigeneïcitat de les sHsps-CI en surera que apuntava el patró bidimensional. Dels nous clons obtinguts destaca especialment Qshsp10-CI, un gen que presenta un codó stop enmig del domini -cristal.lí que fa que a la proteïna que se'n dedueix li manqui un 55% del domini -cristal.lí i tota l'extensió C-terminal. Es tractaria de la sHsp més petita i més truncada descrita fins al moment. L'anàlisi de l'expressió de Qshsp10-CI mitjançant RT-PCR mostra expressió en plantes tractades amb H2O2 però no en les que han estat sotmeses a un xoc de calor. Aprofitant l'oportunitat que oferia aquesta sHsp-CI de ser utilitzada com a model per l'estudi de la importància del domini -cristal.lí i l'extensió C-terminal en l'activitat protectora enfront l'estrès, es va voler determinar la capacitat que tenia d'augmentar la viabilitat de cèl.lules d'E. coli en condicions d'estrès tèrmic i oxidatiu. Els resultats mostren que la proteïna recombinant QsHsp10-CI, tot i la important truncació que té, és capaç de protegir cèl.lules d'E. coli en condicions d'estrès tèrmic i, remarcablement, en condicions d'estrès oxidatiu. Tots aquests resultats indiquen que les espècies proteiques de ca. 10 kDa podrien correspondre a Qshsp10-CI i tenir un paper en les cèl.lules del fel.lema en la protecció enfront l'estrès oxidatiu. L'estrès oxidatiu provoca lesions al DNA que poden produir errors en la replicació, transcripció o traducció i generar proteïnes aberrants. Donades les condicions d'estrès oxidatiu a les quals es troben sotmeses les cèl.lules del fel.lema, s'ha volgut estudiar la variabilitat dels seus àcids nucleics. La determinació de la taxa de mutació de la regió codificant del gen Qshsp17.4-CI en mRNA i DNA de fel.lema i àpex radicular, un teixit jove i en creixement actiu va mostrar unes taxes sorprenentment elevades en l'mRNA (1/1784 pb) i el DNA genòmic (1/1520 pb) del fel.lema. Aquestes taxes són les més altes descrites en un genoma nuclear eucariota i són similars a les dels virus d'RNA d'evolució ràpida com el virus de l'Hepatitis C. Amb aquestes taxes de mutació, un terç dels mRNAs del fel.lema de la surera contindrien missatges aberrants i la supervivència de les cel.lules es veuria compromesa. Això implica que el fel.lema hauria de ser considerat com un mosaic de cèl.lules genèticament heterogènies i, per tant, una sola seqüència no defineix en tota la seva amplitud un gen en aquest teixit. No es va detectar cap mutació en àpex de rel. Amb l'objectiu d'aprofundir en el coneixement de les mutacions que es donen en aquests dos teixits i per tal de poder fer una anàlisi qualitativa més completa que permetés especular sobre el seu origen, es va aplicar un mètode de selecció de seqüències mutants en base a la utilització d'enzims de restricció. Les mutacions detectades en fel.lema es corresponen amb les relacionades, en altres sistemes no nuclears (plasmidis, fags i DNA bacterià), amb l'estrès oxidatiu. En conseqüència, l'estrès oxidatiu al qual estan sotmeses les cèl.lules del fel.lema podria ser el causant de l'elevada taxa de mutació detectada. D'acord amb això, el tipus majoritari de productes d'oxidació de les bases del DNA que s'acumulen en brots de plàntules de surera en resposta al peròxid d'hidrògen produeixen el mateix tipus de mutacions detectades en l'mRNA del fel.lema de la surera. La major sensibilitat d'aquest nou mètode ha permès, a més, detectar mutacions en molècules d'mRNA de rel, un teixit en el qual no s'havia trobat cap mutació utilitzant el mètode de clonatge i seqüenciació directa. Tot i això, el tipus de mutacions predominants no estan relacionades amb l'estrès oxidatiu sinó amb erros en la reparació dels àcids nucleics.

Série: processus expositionnel selon la muséologie sociale

Une fois le mandat établi, l’entente contractuelle conclue sur la base du plan de travail, une évaluation sommaire de l’espace attribué, de la construction, de la localisation, de même que de la vocation du musée, des sources primaires de documentation et d’information, des objets disponibles, enfin de la taille et de la durée du projet, les professsionnels engagés pour préparer l’étude de programmation muséale soumettent, pour consultation, le Plan directeur. Le scénario thématique, le parcours muséographique prévisible, de même que les services se rattachant à l’accueil, permettent, dès le stade initial de l’étude, d’informer le milieu sur le parti adopté, d’apporter les corrections nécessaires avant l’étude détaillée des éléments proposés dans le plan de travail. Ce premier concensus sur le “ projet muséal” permettra, au besoin, d’appeler la collaboration du milieu par des mandats de recherché précis, confiés à des membres de la communauté, de préparer celui-ci à la gestion future du musée et de ses expositions (Portée formative de la démarche). Le Plan directeur, s’il est clairement énoncé, bien fondé, constitue le guide infailllible du processus de construction du projet, associant muséologie (Récit, thématique) et muséographie (Communication visuelle, didactique). Le Plan directeur a le grand avantage de réaliser une économie de temps, de cadrer le projet d’un coup d’oeil, de permettre de passer rapidement, sur des bases sûres et concensuelles, au stade de l’exécution, d’ en mesurer au préalable les coûts et les difficultés à résoudre. Le professionnel de musée, duement formé, en est le maître d’oeuvre privilégié.

Localization of eIF4A-III in the nucleolus and splicing speckles is an indicator of plant stress

The mechanisms of long-term adaptation to low oxygen environment are quite well studied, but little is known about the sensing of oxygen shortage, the signal transduction and the short-term effects of hypoxia in plant cells. We have found that an RNA helicase eIF4A-III, a putative component of the Exon Junction Complex, rapidly changes its pattern of localisation in the plant nucleus under hypoxic conditions. In normal cell growth conditions GFP- eIF4A-III was mainly nucleoplasmic, but in hypoxia stress conditions it moved to the nucleolus and splicing speckles. This transition occurred within 15-20 min in Arabidopsis culture cells and seedling root cells, but took more than 2 h in tobacco BY-2 culture cells. Inhibition of respiration, transcription or phosphorylation in cells and ethanol treatment had similar effects to hypoxia. The most likely consequence is that a certain mRNA population will remain bound to the eIF4A-III and other mRNA processing proteins, rather than being transported from the nucleus to the cytoplasm, and thus its translation will be suspended.

S-nitrosylation of proteins at the leading edge of migrating trophoblasts by inducible nitric oxide synthase promotes trophoblast invasion

Nitric oxide regulates many important cellular processes including motility and invasion. Many of its effects are mediated through the modification of specific cysteine residues in target proteins, a process called S-nitrosylation. Here we show that S-nitrosylation of proteins occurs at the leading edge of migrating trophoblasts and can be attributed to the specific enrichment of inducible nitric oxide synthase (iNOS/NOS2) in this region. Localisation of iNOS to the leading edge is co-incidental with a site of extensive actin polymerisation and is only observed in actively migrating cells. In contrast endothelial nitric oxide synthase (eNOS/NOS3) shows distribution that is distinct and non-colocalised with iNOS, suggesting that the protein S-nitrosylation observed at the leading edge is caused only by iNOS and not eNOS. We have identified MMP-9 as a potential target for S-nitrosylation in these cells and demonstrate that it co-localises with iNOS at the leading edge of migrating cells. We further demonstrate that iNOS plays an important role in promoting trophoblast invasion, which is an essential process in the establishment of a successful pregnancy.

Rate-limiting steps in the development of atherosclerosis: the response-to-influx theory

A large number of processes are involved in the pathogenesis of atherosclerosis but it is unclear which of them play a rate-limiting role. One way of resolving this problem is to investigate the highly non-uniform distribution of disease within the arterial system; critical steps in lesion development should be revealed by identifying arterial properties that differ between susceptible and protected sites. Although the localisation of atherosclerotic lesions has been investigated intensively over much of the 20th century, this review argues that the factor determining the distribution of human disease has only recently been identified. Recognition that the distribution changes with age has, for the first time, allowed it to be explained by variation in transport properties of the arterial wall; hitherto, this view could only be applied to experimental atherosclerosis in animals. The newly discovered transport variations which appear to play a critical role in the development of adult disease have underlying mechanisms that differ from those elucidated for the transport variations relevant to experimental atherosclerosis: they depend on endogenous NO synthesis and on blood flow. Manipulation of transport properties might have therapeutic potential. Copyright (C) 2004 S. Karger AG, Basel.

A novel approach to the detection of synchronisation in EEG based on empirical mode decomposition

Transient neural assemblies mediated by synchrony in particular frequency ranges are thought to underlie cognition. We propose a new approach to their detection, using empirical mode decomposition (EMD), a data-driven approach removing the need for arbitrary bandpass filter cut-offs. Phase locking is sought between modes. We explore the features of EMD, including making a quantitative assessment of its ability to preserve phase content of signals, and proceed to develop a statistical framework with which to assess synchrony episodes. Furthermore, we propose a new approach to ensure signal decomposition using EMD. We adapt the Hilbert spectrum to a time-frequency representation of phase locking and are able to locate synchrony successfully in time and frequency between synthetic signals reminiscent of EEG. We compare our approach, which we call EMD phase locking analysis (EMDPL) with existing methods and show it to offer improved time-frequency localisation of synchrony.

Differential protein expression and subcellular distribution of TGFβ1, β2 and β3 in cardiomyocytes during pressure overload-induced hypertrophy

The transforming growth factorβ(TGFβ) superfamily plays an important role in the myocardial response to hypertrophy. We have investigated the protein expression of TGFβ1,β2andβ3in left ventricular tissue, and determined their subcellular distribution in myocytes by immunoblotting and immunocytochemistry during the development of left ventricular hypertrophy (LVH), using isoform specific antibodies to TGFβ1,β2andβ3. LVH was produced in rats by aortic constriction (AC) and LV tissue was obtained at days (d)0, 1, 3, 7, 14, 21 and 42 following operation. Compared with age matched sham-operated controls (SH), TGFβ1levels in LV tissue of AC rats increased significantly from d1–d14 (P<0.03) concomitant with the adaptive growth of LV tissue. In contrast, TGFβ3levels decreased in LV tissue of AC rats from d3 post-operation (significant from d14–d42,P<0.03). No significant difference in TGFβ2levels were observed from SH and AC rats after operation. Antibodies to TGFβ1stained intercalated disks, sarcolemmal membranes and cytoplasm, but not nuclei, of cardiomyocytes on LV sections from untreated and SH rats. However, a trans-localisation of TGFβ1to the nuclei of cardiomyocytes was observed in AC hearts. Antibodies to TGFβ3stained T tubules, cytoplasm and the nuclei of cardiomyocytes from untreated and SH rats. However, by d7 post-AC operation, TGFβ3expression was lost rapidly from nuclei of cardiomyocytes followed by a reduction in total TGFβ3immunofluorescence in myocytes. Antibodies to TGFβ2stained sarcolemmal membranes of cardiomyocytes from both SH and AC rats without significant difference between groups. Thus, the differential pattern of protein expression and subcellular distribution of TGFβ1,β2andβ3in myocytes during the development of LVH suggests that these molecules play different roles in the response of cardiomyocytes to LVH.

Condition number estimates for combined potential integral operators in acoustics and their boundary element discretisation

We consider the classical coupled, combined-field integral equation formulations for time-harmonic acoustic scattering by a sound soft bounded obstacle. In recent work, we have proved lower and upper bounds on the $L^2$ condition numbers for these formulations, and also on the norms of the classical acoustic single- and double-layer potential operators. These bounds to some extent make explicit the dependence of condition numbers on the wave number $k$, the geometry of the scatterer, and the coupling parameter. For example, with the usual choice of coupling parameter they show that, while the condition number grows like $k^{1/3}$ as $k\to\infty$, when the scatterer is a circle or sphere, it can grow as fast as $k^{7/5}$ for a class of `trapping' obstacles. In this paper we prove further bounds, sharpening and extending our previous results. In particular we show that there exist trapping obstacles for which the condition numbers grow as fast as $\exp(\gamma k)$, for some $\gamma>0$, as $k\to\infty$ through some sequence. This result depends on exponential localisation bounds on Laplace eigenfunctions in an ellipse that we prove in the appendix. We also clarify the correct choice of coupling parameter in 2D for low $k$. In the second part of the paper we focus on the boundary element discretisation of these operators. We discuss the extent to which the bounds on the continuous operators are also satisfied by their discrete counterparts and, via numerical experiments, we provide supporting evidence for some of the theoretical results, both quantitative and asymptotic, indicating further which of the upper and lower bounds may be sharper.

Nuclear Dbf2-related protein kinases (NDRs) in isolated cardiac myocytes and the myocardium: activation by cellular stresses and by phosphoprotein serine-/threonine-phosphatase inhibitors

The nuclear Dbf2-related protein kinases 1 and 2 (NDR1/2) are closely-related AGC family kinases that are strongly conserved through evolution. In mammals, they are activated inter alia by phosphorylation of an hydrophobic domain threonine-residue [NDR1(Thr-444)/NDR2(Thr-442)] by an extrinsic protein kinase followed by autophosphorylation of a catalytic domain serine-residue [NDR1(Ser-281)/NDR2(Ser-282)]. We examined NDR1/2 expression and regulation in primary cultures of neonatal rat cardiac myocytes and in perfused adult rat hearts. In myocytes, transcripts for NDR2, but not NDR1, were induced by the hypertrophic agonist, endothelin-1. NDR1(Thr-444) and NDR2(Thr-442) were rapidly phosphorylated (maximal in 15-30 min) in myocytes exposed to some phosphoprotein Ser-/Thr-phosphatase 1/2 inhibitors (calyculin A, okadaic acid) and, to a lesser extent, by hyperosmotic shock, low concentrations of H(2)O(2), or chelerythrine. In myocytes adenovirally-transduced to express FLAG-NDR2 (which exhibited a mainly-cytoplasmic localisation), the same agents increased FLAG-NDR2 activity as assessed by in vitro protein kinase assays, indicative of FLAG-NDR2(Ser-282/Thr-442) phosphorylation. Calyculin A-induced phosphorylation of NDR1(Thr-444)/NDR2(Thr-442) and activation of FLAG-NDR2 were inhibited by staurosporine, but not by other protein kinase inhibitors tested. In ex vivo rat hearts, NDR1(Thr-444)/NDR2(Thr-442) were phosphorylated in response to ischaemia-reperfusion or calyculin A. From a pathological viewpoint, we conclude that activities of NDR1 and NDR2 are responsive to cytotoxic stresses in heart preparations and this may represent a previously-unidentified response to myocardial ischaemia in vivo.

A hydrogen-1 nuclear magnetic resonance, mass spectral and extended Hückel study of some olefin complexes of rhodium(I) and iridium(I) and the crystal and molecular structure of η4-2,4-dimethylpenta-1,4-diene(η5-formylcyclopentadienyl)rhodium(I)

A 1H NMR study of monosubstituted η-cyclopentadienyl-rhodium(I) complexes of type LLRh(C5H4X) and -iridium(I) complexes of type L2Ir(C5H4X) (L = ethene, LL = 1,3- or 1,5-diolefin; X = C(C6H5)3, CHO, or COOCH3) has been carried out. For complexes of both metals in which the neutral ligand is ethene or a non-conjugated diolefin the NMR spectra of the cyclopentadienyl protons are unusual in that H(2), H(5) resonate to high field either at room temperature or below. The corresponding NMR spectra for the cyclopentadienyl ring protons of complexes where the neutral ligand is a conjugated diene are, with one exception, normal. A single crystal X-ray structural analysis of (η4-2,4-dimethylpenta-1,4-diene)(η5-formylcyclopentadienyl)rhodium(I) (which exhibits an abnormal 1H NMR spectrum) reveals substantial localisation of electron density in the C(3)C(4) Cp ring bond (1.283(33) Å) which may be consistent with a contribution from an ‘allyl-ene’ rotamer to the ring—metal bonding scheme. An extended Hückel calculation with self consistent charge iteration was performed on this complex. The results predict a greater Mulliken overlap population for the C(3)C(4) bond in the cyclopentadienyl ring and show that the localisation is dependent on both the Cp ring substituent and the nature of the diolefin. The mass spectral fragmentation patterns of some representative diene complexes of iridium(I) and rhodium(I) are presented.

A novel, non-canonical mechanism of regulation of MST3 (mammalian Sterile20-related kinase 3)

The canonical pathway of regulation of the germinal centre kinase (GCK) III subgroup member, mammalian Sterile20-related kinase 3 (MST3), involves a caspase-mediated cleavage between N-terminal catalytic and C-terminal regulatory domains with possible concurrent autophosphorylation of the activation loop MST3(Thr178-), induction of Ser-/Thr-protein kinase activity and nuclear localisation. We identified an alternative ‘non-canonical’ pathway of MST3 activation (regulated primarily through dephosphorylation) which may also be applicable to other GCKIII (and GCKVI) subgroup members. In the basal state, inactive MST3 co-immunoprecipitated with the Golgi protein, GOLGA2/gm130. Activation of MST3 by calyculin A (a protein Ser-/Thr- phosphatase 1/2A inhibitor) stimulated (auto)phosphorylation of MST3(Thr178-) in the catalytic domain with essentially simultaneous cis-autophosphorylation of MST3(Thr328-) in the regulatory domain, an event also requiring the MST3(341-376) sequence which acts as a putative docking domain. MST3(Thr178-) phosphorylation increased MST3 kinase activity but this activity was independent of MST3(Thr328-) phosphorylation. Interestingly, MST3(Thr328-) lies immediately C-terminal to a STRAD pseudokinase-like site recently identified as being involved in binding of GCKIII/GCKVI members to MO25 scaffolding proteins. MST3(Thr178- /Thr328-) phosphorylation was concurrent with dissociation of MST3 from GOLGA2/gm130 and association of MST3 with MO25, and MST3(Thr328-) phosphorylation was necessary for formation of the activated MST3-MO25 holocomplex.