On Probabilistic Strategies for Robot Tasks

Robots must act purposefully and successfully in an uncertain world. Sensory information is inaccurate or noisy, actions may have a range of effects, and the robot's environment is only partially and imprecisely modeled. This thesis introduces active randomization by a robot, both in selecting actions to execute and in focusing on sensory information to interpret, as a basic tool for overcoming uncertainty. An example of randomization is given by the strategy of shaking a bin containing a part in order to orient the part in a desired stable state with some high probability. Another example consists of first using reliable sensory information to bring two parts close together, then relying on short random motions to actually mate the two parts, once the part motions lie below the available sensing resolution. Further examples include tapping parts that are tightly wedged, twirling gears before trying to mesh them, and vibrating parts to facilitate a mating operation.

Búsqueda de selección en el polimorfismo 677C>T (c.665C>T) del gen de la metilentetrahidrofolato reductasa (MTHFR) en una población Colombiana

Se realizó un estudio genético – poblacional en dos grupos etarios de población colombiana con la finalidad de evaluar las diferencias genéticas relacionadas con el polimorfismo MTHFR 677CT en busca de eventos genéticos que soporten la persistencia de este polimorfismo en la especie humana debido que este ha sido asociado con múltiples enfermedades. De esta manera se genotipificaron los individuos, se analizaron los genotipos, frecuencias alélicas y se realizaron diferentes pruebas genéticas-poblacionales. Contrario a lo observado en poblaciones Colombianas revisadas se identificó la ausencia del Equilibrio Hardy-Weinberg en el grupo de los niños y estructuras poblacionales entre los adultos lo que sugiere diferentes historias demográficas y culturales entre estos dos grupos poblacionales al tiempo, lo que soporta la hipótesis de un evento de selección sobre el polimorfismo en nuestra población. De igual manera nuestros datos fueron analizados junto con estudios previos a nivel nacional y mundial lo cual sustenta que el posible evento selectivo es debido a que el aporte de ácido fólico se ha incrementado durante las últimas dos décadas como consecuencia de las campañas de fortificación de las harinas y suplementación a las embarazadas con ácido fólico, por lo tanto aquí se propone un modelo de selección que se ajusta a los datos encontrados en este trabajo se establece una relación entre los patrones nutricionales de la especie humana a través de la historia que explica las diferencias en frecuencias de este polimorfismo a nivel espacial y temporal.  

Prevalencia de enfermedad celiaca en Latinoamérica: revisión sistemática de la literatura y meta-análisis

Introducción: La enfermedad celiaca (EC) es una enfermedad autoinmune (EA) intestinal desencadenada por la ingesta de gluten. Por la falta de información de la presencia de EC en Latinoamérica (LA), nosotros investigamos la prevalencia de la enfermedad en esta región utilizando una revisión sistemática de la literatura y un meta-análisis. Métodos y resultados: Este trabajo fue realizado en dos fases: La primera, fue un estudio de corte transversal de 300 individuos Colombianos. La segunda, fue una revisión sistemática y una meta-regresión siguiendo las guías PRSIMA. Nuestros resultados ponen de manifiesto una falta de anti-transglutaminasa tisular (tTG) e IgA anti-endomisio (EMA) en la población Colombiana. En la revisión sistemática, 72 artículos cumplían con los criterios de selección, la prevalencia estimada de EC en LA fue de 0,46% a 0,64%, mientras que la prevalencia en familiares de primer grado fue de 5,5 a 5,6%, y en los pacientes con diabetes mellitus tipo 1 fue de 4,6% a 8,7% Conclusión: Nuestro estudio muestra que la prevalencia de EC en pacientes sanos de LA es similar a la notificada en la población europea.

Utilidad de las relaciones estratégicas comunitarias y el marketing en la administración de negocios con clientes corporativos

Este trabajo de grado propone identificar la utilidad de las relaciones estratégicas comunitarias y el marketing en la administración de negocios con clientes corporativos, también se toman en cuenta conceptos como el marketing organizacional y relacional, estos conceptos ayudan en la investigación a determinar relaciones estratégicas entre las empresas, y el beneficio que estas le generan a las corporaciones; para así fomentar la implementación de estas estrategias en a las empresas a nivel nacional e internacional, así mismo, identificar el concepto de comunidad que tienen los clientes corporativos y como este concepto se puede adaptar al entorno que los rodea. Con el fin de entender las funciones y características de un cliente corporativo, así como su comportamiento, los objetivos específicos de la investigación son describir las estrategias de marketing en la administración de negocios con clientes corporativos, determinar si existe el concepto de comunidad en la administración de negocios con clientes corporativos y determinar si se utilizan relaciones estratégicas comunitarias en la administración de negocios con clientes corporativos. La metodología que se planteó usar fue teórica-conceptual, teniendo en cuenta el marketing y las relaciones estratégicas comunitarias de los clientes corporativos. Llevando la investigación al ámbito de la gerencia y dirección, los resultados que se obtuvieron gracias a la investigación, ayudaran a potenciar la dirección de las empresas, donde se evalué la verdadera utilidad de las estrategias basadas en las relaciones comunitarias y marketing en los negocios con clientes corporativos. Las estrategias comunitarias y el marketing influencian de manera directa las relaciones de las compañias con sus clientes corporativos, debido a que marketing nos permite extender la relación y generar una utilidad a futuro entre ambas partes. De la investigación se concluye que las empresas que logran crear estrategias comunitarias y relaciones estrechas entre ellas, tienden a tener mejores utilidades en el largo plazo y ser empresas más sostenibles.

L'oviparisme en la família Scorpaenidae (Pisces: Scorpaeniformes)

En aquest treball de tesi doctoral es descriu l'estructura gonadal, gametogènesi i cicle anual de Scorpaena porcus, S. scrofa i S. elongata per tal d'aprofundir en el coneixement dels diferents graus d'especialització dins l'oviparisme en peixos. Es pretén fer èmfasi en aquells trets inusuals que difereixen del què s'ha descrit fins ara per la majoria de les espècies ovípares de teleostis, i relacionar-los amb l'estratègia reproductiva de les espècies que els presenten El mostreig s'ha dut a terme de forma intensiva entre l'any 2000 i 2002, tot i que s'ha continuat recol·lectant mostres fins a l'agost de 2004, amb més o menys freqüència segons la necessitat. En total s'han obtingut 258 exemplars de S. porcus, 119 de S. scrofa i 46 de S. elongata. S'ha pogut veure com S. porcus, S. scrofa i S. elongata són espècies ovípares ovulípares especialitzades, ja que la seva estructura ovàrica presenta tot una sèrie de trets molt particulars i poc comuns a la resta de peixos ovípars estudiats fins ara: posició central del raquis musculo-connectiu que es troba envoltat completament pel lumen i la paret ovàrica; presència de peduncles en oòcits en fase de creixement secundari; escassetat i mida petita dels alvèols corticals; poc gruix de la zona radiata; i secreció d'una massa gelatinosa que engloba els ous en el moment de la posta. Totes aquestes característiques també s'han observat en Scorpaena notata, suggerint que l'especialització de l'oviparisme ovulípar es dóna en tot el gènere Scorpaena. L'estructura testicular i l'espermatogènesi d'aquestes espècies també és força particular. Per una banda els testicles són del tipus lobular no-restringit, tot i que presenten algunes característiques com la ordenació parcial dels cists segons l'estadi de maduració de les cèl·lules germinals que contenen i l'absència de lumen central, que actualment només s'ha observat en testicles del tipus lobular restringit de les espècies de la sèrie Aterinomorpha. Per l'altre banda, l'espermatogènesi és del tipus semicística, és a dir, els cists s'obren abans d'acabar tot el procés i les cèl·lules germinals s'acaben de desenvolupar a la llum del lòbul fins a espermatozoides. La posta d'aquestes espècies és múltipla i constisteix en una massa gelatinosa d'ous pelàgica, que en el cas de S. porcus s'alliberen entre els mesos de juny i agost, i en S. scrofa, a partir del mes de juliol. S'ha relacionat la presència d'aquesta massa amb un aparellament mascle-femella, de manera que el mascle alliberaria l'esperma directament sobre la massa d'ous, assegurant així la fartilització total dels mateixos.

Equine conceptus development : a mini review

Many aspects of early embryonic development in the horse are unusual or unique; this is of scientific interest and, in some cases, considerable practical significance. During early development the number of different cell types increases rapidly and the organization of these increasingly differentiated cells becomes increasingly intricate as a result of various inter-related processes that occur step-wise or simultaneously in different parts of the conceptus (i.e., the embryo proper and its associated membranes and fluid). Equine conceptus development is of practical interest for many reasons. Most significantly, following a high rate of successful fertilization (71-96%) (Ball, 1988), as many as 30-40% of developing embryos fail to survive beyond the first two weeks of gestation (Ball, 1988), the time at which gastrulation begins. Indeed, despite considerable progress in the development of treatments for common causes of sub-fertility and of assisted reproductive techniques to enhance reproductive efficiency, the need to monitor and rebreed mares that lose a pregnancy or the failure to produce a foal, remain sources of considerable economic loss to the equine breeding industry. Of course, the potential causes of early embryonic death are numerous and varied (e.g. persistent mating induced endometritis, endometrial gland insufficiency, cervical incompetence, corpus luteum (CL) failure, chromosomal, genetic and other unknown factors (LeBlanc, 2004). However, the problem is especially acute in aged mares with a history of poor fertility in which the incidence of embryonic loss between days 2 and 14 after ovulation has been reported to reach 62-73%, and in which embryonic death is due primarily to embryonic defects rather than to uterine pathology (Ball et al., 1989; Carnevale & Ginther, 1995; Ball, 2000).

Avaliação da taxa de fertilidade em éguas da raça puro sangue lusitano : efeito da idade da égua e do tipo de cobrição (cobrição natural vs inseminação artificial)

Ao longo dos meses de estágio acompanhei diversos procedimentos médicos veterinários, sendo que a maior parte deles diziam respeito à área da reprodução equina. A Raça Puro Sangue Lusitano (PSL) é a mais importante raça portuguesa autóctone de equinos. Contudo, não existem muitos estudos no que respeita à sua eficiência reprodutiva. Este trabalho pretende fazer um estudo sobre o efeito da idade da égua e do tipo de cobrição (natural e inseminação artificial - IA) na taxa de fertilidade de éguas PSL, através do cálculo das diferentes taxas de gestação. Neste estudo, verificou-se que a percentagem de éguas gestantes no final da época reprodutiva foi de 90%, encontrando-se dentro dos valores esperados (71% - 96%). Os dados foram recolhidos durante a época reprodutiva de 2011/2012 e permitiram-me elaborar um estudo retrospectivo para melhor perceber a prática do maneio reprodutivo equino e a influência de alguns parâmetros na taxa de fertilidade das éguas. Relativamente aos diferentes tipos de sémen, verificou-se que a taxa de fertilidade em éguas cobertas por cobrição natural (n=14) foi de 78,6% e por IA (n=36) foi de 94,4%, resultado que se situa dentro dos valores esperados. No que respeita à IA, a taxa de fertilidade com sémen fresco (n=16) foi de 93,8%, com sémen refrigerado (n=19) foi de 94,7% e com sémen congelado (n=1) foi de 100%. Os valores para sémen fresco e refrigerado encontram-se dentro do esperado, sendo que para sémen congelado este é muito superior aos valores reportados na bibliografia, visto ser o tipo de sémen com menores taxas de fertilidade. Este facto deve-se, provavelmente, à dimensão da amostra, e ao facto de o sémen congelado ser de elevada qualidade. Neste estudo verificamos também que não há relação estatística entre a idade das éguas e a taxa de gestação, contrariamente ao que é referido na bibliografia, o que se deverá provavelmente ao tamanho da amostra (n=50).

A heterologous expression system for bovine lens transmembrane main intrinsic protein (MIP) in Nicotiana tabacum plants

We have developed a heterologous expression system for transmembrane lens main intrinsic protein (MIP) in Nicotiana tabacum plant tissue. A native bovine MIP26 amplicon was subcloned into an expression cassette under the control of a constitutive Cauliflower Mosaic Virus promoter, also containing a neomycin phosphotransferase operon. This cassette was transformed into Agrobacterium tumefaciens by triparental mating and used to infect plant tissue grown in culture. Recombinant plants were selected by their ability to grow and root on kanamycin-containing media. The presence of MIP in the plant tissues was confirmed by PCR, RT-PCR and immunohistochemistry. A number of benefits of this system for the study of MIP will be discussed, and also its application as a tool for the study of heterologously expressed proteins in general.

The effect of paddock size on the response of seasonal anoestrous ewes to the ram effect

Many aspects of the conditions required to maximize the ewe's response to ram introduction in the late anoestrous season remain unclear. The aim of this research was to determine whether grazing space allowances could influence the efficacy of the ram effect. In August 1995, at Reading (latitude 51degrees27'N), following a 3-month isolation period from rams, two groups of nulliparous Mule ewes, aged 15 months, were introduced to four rains in a low (12 ewes/ha; treatment L, n = 124) or in a high stocking rate (84 ewes/ha; treatment H, n = 126). From the beginning of August until the end of August oestrous behaviour was recorded by daily checks of mating marks on ewes. Rams were removed and in October all ewes were scanned (day 50) for pregnancy. No significant differences were found in the parameters investigated. Eighty-two percent of the L and 75.4% of the H ewes exhibited oestrus, with a pronounced peak on day 23 following ram introduction and a compact concentration in the 21-25-day period. The oestrous synchronisation rate in this 5-day period was 69.4 and 68.3%, respectively for L and H. The mean interval from ram introduction to oestrus was 23.17+/-2.4 days in L and 23.0+/-2.2 days in the H group. Conception rates were 84.3 and 87.4% for L and H groups, respectively. These results suggest that the response of anoestrous ewes to the introduction of rams was not affected by grazing space allowances and that yearling Mule ewes respond well to the ram effect in the late anoestrus season. (C) 2003 Elsevier Science B.V. All rights reserved.

Behavioral changes associated with a population density decline in the facultatively social red fox

Understanding the causal mechanisms promoting group formation in carnivores has been widely investigated, particularly how fitness components affect group formation. Population density may affect the relative benefits of natal philopatry versus dispersal. Density effects on individual behavioral strategies have previously been studied through comparisons of different populations, where differences could be confounded by between-site effects. We used a single population of red foxes (Vulpes vulpes) in the city of Bristol, UK, that underwent a natural perturbation in density to compare key changes in 1) group structure, 2) within-group relatedness, 3) mating system, 4) dispersal, and 5) dominance attainment. At high densities (19.6-27.6 adults km(-2)), group sex ratios were equal and included related and unrelated individuals. At low densities (4.0-5.5 adults km(-2)), groups became female biased and were structured around philopatric females. However, levels of within-group relatedness were unchanged. The genetic mating patterns changed with no instances of multiple-paternity litters and a decline in the frequency of extrapair litters of cubs from <= 77% to <= 38%. However, the number of genetically monogynous groups did not differ between periods. Dispersal was male biased at both high and low densities. At high density, most dominant males in the study groups appeared to have gained dominance after dispersing, but natal philopatry was an equally successful strategy at low density; conversely, most dominant females were philopatric individuals at both high and low densities. These results illustrate how density may alter behavioral strategies such as mating patterns and how this, in turn, alters group structure in a single population.

Male morphology and dishonest signalling in a fig wasp

Despite theoretical predictions, dishonest signalling has rarely been observed in aggressive interactions. We present evidence of such signalling in the nonpollinating. g wasp Philotrypesis sp. A ex Ficus rubiginosa. First, morphometric data indicated that an alternative 'atypical' male morph (17.8% of individuals) exists that tends to be larger in body size and has longer mandibles for a given body size than other 'typical' males. Second, behavioural observations suggested that males use mandible gape width (which depends on mandible length) as a cue to assess opponents before fights and retreat without escalating if they are unlikely to win, and, probably because their greater mandible gape width causes more opponents to retreat without escalating, that atypical males engaged in fewer fights than typical males for a given body size but had higher mating success. Third, atypical males were less likely to win fights than typical males of similar mandible length relative to opponents. In addition, we found that atypical males incur more injuries (greater receiver-dependent signal costs) than typical males of similar body size relative to rivals. We discuss the implications of our findings for future work on dishonest signalling. (C) 2009 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

The long-term effect of active immunization against inhibin in goats

This experiment addresses the long-term effect of active immunization of goats against a recombinant ovine inhibin alpha subunit (roIHN-alpha). In late anestrus 100 mu g of roINH-alpha was administered to 40 pluriparous Boer goat does, followed, 4 weeks later, by a booster injection. Weekly blood samples were drawn to monitor the inhibin binding capacity with the aid of a radio-tracer binding assay. From the onset until 48 h after the end of each estrus, follicular development and ovulation rate were monitored at 24 h intervals by transrectal ultrasonography. Beginning in August and continuing into January, does were mated at every other estrus, and submitted to transcervical embryo collection. Seven months after the first immunization, the does were mated again and permitted to carry to term. All immunized does produced inhibin antibodies, an elevated titre being first detected 2 weeks after primary immunization. Maximum titres were reached after 6 weeks, i.e. 2 weeks after the booster injection. Thereafter, in the course of the following 32 weeks, the titre subsided gradually. The does started cycling by mid-August. At that stage the average number of follicles more than 4 mm in diameter, ovulations and total embryos and ova recovered were 14.7 (+/- 2.3), 5.3 (+/- 0.7) and 4.4 (+/- 1.0), respectively. A steady decline followed and in January the corresponding means were: 5.2 (+/- 0.6) follicles, 3.1 (+/- 0.6) ovulations and 1.2 (+/- 0.4) embryos and ova recovered. When mated toward the end of the breeding season, 85% of the does became pregnant to the first mating and 73% went to term. Healthy kids were born, the average litter size being 2.2 (+/- 0.1). In conclusion, immunization of goats against a recombinant inhibin alpha-subunit proved to be a practicable means of producing embryos for transfer purposes. After about half a year, when the inhibin antibody titre has subsided, it is possible to return the does to the breeding flock without risking complications with normal breeding activity. (c) 2009 Elsevier Inc. All rights reserved.

Sperm competition and the evolution of testes size in terrestrial mammalian carnivores

Summary Understanding the factors influencing variation in the degree of sperm competition is a key question underlying the mechanisms driving sexual conflict. Previous behavioural and comparative studies have indicated that carnivores appear to have evolved under sperm competition but an analysis of the predictors of the level of sperm competition is missing. In this study, we use phylogenetic comparative methods to investigate life-history parameters predicted to affect the degree of sperm competition in terrestrial carnivores using variation in relative testes size (RTS, after controlling for body size allometry) as a measure of the level of sperm competition. Due to a paucity of consistent data across taxa, we used three measures of RTS: testes mass (n = 40 species), testes and epididymes mass combined (n = 38), and testes volume (n = 48). We also created a derived data set (n = 79) with testes mass estimated from regression analyses on the other measures of testes size. Carnivores with shorter mating seasons had relatively larger testes, consistent with the hypothesis that sperm competition is greater when the degree of female oestrous synchrony is high. This relationship was stronger in spontaneous versus induced ovulators, suggesting higher sperm competition levels in spontaneous ovulators. This is the first comparative study to show this within mammalian taxa. Neither social mating system nor reproductive lifespan were significantly associated with variation in RTS and hence are poor predictors of sperm competition levels. None of the above relationships were found to be significant for the testes and epididymes mass combined data set, but our understanding of the role of the epididymis in sperm competition is too limited to draw any conclusions. Finally, we consistently found a significant phylogenetic signal in all analyses, indicating that phylogeny has played a significant role in the evolution of carnivore testes size and, therefore, in shaping levels of sperm competition. Our results shed new light into the factors affecting levels of sperm competition in terrestrial carnivores by showing that the degree of oestrous synchrony and ovulation type interact to predict variation in RTS.

Fighting strategies in two species of fig wasp

Although theory exists concerning the types of strategies that should be used in contests over resources, empirical work explicitly testing its predictions is relatively rare. We investigated male fighting strategies in two nonpollinating. g wasp species associated with Ficus rubiginosa figs. In Sycoscapter sp. A, males did not assess each other before or during fights over mating opportunities. Instead,fights continued until the loser reached an energetic cost threshold that was positively correlated with its body size (fighting ability) and retreated. In Philotrypesis sp. B, pre fight assessment was indicated, with males attacking competitively inferior rivals to remove them from the competitor pool ( they then continued to do so until they reached a cost threshold that was again positively correlated with body size). Using data on species ecology, we discuss our findings with respect to theory on when different fighting strategies should evolve. We argue that the type of strategy used by a. g wasp species is determined by its relative benefits in terms of inclusive fitness. (c) 2008 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

The automation and evaluation of nested clade phylogeographic analysis

Nested clade phylogeographic analysis (NCPA) is a popular method for reconstructing the demographic history of spatially distributed populations from genetic data. Although some parts of the analysis are automated, there is no unique and widely followed algorithm for doing this in its entirety, beginning with the data, and ending with the inferences drawn from the data. This article describes a method that automates NCPA, thereby providing a framework for replicating analyses in an objective way. To do so, a number of decisions need to be made so that the automated implementation is representative of previous analyses. We review how the NCPA procedure has evolved since its inception and conclude that there is scope for some variability in the manual application of NCPA. We apply the automated software to three published datasets previously analyzed manually and replicate many details of the manual analyses, suggesting that the current algorithm is representative of how a typical user will perform NCPA. We simulate a large number of replicate datasets for geographically distributed, but entirely random-mating, populations. These are then analyzed using the automated NCPA algorithm. Results indicate that NCPA tends to give a high frequency of false positives. In our simulations we observe that 14% of the clades give a conclusive inference that a demographic event has occurred, and that 75% of the datasets have at least one clade that gives such an inference. This is mainly due to the generation of multiple statistics per clade, of which only one is required to be significant to apply the inference key. We survey the inferences that have been made in recent publications and show that the most commonly inferred processes (restricted gene flow with isolation by distance and contiguous range expansion) are those that are commonly inferred in our simulations. However, published datasets typically yield a richer set of inferences with NCPA than obtained in our random-mating simulations, and further testing of NCPA with models of structured populations is necessary to examine its accuracy.