Adaptation of a Gaussia princeps Luciferase reporter system in Candida albicans for in vivo detection in the Galleria mellonella infection model.

For the past 10 years, mini-host models and in particular the greater wax moth Galleria mellonella have tended to become a surrogate for murine models of fungal infection mainly due to cost, ethical constraints and ease of use. Thus, methods to better assess the fungal pathogenesis in G. mellonella need to be developed. In this study, we implemented the detection of Candida albicans cells expressing the Gaussia princeps luciferase in its cell wall in infected larvae of G. mellonella. We demonstrated that detection and quantification of luminescence in the pulp of infected larvae is a reliable method to perform drug efficacy and C. albicans virulence assays as compared to fungal burden assay. Since the linearity of the bioluminescent signal, as compared to the CFU counts, has a correlation of R(2) = 0.62 and that this method is twice faster and less labor intensive than classical fungal burden assays, it could be applied to large scale studies. We next visualized and followed C. albicans infection in living G. mellonella larvae using a non-toxic and water-soluble coelenterazine formulation and a CCD camera that is commonly used for chemoluminescence signal detection. This work allowed us to follow for the first time C. albicans course of infection in G. mellonella during 4 days.

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Epäpuhtauksien optinen laskenta sulpusta

Työn tarkoituksena oli hakea mittausjärjestelmän raja-arvoja optiselle kamerapohjaiselle roskalaskentajärjestelmälle sekä testata roskalaskentajärjestelmän toimivuus käytännössä. Tavoitteena oli tuotteistaa kamerapohjainen roskalaskenta-analyysi palvelutuotteeksi, jota voitaisiin hyödyntää sihtien kuntokartoituksessa ja ongelmanratkaisuvälineenä. Teoriaosa koostui kahdesta kokonaisuudesta: sulpun epäpuhtauksista, roskalaskennan teoriasta ja epäpuhtauksien mittausmenetelmistä sekä markkinoinnista, tuotteistamis- ja lanseerausprosessista palvelutuotteen näkökulmasta. Kokeellisessa osassa selvitettiin kamerapohjaiseen roskalaskentaanalyysiin vaikuttavia tekijöitä: kameran tarkennus, kuvan terävyys, analysoitavan arkin väri, neliömassa ja roskapitoisuus, impregnointi, valonlähde, kuvan muokkaus, tiedostomuoto ja pikselimäärä. Kamerapohjaisen roskalaskenta-analyysin soveltuvuus käytäntöön testattiin tehdasesimerkin avulla. Havaittiin, että kamerapohjaista roskalaskenta-analyysiä voitaisiin käyttää lähes kaikille massatyypeille. Työssä määriteltiin kalibrointimenetelmä kameran tarkentamiseksi arkin tasoon sekä suljinnopeusanalyysi massatyypistä riippuvan suljinnopeuden selvitykseen. Kamerapohjaisessa roskalaskenta-analyysissä määritettiin käytettäväksi arkin neliömassana 60 g/m2, suljinaukkoa F5 ja terävyysasetusta 5. Tulokseksi saatiin, että analysoitavia arkkeja ei tarvitse impregnoida tai jälkikäsitellä. Korrelaatiota Somerville-erotustehokkuuteen ei löytynyt. Esimerkkitehtaasta selvitettiin primääriportaan roskapitoisuudet ja erotustehokkuudet. Tehdasesimerkin tulosten perusteella havaittiin happivaiheen ja D0-vaiheen olleen tehokkaimpia epäpuhtauksien poistajia.

OLED-teknologia silmänäytössä ja linssiokulaarin korvaaminen muoviprismalla

Tämä diplomityö esittelee monikäyttöisen kamerajärjestelmän, mikä on pääsääntöisesti tarkoitettu valovahvistimen perään integroitavaksi. Tarkoituksena on parantaa sotilaan pimeätoimintakykyä ja urbaanissa ympäristössä operointia. Järjestelmän yhtenä moduulina on silmänäyttö, joka perustuu itse-emittoivaan orgaaniseen LED-näyttöelementtiin ja perinteiseen okulaarioptiikkaan. Työssä tutustutaan näyttöelementin teknologiaan, sen mahdollisiin rajoituksiin sekä selvitetään optisilla mittauksilla, voitaisiinko konventionaalinen linssiokulaari korvata muovisella prismaokulaarilla. Tämä mahdollistaisi pienemmän ja kevyemmän silmänäytön kehittämisen, mikä parantaisi kamerajärjestelmän käytettävyyttä ja kilpailukykyä.

Sistema de vídeo vigilancia IP

El proyecto "IP-VideoSurveillance" es un proyecto de fin de carrera con documentación y código fuente en C# (VS 2010 .NET). Su función básica es poder ser utilizado como programa para la monitorización de cámaras IP (en red) o locales (físicamente conectadas).

A broadband leptonic model for gamma-ray emitting microquasars

Observational and theoretical studies point to microquasars (MQs) as possible counterparts of a significant fraction of the unidentified gamma-ray sources detected so far. At present, a proper scenario to explain the emission beyond soft X-rays from these objects is not known, nor what the precise connection is between the radio and the high-energy radiation. We develop a new model where the MQ jet is dynamically dominated by cold protons and radiatively dominated by relativistic leptons. The matter content and power of the jet are both related with the accretion process. The magnetic field is assumed to be close to equipartition, although it is attached to and dominated by the jet matter. For the relativistic particles in the jet, their maximum energy depends on both the acceleration efficiency and the energy losses. The model takes into account the interaction of the relativistic jet particles with the magnetic field and all the photon and matter fields. Such interaction produces significant amounts of radiation from radio to very high energies through synchrotron, relativistic Bremsstrahlung, and inverse Compton (IC) processes. Variability of the emission produced by changes in the accretion process (e.g. via orbital eccentricity) is also expected. The effects of the gamma-ray absorption by the external photon fields on the gamma-ray spectrum have been taken into account, revealing clear spectral features that might be observed. This model is consistent to the accretion scenario, energy conservation laws, and current observational knowledge, and can provide deeper physical information of the source when tested against multiwavelength data.

Non-thermal emission from microquasar/ISM interaction

Context. The interaction of microquasar jets with their environment can produce non-thermal radiation as in the case of extragalactic outflows impacting on their surroundings. Significant observational evidence of jet/medium interaction in galactic microquasars has been collected in the past few years, although little theoretical work has been done regarding the resulting non-thermal emission. Aims. In this work, we investigate the non-thermal emission produced in the interaction between microquasar jets and their environment, and the physical conditions for its production. Methods. We developed an analytical model based on those successfully applied to extragalactic sources. The jet is taken to be a supersonic and mildly relativistic hydrodynamical outflow. We focus on the jet/shocked medium structure in its adiabatic phase, and assume that it grows in a self-similar way. We calculate the fluxes and spectra of the radiation produced via synchrotron, inverse Compton, and relativistic bremsstrahlung processes by electrons accelerated in strong shocks. A hydrodynamical simulation is also performed to investigate further the jet interaction with the environment and check the physical parameters used in the analytical model. Results. For reasonable values of the magnetic field, and using typical values of the external matter density, the non-thermal particles could produce significant amounts of radiation at different wavelengths, although they do not cool primarily radiatively, but by adiabatic losses. The physical conditions of the analytical jet/medium interaction model are consistent with those found in the hydrodynamical simulation. Conclusions. Microquasar jet termination regions could be detectable at radio wavelengths for current instruments sensitive to ~arcminute scales. At X-ray energies, the expected luminosities are moderate, although the emitter is more compact than the radio one. The source may be detectable by XMM-Newton or Chandra, with 1-10 arcsec of angular resolution. The radiation at gamma-ray energies may be within the detection limits of the next generation of satellite and ground-based instruments.

On the interplay between Q^2 and t dependence in exclusive diffractive production of real photons and vector mesons in ep collisions

We show how the familiar phenomenological way of combining the Q2 (photon virtuality) and t (squared momentum transfer) dependences of the scattering amplitude in Deeply Virtual Compton Scattering (DVCS) [1, 2] and Vector Meson Production (VMP) [2] processes can be understood in an off-mass-shell generalization of dual amplitudes with Mandelstam analyticity [3]. By comparing different approaches, we managed also to constrain the numerical values of the free parameters.

Performance Evaluation and Calibration of Machine Vision Measurement

This thesis presents the calibration and comparison of two systems, a machine vision system that uses 3 channel RGB images and a line scanning spectral system. Calibration. is the process of checking and adjusting the accuracy of a measuring instrument by comparing it with standards. For the RGB system self-calibrating methods for finding various parameters of the imaging device were developed. Color calibration was done and the colors produced by the system were compared to the known colors values of the target. Software drivers for the Sony Robot were also developed and a mechanical part to connect a camera to the robot was also designed. For the line scanning spectral system, methods for the calibrating the alignment of the system and the measurement of the dimensions of the line scanned by the system were developed. Color calibration of the spectral system is also presented.

Sistema d'adquisició de temperatures de 2 canals via R.F.

Poder mesurar i enregistrar diferents tipus de magnituds com pressió, força, temperatura etc. s’ha convertit en una necessitat per moltes aplicacions actuals. Aquestes magnituds poden tenir procedències molt diverses, tals com l’entorn, o poden ser generades per sistemes mecànics, elèctrics, etc. Per tal de poder adquirir aquestes magnituds, s’utilitzen els sistemes d’adquisició de dades. Aquests sistemes, prenen mostres analògiques del món real, i les transformen en dades digitals que poden ser manipulades per un sistema electrònic. Pràcticament qualsevol magnitud es pot mesurar utilitzant el sensor adient. Una magnitud molt utilitzada en sistemes d’adquisició de dades, és la temperatura. Els sistemes d’adquisició de temperatures estan molt generalitzats, i podem trobar-los com a sistemes, on l’objectiu és mostrar les dades adquirides, o podem trobar-los formant part de sistemes de control, aportant uns inputs necessaris per el seu correcte funcionament, garantir-ne l’estabilitat, seguretat etc. Aquest projecte, promogut per l’empresa Elausa, s’encarregarà d’adquirir, el senyal d’entrada de 2 Termoparells. Aquests mesuraran temperatures de circuits electrònics, que es trobaran dintre la càmera climàtica de Elausa, sotmesos a diferents condicions de temperatura, per tal de rebre l’homologació del circuit. El sistema haurà de poder mostrar les dades adquirides en temps real, i emmagatzemar-les en un PC que estarà ubicat en una oficina, situada a uns 30 m de distància de la sala on es farà el test. El sistema constarà d’un circuit electrònic que adquirirà, i condicionarà el senyal de sortida dels termoparells, per adaptar-lo a la tensió d’entrada d’un convertidor analògic digital, del microcontrolador integrat en aquesta placa. Seguidament aquesta informació, s’enviarà a través d’un mòdul transmissor de radiofreqüència, cap al PC on es visualitzaran les dades adquirides. Els objectius plantejats són els següents: - Dissenyar el circuit electrònic d’adquisició i condicionament del senyal. - Dissenyar, fabricar i muntar el circuit imprès de la placa d’adquisició. - Realitzar el programa de control del microcontrolador. - Realitzar el programa per presentar i desar les dades en un PC. - El sistema ha d’adquirir 2 temperatures, a través de Termoparells amb un rang d’entrada de -40ºC a +240ºC - S’ha de transmetre les dades via R.F. Els resultats del projecte han estat satisfactoris i s’han complert els objectius plantejats.

Anàlisi d'imatges estereoscòpiques utilitzant mètodes de baixa càrrega computacional

Mitjançant imatges estereoscòpiques es poden detectar la posició respecte de la càmera dels objectes que apareixen en una escena. A partir de les diferències entre les imatges captades pels dos objectius es pot determinar la profunditat dels objectes. Existeixen diversitat de tècniques de visió artificial que permeten calcular la localització dels objectes, habitualment amb l’objectiu de reconstruir l’escena en 3D. Aquestes tècniques necessiten una gran càrrega computacional, ja que utilitzen mètodes de comparació bidimensionals, i per tant, no es poden utilitzar per aplicacions en temps real. En aquest treball proposem un nou mètode d’anàlisi de les imatges estereoscòpiques que ens permeti obtenir la profunditat dels objectes d’una escena amb uns resultats acceptables. Aquest nou mètode es basa en transformar la informació bidimensional de la imatge en una informació unidimensional per tal de poder fer la comparació de les imatges amb un baix cost computacional, i dels resultats de la comparació extreure’n la profunditat dels objectes dins l’escena. Això ha de permetre, per exemple, que aquest mètode es pugui implementar en un dispositiu autònom i li permeti realitzar operacions de guiatge a través d’espais interiors i exteriors.

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Animal sound : què se sent quan s’és una cabra?

Aquest projecte treballa sobre la possibilitat d'aplicar tècniques d'enregistrament binaural en animals, en concret, en una cabra domèstica. Mitjançant uns micròfons col·locats dins les seves orelles i una petita càmera de vídeo muntada sobre el seu cap, s'obté un material audiovisual que permet fer-se una idea aproximada de com és la seva percepció del món. En base a un estudi de cognició comparada, es pretén trobar maneres de transformar els enregistraments obtinguts per tal d'adaptar el marc psicoacústic humà al de l'animal. L'objectiu és que una persona pugui sentir com ho fa un animal, encara que sigui d'una manera aproximada. Els materials obtinguts al llarg dels enregistraments són el punt de partida per a la construcció de paisatges sonors i peces audiovisuals diverses. Així doncs, el treball s'inicia amb el disseny i construcció d'un micròfon binaural, continua amb enregistraments de camp en animals i acaba amb l'edició, el processat i la composició dels paisatges sonors finals.

Photometric procedure for quantitative analysis of Aflatoxin B1 in peanuts by thin-layer chromatography using charge coupled device detector

A photometric procedure was developed for determination of aflatoxin B1 in peanuts by TLC-CCD technique. The quantification and detection limit were 1.2 μg kg-1 and 0.4 ng per spot, respectively, with mean recovery of 98%. The CCD camera is sufficiently sensitive to detect small changes in spots fluorescence intensity and the results for performance confirmed the efficiency of the method. Another important property of CCD detector is its linearity for a wide range of luminous stimulus determined by analysis of five-point calibration curves using the intensity of AFB1 fluorescence versus AFB1 concentration (0.8 to 4.8 ng per spot). The method was applied to the analysis of thirty nine peanut samples and aflatoxin B1 levels ranged from 16 to 115 μg kg-1. The TLC-CCD and the photometric procedure developed in this study demonstrated to be a simple and efficient tool for quantitative analyses of AFB1 in peanut samples.

Avaliação de dispositivos de captura de imagens digitais para detecção colorimétrica em microzonas impressas

This report describes a study about the feasibility of using a conventional digital camera, a cell-phone camera, an optical microscope, and a scanner as digital image capture devices on printed microzones. An array containing nine circular zones was drawn using graphics software and printed onto transparency film by a laser printer. Due to its superior analytical performance, the scanner was chosen for the quantitative determination of Fe2+ in pharmaceutical samples. The data achieved using scanned images did not differ statistically from those attained by the reference spectrophotometric method at the confidence level of 0.05.