monitoring-based approach to object-oriented real-time computing

Monitoring, object-orientation, real-time, execution-time, scheduling

Multi-echo radial FLASH techniques for real-time MRI

Magdeburg, Univ., Fak. für Naturwiss., Diss., 2015

Planificación de aplicaciones best-effort y soft real-time en NOWs

La aparición de nuevos tipos de aplicaciones, como vídeo bajo demanda, realidad virtual y videoconferencias entre otras, caracterizadas por la necesidad de cumplir sus deadlines. Este tipo de aplicaciones, han sido denominadas en la literatura aplicaciones soft-real time (SRT) periódicas. Este trabajo se centra en el problema de la planificación temporal de este nuevo tipo de aplicaciones en clusters no dedicados.

Real time GPS precise positioning of LEO satellites

Report for the scientific sojourn at the German Aerospace Center (DLR) , Germany, during June and July 2006. The main objective of the two months stay has been to apply the techniques of LEO (Low Earth Orbiters) satellites GPS navigation which DLR currently uses in real time navigation. These techniques comprise the use of a dynamical model which takes into account the precise earth gravity field and models to account for the effects which perturb the LEO’s motion (such as drag forces due to earth’s atmosphere, solar pressure, due to the solar radiation impacting on the spacecraft, luni-solar gravity, due to the perturbation of the gravity field for the sun and moon attraction, and tidal forces, due to the ocean and solid tides). A high parameterized software was produced in the first part of work, which has been used to asses which accuracy could be reached exploring different models and complexities. The objective was to study the accuracy vs complexity, taking into account that LEOs at different heights have different behaviors. In this frame, several LEOs have been selected in a wide range of altitudes, and several approaches with different complexity have been chosen. Complexity is a very important issue, because processors onboard spacecrafts have very limited computing and memory resources, so it is mandatory to keep the algorithms simple enough to let the satellite process it by itself.

Scene classifier for real time road detection

L’objectiu principal del projecte és el de classificar escenes de carretera en funció del contingut de les imatges per així poder fer un desglossament sobre quin tipus de situació tenim en el moment. És important que fixem els paràmetres necessaris en funció de l’escenari en què ens trobem per tal de treure el màxim rendiment possible a cada un dels algoritmes. La seva funcionalitat doncs, ha de ser la d’avís i suport davant els diferents escenaris de conducció. És a dir, el resultat final ha de contenir un algoritme o aplicació capaç de classificar les imatges d’entrada en diferents tipus amb la màxima eficiència espacial i temporal possible. L’algoritme haurà de classificar les imatges en diferents escenaris. Els algoritmes hauran de ser parametritzables i fàcilment manejables per l’usuari. L’eina utilitzada per aconseguir aquests objectius serà el MATLAB amb les toolboxs de visió i xarxes neuronals instal·lades.

Quantitative real-time polymerase chain reaction for detection of adenovirus after T cell-replete hematopoietic cell transplantation: viral load as a marker for invasive disease.

BACKGROUND: The value of adenovirus plasma DNA detection as an indicator for adenovirus disease is unknown in the context of T cell-replete hematopoietic cell transplantation, of which adenovirus disease is an uncommon but serious complication. METHODS: Three groups of 62 T cell-replete hematopoietic cell transplant recipients were selected and tested for adenovirus in plasma by polymerase chain reaction. RESULTS: Adenovirus was detected in 21 (87.5%) of 24 patients with proven adenovirus disease (group 1), in 4 (21%) of 19 patients who shed adenovirus (group 2), and in 1 (10.5%) of 19 uninfected control patients. The maximum viral load was significantly higher in group 1 (median maximum viral load, 6.3x10(6) copies/mL; range, 0 to 1.0x10(9) copies/mL) than in group 2 (median maximum viral load, 0 copies/mL; range, 0 to 1.7x10(8) copies/mL; P<.001) and in group 3 (median maximum viral load, 0 copies/mL; range 0-40 copies/mL; P<.001). All patients in group 2 who developed adenoviremia had symptoms compatible with adenovirus disease (i.e., possible disease). A minimal plasma viral load of 10(3) copies/mL was detected in all patients with proven or possible disease. Adenoviremia was detectable at a median of 19.5 days (range, 8-48 days) and 24 days (range, 9-41 days) before death for patients with proven and possible adenovirus disease, respectively. CONCLUSION: Sustained or high-level adenoviremia appears to be a specific and sensitive indicator of adenovirus disease after T cell-replete hematopoietic cell transplantation. In the context of low prevalence of adenovirus disease, the use of polymerase chain reaction of plasma specimens to detect virus might be a valuable tool to identify and treat patients at risk for viral invasive disease.

Magnetic resonance-guided, real-time targeted delivery and imaging of magnetocapsules immunoprotecting pancreatic islet cells.

In type I diabetes mellitus, islet transplantation provides a moment-to-moment fine regulation of insulin. Success rates vary widely, however, necessitating suitable methods to monitor islet delivery, engraftment and survival. Here magnetic resonance-trackable magnetocapsules have been used simultaneously to immunoprotect pancreatic beta-cells and to monitor, non-invasively in real-time, hepatic delivery and engraftment by magnetic resonance imaging (MRI). Magnetocapsules were detected as single capsules with an altered magnetic resonance appearance on capsule rupture. Magnetocapsules were functional in vivo because mouse beta-cells restored normal glycemia in streptozotocin-induced diabetic mice and human islets induced sustained C-peptide levels in swine. In this large-animal model, magnetocapsules could be precisely targeted for infusion by using magnetic resonance fluoroscopy, whereas MRI facilitated monitoring of liver engraftment over time. These findings are directly applicable to ongoing improvements in islet cell transplantation for human diabetes, particularly because our magnetocapsules comprise clinically applicable materials.

Real-time imaging of regional myocardial function using fast-SENC.

A technique for fast imaging of regional myocardial function using a spiral acquisition in combination with strain-encoded (SENC) magnetic resonance imaging (MRI) is presented in this paper. This technique, which is termed fast-SENC, enables scan durations as short as a single heartbeat. A reduced field of view (FOV) without foldover artifacts was achieved by localized SENC, which selectively excited the region around the heart. The two images required for SENC imaging (low- and high-tuning) were acquired in an interleaved fashion throughout the cardiac cycle to further shorten the scan time. Regional circumferential contraction and longitudinal shortening of both the left ventricle (LV) and right ventricle (RV) were examined in long- and short-axis views, respectively. The in vivo results obtained from five human subjects and five infarcted dogs are presented. The results of the fast-SENC technique in a single heartbeat acquisition were comparable to those obtained by conventional SENC in a long acquisition time. Therefore, fast-SENC may prove useful for imaging during stress or arrhythmia.

Advantages of digital holographic microscopy for real-time full field absolute phase imaging

Different interferometric techniques were developed last decade to obtain full field, quantitative, and absolute phase imaging, such as phase-shifting, Fourier phase microscopy, Hilbert phase microscopy or digital holographic microscopy (DHM). Although, these techniques are very similar, DHM combines several advantages. In contrast, to phase shifting, DHM is indeed capable of single-shot hologram recording allowing a real-time absolute phase imaging. On the other hand, unlike to Fourier phase or Hilbert phase microscopy, DHM does not require to record in focus images of the specimen on the digital detector (CCD or CMOS camera), because a numerical focalization adjustment can be performed by a numerical wavefront propagation. Consequently, the depth of view of high NA microscope objectives is numerically extended. For example, two different biological cells, floating at different depths in a liquid, can be focalized numerically from the same digital hologram. Moreover, the numerical propagation associated to digital optics and automatic fitting procedures, permits vibrations insensitive full- field phase imaging and the complete compensation for a priori any image distortion or/and phase aberrations introduced for example by imperfections of holders or perfusion chamber. Examples of real-time full-field phase images of biological cells have been demonstrated. ©2008 COPYRIGHT SPIE

Real-time dual-wavelength digital holographic microscopy for extended measurement range with enhanced axial resolution

We report on advanced dual-wavelength digital holographic microscopy (DHM) methods, enabling single-acquisition real-time micron-range measurements while maintaining single-wavelength interferometric resolution in the nanometer regime. In top of the unique real-time capability of our technique, it is shown that axial resolution can be further increased compared to single-wavelength operation thanks to the uncorrelated nature of both recorded wavefronts. It is experimentally demonstrated that DHM topographic investigation within 3 decades measurement range can be achieved with our arrangement, opening new applications possibilities for this interferometric technique. ©2008 COPYRIGHT SPIE

Real-time antifungal susceptibility testing of Mucor spp., Fusarium spp. and Scedosporium spp. by isothermal microcalorimetry

Objective: Aspergillus species are the main pathogens causing invasive fungal infections but the prevalence of other mould species is rising. Resistance to antifungals among these new emerging pathogens presents a challenge for managing of infections. Conventional susceptibility testing of non-Aspergillus species is laborious and often difficult to interpret. We evaluated a new method for real-time susceptibility testing of moulds based on their of growth-related heat production.Methods: Laboratory and clinical strains of Mucor spp. (n = 4), Scedoporium spp. (n = 4) and Fusarium spp. (n = 5) were used. Conventional MIC was determined by microbroth dilution. Isothermal microcalorimetry was performed at 37 C using Sabouraud dextrose broth (SDB) inoculated with 104 spores/ml (determined by microscopical enumeration). SDB without antifungals was used for evaluation of growth characteristics. Detection time was defined as heat flow exceeding 10 lW. For susceptibility testing serial dilutions of amphotericin B, voriconazole, posaconazole and caspofungin were used. The minimal heat inhibitory concentration (MHIC) was defined as the lowest antifungal concentration, inhbiting 50% of the heat produced by the growth control at 48 h or at 24 h for Mucor spp. Susceptibility tests were performed in duplicate.Results: Tested mould genera had distinctive heat flow profiles with a median detection time (range) of 3.4 h (1.9-4.1 h) for Mucor spp, 11.0 h (7.1-13.7 h) for Fusarium spp and 29.3 h (27.4-33.0 h) for Scedosporium spp. Graph shows heat flow (in duplicate) of one representative strain from each genus (dashed line marks detection limit). Species belonging to the same genus showed similar heat production profiles. Table shows MHIC and MIC ranges for tested moulds and antifungals.Conclusions: Microcalorimetry allowed rapid detection of growth of slow-growing species, such as Fusarium spp. and Scedosporium spp. Moreover, microcalorimetry offers a new approach for antifungal susceptibility testing of moulds, correlating with conventional MIC values. Interpretation of calorimetric susceptibility data is easy and real-time data on the effect of different antifungals on the growth of the moulds is additionally obtained. This method may be used for investigation of different mechanisms of action of antifungals, new substances and drug-drug combinations.

RT-PCR diagnosis of patients with acute nonlymphocytic leukemia and inv(16)(p13q22) and identification of new alternative splicing in CBFB-MYH11 transcripts.

As acute nonlymphocytic leukemia (ANLL) with inv(16) (p13q22) or t(16;16)(p13;q22) has been shown to result from the fusion of transcription factor subunit core binding factor (CBFB) to a myosin heavy chain (MYH11), we sought to design methods to detect this rearrangement using reverse transcriptase-polymerase chain reaction (RT-PCR). In all of 27 inv(16)(p13q22) and four t(16;16)(p13;q22) cases tested, a chimeric CBFB-MYH11 transcript coding for an in-frame fusion protein was detected. In a more extensive RT-PCR analysis with different primer pairs, we detected a second new chimeric CBFB-MYH11 transcript in 10 of 11 patients tested. The CBFB-MYH11 reading frame of the second transcript was maintained in one patient but not in the others. We show that the different CBFB-MYH11 transcripts in one patient arise from alternative splicing. Translation of the transcript in which the CBFB-MYH11 reading frame is not maintained leads to a slightly truncated CBFB protein.

Metabolic effects of fructose in humans

Abstract : Fructose is a simple sugar, whose consumption has increased over the past decades. In rodents, a high-fructose diet (HFrD) induces several features of the metabolic syndrome. The aim of the studies included in this thesis was to investigate the metabolic effects of a HFrD in humans, with a focus on insulin sensitivity and ectopic fat deposition. Moreover, we addressed the question whether these effects may differ between individuals according to gender and the genetic background. The first study was designed to evaluate the impact of a 4-week HFrD on insulin sensitivity and lipid metabolism in 7 healthy men. Insulin sensitivity, intrahepatocellular lipids (IHCL) and intramyocellular lipids (IMCL) contents were measured before and after 1 and 4 weeks of HFrD (1.5 g fructose/kg body weight/day). Insulin sensitivity was assessed by a 2-step hyperinsulinemic euglycemic clamp. IHCL and IMCL were measured by 1H-magnetic resonance spectroscopy (MRS). Fructose caused significant (P<0.05) increases in fasting plasma concentrations of triacylglycerol (TG) (+36%), VLDL-TG (+72%) and glucose (+6%) without any change in body weight, IHCL, IMCL, and insulin sensitivity. In the second study, muscle biopsies were taken from five of these healthy male subjects before and after 4 weeks of HFrD. mRNA concentrations of 18 genes involved in lipid and carbohydrate metabolism were quantified by real-time quantitative PCR. We found that a 4-week HFrD increased the expression of genes involved in lipid synthesis, while it decreased those involved in insulin sensitivity and lipid oxidation; these molecular changes maybe early markers of insulin resistance and altered lipid metabolism. The third study aimed at delineating whether male and females equally respond to a HFrD. For this purpose, higher doses of fructose (twice the dose of the previous study) were provided to 8 healthy young males and 8 healthy young females over 6 days. HFrD significantly increased fasting TG in males (+71 %), whereas this increase was markedly blunted in females (+16%). Males also developed hepatic insulin resistance, characterized by increased hepatic glucose output (+12%), and showed higher alanine aminotransferase concentration (+38%), but none of these effect was observed in females. This study suggests that short-term HFrD leads to hypertriglyceridemia and hepatic insulin resistance in men, but premenopausal women seem protected against these effects. Finally, the fourth study investigated whether healthy offspring of type 2 diabetic patients (OffT2D), a subgroup of individuals prone to metabolic disorders due to their genetic background, may have exacerbated response to HFrD. Eight healthy males (Ctrl) and 16 OffT2D received a HFrD and isocaloric diet in a randomized order. In both groups, HFrD significantly increased IHCL (Ctrl: +76%; OffT2D: +79%) and fasting plasma VLDL-TG (Ctrl: +51 %; OffT2D: +110%). In absolute values, these increments were significantly higher in OffT2D, suggesting that these individuals may be more prone to developing metabolic disorders when challenged by high fructose intake. In order to better delineate the specific effects of fructose vs the hypercaloric energy content, we repeated the complete metabolic investigations after an isocaloric high glucose diet in four of the eight Ctrl volunteers. After a high glucose diet, TG and IHCL concentrations remained similar to the control values, in contrast to the marked increases observed after the HFrD. In conclusion, the studies included in this thesis provided novel insights into the metabolic effects of fructose in humans. They showed that fructose may rapidly increase fasting VLDL-TG, IHCL and lead to hepatic insulin resistance; these effects seem specific to fructose, and potential mechanisms may involve both stimulation of hepatic de novo lipogenesis and decreased lipid oxidation. Moreover, the results suggest that women seem protected against such deleterious effects, while OffT2D displayed exacerbated response. Résumé : Le fructose est un sucre simple, dont la consommation a augmenté durant les dernières décennies. Dans les modèles animaux, un régime riche en fructose (RRFru) peut induire plusieurs composantes du syndrome métabolique. Le but de cette thèse était d'étudier les effets d'un régime riche en fructose sur la sensibilité à l'insuline et la déposition de lipides ectopiques chez l'humain, et si ces effets variaient selon le genre ou le background génétique. La première étude avait pour but d'évaluer l'effet d'un RRFru d'une durée de 4 semaines sur la sensibilité à l'insuline et le métabolisme des lipides chez des hommes sains. La sensibilité à l'insuline, les lipides intrahépatiques (IHCL) et intramusculaires (IMCL) ont été mesurés avant, et après 1 et 4 semaines du RRFru (1.5 g fructose/kg/jour). La sensibilité à l'insuline a été déterminée par un clamp hyperinsulinémique euglycémique, et les IHCL/IMCL par spectroscopie à résonnance magnétique. Le fructose a augmenté les concentrations plasmatiques à jeun des VLDL- triglycérides (TG) (+72%) et de glucose (+6%), sans induire de changement au niveau de la sensibilité à l'insuline, IHCL ou IMCL. Dans la deuxième étude, des biopsies de muscle squelettique ont été prélevées chez cinq de ces volontaires avant et après les 4 semaines de RRFru. Les concentrations de mRNA de 18 gènes impliqués dans le métabolisme des lipides et des hydrates de carbone ont été mesurées par RT-PCR quantitative. Le RRFru a augmenté l'expression de gènes impliqués dans la synthèse de lipides, et diminué celles de gènes impliqués dans la sensibilité à l'insuline et l'oxydation de lipides. Ces changements pourraient constituer des altérations précoces de la sensibilité à l'insuline et du métabolisme lipidique en réponse au fructose. La troisième étude avait pour but de définir si les réponses au RRFru étaient semblables entre les hommes et les femmes. Pour ceci, des doses plus élevées de fructose ont été administrées à 8 jeunes hommes et 8 jeunes femmes durant 6 jours. Le RRFru a augmenté les TG chez les hommes (+71 %), et de manière nettement plus modeste chez les femmes (+16%). Les hommes ont développé une résistance hépatique à l'insuline, ainsi qu'une augmentation des concentrations d'alanine aminotransférase (+38%), mais aucun de ces effets n'a été observé chez les femmes. Cette étude suggère qu'à court terme, un RRFru mène à une hypertriglycéridémie et résistance hépatique à l'insuline chez l'homme, tandis que les femmes semblent en être protégées. Finalement, la 4ème étude a investigué si des personnes apparentées à des patients diabétiques de type 2 (AppDT2), qui constituent un groupe d'individus à risque de développer des maladies métaboliques en raison de leur background génétique, avaient des réponses plus marquées au RRFru. Huit hommes sains (Ctrl) et 16 AppDT2 on reçu dans un ordre randomisé un RRFru et une diète isocalorique durant 6 jours. Dans les deux groupes, le RRFru a augmenté significativement les IHCL (Ctrl: +76%; AppDT2: +79%) et les VLDL-TG plasmatiques à jeun (Ctrl: +51%; AppDT2: +110%). En valeurs absolues, ces deux augmentations étaient plus importantes dans le groupe des AppDT2, suggérant que ces individus sont plus à risque de développer des problèmes métaboliques suite à un apport de fructose. Afin de définir les effets spécifiques du fructose, quatre des huit sujets Ctrl ont été soumis à un régime riche en glucose. Après le régime riche en glucose, les concentrations de TG et d'IHCL étaient semblables aux valeurs obtenues après une diète isocalorique, contrairement aux nombreux effets observés après le RRFru. En conclusion, ces différentes études ont démontré que chez l'humain, le fructose peut rapidement induire une augmentation des VLDL-TG à jeun, des IHCL et une résistance hépatique à l'insuline ; ces effets semblent être spécifiques au fructose. De plus, les différents résultats obtenus montrent que les femmes développent des effets moindres en réponse au fructose, contrairement aux AppDT2, chez qui les effets du fructose semblent plus marqués. Résumé grand public : Le fructose est un sucre simple, présent naturellement et en faibles quantités dans les fruits, mais également constituant du sucrose - appelé aussi sucre de table. Depuis les années 1970, la consommation de fructose a augmenté dans les pays industrialisés et émergents, principalement par le biais d'une hausse de consommation de boissons sucrées de type soda. Dans des modèles animaux tels que les rongeurs, un régime riche en fructose mène au développement de plusieurs facteurs de risques étroitement liés aux maladies cardiovasculaires, à l'obésité et au diabète de type 2; ceux-ci sont caractérisés par une augmentation des concentrations de glucose et de lipides sanguins, ainsi qu'une accumulation de lipides dits « ectopiques », à savoir dans le foie et les muscles. Le but de cette thèse était de définir les effets d'un régime riche en fructose chez l'être humain. De plus, nous nous sommes intéressés à savoir si ces effets étaient semblables entre différents groupes d'individus, à savoir des personnes de sexe masculin / féminin, ou des personnes dont au moins un des parents est diabétique de type 2. Pour ceci, différents groupes de volontaires (hommes, femmes, avec histoire familiale de diabète de type 2) âgés de 18-30 ans se sont soumis à une alimentation enrichie en fructose, d'une durée allant de 6 à 28 jours, suivant l'étude à laquelle ils participaient. La quantité de fructose consommée en plus de l'alimentation normale durant ces périodes équivalait au contenu en fructose de 2-4 litres de boissons sucrées par jour. Des prises de sang ont été effectuées au terme de chacun de ces différents régimes, ainsi que des mesures de sensibilité à l'insuline et de concentrations de lipides dans le foie et le muscle par résonnance magnétique nucléaire, en collaboration avec l'Hôpital de l'Ile de Berne. Les résultats montrent qu'après 6 jours de régime riche en fructose, les volontaires sains de sexe masculin ont presque doublé leurs concentrations de lipides sanguins et hépatiques. De plus, le foie de ces volontaires réagissait moins bien à l'insuline, ce qui pourrait mener à long terme à des maladies métaboliques comme le diabète de type 2. Un des mécanismes postulés est que le fructose pourrait stimuler la formation de lipides dans le foie, contribuant ainsi à un dysfonctionnement de cet organe. De manière surprenante, des femmes d'âge et d'IMC (Indice de Masse Corporelle) comparables aux hommes étudiés n'ont pas développé ces différents effets en réponse au régime riche en fructose. Il semblerait donc qu'elles possèdent certaines propriétés pouvant les «protéger », du moins à court terme, des problèmes métaboliques induits par le fructose. De tels mécanismes sont pour l'heure inconnus, mais il est possible que des différences hormonales, ou de répartition de la masse graisseuse dans le corps, puissent jouer un rôle. Enfin, nous avons également démontré que chez certaines personnes ayant au moins un parent (père ou mère) diabétique de type 2, les augmentations de lipides sanguins et hépatiques induits par le fructose étaient plus marquées que chez des volontaires sans parents diabétiques. Ceci est néanmoins à tempérer par le fait que nous avons observé une grande hétérogénéité des réponses parmi ces individus, découlant certainement d'interactions complexes entre différents facteurs tels que la génétique, le mode de vie, l'alimentation et l'activité physique. Ces différents résultats donnent lieu à une meilleure compréhension du rôle de facteurs alimentaires dans le développement de problèmes métaboliques tels que le diabète de type 2. Ils vont également permettre de tester différentes approches thérapeutiques. Bien qu'ayant été obtenus avec des doses de fructose importantes, ces études soulignent l'effet potentiellement dangereux pour la santé d'une alimentation riche en sucres.

Semi-online neural-Q_leaming for real-time robot learning

Reinforcement learning (RL) is a very suitable technique for robot learning, as it can learn in unknown environments and in real-time computation. The main difficulties in adapting classic RL algorithms to robotic systems are the generalization problem and the correct observation of the Markovian state. This paper attempts to solve the generalization problem by proposing the semi-online neural-Q_learning algorithm (SONQL). The algorithm uses the classic Q_learning technique with two modifications. First, a neural network (NN) approximates the Q_function allowing the use of continuous states and actions. Second, a database of the most representative learning samples accelerates and stabilizes the convergence. The term semi-online is referred to the fact that the algorithm uses the current but also past learning samples. However, the algorithm is able to learn in real-time while the robot is interacting with the environment. The paper shows simulated results with the "mountain-car" benchmark and, also, real results with an underwater robot in a target following behavior

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory