Robust decoupled visual servoing based on structured light

This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

Emp��ries. De les darreries del segle III a mitjan segle I a.C. Algunes idees

A l���article s���estableixen un seguit d���hip��tesis que expliquen el proc��s hist��ric d���Emp��ries al llarg dels del segle i mig immediatament anterior al canvi d���Era, ��s a dir, cap als segles II i I a.C. Es tracta de teories que es recolzen en evid��ncies for��a segures

Comparison of visual preservation after transplantation of BDNF or GDNF secreting mesenchymal stem cells in glaucomatous rat eyes

Purpose:To functionally and morphologically characterize the retina and optic nerve after transplantation of Brain-derived neurotrophic factor (BDNF) and Glial-derived neurotrophic factor (GDNF) secreting mesenchymal stem cells (MSCs) into glaucomatous rat eyes. Methods:Chronic ocular hypertension (COH) was induced in Brown Norway rats. Lentiviral constructs were used to transduce rat MSCs to produce BDNF, GDNF, or green fluorescent protein (GFP). The fellow eyes served as internal controls. Two days following COH induction, eyes received intravitreal injections of transduced MSCs. Electroretinography was performed to assess retinal function. Tonometry was performed throughout the experiment to monitor IOP. 42 days after MSC transplantation, rats were euthanized and the eyes and optic nerves were prepared for analysis. Results:Increased expression and secretion of BDNF and GDNF from lentiviral-transduced MSCs was verified using ELISA, and a bioactivity assay. Ratio metric analysis (COH eye/ Internal control eye response) of the Max combined response A-Wave showed animals with BDNF-MSCs (23.35 �� 5.15%, p=0.021) and GDNF-MSCs (28.73 �� 3.61%, p=0.025) preserved significantly more visual function than GFP-MSC treated eyes MSCs (18.05 �� 5.51%). Animals receiving BDNF-MSCs also had significantly better B-wave (33.80 �� 7.19%) and flicker ERG responses (28.52 �� 10.43%) than GFP-MSC treated animals (14.06 �� 12.67%; 3.52 �� 0.07%, respectively). Animals receiving GDNF-MSC transplants tended to have better function than animals with GFP-MSC transplants, but were not statistically significant (p=0.057 and p=0.0639). Conclusions:Mesenchymal stem cells are an excellent source of cells for autologous transplantation for the treatment of neurodegenerative diseases. We have demonstrated that lentiviral- transduced MSCs can survive following transplantation and preserve visual function in glaucomatous eyes. These results suggest that MSCs may be an ideal cellular vehicle for delivery of specific neurotrophic factors to the retina.

Lipoprotein lipase activity and mass, apolipoprotein C-II mass and polymorphisms of apolipoproteins E and A5 in subjects with prior acute hypertriglyceridaemic pancreatitis

BACKGROUND Severe hypertriglyceridaemia due to chylomicronemia may trigger an acute pancreatitis. However, the basic underlying mechanism is usually not well understood. We decided to analyze some proteins involved in the catabolism of triglyceride-rich lipoproteins in patients with severe hypertriglyceridaemia. METHODS Twenty-four survivors of acute hypertriglyceridaemic pancreatitis (cases) and 31 patients with severe hypertriglyceridaemia (controls) were included. Clinical and anthropometrical data, chylomicronaemia, lipoprotein profile, postheparin lipoprotein lipase mass and activity, hepatic lipase activity, apolipoprotein C II and CIII mass, apo E and A5 polymorphisms were assessed. RESULTS Only five cases were found to have LPL mass and activity deficiency, all of them thin and having the first episode in childhood. No cases had apolipoprotein CII deficiency. No significant differences were found between the non-deficient LPL cases and the controls in terms of obesity, diabetes, alcohol consumption, drug therapy, gender distribution, evidence of fasting chylomicronaemia, lipid levels, LPL activity and mass, hepatic lipase activity, CII and CIII mass or apo E polymorphisms. However, the SNP S19W of apo A5 tended to be more prevalent in cases than controls (40% vs. 23%, NS). CONCLUSION Primary defects in LPL and C-II are rare in survivors of acute hypertriglyceridaemic pancreatitis; lipase activity measurements should be restricted to those having their first episode during childhood.

Estudi i aplicaci�� de llibreries de f��sica per a motors de videojocs

En el m��n dels videojocs el realisme ��s un punt molt important a tenir en compte ja que d��nam��s sensaci�� a l���usuari d���estar immers en el videojoc. Aix�� passa en part per aconseguir realisme en la din��mica dels objectes i fer que aquests segueixin les lleis de la f��sica de Newton. Per aix�� s���han desenvolupat diverses llibreries que s���anomenen ���motors de f��sica��� (physics engines), que empren variables com la massa, la velocitat, la fricci�� i la resist��ncia del vent. Els objectius d���aquest projecte seran l���estudi de diferents llibreries f��siques existents, la seva comparaci�� i com s���integren en els motors de jocs. A m��s a m��s , la generaci�� de contingut amb comportament que respongui a les funcions definides a aquestes llibreries no ��s trivial i per aquest motiu tamb�� es desenvolupar�� una aplicaci�� per generar murs de forma semiautom��tica que respongui a impactes. Per assolir aquests objectius caldr��: d��� una banda, comparar els cossos r��gids, unions i funcionament en general de diferents llibreries f��siques: Newton Game Dynamics, NVIDIA PhysX Technology, Open Dynamics Engine, Bullet PhysicsLibrary, Tokamak Physics Engine i Havok i d��� altra banda, implementar una aplicaci�� que donant-li una imatge en planta d���una paret o conjunt de parets en format vectorial i les mides d���un ma��, generi murs que puguin reaccionar de forma adequada quan rebin l���impacte d���una massa determinada. L���aplicaci�� s���implementar�� en C++ i amb l���entorn de desenvolupament Microsoft Visual Studio 2005. La visualitzaci�� ser�� amb OpenGL

Millora del sistema de comercialitzaci�� de l'explotaci�� ramadera d'ov�� de carn Cal Alzina s.c.p. situada al terme municipal de la Roca del Vall��s

L���objectiu d���aquest projecte ��s millorar la rendibilitat de l���explotaci�� ramadera d���ov�� decarn de Cal Alzina s.c.p a trav��s de la comercialitzaci�� del seu producte.Es vol complementar l���activitat ramadera de producci�� de xais que es duu a termeactualment amb el servei de venda del producte al consumidor final, per aconseguireliminar els intermediaris i poder obtenir el m��xim benefici. L���explotaci�� de Cal Alzina s.c.p es troba al terme municipal de la Roca del Vall��s, est�� formada per dos socis, els dos propietaris i ��nics treballadors de l���explotaci��. Disposa d���un ramat de 922 ovelles de ra��a Ripollesa amb un sistema semi-extensiu. La venda actual dels xais es fa a trav��s de carnissers que paguen un preu per kg de canal establert pel mercat

Producci�� art��stica i consum dom��stic: el mobiliari i l���abillament de la casa de Miquel Mai (c.1475-1546)

Investigaci�� hist��rica sobre l���ambientaci�� d���una casa senyorial, ubicada a la Pla��a de la Cucurulla, a la Barcelona de la primera meitat del segle XVI aix�� com dels avatars del personatge principal que va habitar la dita casa, en Miquel Mai

Efficiency diagnostic and advantages of procalcitonin and C-reactive protein in the early diagnosis of sepsis.

The goal of our study is to assess the diagnostic profi tability of procalcitonin (PCT) in septic shock and another biomarker as C-reactive protein (CRP). Results: Fifty-four septic patients were assessed, 66% were males; mean age, 63 years. Eighty-eight percent was diagnosed as septic shock and 11% severe sepsis. Seventy-six percent were medical patients. Positive blood cultures in 42.5%. Sepsis origin: respiratory 46%, neurological 5%, digestive 37% and urinary 3%. Average SOFA score was 10.4. Conclusions: PCT and CRP have the same efficiency in early sepsis diagnosis. The PCT and CRP effi ciency diagnostic together is signifi cant but small. We suggest using both with the doubt of sepsis.

Community cluster of meningococcal disease by Neisseria meningitidis serogroup C in Andalusia, Spain, March to May 2011.

Between March and May of 2011, a cluster of three fatal cases of meningococcal sepsis occurred in Andalusia, Spain, in a municipality with a population of around 20,000 inhabitants. The cases were in their mid-teens to early thirties and were notified to the epidemiological surveillance system of Andalusia (Sistema de Vigilancia Epidemiol��gica de Andaluc��a, SVEA) during a 68-day period from March through May 2011. All three were infected with the same strain of Neisseria meningitidis serogroup C genosubtype VR1:5-1;VR2:10-8. None of the cases had been previously vaccinated against N. meningitidis serogroup C. Antibiotic post-exposure chemoprophylaxis was administered to close contacts of every diagnosed case. Once the cluster was confirmed, the local population was informed through the media about the control measures taken by the health authorities. The vaccination history against N. meningitidis serogroup C of the population under 25 years-old in the municipality was checked. Vaccination was offered to unimmunised individuals younger than 25 years of age and an additional dose of vaccine was offered to those who had been vaccinated between 2000 and 2006 with a vaccination schedule of three doses before the first year of age. No further cases occurred since the beginning of these actions.

Influence of IL28B polymorphisms on response to a lower-than-standard dose peg-IFN-�� 2a for genotype 3 chronic hepatitis C in HIV-coinfected patients.

BACKGROUND Data on which to base definitive recommendations on the doses and duration of therapy for genotype 3 HCV/HIV-coinfected patients are scarce. We evaluated the efficacy of a lower peginterferon-�� 2a dose and a shorter duration of therapy than the current standard of care in genotype 3 HCV/HIV-coinfected patients. METHODS AND FINDINGS Pilot, open-label, single arm clinical trial which involved 58 Caucasian HCV/HIV-coinfected patients who received weekly 135 ��g peginterferon-�� 2a plus ribavirin 400 mg twice daily during 20 weeks after attaining undetectable viremia. The relationships between baseline patient-related variables, including IL28B genotype, plasma HCV-RNA, ribavirin dose/kg, peginterferon-�� 2a and ribavirin levels with virological responses were analyzed. Only 4 patients showed lack of response and 5 patients dropped out due to adverse events related to the study medication. Overall, sustained virologic response (SVR) rates were 58.3% by intention-to-treat and 71.4% by per protocol analysis, respectively. Among patients with rapid virologic response (RVR), SVR and relapses rates were 92.6% and 7.4%, respectively. No relationships were observed between viral responses and ribavirin dose/kg, peginterferon-�� 2a concentrations, ribavirin levels or rs129679860 genotype. CONCLUSIONS Weekly 135 ��g pegIFN-�� 2a could be as effective as the standard 180 ��g dose, with a very low incidence of severe adverse events. A 24-week treatment duration appears to be appropriate in patients achieving RVR, but extending treatment up to just 20 weeks beyond negativization of viremia is associated with a high relapse rate in those patients not achieving RVR. There was no influence of IL28B genotype on the virological responses.

Student's watcher : comparison between ASP.NET and PHP+CSS

"Student���s Watcher��� is a small Web application which wants to show in a visual, simple and fast way, the evolution of the students. The main project table displays such things as marks and comments about students. We can add a comment for each mark to explain why this mark. The objective is to be able to know if some student has a problem, how is going his year, marks in other courses, or even, to know if he has a bad week in a different subjects. We can see the evolution of students in past years to do an objective comparison. It also allows inserting global comments of student, we have a list of these, and all professors can add new ones, where we can see more general valuations. ���Student���s Watcher��� was begun in ASP.net, but finally my project would be developed in PHP, HTML and CSS. This project wants to be a comparison between two of most important languages used nowadays, ASPX and PHP

Activated protein C, severe sepsis and 28-day mortality.

Protein C (PC) de ciency is prevalent in severe sepsis, studies showing that more than 80% of patients with severe sepsis have a baseline PC level below the lower limit of normal [1,2]. The aim of the study was to relate the anticoagulation activity evaluated by PC, with clinical parameters and 28-day mortality.

Introduction of an automated system for the diagnosis and quantification of hepatitis B and hepatitis C viruses.

Hepatitis B virus (HBV) and Hepatitis C virus (HCV) infections pose major public health problems because of their prevalence worldwide. Consequently, screening for these infections is an important part of routine laboratory activity. Serological and molecular markers are key elements in diagnosis, prognosis and treatment monitoring for HBV and HCV infections. Today, automated chemiluminescence immunoassay (CLIA) analyzers are widely used for virological diagnosis, particularly in high-volume clinical laboratories. Molecular biology techniques are routinely used to detect and quantify viral genomes as well as to analyze their sequence; in order to determine their genotype and detect resistance to antiviral drugs. Real-time PCR, which provides high sensitivity and a broad dynamic range, has gradually replaced other signal and target ampli���cation technologies for the quantification and detection of nucleic acid. The next-generation DNA sequencing techniques are still restricted to research laboratories.The serological and molecular marker methods available for HBV and HCV are discussed in this article, along with their utility and limitations for use in Chronic Hepatitis B (CHB) diagnosis and monitoring.

The L162V polymorphism of the PPARA gene is associated with stage C of heart failure.

In human heart failure (HF) peroxisome proliferator-activated receptor alpha (PPAR alpha) is downregulated and consequently, the expression of genes involved in fatty acid oxidation repressed. The L162V (rs1800206) is a functional polymorphism of the human PPAR alpha gene (PPARA). In the present study we have investigated whether this polymorphism is associated with the development of stage C of HF.