Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

Evaluation of local immune response to Fasciola hepatica experimental infection in the liver and hepatic lymph nodes of goats immunized with Sm14 vaccine antigen

Protection against Fasciola hepatica in goats immunized with a synthetic recombinant antigen from Schistosoma mansoni fatty acid-binding protein 14 (rSm14) was investigated by assessing worm burdens, serum levels of hepatic enzymes, faecal egg count and hepatic damage, which was evaluated using gross and microscopic morphometric observation. The nature of the local immune response was assessed by examining the distribution of CD2+, CD4+, CD8+ and γ´+ T lymphocytes along with IgG+, IL-4+ and IFN-γ+ cells in the liver and hepatic lymph nodes (HLN). The goats used consisted of group 1 (unimmunized and uninfected), group 2 [infected control - immunized with Quillaia A (Quil A)] and group 3 (immunized with rSm14 in Quil A and infected), each containing seven animals. Immunization with rSm14 in Quil A adjuvant induced a reduction in gross hepatic lesions of 56.6% (p < 0.001) and reduced hepatic and HLN infiltration of CD2+, CD4+, CD8+ and γ´+ T lymphocytes as well as IL-4+ and IFN-γ+ cells (p < 0.05). This is the first report of caprine immunization against F. hepatica using a complete rSm14 molecule derived from S. mansoni. Immunization reduced hepatic damage and local inflammatory infiltration into the liver and HLN. However, considering that Quil A is not the preferential/first choice adjuvant for Sm14 immunization, further studies will be undertaken using the monophosphoryl lipid A-based family of adjuvants during clinical trials to facilitate anti-Fasciolavaccine development.

Vaccination with Trypanosoma rangeli modulates the profiles of immunoglobulins and IL-6 at local and systemic levels in the early phase of Trypanosoma cruzi experimental infection

In America, there are two species of Trypanosoma that can infect humans: Trypanosoma cruzi, which is responsible for Chagas disease and Trypanosoma rangeli, which is not pathogenic. We have developed a model of vaccination in mice with T. rangeli epimastigotes that protects against T. cruzi infection. The goal of this work was to study the pattern of specific immunoglobulins in the peritoneum (the site of infection) and in the sera of mice immunized with T. rangeli before and after challenge with T. cruzi. Additionally, we studied the effects triggered by antigen-antibodies binding and the levels of key cytokines involved in the humoral response, such as IL-4, IL-5 and IL-6. The immunization triggered the production of antibodies reactive with T. cruzi in peritoneal fluid (PF) and in serum, mainly IgG1 and, to a lesser magnitude, IgG2. Only immunized mice developed specific IgG3 antibodies in their peritoneal cavities. Antibodies were able to bind to the surface of the parasites and agglutinate them. Among the cytokines studied, IL-6 was elevated in PF during early infection, with higher levels in non-immunized-infected mice. The results indicate that T. rangeli vaccination against T. cruzi infection triggers a high production of specific IgG isotypes in PF and sera before infection and modulates the levels of IL-6 in PF in the early periods of infection.

Ruralserv: Un instrumento de medición de la calidad del servicio en alojamientos rurales con autenticidad local

Màster tesi què pretén determinar quins atributs han de ser considerats per a mesurar la qualitat del servei en establiments rurals amb autenticitat local. Proposa un nou instrument de medició, que l’autor ha anomenat RURALSERV. Se segueix el model SERVQUAL, però amb un format de mesura basat exclusivament en la percepció del visitant

Instal·lacions d'un local social

Projecte de construcció d'un edifici social per a activitats socials, de relació, culturals i esbarjo al municipi de Vilaür (Alt Empordà)

Inducció local de magnetisme mitjançant irradiació d'ions a través de màscares

Degut a la gran demanda tecnològica, actualment hi ha un gran interès en desenvolupar medis magnètics amb entitats ferromagnètiques de dimensions nanomètriques. Aquesta demanda promou la investigació i el desenvolupament de nous materials i processos de fabricació que permetin controlar d’una manera més precisa les propietats magnètiques i estructurals. Entre els mètodes de litografia convencionals (per exemple deposició física a través de màscares, deposició química en fase vapor i electrodeposició), recentment s’ha demostrat que la irradiació amb ions a través de màscares pre‐litografiades, sembla ser un bon mètode per a la fabricació d’estructures ferromagnètiques de l’ordre dels nanòmetres. Aquesta tècnica pot ser aplicada per aprofitar la transició paramagnètica‐ferromagnètica que presenten alguns materials al ser desordenats estructuralment (per exemple FeAl, FePt3, Ni3Sn2). En el treball que es presenta a continuació s’utilitza l’aliatge Fe60Al40 per a fabricar estructures ferromagnètiques embegudes en una matriu paramagnètica mitjançant irradiació amb ions d’argó a través d’una membrana de polimetil metacrilat (PMMA) prèviament litografiada amb feixos d’electrons (EBL). La fabricació d’aquest sistema té com a objectiu d’estudiar l’evolució de la morfologia i el gruix de PMMA (a partir de SEM i AFM) i del comportament magnètic de les estructures fabricades (MFM i MOKE), quan és irradiat consecutivament a diferents energies. Per a completar l’estudi s’han utilitzat simulacions per a determinar les condicions d’irradiació (TRIM), com per a una millor comprensió dels resultats (simulacions micromagnètiques). El contingut de la memòria inclou una breu introducció històrica i conceptual sobre el magnetisme. A continuació s’exposen les tècniques necessàries per a la fabricació, preparació i caracterització de la mostra. Finalment es presenta una discussió dels resultats obtinguts i les conclusions.

Thiopurines related malignancies in inflammatory bowel disease: Local experience in Granada, Spain.

AIM To investigate the incidence of neoplasms in inflammatory bowel disease (IBD) patients and the potential causative role of thiopurines. METHODS We performed an observational descriptive study comparing the incidence of malignancies in IBD patients treated with thiopurines and patients not treated with these drugs. We included 812 patients which were divided in two groups depending on whether they have received thiopurines or not. We have studied basal characteristics of both groups (age when the disease was diagnosed, sex, type of IBD, etc.) and treatments received (Azathioprine, mercaptopurine, infliximab, adalimumab or other immunomodulators), as well as neoplasms incidence. Univariate analysis was performed with the student t test, χ(2) test or Wilcoxon exact test as appropriate. A logistic regression analysis was performed as multivariate analysis. Statistical significance was establish at P values of less than 0.05, and 95%CI were used for the odds ratios. RESULTS Among 812 patients included, 429 (52.83%) have received thiopurines: 79.5% azathioprine, 14% mercaptopurine and 6.5% both drugs. 44.76% of patients treated with thiopurines and 46, 48% of patients who did not receive this treatment were women (P > 0.05). The proportion of ulcerative colitis patients treated with thiopurines was 30.3% compare to 66. 67% of patients not treated (P < 0.001). Mean azathioprine dose was 123.79 ± 36.5 mg/d (range: 50-250 mg/d), mean usage time was 72.16 ± 55.7 mo (range: 1-300 mo) and the accumulated dose along this time was 274.32 ± 233.5 g (1.5-1350 g). With respect to mercaptopurine, mean dose was 74.7 ± 23.9 mg/d (range: 25-150 mg/d), mean usage time of 23.37 ± 27.6 mo (range: 1-118 mo), and the accumulated dose along this time was 52.2 ± 63.5 g (range: 1.5-243 g). Thiopurine S-methyltransferase activity was tested in 66% of patients treated with thiopurines, among which 98.2% had an intermediate or high activity. Among the patients treated with thiopurines, 27.27% (112 patients) and 11.66% (50 patients) received treatment with Infliximab and Adalimumab respectively, but only 1.83% (7 patients) and 0.78% (3 patients) received these drugs in the group of patients who did not received thiopurines (P < 0.001 and P < 0.001 respectively). Finally, 6.8% (29 patients) among those treated with thiopurines have received other immunesupresants (Methotrexate, Tacrolimus, Cyclosporin), compare to 1% (4 patients) of patients not treated with thiopurines (P < 0.001). Among patients treated with thiopurines, 3.97% developed a malignancy, and among those not treated neoplasms presented in 8.1% (P = 0.013). The most frequent neoplasms were colorectal ones (12 cases in patients not treated with thiopurines but none in treated, P < 0.001) followed by non-melanoma skin cancer (8 patients in treated with thiopurines and 6 in not treated, P > 0.05). CONCLUSION In our experience, thiopurine therapy did not increase malignancies development in IBD patients, and was an efective and safe treatment for these diseases.

Trans-scleral local resection of toxic choroidal melanoma after proton beam radiotherapy.

AIM: To report on trans-scleral local resection of choroidal melanoma for exudative retinal detachment and neovascular glaucoma (toxic tumour syndrome) after proton beam radiotherapy (PBR). METHODS: A non-randomised, prospective study of secondary trans-scleral local resection of choroidal melanoma for exudative retinal detachment with or without neovascular glaucoma after PBR. The patients were treated at the Liverpool Ocular Oncology Centre between February 2000 and April 2008. The trans-scleral local resection was performed with a lamellar-scleral flap, using systemic hypotension to reduce haemorrhage. RESULTS: 12 patients (six women, six men) with a mean age of 51 years (range 20-75) were included in this study. The tumour margins extended anterior to ora serrata in six patients. On ultrasonography, the largest basal tumour dimension averaged 12.4 mm (range 6.8-18.1) and the tumour height averaged 7.1 mm (range 4.2-10.7). The retinal detachment was total in seven patients. Neovascular glaucoma was present in four patients. The time between PBR and local resection had a mean of 17.4 months (range 1-84). The ophthalmic follow-up time after the local resection had a mean of 46.2 months (range 14-99). At the latest known status, the eye was conserved in 10 patients, with a flat retina in all these patients and visual acuity equal or better than 6/30 in four patients. The reasons for enucleation were: patient request for enucleation when rhegmatogenous retinal detachment complicated the resection (one patient) and phthisis (one patient). CONCLUSIONS: Exudative retinal detachment, rubeosis and neovascular glaucoma after PBR of a choroidal melanoma can resolve after trans-scleral local resection of the tumour. Our findings suggest that these complications are caused by the persistence of the irradiated tumour within the eye ('toxic tumour syndrome').

Chiquipark : Gestió d'un local d'animació infantil

Aquest projecte pretén desenvolupar una aplicació per gestionar un local d'animació infantil. La primera part està destinada a l'usuari/client de l'empresa i constarà d'una interfície web basada en Silverlight on l'usuari podrà veure tota la informació (horaris, preus, ubicació...) del local d'animació. La segona part del projecte és la part d'administració, destinada als membres de l'empresa, que serveix per gestionar els cobraments i les reserves que es realitzin per internet, així com d'altres serveis que poden oferir.

Chiquipark : Gestió d'un local d'animació infantil

Aquest projecte desenvolupa la gestió d'una empresa dedicada a l'oci infantil. Els productes obtinguts han estat un portal web i una aplicació per realitzar la facturació del negoci.

BDNF overexpression in mouse hippocampal astrocytes promotes local neurogenesis and elicits anxiolytic-like activities.

The therapeutic activity of selective serotonin (5-HT) reuptake inhibitors (SSRIs) relies on long-term adaptation at pre- and post-synaptic levels. The sustained administration of SSRIs increases the serotonergic neurotransmission in response to a functional desensitization of the inhibitory 5-HT1A autoreceptor in the dorsal raphe. At nerve terminal such as the hippocampus, the enhancement of 5-HT availability increases brain-derived neurotrophic factor (BDNF) synthesis and signaling, a major event in the stimulation of adult neurogenesis. In physiological conditions, BDNF would be expressed at functionally relevant levels in neurons. However, the recent observation that SSRIs upregulate BDNF mRNA in primary cultures of astrocytes strongly suggest that the therapeutic activity of antidepressant drugs might result from an increase in BDNF synthesis in this cell type. In this study, by overexpressing BDNF in astrocytes, we balanced the ratio between astrocytic and neuronal BDNF raising the possibility that such manipulation could positively reverberate on anxiolytic-/antidepressant-like activities in transfected mice. Our results indicate that BDNF overexpression in hippocampal astrocytes produced anxiolytic-/antidepressant-like activity in the novelty suppressed feeding in relation with the stimulation of hippocampal neurogenesis whereas it did not potentiate the effects of the SSRI fluoxetine on these parameters. Moreover, overexpressing BDNF revealed the anxiolytic-like activity of fluoxetine in the elevated plus maze while attenuating 5-HT neurotransmission in response to a blunted downregulation of the 5-HT1A autoreceptor. These results emphasize an original role of hippocampal astrocytes in the synthesis of BDNF, which can act through neurogenesis-dependent and -independent mechanisms to regulate different facets of anxiolytic-like responses.

BAY 41-2272 activates host defence against local and disseminated Candida albicans infections

In our previous study, we have found that 5-cyclopropyl-2-[1-(2-fluoro-benzyl)-1H-pyrazolo[3,4-b]pyridine-3-yl]-pyrimidin-4-ylamine (BAY 41-2272), a guanylate cyclase agonist, activates human monocytes and the THP-1 cell line to produce the superoxide anion, increasing in vitro microbicidal activity, suggesting that this drug can be used to modulate immune functioning in primary immunodeficiency patients. In the present work, we investigated the potential of the in vivo administration of BAY 41-2272 for the treatment of Candida albicans and Staphylococcus aureus infections introduced via intraperitoneal and subcutaneous inoculation. We found that intraperitoneal treatment with BAY 41-2272 markedly increased macrophage-dependent cell influx to the peritoneum in addition to macrophage functions, such as spreading, zymosan particle phagocytosis and nitric oxide and phorbol myristate acetate-stimulated hydrogen peroxide production. Treatment with BAY 41-2272 was highly effective in reducing the death rate due to intraperitoneal inoculation of C. albicans, but not S. aureus. However, we found that in vitro stimulation of peritoneal macrophages with BAY 41-2272 markedly increased microbicidal activities against both pathogens. Our results show that the prevention of death by the treatment of C. albicans-infected mice with BAY 41-2272 might occur primarily by the modulation of the host immune response through macrophage activation.

Genetic basis of adaptation in Arabidopsis thaliana: local adaptation at the seed dormancy QTL DOG1.

Local adaptation provides an opportunity to study the genetic basis of adaptation and investigate the allelic architecture of adaptive genes. We study delay of germination 1 (DOG1), a gene controlling natural variation in seed dormancy in Arabidopsis thaliana and investigate evolution of dormancy in 41 populations distributed in four regions separated by natural barriers. Using F(ST) and Q(ST) comparisons, we compare variation at DOG1 with neutral markers and quantitative variation in seed dormancy. Patterns of genetic differentiation among populations suggest that the gene DOG1 contributes to local adaptation. Although Q(ST) for seed dormancy is not different from F(ST) for neutral markers, a correlation with variation in summer precipitation supports that seed dormancy is adaptive. We characterize dormancy variation in several F(2) -populations and show that a series of functionally distinct alleles segregate at the DOG1 locus. Theoretical models have shown that the number and effect of alleles segregatin at quantitative trait loci (QTL) have important consequences for adaptation. Our results provide support to models postulating a large number of alleles at quantitative trait loci involved in adaptation.

Impacto económico de los cruceros : del impacto Europeo al impacto local en Barcelona

En aquest treball volem analitzar i projectar l’impacte econòmic que suposa el turisme de creuers a Europa en general i la ciutat de Barcelona en particular, que compta amb el primer port de creuers més important d’Europa i el quart port base del món. En primer lloc repassarem breument el paper del turisme en el desenvolupament d’Espanya i més concretament de la ciutat comtal, des dels plans de desenvolupament iniciats en la dècada dels 60 fins a l’actualitat. A continuació donarem una ullada general al mercat dels creuers. Per tal d’entendre l’impacte del sector sobre el port de Barcelona haurem d’entendre prèviament l’evolució dels creuers en el mercat europeu, especialment a la regió Mediterrànea, ja que els vaixells que realitzen aquestes rutes son els que surten o fan escala a Barcelona. Un cop vists els dos conceptes bàsics dels quals tractarem, passarem a analitzar l’impacte econòmic procedent del turisme de creuers a nivell agregat d’ Europa i en concret de Barcelona. Per acabar farem un anàlisi de riscs i oportunitats per al sector.

Governança Local i Sostenibilitat: reptes i oportunitats. El municipi de Ripollet cap a la sostenibilitat

A partir de la segona meitat de la dècada dels noranta, les ciutats d’Europa s’han compromès amb força a millorar els seus models de desenvolupament a través de l’adopció d’una visió estratègica que, incrementant la participació ciutadana i la cooperació entre els diversos actors, ha permès d’anar posant en pràctica esquemes de gestió econòmica, social i ambiental més sostenibles. A Espanya, Catalunya és una de les Comunitats Autònomes més actives en temes de desenvolupament local sostenible. El present treball intenta reflexionar sobre el món local i el seu compromís amb la sostenibilitat analitzant els resultats aconseguits. Concretament, el treball és el resultat d’una investigació duta a terme a Ripollet amb un grup significatiu d’empreses ubicades en els polígons industrials del municipi. L’objectiu específic de l’estudi ha estat analitzar les percepcions del món empresarial local sobre alguns punts imprescindibles per a la definició de qualsevol procés compartit de desenvolupament sostenible a escala local.