Hardware-Based Particle Filter with Evolutionary Resampling Stage

Autonomous systems require, in most of the cases, reasoning and decision-making capabilities. Moreover, the decision process has to occur in real time. Real-time computing means that every situation or event has to have an answer before a temporal deadline. In complex applications, these deadlines are usually in the order of milliseconds or even microseconds if the application is very demanding. In order to comply with these timing requirements, computing tasks have to be performed as fast as possible. The problem arises when computations are no longer simple, but very time-consuming operations. A good example can be found in autonomous navigation systems with visual-tracking submodules where Kalman filtering is the most extended solution. However, in recent years, some interesting new approaches have been developed. Particle filtering, given its more general problem-solving features, has reached an important position in the field. The aim of this thesis is to design, implement and validate a hardware platform that constitutes itself an embedded intelligent system. The proposed system would combine particle filtering and evolutionary computation algorithms to generate intelligent behavior. Traditional approaches to particle filtering or evolutionary computation have been developed in software platforms, including parallel capabilities to some extent. In this work, an additional goal is fully exploiting hardware implementation advantages. By using the computational resources available in a FPGA device, better performance results in terms of computation time are expected. These hardware resources will be in charge of extensive repetitive computations. With this hardware-based implementation, real-time features are also expected.

Performance of UV-enhanced PMMA fresnel lenses and impact on LCOE

Tiny increases in the transmittance of optical materials within a CPV module can have an important impact on the economy of a plant. This is certainly true in systems comprising multi-junction solar cells, whose high performance, based on a balanced photocurrent generation among the series-connected junctions, is very sensitive to spectrum variations. Every efficiency point gained causes not only an increase in the kilowatts hour produced, but a higher benefit on it, since the difference between electricity tariff and Levelized Cost of Electricity (LCOE) rises. This work studies the impact on the LCOE of a plant based on modules comprising PMMA lenses of two different types, standard UV blocking grade which is normally used for outdoor applications at high DNI climate and a specialty stabilized UV-enhanced transmittance acrylic (see Figure 1). Energy production will be compared for these two systems throughout the year at different sites to analyze when (season, time of the day) and where the usage of the enhanced PMMA is justified.

3D Frangi-based lung vessel enhancement filter penalizing airways

This paper describes a fully automatic simultaneous lung vessel and airway enhancement filter. The approach consists of a Frangi-based multiscale vessel enhancement filtering specifically designed for lung vessel and airway detection, where arteries and veins have high contrast with respect to the lung parenchyma, and airway walls are hollow tubular structures with a non negative response using the classical Frangi's filter. The features extracted from the Hessian matrix are used to detect centerlines and approximate walls of airways, decreasing the filter response in those areas by applying a penalty function to the vesselness measure. We validate the segmentation method in 20 CT scans with different pathological states within the VESSEL12 challenge framework. Results indicate that our approach obtains good results, decreasing the number of false positives in airway walls.

Fluoro-sensing applied to detection and identification of hydrocarbons in inland waters. Study of the impact of different UV light sources

This paper presents the detection and identification of hydrocarbons through flu oro-sensing by developing a simple and inexpensive detector for inland water, in contrast to current systems, designed to be used for marine waters at large distances and being extremely costly. To validate the proposed system, three test-benches have been mounted, with various UV-Iight sources. Main application of this system would be detect hydrocarbons pollution in rivers, lakes or dams, which in fact, is of growing interest by administrations.

Adaptive spatio-temporal filter for low-cost camera depth maps

In this paper we present an adaptive spatio-temporal filter that aims to improve low-cost depth camera accuracy and stability over time. The proposed system is composed by three blocks that are used to build a reliable depth map of static scenes. An adaptive joint-bilateral filter is used to obtain consistent depth maps by jointly considering depth and video information and by adapting its parameters to different levels of estimated noise. Kalman filters are used to reduce the temporal random fluctuations of the measurements. Finally an interpolation algorithm is used to obtain consistent depth maps in the regions where the depth information is not available. Results show that this approach allows to considerably improve the depth maps quality by considering spatio-temporal information and by adapting its parameters to different levels of noise.

Design of a Two-Phase buck converter with fourth-order output filter for envelope amplifiers of limited bandwidth

The use of techniques such as envelope tracking (ET) and envelope elimination and restoration (EER) can improve the efficiency of radio frequency power amplifiers (RFPA). In both cases, high-bandwidth DC/DC converters called envelope amplifiers (EA) are used to modulate the supply voltage of the RFPA. This paper addresses the analysis and design of a modified two-phase Buck converter optimized to operate as EA. The effects of multiphase operation on the tracking capabilities are analyzed. The use of a fourth-order output filter is proposed to increase the attenuation of the harmonics generated by the PWM operation, thus allowing a reduction of the ratio between the switching frequency and the converter bandwidth. The design of the output filter is addressed considering envelope tracking accuracy and distortion caused by the side bands arising from the nonlinear modulation process. Finally, the proposed analysis and design methods are supported by simulation results, as well as demonstrated by experiments obtained using two 100-W, 10-MHz, two-phase Buck EAs capable of accurately tracking a 1.5-MHz bandwidth OFDM signal.

Validación de HP UV-LED para la detección en continuo de contaminantes en aguas continentales mediante fluorescencia

La preservación del medio ambiente, el avance en las técnicas para que el impacto de la actividad humana sobre la fauna y flora sea lo menor posible, hacen que se deban monitorizar los diversos indicadores de calidad. El presente estudio viene motivado debido a que actualmente existen sistemas de medida y control en continuo de la calidad de las aguas, al margen de los estudios de laboratorio por toma de muestras, a través de los cuales se obtienen indicadores de calidad. El desarrollo tecnológico en analizadores en continuo para la medida de fósforo, amonio, DBO y otros, hacen que cada vez se consiga un control más exhaustivo de la calidad en tiempo real. Sin embargo, la detección temprana de contaminantes que no deben encontrarse presentes en el agua, hacen que el desarrollo de sensores de detección de estos contaminantes sea de gran utilidad. A este respecto, las técnicas mediante fluorescencia presentan enormes ventajas, ya que no existe contacto directo con la muestra, reduciéndose el desgaste y alargando el tiempo entre mantenimientos, como se ha comprobado en numerosos desarrollos con tecnología láser. Para la producir fluorescencia, tradicionalmente se vienen utilizando en el laboratorio principalmente lámparas de gas y monocromadores. Los nuevos LED de alta potencia en el espectro ultravioleta son una alternativa muy interesante que además puede ser aplicada en los mencionados sistemas de medición en continuo. En este trabajo se realiza un estudio de viabilidad de estos dispositivos como fuentes de excitación para la producción de fluorescencia tomando como contaminantes los hidrocarburos. El funcionamiento en estaciones en continuo hace que se tenga que realizar además ensayos de vida acelerados, así como estudios de modos de trabajo. Al respecto de la fluorescencia producida, se estudia la influencia de factores que pueden afectar a las medidas, tales como la temperatura. El estudio del espectro y su análisis para la identificación del contaminante es otro de los puntos desarrollados en este trabajo. Por último, y dado que la monitorización se realiza en modo continuo, es necesario un sistema de comunicaciones compacto y fiable: en este apartado se analizan los metamateriales como solución tecnológica, ya que se adapta perfectamente a la filosofía de estas estaciones de medición. ABSTRACT Currently the monitoring of quality indicators is a need to preserve the environment and minimize the impact of human activity on the fauna and flora. Currently there are measuring systems and continuous monitoring of water quality, regardless of sampling laboratory studies, through which quality indicators are obtained. Technological development in continuous analyzers for the measurement of phosphorus, ammonia, BOD and others increasingly make a more comprehensive real-time quality control is achieved. However, early detection of contaminants that should not be present in the water, make the development of sensors for detecting these contaminants is very useful. In this regard, fluorescence techniques have huge advantages, since there is no direct contact with the sample, reducing wear and extending the time between maintenance, as has been demonstrated in numerous developments in laser technology. To produce fluoresce, traditionally are being used mainly gas lamps and monochromators at the laboratory. The new high-power LEDs in the ultraviolet spectrum are a very interesting alternative that can also be applied in the above continuous measurement systems. In this paper a viability study of these devices as excitation sources to produce fluorescence using hydrocarbon as contaminants is performed. The stations in continuous operation makes it necessary to also perform accelerated life tests and studies operating modes. In regard to the fluorescence produced, the influence of factors that may affect the measurements, such as temperature is studied. The study of the spectrum and analysis to identify the contaminant is another of the points developed in this work. Finally, since the monitoring is carried out in continuous mode, a compact and reliable communication is necessary: in this section metamaterials as a technological solution is analyzed since it fits perfectly with the philosophy of these measuring stations.

Optical properties of ZnMgO films grown by spray pyrolysis and their application to UV photodetection

This work presents a comprehensive optical characterization of Zn1−xMgxO thin films grown by spray pyrolysis (SP). Absorption measurements show the high potential of this technique to tune the bandgap from 3.30 to 4.11 eV by changing the Mg acetate content in the precursor solution, leading to a change of the Mg-content ranging from 0 up to 35%, as measured by transmission electron microscopy-energy dispersive x-ray spectroscopy. The optical emission of the films obtained by cathodoluminescence and photoluminescence spectroscopy shows a blue shift of the peak position from 3.26 to 3.89 eV with increasing Mg incorporation, with a clear excitonic contribution even at high Mg contents. The linewidth broadening of the absorption and emission spectra as well as the magnitude of the observed Stokes shift are found to significantly increase with the Mg content. This is shown to be related to both potential fluctuations induced by pure statistical alloy disorder and the presence of a tail of band states, the latter dominating for medium Mg contents. Finally, metal–semiconductor–metal photodiodes were fabricated showing a high sensitivity and a blue shift in the cut-off energy from 3.32 to 4.02 eV, i.e., down to 308 nm. The photodiodes present large UV/dark contrast ratios (102 − 107), indicating the viability of SP as a growth technique to fabricate low cost (Zn, Mg)O-based UV photodetectors reaching short wavelengths.

Oceanic protection of prebiotic organic compounds from UV radiation

It is frequently stated that UV light would cause massive destruction of prebiotic organic compounds because of the absence of an ozone layer. The elevated UV flux of the early sun compounds this problem. This applies to organic compounds of both terrestrial and extraterrestrial origin. Attempts to deal with this problem generally involve atmospheric absorbers. We show here that prebiotic organic polymers as well as several inorganic compounds are sufficient to protect oceanic organic molecules from UV degradation. This aqueous protection is in addition to any atmospheric UV absorbers and should be a ubiquitous planetary phenomenon serving to increase the size of planetary habitable zones.

Protein kinase mutants of human ATR increase sensitivity to UV and ionizing radiation and abrogate cell cycle checkpoint control

In fission yeast, the rad3 gene product plays a critical role in sensing DNA structure defects and activating damage response pathways. A structural homologue of rad3 in humans (ATR) has been identified based on sequence similarity in the protein kinase domain. General information regarding ATR expression, protein kinase activity, and cellular localization is known, but its function in human cells remains undetermined. In the current study, the ATR protein was examined by gel filtration of protein extracts and was found to exist predominantly as part of a large protein complex. A kinase-inactivated form of the ATR gene was prepared by site-directed mutagenesis and was used in transfection experiments to probe the function of this complex. Introduction of this kinase-dead ATR into a normal fibroblast cell line, an ATM-deficient fibroblast line derived from a patient with ataxia–telangiectasia, or a p53 mutant cell line all resulted in significant losses in cell viability. Clones expressing the kinase-dead ATR displayed increased sensitivity to x-rays and UV and a loss of checkpoint control. We conclude that ATR functions as a critical part of a protein complex that mediates responses to ionizing and UV radiation in human cells. These responses include effects on cell viability and cell cycle checkpoint control.

Structural kinetics of transcription activation at the malT promoter of Escherichia coli by UV laser footprinting

We have studied the kinetics of transcriptional initiation and activation at the malT and malTp1 promoters of Escherichia coli using UV laser footprinting. Contrary to previous studies and because of the very rapid signal acquisition by this technique, we can obtain structural information about true reaction intermediates of transcription initiation. The consequences of adding a transcriptional activator, the cAMP receptor protein/cAMP complex (CRP), are monitored in real time, permitting us to assign specific interactions to the activation of discrete steps in transcription initiation. Direct protein–protein contacts between CRP and the RNA polymerase appeared very rapidly, followed by DNA melting around the −10 hexamer. CRP slightly increased the rate of this isomerization reaction but, more importantly, favored the establishment of additional contacts between the DNA upstream of the CRP binding site and RNA polymerase subsequent to open complex formation. These contacts make a major contribution to transcriptional activation by stabilizing open forms of the promoter complex, thereby indirectly accelerating promoter escape. The ensemble of the kinetic, structural signals demonstrated directly that CRP exerts most of its activating effects on the late stages of transcriptional initiation at the malT promoter.

Down-regulation of interferon γ-activated STAT1 by UV light

STAT1 is a cytoplasmic transcription factor that is phosphorylated by Janus kinases (Jak) in response to interferon-γ (IFNγ). Phosphorylated STAT1 translocates to the nucleus, where it turns on specific sets of IFNγ-inducible genes. Here, we show that UV light interferes with tyrosine phosphorylation of STAT1, thereby hindering IFNγ from exerting its biological effects. This effect is not due to a down-regulation of the IFNγ receptor because phosphorylation of upstream-located Jak1 and Jak2 was not suppressed by UV light. In contrast, UV light had no effect on the phosphorylation of STAT3, which is activated by the proinflammatory cytokine interleukin 6. The UV light effect on STAT1 phosphorylation could be antagonized by vanadate, indicating at least partial involvement of a protein tyrosine phosphatase. Therefore, this study indicates a mechanism by which UV light can inhibit gene activation and suggests STAT1 as a new extranuclear UV target closely located to the membrane.

Proteinase inhibitors I and II from potatoes specifically block UV-induced activator protein-1 activation through a pathway that is independent of extracellular signal-regulated kinases, c-Jun N-terminal kinases, and P38 kinase

Solar UV irradiation is the causal factor for the increasing incidence of human skin carcinomas. The activation of the transcription factor activator protein-1 (AP-1) has been shown to be responsible for the tumor promoter action of UV light in mammalian cells. We demonstrate that proteinase inhibitor I (Inh I) and II (Inh II) from potato tubers, when applied to mouse epidermal JB6 cells, block UV-induced AP-1 activation. The inhibition appears to be specific for UV-induced signal transduction for AP-1 activation, because these inhibitors did not block UV-induced p53 activation nor did they exhibit any significant influence on epidermal growth factor-induced AP-1 transactivation. Furthermore, the inhibition of UV-induced AP-1 activity occurs through a pathway that is independent of extracellular signal-regulated kinases and c-Jun N-terminal kinases as well as P38 kinases. Considering the important role of AP-1 in tumor promotion, it is possible that blocking UV-induced AP-1 activity by Inh I or Inh II may be functionally linked to irradiation-induced cell transformation.

Ionizing radiation and short wavelength UV activate NF-κB through two distinct mechanisms

We examined the mechanisms by which two different types of photonic radiation, short wavelength UV (UV-C) and γ radiation, activate transcription factor NF-κB. Exposure of mammalian cells to either form of radiation resulted in induction with similar kinetics of NF-κB DNA binding activity, nuclear translocation of its p65(RelA) subunit, and degradation of the major NF-κB inhibitor IκBα. In both cases, induction of NF-κB activity was attenuated by proteasome inhibitors and a mutation in ubiquitin-activating enzyme, suggesting that both UV-C and γ radiation induce degradation of IκBs by means of the ubiquitin/proteasome pathway. However, although the induction of IκBα degradation by γ rays was dependent on its phosphorylation at Ser-32 and Ser-36, UV-C-induced IκBα degradation was not dependent on phosphorylation of these residues. Even the “super repressor” IκBα mutant, which contains alanines at positions 32 and 36, was still susceptible to UV-C-induced degradation. Correspondingly, we found that γ radiation led to activation of IKK, the protein kinase that phosphorylates IκBα at Ser-32 and Ser-36, whereas UV-C radiation did not. Furthermore, expression of a catalytically inactive IKKβ mutant prevented NF-κB activation by γ radiation, but not by UV-C. These results indicate that γ radiation and UV-C activate NF-κB through two distinct mechanisms.

Interaction between replication protein A and p53 is disrupted after UV damage in a DNA repair-dependent manner

Replication protein A (RPA) is required for both DNA replication and nucleotide excision repair. Previous studies have shown that RPA interacts with the tumor suppressor p53. Herein, we have mapped a 20-amino acid region in the N-terminal part of p53 that is essential for its binding to RPA. This region is distinct from the minimal activation domain of p53 previously identified. We also demonstrate that UV radiation of cells greatly reduces the ability of RPA to bind to p53. Interestingly, damage-induced hyperphosphorylated RPA does not associate with p53. Furthermore, down-regulation of the RPA/p53 interaction is dependent upon the capability of cells to perform global genome repair. On the basis of these data, we propose that RPA may participate in the coordination of DNA repair with the p53-dependent checkpoint control by sensing UV damage and releasing p53 to activate its downstream targets.