Investigations On The Development Of An Ann Model & Visual Manipulation Approach For 2-D Dft Computation In Image Processing

This thesis is an outcome of the investigations carried out on the development of an Artificial Neural Network (ANN) model to implement 2-D DFT at high speed. A new definition of 2-D DFT relation is presented. This new definition enables DFT computation organized in stages involving only real addition except at the final stage of computation. The number of stages is always fixed at 4. Two different strategies are proposed. 1) A visual representation of 2-D DFT coefficients. 2) A neural network approach. The visual representation scheme can be used to compute, analyze and manipulate 2D signals such as images in the frequency domain in terms of symbols derived from 2x2 DFT. This, in turn, can be represented in terms of real data. This approach can help analyze signals in the frequency domain even without computing the DFT coefficients. A hierarchical neural network model is developed to implement 2-D DFT. Presently, this model is capable of implementing 2-D DFT for a particular order N such that ((N))4 = 2. The model can be developed into one that can implement the 2-D DFT for any order N upto a set maximum limited by the hardware constraints. The reported method shows a potential in implementing the 2-D DF T in hardware as a VLSI / ASIC

Manipulation der Aktin-Hülle später Endosomen durch ektopisches Protein-Targeting und Etablierung einer in vivo-Hierarchie cytoplasmatischer Targeting-Signalstärken

Der Endocytoseweg in Dictyostelium verläuft über definierte endosomale Reifestadien. Dabei werden die reifenden Endosomen im letzten Stadium durch eine Schicht aus filamentösem Aktin umhüllt. Über die biologische Funktion dieser Aktin-Hülle ist derzeit wenig bekannt. Zum weiteren Erkenntnisgewinn sollten daher unterschiedliche Aktin-interagierende Proteine an die endosomale Aktin-Hülle dirigiert und die sich daraus ergebenden Folgen untersucht werden. Dabei wurde der in Drengk et al., 2003 beschriebene Ansatz aufgegriffen, in dem Proteine durch die Fusion an Vacuolin an die späte endosomale Membran transportiert wurden. Die endosomale Lokalisation von DAip1 bewirkte den vollständigen Verlust der endosomalen Aktin-Hülle, ohne dabei das restliche zelluläre Cytoskelett zu beeinträchtigen. Dabei wird die Depolymerisation vermutlich über die nachgewiesene Interaktion von DAip1 mit dem Aktin-depolymerisierenden Protein Cofilin bewirkt. Einhergehend damit trat eine Aggregation der betroffenen Kompartimente, eine Verzögerung des endocytotischen Transits, sowie eine verstärkte Retention lysosomaler Enzyme auf. Diese Ergebnisse ließen auf eine Funktion der endosomalen Aktin-Hülle als Fusionsinhibitor oder in der Regulation von Recycling-Prozessen an späten Endosomen schließen. Die Verlängerung der endosomalen Verweilzeit des den Arp2/3-Komplex negativ regulierenden Proteins Coronin bewirkte dagegen keine offensichtlichen Veränderungen in den betroffenen Zellen. Diese Beoachtung könnte ein Indiz dafür sein, dass nach der Ausbildung der Aktin-Hülle keine weiteren essentiellen Arp2/3-abhängigen mehr an der endosomalen Membran auftreten. Die endosomale Lokalisation des Aktin-Crosslinkers ABP34 induzierte ebenfalls keine Abweichungen vom Wildtyp-Verhalten. Hierbei besteht allerdings die Möglichkeit, dass die Aktivität des Proteins durch die bereits zuvor beschriebene Calcium-Sensitivität beeintächtigt vorliegt. Eine Verstärkung der endosomalen Hülle konnte trotz der Verwendung unterschiedlicher Ansätze nicht hervorgerufen werden. Offensichtlich wirkt die zusätzliche Expression zentraler Regulatoren der Aktin-Polymerisation in der Zelle cytotoxisch. Die Bindung von VASP an die endosomale Membran bewirkte in den Zellen die Ausbildung voluminöser, cytoplasmatischer „Aktin-Bälle“. Diese riefen in den betroffenen Zellen Defekte in unterschiedlichen Aktin-abhängigen Prozessen, wie der Phago- und Pinocytose, sowie der Cytokinese hervor. Dabei gehen die beobachteten Veränderungen vermutlich auf die nachgewiesene Störung im Gleichgewicht zwischen G- und F-Aktin zurück. Obwohl die Aktin-Bälle an der endosomalen Membran entstehen, weisen sie nach vollendeter Entstehung keine inneren oder äußeren Membranen mehr auf und nehmen nicht mehr aktiv am endocytotischen Geschehen teil. Die nähere Charakterisierung offenbarte große Ähnlichkeit zu den mit unterschiedlichen neurodegenerativen Erkrankungen assoziierten Hirano-Bodies. Über das beobachtbare Lokalisationsverhalten der unterschiedlichen im ersten Teil der Arbeit eingesetzten Vacuolin-Hybridproteine ließ sich die Stärke der Lokalisationsinformationen der fusionierten Aktin-interagierenden Proteine miteinander vergleichen. Dies wurde verwendet, um die einzelnen Proteine gemäß ihres Targeting-Potenzials hierarchisch anzuordnen. Im zweiten Teil der Arbeit wurden dieser Hierarchie die beiden cytoplasmatischen Targeting-Signale für Peroxisomen (PTS1) und den Zellkern (SV40-NLS) hinzugefügt. Der vorgenommene Vergleich dieser in vivo gewonnen Daten aus Dictyostelium mit unterschiedlichen in vitro-Bindungsstudien mit homologen Proteinen anderer Organismen zeigte eine erstaunlich gute Übereinstimmung. Diese Beobachtung lässt auf vergleichbare Targeting-Affinitäten innerhalb der Eukaryoten schließen und belegt, dass die zelluläre Lokalisation eines Proteins relativ sicher anhand der in ihm vorhandenen Bindungs-Affinitäten vorhergesagt werden kann. Durch die Kombination der in vivo- und in vitro-Daten war es auch ohne Kenntnis des Oligomerisierungsgrades und des Interaktionspartners erstmals möglich, die Bindungsstärke von Vacuolin an der endosomalen Membran auf einen definierten Bereich einzugrenzen.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

Embodiment and Manipulation Learning Process for a Humanoid Hand

Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their surroundings. This thesis explores the development of such primitive learning systems using an embodied light-weight hand with three fingers and a thumb. It is self-contained having four motors and 36 exteroceptor and proprioceptor sensors controlled by an on-palm microcontroller. Primitive manipulation is learned from sensory inputs using competitive learning, back-propagation algorithm and reinforcement learning strategies. This hand will be used for a humanoid being developed at the MIT Artificial Intelligence Laboratory.

Review of bio-particle manipulation using dielectrophoresis

During the last decade, large and costly instruments are being replaced by system based on microfluidic devices. Microfluidic devices hold the promise of combining a small analytical laboratory onto a chip-sized substrate to identify, immobilize, separate, and purify cells, bio-molecules, toxins, and other chemical and biological materials. Compared to conventional instruments, microfluidic devices would perform these tasks faster with higher sensitivity and efficiency, and greater affordability. Dielectrophoresis is one of the enabling technologies for these devices. It exploits the differences in particle dielectric properties to allow manipulation and characterization of particles suspended in a fluidic medium. Particles can be trapped or moved between regions of high or low electric fields due to the polarization effects in non-uniform electric fields. By varying the applied electric field frequency, the magnitude and direction of the dielectrophoretic force on the particle can be controlled. Dielectrophoresis has been successfully demonstrated in the separation, transportation, trapping, and sorting of various biological particles.

Data Manipulation.doc (9)

Notes on use of SPSS. Used in Research Skills for Biomedical Science

Nongenetic inheritance, linguistic competence, prenatal experience and behavior manipulation: recent contributions from behavioral neurobiology and neuropsychology to the explanation of behavior

This article gives an overview of presuppositions and explanations posed by behaviorist psychology (particularly its radical branch), cognitive–nativist sciences (i.e. psycholinguistics and a branch of cognitive psychology) and other disciplines regarding important psychological events such as anxiety, stress, fear, mood states and language. In relation to the discussion of environment versus genetics, contributions from behavioral neurobiology and neuropsychology are added, showing evidence of traits that can be multigenerationally inherited in a non-genetic way, which have an impact thought the life of organisms and on their way of interacting with the environment; ways in which behavior can be altered by recently unsuspected environmental agents or events, and the overlooked role of prenatal experiences in the explanation of behavior. The evidence calls into question presuppositions made by the academic disciplines listed above, and suggests alternative behavior reinterpretations and explanations

Differential effects of thyroid hormone manipulation and ß adrenoceptor agonist administration on uncoupling protein mRNA abundance in adipose tissue and thermoregulation in neonatal pigs

We have shown that there is significant disparity in the expression of uncoupling proteins (UCP) 2 and 3 between modern-commercial and ancient-Meishan porcine genotypes, commercial pigs also have higher plasma triiodothyronine (T(3)) in on the first day of life. T(3) and the sympathetic nervous system are both known to regulate UCPs in rodents and humans; their role in regulating these proteins in the pig is unknown. This study examined whether thyroid hormone manipulation or administration of a selective beta3 adrenoceptor agonist (ZD) influenced plasma hormones, colonic temperature and UCP expression in adipose tissue of two breeds of pig. To mimic the differences observed in thyroid hormone status, piglets from Meishan and commercial litters were randomly assigned to control (1 ml/kg water), T(3) (10 mg/kg) (Meishan only), methimazole (a commonly used antithyroid drug) (50 mg/kg) (commercial only) or ZD (10 mg/kg) oral administration for the first 4 days of postnatal life. Adipose tissue UCP2/3 mRNA abundance was measured on day 4 using PCR. T(3) administration raised plasma T(3) concentrations and increased colonic temperature on day 4. UCP3 mRNA abundance was higher in Meishan, than commercial piglets (p = 0.042) and was downregulated following T(3) administration (p = 0.014). Irrespective of genotype, ZD increased UCP2 mRNA abundance (Meishan p = 0.05, commercial p = 0.03). Expression of neither UCP2 nor 3 was related to colonic temperature, regardless of treatment. In conclusion, we have demonstrated a dissociation between thyroid hormones and the sympathetic nervous system in the regulation of UCPs in porcine adipose tissue. We have also suggested that expression of adipose tissue UCP2 and 3 are not related to body temperature in piglets.

Successful manipulation of the quality and quantity of fat and carbohydrate consumed by free-living individuals using a food exchange model

Our objective in this study was to develop and implement an effective intervention strategy to manipulate the amount and composition of dietary fat and carbohydrate (CHO) in free-living individuals in the RISCK study. The study was a randomized, controlled dietary intervention study that was conducted in 720 participants identified as higher risk for or with metabolic syndrome. All followed a 4-wk run-in reference diet [high saturated fatty acids (SF)/high glycemic index (GI)]. Volunteers were randomized to continue this diet for a further 24 wk or to I of 4 isoenergetic prescriptions [high monounsaturated fatty acids (MUFA)/high GI; high MUFA/low GI; low fat (LF)/high GI; and LF/low GI]. We developed a food exchange model to implement each diet. Dietary records and plasma phospholipid fatty acids were used to assess the effectiveness of the intervention strategy. Reported fat intake from the LF diets was significantly reduced to 28% of energy (%E) compared with 38% E from the HM and LF diets. SF intake was successfully decreased in the HM and LF diets was similar to 10% E compared with 17% E in the reference diet (P = 0.001). Dietary MUFA in the HIM diets was similar to 17% E, significantly higher than in the reference (12% E) and LF diets (10% E) (P = 0.001). Changes in plasma phospholipid fatty acids provided further evidence for the successful manipulation of fat intake. The GI of the HGI and LGI arms differed by similar to 9 points (P = 0.001). The food exchange model provided an effective dietary strategy for the design and implementation across multiple sites of 5 experimental diets with specific targets for the proportion of fat and CHO. J. Nutr. 139: 1534-1540, 2009.

ApoE genotype, cardiovascular risk and responsiveness to dietary fat manipulation

Cardiovascular risk is determined by the complex interactions between genetic and environmental factors. The apoE genotype represents the most-widely-studied single nucleotide polymorphism in relation to CVD risk, with >3600 publications cited in PubMed. Although originally described as a mediator of lipoprotein metabolism, the lipoprotein-independent functions of apoE are being increasingly recognised, with limited data available on the potential impact of genotype on these metabolic processes. Furthermore, although meta-analyses suggest that apoE4 carriers may have a 40-50% increased CVD risk, the associations reported in individual studies are highly heterogeneous and it is recognised that environmental factors such as smoking status and dietary fat composition influence genotype-phenotype associations. However, information is often derived from observational studies or small intervention trials in which retrospective genotyping of the cohort results in small group sizes in the rarer E2 and E4 subgroups. Either larger well-standardised intervention trials or smaller trials with prospective recruitment according to apoE genotype are needed to fully establish the impact of diet on genotype-CVD associations and to establish the potential of dietary strategies such as reduced total fat, saturated fat, or increased antioxidant intakes to counteract the increased CVD burden in apoE4 carriers.

Dietary manipulation of fatty acid composition in lamb meat and its effect on the volatile aroma compounds of grilled lamb

The effect on lamb muscle of five dietary supplements high in polyunsaturated fatty acids (PUFA) was measured. The supplements were linseed oil, fish oil, protected lipid (high in linoleic acid (C18:2 n-6) and alpha-linolenic acid (C18:3 n-3)), fish oil/marine algae (1:1), and protected lipid/marine algae (1:1). Eicosapentaenoic acid (C20:5 n-3) and docosahexaenoic acid (C22:6 n-3) were found in the highest amounts in the meat from lambs fed diets containing algae. Meat from lambs fed protected lipid had the highest levels of C18:2 n-6 and C18:3 n-3, due to the effectiveness of the protection system. In grilled meat from these animals, volatile compounds derived from n-3 fatty acids were highest in the meat from the lambs fed the fish oil/algae diet, whereas compounds derived from n-6 fatty acids were highest in the meat from the lambs fed the protected lipid diet. (C) 2004 Elsevier Ltd. All rights reserved.