Global vs. local nonlinear optimization techniques for human-like movement of an anthropomorphic robot

In this paper a comparison between using global and local optimization techniques for solving the problem of generating human-like arm and hand movements for an anthropomorphic dual arm robot is made. Although the objective function involved in each optimization problem is convex, there is no evidence that the admissible regions of these problems are convex sets. For the sequence of movements for which the numerical tests were done there were no significant differences between the optimal solutions obtained using the global and the local techniques. This suggests that the optimal solution obtained using the local solver is indeed a global solution.

Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.

Towards human-like bimanual movements in anthropomorphic robots: a nonlinear optimization approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

A new competitive implementation of the electromagnetism-like algorithm for global optimization

The Electromagnetism-like (EM) algorithm is a population- based stochastic global optimization algorithm that uses an attraction- repulsion mechanism to move sample points towards the optimal. In this paper, an implementation of the EM algorithm in the Matlab en- vironment as a useful function for practitioners and for those who want to experiment a new global optimization solver is proposed. A set of benchmark problems are solved in order to evaluate the performance of the implemented method when compared with other stochastic methods available in the Matlab environment. The results con rm that our imple- mentation is a competitive alternative both in term of numerical results and performance. Finally, a case study based on a parameter estimation problem of a biology system shows that the EM implementation could be applied with promising results in the control optimization area.

Exploring the properties of genetically engineered silk-elastin-like protein films

Free standing films of a genetically engineered silk-elastin-like protein (SELP) were prepared using water and formic acid as solvents. Exposure to methanol-saturated air promoted the formation of aggregated β-strands rendering aqueous insolubility and improved the mechanical properties leading to a 10-fold increase in strain-to-failure. The films were optically clear with resistivity values similar to natural rubber and thermally stable up to 180 °C. Addition of glycerol showed to enhance the flexibility of SELP/glycerol films by interacting with SELP molecules through hydrogen bonding, interpenetrating between the polymer chains and granting more conformational freedom. This detailed characterization provides cues for future and unique applications using SELP based biopolymers.

Development of elastin-like recombinamer films with antimicrobial activity

In the present work we explored the ABP-CM4 peptide properties from Bombyx mori for the creation of biopolymers with broad antimicrobial activity. An antimicrobial recombinant protein-based polymer (rPBP) was designed by cloning the DNA sequence coding for ABP-CM4 in frame with the N-terminus of the elastin-like recombinamer consisting of 200 repetitions of the pentamer VPAVG, here named A200. The new rPBP, named CM4-A200, was purified via a simplified nonchromatographic method, making use of the thermoresponsive behavior of the A200 polymer. ABP-CM4 peptide was also purified through the incorporation of a formic acid cleavage site between the peptide and the A200 sequence. In soluble state the antimicrobial activity of both CM4-A200 polymer and ABP-CM4 peptide was poorly effective. However, when the CM4-A200 polymer was processed into free-standing films high antimicrobial activity against Gram-positive and Gram-negative bacteria, yeasts and filamentous fungi was observed. The antimicrobial activity of CM4-A200 was dependent on the physical contact of cells with the film surface. Furthermore, CM4-A200 films did not reveal a cytotoxic effect against both normal human skin fibroblasts and human keratinocytes. Finally, we have developed an optimized ex vivo assay with pig skin demonstrating the antimicrobial properties of the CM4-A200 cast films for skin applications.

Gellan gum-hyaluronate spongy-like hydrogels promote angiogenesis in hindlimb ischemia

"Tissue engineering: part A", vol. 21, suppl. 1 (2015)

Coronary artery disease, microalbuminuria and lipid profile in patients with non-insulin dependent diabetes mellitus

PURPOSE: To determine the frequency of coronary artery disease, microalbuminuria and the relation to lipid profile disorders, blood pressure and clinical and metabolic features. METHODS: Fifty-five type 2 diabetic patients (32 females, 23 males), aged 59.9±9 years and with known diabetes duration of 11±7.3 years were studied. Coronary artery disease (CAD) was defined as a positive history of myocardial infarction, typical angina, myocardial revascularization or a positive stress testing. Microalbuminuria was defined when two out of three overnight urine samples had a urinary albumin excretion ranging 20 - 200µg/min. RESULTS: CAD was present in 24 patients (43,6%). High blood pressure (HBP) present in 32 patients (58.2%) and was more frequent in CAD group (p=0.05) HBP. Increased the risk of CAD 3.7 times (CI[1.14-12]). Microalbuminuria was present in 25 patients (45.5%) and tended to associate with higher systolic blood pressure (SBP) (p = 0.06), presence of hypertension (p = 0.06) and know diabetes duration (p = 0.08). In the stepwise multiple logistic regression the systolic blood pressure was the only variable that influenced UAE (r = 0.39, r² = 0.14, p = 0.01). The h ypertensive patients had higher cholesterol levels (p = 0.04). CONCLUSION: In our sample the frequency of microalbuminuria, hypertension, hypercholesterolemia and CHD was high. Since diabetes is an independent risk factor for cardiovascular disease, the association of others risk factors suggest the need for an intensive therapeutic intervention in primary and in secundary prevention.

Ambulatory blood pressure monitoring and microalbuminuria in normotensive subjects with insulin-dependent diabetes mellitus

OBJECTIVE: To assess the association between microalbuminuria with ambulatory blood pressure monitoring in normotensive individuals with insulin-dependent diabetes mellitus. METHODS: Thirty-seven patients underwent determination of the rate of urinary excretion of albumin through radioimmunoassay and ambulatory blood pressure monitoring. Their mean age was 26.5±6.7 years, and the mean duration of their disease was 8 (1-34) years. Microalbuminuria was defined as urinary excretion of albumin > or = 20 and <200µg/min in at least 2 out of 3 urine samples. RESULTS: Nine (24.3%) patients were microalbuminuric. Ambulatory blood pressure monitoring in the microalbuminuric patients had higher mean pressure values, mainly the systolic pressure, during sleep as compared with that in the normoalbuminuric patients (120.1±8.3 vs 110.8±7.1 mmHg; p=0.007). The pressure load was higher in the microalbuminuric individuals, mainly the systolic pressure load during wakefulness [6.3 (2.9-45.9) vs 1.6 (0-16%); p=0.001]. This was the variable that better correlated with the urinary excretion of albumin (rS=0.61; p<0.001). Systolic pressure load >50% and diastolic pressure load > 30% during sleep was associated with microalbuminuria (p=0.008). The pressure drop during sleep did not differ between the groups. CONCLUSION: Microalbuminuric normotensive insulin-dependent diabetic patients show greater mean pressure value and pressure load during ambulatory blood pressure monitoring, and these variables correlate with urinary excretion of albumin.

Modelo in vitro de ateroesclerosis: Efecto de la infección con Trypanosoma cruzi, lípidos y lipoproteínas sobre la expresión de receptores Toll-like y scavengers en la formación de células espumosas derivadas de macrófagos

Los receptores Toll-like (TLRs) son receptores ancestrales que reconocen modelos moleculares asociados a patógenos y nos defienden de los microorganismos. Su activación por vías de señalización que involucran al factor de transcripción NF-kB, estimula la producción de citoquinas inflamatorias, quimioquinas, moléculas de adhesión y procoagulantes. Recientemente se ha documentado la participación de TLR 2 y 4 en el desarrollo /progresión del ateroma en modelos experimentales in vivo, siendo postulados como nexo entre inflamación, infecciones y ateroesclerosis. Infecciones bacterianas y virales han demostrado jugar un papel en su desarrollo. Sin embargo, el rol de parásitos intracelulares obligados -Trypanosoma cruzi- ha sido escasamente explorado. Los macrófagos, células claves del sistema inmune innato, que pueden ser infectadas in vivo e in vitro por este parásito, expresan en su superficie receptores multiligando scavenger (SR) clase B. Entre ellos, CD 36, capta lipoproteínas de baja densidad (LDL) oxidadas y este mecanismo endocítico no controlado por feedback favorecería la formación de células espumosas, la lesión más temprana de ateroesclerosis. El objetivo general de este proyecto es contribuir a esclarecer el conocimiento de los mecanismos bioquímicos, celulares y moleculares que participan en la formación de células espumosas derivadas de macrófagos. Determinar el efecto de potenciales factores aterogénicos sobre receptores Toll-like and SR-CD 36, permitiría diseñar terapias alternativas tendientes a modular su actividad con la finalidad de disminuir la elevada morbilidad/mortalidad que ocasiona la ateroesclerosis en la sociedad occidental. En nuestro modelo proponemos los siguientes objetivos específicos: -Dilucidar el compromiso de TLRs y SR-clase B en el proceso de aterogenésis, específicamente en la formación de células espumosas.-Investigar la influencia de la infección por T. cruzi, ácidos grasos y LDL modificadas como factores aditivos en la formación de estas células. -Evaluar el efecto de ligandos agonistas de TLR2/4 y SR-CD 36. -Determinar el perfil de citoquinas inflamatorias liberadas en el sobrenadante de los cultivos celulares. -Estudiar el efecto metabólico de las hormonas insulina y adipoquinas en el proceso bioquímico y celular que permite la formación de células espumosas.

Efecto de la infección in vivo con Trypanosoma cruzi y una dieta rica en lípidos sobre receptores Toll-like en un modelo experimental de Aterosclerosis

Además de los factores de riesgos convencionales y mejor conocidos que predisponen a la aterosclerosis, entre ellos, la hiperlipemia, hipertensión y el hábito de fumar, recientemente se ha propuesto a las infecciones y la inflamación como factores de riesgo a tener en cuenta en el desarrollo de esta patología. Considerando que algunas infecciones bacterianas y / o virales pueden ejercer una acción pro-aterogénica, probablemente como consecuencia de inflamación sistémica o un efecto directo sobre la pared vascular, nos propusimos como objetivo principal, estudiar la influencia de la infección in vivo con Trypanosoma cruzi (parásito protozoario, agente etiológico de la Enfermedad de Chagas) más una dieta rica en lípidos sobre la expresión de los receptores de la inmunidad innata (Toll – like) en un modelo experimental desarrollado en ratones C57BL/6, propensos a la aterosclerosis. Por otra parte, nos interesa caracterizar los tipos celulares que infiltran el corazón y la aorta de los animales sometidos a tratamientos experimental (mediante estudios inmunohistoquímicos), el perfil de citoquinas inflamatorias séricas y moléculas de adhesión intercelular, así como también establecer una correlación con parámetros bioquímico – clínicos y endocrinológicos, en especial el perfil de lípidos, lipoproteínas y apolipoproteínas, marcadores de inflamación sistémica, peso corporal, glucemia, insulina e insulina resistencia

Efecto de la infección in vivo con trypanosoma cruzi y una dieta rica en lípidos sobre receptores toll-like en un modelo experimental de ateroesclerosis.

Ateroesclerosis es una enfermedad inflamatoria crónica de arterias de mediano y gran calibre, caracterizada por activación de células endoteliales, reclutamiento de monocitos en la pared de los vasos y diferenciación de macrófagos en células espumosas cargadas de colesterol. Además de los factores de riesgo convencionales y mejor conocidos que predisponen a la ateroesclerosis, como la hiperlipemia, hipertensión y el hábito de fumar, recientemente se ha propuesto a las infecciones y la inflamación como factores de riesgo a considerar en su desarrollo. Algunas infecciones bacterianas o virales pueden ejercer una acción pro-aterogénica, probablemente como consecuencia de inflamación sistémica o un efecto directo sobre la pared vascular. Sin embargo, el papel del Trypanosoma cruzi ha sido escasamente explorado. Como objetivo principal nos propusimos, estudiar la influencia de la infección in vivo con Trypanosoma. cruzi (parásito protozoario, agente etiológico de la Enfermedad de Chagas ) más una dieta rica en lípidos sobre la expresión de los receptores tipo Toll de la inmunidad innata en un modelo experimental en ratones C57BL/6 salvajes, propensos al desarrollo de ateroesclerosis. Especifícamente, nos interesa caracterizar que tipos celulares infiltran el corazón y aorta de los animales sometidos a tratamiento experimental, el perfil de citoquinas inflamatorias séricas, quimioquinas y moléculas de adhesión intercelular, así como también establecer una correlación con parámetros bioquímicos-clínicos y endocrinológicos, en especial el perfil de lípidos, lipoproteínas y apolipoproteínas, marcadores de inflamación sistémica, peso corporal, glucemia, insulina e insulino-resistencia.

Insulin Resistance, Dyslipidemia and Cardiovascular Changes in a Group of Obese Children

Introduction: Obesity-related comorbidities are present in young obese children, providing a platform for early adult cardiovascular disorders. Objectives: To compare and correlate markers of adiposity to metabolic disturbances, vascular and cardiac morphology in a European pediatric obese cohort. Methods: We carried out an observational and transversal analysis in a cohort consisting of 121 obese children of both sexes, between the ages of 6 and 17 years. The control group consisted of 40 children with normal body mass index within the same age range. Markers of adiposity, plasma lipids and lipoproteins, homeostasis model assessment-insulin resistance, common carotid artery intima-media thickness and left ventricular diameters were analyzed. Results: There were statistically significant differences between the control and obese groups for the variables analyzed, all higher in the obese group, except for age, high-density lipoprotein cholesterol and adiponectin, higher in the control group. In the obese group, body mass index was directly correlated to left ventricular mass (r=0.542; p=0.001), the homeostasis model assessment-insulin resistance (r=0.378; p=<0.001) and mean common carotid artery intima-media thickness (r=0.378; p=<0.001). In that same group, insulin resistance was present in 38.1%, 12.5% had a combined dyslipidemic pattern, and eccentric hypertrophy was the most common left ventricular geometric pattern. Conclusions: These results suggest that these markers may be used in clinical practice to stratify cardiovascular risk, as well as to assess the impact of weight control programs.

Function and regulation of death-associated protein kinase1 (DAPK) in colon cancer cells and macrophage-like cell line : identifcation of p38 as a novel DAPK interacting partner during TNFα-mediated apoptosis in colon cancer

DAPK, Apoptosis, p38, macrophages, survival

Correlation of Insulin Resistance with Anthropometric Measures and Blood Pressure in Adolescents

Abstract Background: Blood pressure is directly related to body mass index, and individuals with increased waist circumference have higher risk of developing hypertension, insulin resistance, and other metabolic changes, since adolescence. Objective: to evaluate the correlation of blood pressure with insulin resistance, waist circumference and body mass index in adolescents. Methods: Cross-section study on a representative sample of adolescent students. One group of adolescents with altered blood pressure detected by casual blood pressure and/or home blood pressure monitoring (blood pressure > 90th percentile) and one group of normotensive adolescents were studied. Body mass index, waist circumference were measured, and fasting glucose and plasma insulin levels were determined, using the HOMA-IR index to identify insulin resistance. Results: A total of 162 adolescents (35 with normal blood pressure and 127 with altered blood pressure) were studied; 61% (n = 99) of them were boys and the mean age was 14.9 ± 1.62 years. Thirty-eight (23.5%) adolescents had altered HOMA-IR. The group with altered blood pressure had higher values of waist circumference, body mass index and HOMA-IR (p<0.05). Waist circumference was higher among boys in both groups (p<0.05) and girls with altered blood pressure had higher HOMA-IR than boys (p<0.05). There was a significant moderate correlation between body mass index and HOMA-IR in the group with altered blood pressure (ρ = 0.394; p < 0.001), and such correlation was stronger than in the normotensive group. There was also a significant moderate correlation between waist circumference and HOMA-IR in both groups (ρ = 0.345; p < 0.05). Logistic regression showed that HOMA-IR was as predictor of altered blood pressure (odds ratio - OR = 2.0; p = 0.001). Conclusion: There was a significant association of insulin resistance with blood pressure and the impact of insulin resistance on blood pressure since childhood. The correlation and association between markers of cardiovascular diseases was more pronounced in adolescents with altered blood pressure, suggesting that primary prevention strategies for cardiovascular risk factors should be early implemented in childhood and adolescence.