Quantitative proteomics methods for the analysis of histone post-translational modifications

Les histones sont des protéines nucléaires hautement conservées chez les cellules des eucaryotes. Elles permettent d’organiser et de compacter l’ADN sous la forme de nucléosomes, ceux-ci representant les sous unités de base de la chromatine. Les histones peuvent être modifiées par de nombreuses modifications post-traductionnelles (PTMs) telles que l’acétylation, la méthylation et la phosphorylation. Ces modifications jouent un rôle essentiel dans la réplication de l’ADN, la transcription et l’assemblage de la chromatine. L’abondance de ces modifications peut varier de facon significative lors du developpement des maladies incluant plusieurs types de cancer. Par exemple, la perte totale de la triméthylation sur H4K20 ainsi que l’acétylation sur H4K16 sont des marqueurs tumoraux spécifiques a certains types de cancer chez l’humain. Par conséquent, l’étude de ces modifications et des événements determinant la dynamique des leurs changements d’abondance sont des atouts importants pour mieux comprendre les fonctions cellulaires et moléculaires lors du développement de la maladie. De manière générale, les modifications des histones sont étudiées par des approches biochimiques telles que les immuno-buvardage de type Western ou les méthodes d’immunoprécipitation de la chromatine (ChIP). Cependant, ces approches présentent plusieurs inconvénients telles que le manque de spécificité ou la disponibilité des anticorps, leur coût ou encore la difficulté de les produire et de les valider. Au cours des dernières décennies, la spectrométrie de masse (MS) s’est avérée être une méthode performante pour la caractérisation et la quantification des modifications d’histones. La MS offre de nombreux avantages par rapport aux techniques traditionnelles. Entre autre, elle permet d’effectuer des analyses reproductibles, spécifiques et facilite l’etude d’un large spectre de PTMs en une seule analyse. Dans cette thèse, nous présenterons le développement et l’application de nouveaux outils analytiques pour l’identification et à la quantification des PTMs modifiant les histones. Dans un premier temps, une méthode a été développée pour mesurer les changements d’acétylation spécifiques à certains sites des histones. Cette méthode combine l’analyse des histones intactes et les méthodes de séquençage peptidique afin de déterminer les changements d’acétylation suite à la réaction in vitro par l’histone acétyltransférase (HAT) de levure Rtt109 en présence de ses chaperonnes (Asf1 ou Vps75). Dans un second temps, nous avons développé une méthode d’analyse des peptides isomériques des histones. Cette méthode combine la LC-MS/MS à haute résolution et un nouvel outil informatique appelé Iso-PeptidAce qui permet de déconvoluer les spectres mixtes de peptides isomériques. Nous avons évalué Iso-PeptidAce avec un mélange de peptides synthétiques isomériques. Nous avons également validé les performances de cette approche avec des histones isolées de cellules humaines érythroleucémiques (K562) traitées avec des inhibiteurs d’histones désacétylases (HDACi) utilisés en clinique, et des histones de Saccharomyces cerevisiae liées au facteur d’assemblage de la chromatine (CAF-1) purifiées par chromatographie d’affinité. Enfin, en utilisant la méthode présentée précédemment, nous avons fait une analyse approfondie de la spécificité de plusieurs HATs et HDACs chez Schizosaccharomyces pombe. Nous avons donc déterminé les niveaux d’acétylation d’histones purifiées à partir de cellules contrôles ou de souches mutantes auxquelles il manque une HAT ou HDAC. Notre analyse nous a permis de valider plusieurs cibles connues des HATs et HDACs et d’en identifier de nouvelles. Nos données ont également permis de définir le rôle des différentes HATs et HDACs dans le maintien de l’équilibre d’acétylation des histones. Dans l’ensemble, nous anticipons que les méthodes décrites dans cette thèse permettront de résoudre certains défis rencontrés dans l’étude de la chromatine. De plus, ces données apportent de nouvelles connaissances pour l’élaboration d’études génétiques et biochimiques utilisant S. pombe.

Sensor-based Control of Chewing and Rumination Behavior of Dairy Cows

The measurement of feed intake, feeding time and rumination time, summarized by the term feeding behavior, are helpful indicators for early recognition of animals which show deviations in their behavior. The overall objective of this work was the development of an early warning system for inadequate feeding rations and digestive and metabolic disorders, which prevention constitutes the basis for health, performance, and reproduction. In a literature review, the current state of the art and the suitability of different measurement tools to determine feeding behavior of ruminants was discussed. Five measurement methods based on different methodological approaches (visual observance, pressure transducer, electrical switches, electrical deformation sensors and acoustic biotelemetry), and three selected measurement techniques (the IGER Behavior Recorder, the Hi-Tag rumination monitoring system and RumiWatchSystem) were described, assessed and compared to each other within this review. In the second study, the new system for measuring feeding behavior of dairy cows was evaluated. The measurement of feeding behavior ensues through electromyography (EMG). For validation, the feeding behavior of 14 cows was determined by both the EMG system and by visual observation. The high correlation coefficients indicate that the current system is a reliable and suitable tool for monitoring the feeding behavior of dairy cows. The aim of a further study was to compare the DairyCheck (DC) system and two additional measurement systems for measuring rumination behavior in relation to efficiency, reliability and reproducibility, with respect to each other. The two additional systems were labeled as the Lely Qwes HR (HR) sensor, and the RumiWatchSystem (RW). Results of accordance of RW and DC to each other were high. The last study examined whether rumination time (RT) is affected by the onset of calving and if it might be a useful indicator for the prediction of imminent birth. Data analysis referred to the final 72h before the onset of calving, which were divided into twelve 6h-blocks. The results showed that RT was significantly reduced in the final 6h before imminent birth.

Methods of generating carrier-envelope-phase stabilized, intense, few-cycle laser pulses

Ultrafast laser pulses have become an integral part of the toolbox of countless laboratories doing physics, chemistry, and biological research. The work presented here is motivated by a section in the ever-growing, interdisciplinary research towards understanding the fundamental workings of light-matter interactions. Specifically, attosecond pulses can be useful tools to obtain the desired insight. However access to, and the utility of, such pulses is dependent on the generation of intense, few-cycle, carrier-envelope-phase stabilized laser pulses. The presented work can be thought of as a sort of roadmap towards the latter. From the oscillator which provides the broadband seed to amplification methods, the integral pieces necessary for the generation of attosecond pulses are discussed. A range of topics from the fundamentals to design challenges is presented, outfitting the way towards the practical implementation of an intense few-cycle carrier-envelope-phase stabilized laser source.

Hybrid optimization schemes for quantum control

Optimal control theory is a powerful tool for solving control problems in quantum mechanics, ranging from the control of chemical reactions to the implementation of gates in a quantum computer. Gradient-based optimization methods are able to find high fidelity controls, but require considerable numerical effort and often yield highly complex solutions. We propose here to employ a two-stage optimization scheme to significantly speed up convergence and achieve simpler controls. The control is initially parametrized using only a few free parameters, such that optimization in this pruned search space can be performed with a simplex method. The result, considered now simply as an arbitrary function on a time grid, is the starting point for further optimization with a gradient-based method that can quickly converge to high fidelities. We illustrate the success of this hybrid technique by optimizing a geometric phase gate for two superconducting transmon qubits coupled with a shared transmission line resonator, showing that a combination of Nelder-Mead simplex and Krotov’s method yields considerably better results than either one of the two methods alone.

Modeling Robot Dynamic Performance for Endpoint Force Control

This research aims to understand the fundamental dynamic behavior of servo-controlled machinery in response to various types of sensory feedback. As an example of such a system, we study robot force control, a scheme which promises to greatly expand the capabilities of industrial robots by allowing manipulators to interact with uncertain and dynamic tasks. Dynamic models are developed which allow the effects of actuator dynamics, structural flexibility, and workpiece interaction to be explored in the frequency and time domains. The models are used first to explain the causes of robot force control instability, and then to find methods of improving this performance.

KAM: Automatic Planning and Interpretation of Numerical Experiments Using Geometrical Methods

KAM is a computer program that can automatically plan, monitor, and interpret numerical experiments with Hamiltonian systems with two degrees of freedom. The program has recently helped solve an open problem in hydrodynamics. Unlike other approaches to qualitative reasoning about physical system dynamics, KAM embodies a significant amount of knowledge about nonlinear dynamics. KAM's ability to control numerical experiments arises from the fact that it not only produces pictures for us to see, but also looks at (sic---in its mind's eye) the pictures it draws to guide its own actions. KAM is organized in three semantic levels: orbit recognition, phase space searching, and parameter space searching. Within each level spatial properties and relationships that are not explicitly represented in the initial representation are extracted by applying three operations ---(1) aggregation, (2) partition, and (3) classification--- iteratively.

Modeling, Estimation, and Control of Robot-Soil Interactions

This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of robotic systems interacting with soil, our objective is parameter estimation, not excavation. To this end, we design our manipulator with a flat plate for easy modeling of interactions. By using a flat plate, we take advantage of the wealth of research on the similar problem of earth pressure on retaining walls. There are a number of existing earth pressure models. These models typically provide estimates of force which are in uncertain relation to the true force. A recent technique, known as numerical limit analysis, provides upper and lower bounds on the true force. Predictions from the numerical limit analysis technique are shown to be in good agreement with other accepted models. Experimental methods for plate insertion, soil-tool interface friction estimation, and control of applied forces on the soil are presented. In addition, a novel graphical technique for inverting the soil models is developed, which is an improvement over standard nonlinear optimization. This graphical technique utilizes the uncertainties associated with each set of force measurements to obtain all possible parameters which could have produced the measured forces. The system is tested on three cohesionless soils, two in a loose state and one in a loose and dense state. The results are compared with friction angles obtained from direct shear tests. The results highlight a number of key points. Common assumptions are made in soil modeling. Most notably, the Mohr-Coulomb failure law and perfectly plastic behavior. In the direct shear tests, a marked dependence of friction angle on the normal stress at low stresses is found. This has ramifications for any study of friction done at low stresses. In addition, gradual failures are often observed for vertical tools and tools inclined away from the direction of motion. After accounting for the change in friction angle at low stresses, the results show good agreement with the direct shear values.

Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

Comparison of methods for controlling maximun exposure rates in computerized adaptative testing

Resumen tomado de la publicaci??n

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

Two methods for voltage sag source location

This paper presents and compares two approaches to estimate the origin (upstream or downstream) of voltage sag registered in distribution substations. The first approach is based on the application of a single rule dealing with features extracted from the impedances during the fault whereas the second method exploit the variability of waveforms from an statistical point of view. Both approaches have been tested with voltage sags registered in distribution substations and advantages, drawbacks and comparative results are presented

Descripción de las pruebas de función hepática en el control médico anual en un grupo de aviadores de Colombia

El objetivo de este estudio es describir los resultados de las diferentes pruebas de la función hepática y la asociación que estás guardan con la exposición a horas de vuelo de los aviadores. Métodos: Se realizo revisión de 1716 historias clínicas correspondientes al control médico anual de esta población, realizados entre el 1 junio del 2010 y el 1 de junio del 2011, observando los valores de transaminasas, bilirrubinas, edad, horas de vuelo y antecedentes médicos. Resultados: Se encontraron valores anormales para todas las pruebas de función hepática disponibles para el estudio (AST, ALT, Bilirubinas); se encontró relación estadísticamente significativa entre el número de horas de vuelo y la alteración de las transaminasas. Discusión: No hay estudios específicos relacionados con estas alteraciones en el campo de la aviación militar o comercial, pero se conoce que la exposición a vapores de hidrocarburos, el consumo de drogas hepatotóxicas y consumo de alcohol, sufrir enfermedades virales, cardiacas, neoplasias primarias o metastásicas del hígado, así como el síndrome metabólico, entre otras patologías, alteran la función hepática. Conclusiones: Hay asociación entre el número de horas de vuelo y la elevación de la AST y la ALT. Para establecer una relación específica se requiere la aplicación de estudios de seguimiento y la inclusión de otros factores que alteran las pruebas función hepática.

Self-organized sociopolitical interactions as the best way to achieve organized patterns in human social systems: going beyond the top-down control of classical political regimes

La monografía presenta la auto-organización sociopolítica como la mejor manera de lograr patrones organizados en los sistemas sociales humanos, dada su naturaleza compleja y la imposibilidad de las tareas computacionales de los regímenes políticos clásico, debido a que operan con control jerárquico, el cual ha demostrado no ser óptimo en la producción de orden en los sistemas sociales humanos. En la monografía se extrapola la teoría de la auto-organización en los sistemas biológicos a las dinámicas sociopolíticas humanas, buscando maneras óptimas de organizarlas, y se afirma que redes complejas anárquicas son la estructura emergente de la auto-organización sociopolítica.

Determinación de los efectos en la salud de los trabajadores del programa de control de vectores expuestos laboralmente a organoclorados en tres departamentos de Colombia 2013

Objetivo: Evaluar la exposición a plaguicidas organoclorados empleados en salud publica en la población trabajadora del programa de control de vectores en tres regiones de Colombia en 2013. Métodos: Se realizó un estudio descriptivo de corte transversal en el grupo de trabajadores del programa de control de enfermedades transmitidas por vectores -ETV- (coordinadores, técnicos, entomólogos, técnicos y auxiliares) de los departamentos de Meta, Nariño y Risaralda. A todos los participantes se les realizó una entrevista en la cual se recogió, mediante cuestionario, información de las tres variables de muestreo: sociodemográficas, ocupacionales, clínicas y toxicológicas. Se determinaron los niveles de 13 organoclorados en suero mediante cromatografía de gases en el Instituto Nacional de Salud. Se llevó a cabo un análisis descriptivo y se llevo a cabo un análisis para determinar la distribución de medias entre variables de exposición ocupacional (Ji2 para cualitativas y U de Mann-Whitney para cuantitativas). Posteriormente, se llevó a cabo un análisis multivariado para estimar la asociación controlando por variables de antigüedad, exposición laboral a organoclorados. Resultados: El reporte de manipulación de insecticidas organoclorados fue del 39,1%. El 100% de los trabajadores que usaron organoclorados refirieron el uso DDT. El 7,5% (n=3) refirieron el uso de Aldrin. Los organoclorados fueron hexaclorbenceno, hexaclorocicloexano, heptacloro, heptaclorepoxi, α-Clordano, 4,4-DDT, 4,4-DDE, β -endosulfan, 2,4- DDT, endosulfan sulfato y mirex. Los organoclorados con niveles pico más altos fueron β-HCH, 4,4- DDT y α –HCH. Los síntomas de mayor presentación fueron: cefalea 28,7%, mareo 29,9%, disminución de fuerza en MMSS 17,2% y síntomas neurosiquiátricos.

Establecimiento de un sistema para el monitoreo y control de la contaminación cruzada en el laboratorio de análisis microbiológico de alimentos durante 2009

Dentro de las actividades para el control de calidad en el laboratorio, los resultados finales de un analito en particular son considerados productos intermedios, dada la pertinencia otorgada al aseguramiento de la calidad como fin último de los programas de gestión de la calidad. Esta concepción precisa el establecimiento de instrumentos integrales para la detección de eventos como la contaminación cruzada y la adopción de medidas para evitar que se afecte la marcha analítica. Objetivo: el objetivo principal fue establecer un sistema para el monitoreo y control de la contaminación cruzada en el laboratorio de análisis microbiológico de alimentos. Materiales y métodos: la metodología empleada consistió en desarrollar diagramas de flujo para los procedimientos sobre el control de las poblaciones de mesófilos aerobios y mohos provenientes de la contaminación en los ambientes, superficies, material estéril y medios de cultivos. Dichos diagramas incluyeron un árbol de decisiones, diseñado para efectuar acciones de control con base en los intervalos de tolerancia, establecidos como herramienta objetiva hacia la toma de decisiones que normalicen los recuentos de las poblaciones microbianas en cuestión. Resultados: los límites de alerta más estrictos se obtuvieron para las poblaciones de mesófilos aerobios y mohos en los diferentes controles, excepto para el ambiente del área de preparación de medios y los correspondientes al material estéril. Conclusión: el proceso desarrollado permitió complementar el sistema de control de calidad interno en el laboratorio, al disponer de un medio objetivo para el cierre de no conformidades por contaminación cruzada.