Análisis de prestaciones de sistemas de comunicaciones inalámbricas en aplicaciones de robótica: sistema software

Una característica importante de la robótica es la comunicación entre sistema base y robot que puede establecerse de forma remota. Ello representa la base del proyecto que se describe a continuación, el cual se descompone de dos partes, una por cada miembro del proyecto: sistema software y sistema hardware. En el sistema software analizaremos las diferentes tecnologías inalámbricas (características, funcionamiento, seguridad, etc.), se realizará una comparativa de los diferentes módulos de comunicación y finalmente decidiremos aquellos que nos interesa para la implementación en Radiofrecuencia (RF) y Bluetooth. En este sistema también estudiaremos la interfaz gráfica que se utilizará, así como los programas creados en este entorno para realizar las implementaciones. En el sistema hardware trataremos de realizar el control de dos periféricos de forma independiente, un servomotor y un sonar, que nos servirán como ejemplo para analizar una posible comunicación entre varios robots y un PC. Por lo tanto, en este apartado analizaremos a fondo los diferentes componentes que harán posible tanto la comunicación, vía RF y Bluetooth, como el control de los diferentes dispositivos.

Análisis de prestaciones de sistemas de comunicaciones inalámbricas en aplicaciones de robótica: sistema hardware

Una característica importante de la robótica es la comunicación entre sistema base y robot que puede establecerse de forma remota. Ello representa la base del proyecto que se describe a continuación, el cual se descompone de dos partes, una por cada miembro del proyecto: Sistema software y sistema hardware. En el sistema software analizaremos las diferentes tecnologías inalámbricas (características, funcionamiento, seguridad, etc.), se realizará una comparativa de los diferentes módulos de comunicación y finalmente decidiremos aquellos que nos interesa para la implementación en Radiofrecuencia (RF) y Bluetooth. En este sistema también estudiaremos la interfaz gráfica que se utilizará, así como los programas creados en este entorno para realizar las implementaciones. En el sistema hardware trataremos de realizar el control de dos periféricos de forma independiente, un servomotor y un sonar, que nos servirán como ejemplo para analizar una posible comunicación entre varios robots y un PC. Por lo tanto, en este apartado analizaremos a fondo los diferentes componentes que harán posible tanto la comunicación, vía RF y Bluetooth, como el control de los diferentes dispositivos.

Ultrastructural aspects of virus replication in one fatal case and several other isolates from a dengue type 2 outbreak in Rio de Janeiro

Dengue virus replication in mosquito cell cultures was observed by electron microscopy in one fatal and 40 classical isolates from a dengue type 2 outbreak in Rio de Janeiro and compared with the prototype New Guinea C strain. All the Brazilian isolates presented, beside the classical structured dengue virus particles, fuzzy coated virus-like particles, never observed in thereferencial New Guinea C virus strain. more numerous DEN-2 virus particles, fuzzy coated virus-like particles, defective virus particles and smooth membrane structures inside the rough endoplasmic reticulum characterized the unique fatal isolate examined.

Survey of the irp2 gene among Yersinia pestis strains isolated during several plague outbreaks in northeast Brazil

The irp2 gene codes for a 190 kDa protein (HMWP2) synthesidez when highly pathogenic Yersinia are grown under conditions of iron starvation. In this work, the presence of irp2 in strains of Y. pestis isolated from different hosts during several plague outbreaks in the foci of Northeast Brazil wasstudied. For this purpose, 53 strains were spotted onto nylon filters and their DNA was hybridized with the A13 probe which is a 1 kb fragment of the irp2 coding sequence. All strains except two hybridized with the probe. However, when the initial stock culture of these two strains were analyzed, they both proved to bepositive with the A13 probe, indicating that the locus was lost after subculturein vitro but was always present in vivo. To examine the degree of conservation of the chromosomal fragment carrying irp2 among Brazilian strains, the hybridization profiles of 15 strains from different outbreaks, different hosts and different foci were compared. The hybridization profiles of these strains were all identical when their DNA was digested with either EcoRI, EcorRV or AvaII, indicatingthat the restriction sites surrounding the irp2 locus are very well conserved among Northeast Brazilian strains of Y. pestis. Altogether, these results suggest that the irp2 chromosomal region should be of prime importance for the bacteria during their multiplication in the host.

Prenatal diagnosis of facial clefts : evaluation of a specialised counseling

Résumé: Questions étudiées / principes: Le diagnostic prénatal des fentes faciales et palatines a soulevé maintes questions concernant la meilleure manière d'informer les parents et d'offrir une aide appropriée durant les semaines de grossesse restant, afin de faire de la naissance une expérience positive. Le conseil prénatal diffère selon la personne qui en est responsable et ses connaissances concernant les aspects pratiques des soins ainsi que l'impact de cette malformation sur la qualité de vie de l'enfant. Le but de cette étude est d'évaluer nos techniques actuelles et de les modifier de façon appropriée. Méthodes: 29 couples ayant bénéficié d'un diagnostic prénatal ont été priés de répondre rétrospectivement à un questionnaire. L'histoire obstétrique personnelle ainsi que l'histoire familiale, le déroulement des évènements, la qualité de l'information fournie et leurs impressions à la naissance ont été considérées. Résultats: Les parents utilisent de multiples sources d'information: l'obstétricien, le conseil du chirurgien pédiatrique au sein de I « équipe fente », les groupes de soutien de parents et Internet. 93% des parents se sont sentis bien préparés à la naissance de leur enfant, autant psychologiquement que concernant les aspects pratiques des soins. 54% ont été soulagés de voir leur enfant moins affecté qu'ils ne l'imaginaient. Finalement, 96% considèrent que le diagnostic prénatal est un bénéfice. Conclusion: Une information de base devrait être apportée rapidement après l'ultrason confirmant le diagnostic, suivie de discussions techniques progressivement plus détaillées durant le temps de grossesse restant. Summary: Questions under study / principles: Prenatal diagnosis of cleft lip and palate has raised many questions concerning the best way to inform the parents and offer appropriate support during the remaining pregnancy to help prepare a positive birth experience. Prenatal counseling differs according to whose is responsible and that person's knowledge of practical aspects of care and the impact of the malformation on the child's quality of life. The aim of the study was to evaluate our current techniques and modify them when appropriate. Methods: 29 couples having experienced prenatal diagnosis were asked to respond retrospectively to a questionnaire. Personal obstetric and family history, timing and quality of information provided and their impressions at birth were considered. Results: The parents used several sources of information: the obstetrician, the counsel by the cleft team surgeon, the parents support groups and Internet. 93% of the parents felt well prepared for the birth of their child psychologically and concerning practical aspects of care. 54% felt relieved that their child was less affected than imagined. 96% considered prenatal diagnosis a benefit. Conclusion: Basic information should be provided soon after ultrasound confirmation, followed by progressively more detailed technical discussions over the remaining pregnancy.

Low prevalence of abdominal aortic aneurysm in the Seychelles population aged 50 to 65 years.

The prevalence of abdominal aortic aneurysm (AAA) and its risk factors are well known in Western countries but few data are available from low- and middle- income countries. We are not aware of systematically collected population- based data on AAA in the African region. We evaluated the prevalence of AAA in a population- based cardiovascular survey conducted in the Republic of Seychelles in 2004 (Indian Ocean, African region). Among the 353 participants aged 50 to 64 years and screened with ultrasound, the prevalence of AAA was 0.3% (95% CI: 0- 0.9) and the prevalence of ectatic dilatations of the abdominal aorta was 1.5% (95% CI: 0.2- 2.8). The prevalence of AAA in the general population seemed lower in Seychelles than in Western countries, despite a high prevalence in Seychelles of risk factors of AAA, such as smoking (in men), high blood pressure and hypercholesterolaemia.

Influence of the primary cleft palate closure on the future need for orthognathic surgery in unilateral cleft lip and palate patients.

The aim of the study was to determine the influence of the dissection of the palate during primary surgery and the type of orthognathic surgery needed in cases of unilateral total cleft. The review concerns 58 children born with a complete unilateral cleft lip and palate and treated between 1994 and 2008 at the appropriate age for orthognathic surgery. This is a retrospective mixed-longitudinal study. Patients with syndromes or associated anomalies were excluded. All children were treated by the same orthodontist and by the same surgical team. Children are divided into 2 groups: the first group includes children who had conventional primary cleft palate repair during their first year of life, with extensive mucoperiosteal undermining. The second group includes children operated on according to the Malek surgical protocol. The soft palate is closed at the age of 3 months, and the hard palate at 6 months with minimal mucoperiosteal undermining. Lateral cephalograms at ages 9 and 16 years and surgical records were compared. The need for orthognathic surgery was more frequent in the first than in the second group (60% vs 47.8%). Concerning the type of orthognathic surgery performed, 2- or 3-piece Le Fort I or bimaxillary osteotomies were also less required in the first group. Palate surgery following the Malek procedure results in an improved and simplified craniofacial outcome. With a minimal undermining of palatal mucosa, we managed to reduce the amount of patients who required an orthognathic procedure. When this procedure was indicated, the surgical intervention was also greatly simplified.

Activitats d'avaluació i ensenyament- aprenentatge en aules de secundària AICLE: un estudi de cas

La investigació que es presenta en aquest treball de recerca parteix de la necessitat d'avaluar rigorosament els programes d'innovació AICLE (Aprenentatge Integrat de Contingut i Llengua Estrangera) que es porten a terme en alguns centres educatius de secundària de Catalunya. Les dades de l'anàlisi, recollides en un institut de secundària, tenen com a punt de partida les programacions de tres unitats didàctiques AICLE de ciències en anglès a diferents nivells educatius de l'etapa de secundària obligatòria (ESO). Amb l'objectiu de poder presentar un producte entenedor i fiable s'han realitzat diverses categoritzacions dels continguts curriculars, les quals han possibilitat fer una anàlisi exhaustiva de l'existència o no d'una concordança entre les tasques d'avaluació i les tasques d'aprenentatge en les aules AICLE i alhora analitzar l'adequació d'aquestes tasques per avaluar i promoure l'assoliment de dues de les vuit competències que el currículum català defineix com a bàsiques en el currículum de l'ensenyament secundari obligatori: Cb1 (competència comunicativa) i Cb5 (competència d'aprendre a aprendre)

Desarrollo de un modelo in vivo murino de isquemia y reperfusión miocárdica

En aquellos pacientes que sufren un infarto de miocardio (IM), entender los procesos causantes de la muerte celular secundaria a la isquemia/reperfusión (I/R) es esencial para desarrollar estrategias capaces de prevenirla. La reciente disponibilidad de cepas de ratones transgénicos convierte al modelo murino con isquemia transitoria en una herramienta de gran interés para el estudio de los procesos causantes de esta muerte. El objetivo de este trabajo experimental ha sido establecer en nuestro laboratorio un modelo de I/R miocárdica in vivo en ratón mediante la oclusión de la arteria coronaria descendente anterior izquierda (ADA) con el fin de poder ser utilizado en futuros protocolos experimentales usando ratones transgénicos disponibles en el laboratorio.

Anàlisi de la qualitat de l'aigua: estudi dels impactes humans sobre la qualitat de l'aigua en pous i basses del Parc del Garraf i rodalies

Amb la finalitat de conèixer l’estat de qualitat de les aigües de les basses i pous del Parc del Garraf, s’analitzen una sèrie de paràmetres fisico-químics en 17 estacions de mostreig prèviament seleccionades, distribuïdes en zones amb diferents tipologies d’ús del sòl. La base de l’anàlisi ha estat la integració d’informació provinent de diferents fonts. Mitjançant l’elaboració de taules i gràfics, la generació de cartografia i el tractament estadístic de les dades, s’ha procedit a la tria de punts de mostreig i s’ha obtingut un inventari que ha permès la interpretació global dels resultats, facilitant la diagnosi. El procés de tractament de dades inclou la confecció d’un índex de qualitat de les aigües (ICA) propi, no vinculant, a partir de fórmules genèriques de normalització i ponderació de valors. Durant la realització de la diagnosi s’han detectat pertorbacions puntuals en determinats paràmetres corresponents a contaminacions locals, en diferents estacions de mostreig. Aquestes pertorbacions s’han relacionat amb la situació dels pous i les basses al Garraf i les tipologies d’ús del sòl de cada zona. El diagnòstic de pertorbacions ha orientat les propostes de millora aplicables que s’han dividit en tres classes segons el nivell d’actuació. Aquestes incideixen principalment, en la millora de la informació disponible, l’aplicació de l’agricultura ecològica, l’explotació sostenible dels aqüífers i la realització d’estudis globals i/o locals, més complets i exhaustius.

L'alliance coparentale et le développement affectif de l'enfant dans le triangle primaire

Le jeu trilogique de Lausanne permet d'étudier le développement de la communication familiale dès la naissance et de créer des ponts entre l'approche systémique de la famille et la recherche développementale. Cet article décrit comment se construit la communication familiale avant le langage verbal, soulignant l'importance de l'intersubjectivité, de l'alliance coparentale et de la compétence du nourrisson à interagir à trois dès le début. Il en esquisse les implications cliniques.

Effect of changes in the deuterium content of drinking water on the hydrogen isotope ratio of urinary steroids in the context of sports drug testing.

The hydrogen isotope ratio (HIR) of body water and, therefore, of all endogenously synthesized compounds in humans, is mainly affected by the HIR of ingested drinking water. As a consequence, the entire organism and all of its synthesized substrates will reflect alterations in the isotope ratio of drinking water, which depends on the duration of exposure. To investigate the effect of this change on endogenous urinary steroids relevant to doping-control analysis the hydrogen isotope composition of potable water was suddenly enriched from -50 to 200 0/00 and maintained at this level for two weeks for two individuals. The steroids under investigation were 5β-pregnane-3α,20α-diol, 5α-androst-16-en-3α-ol, 3α-hydroxy-5α-androstan-17-one (ANDRO), 3α-hydroxy-5β-androstan-17-one (ETIO), 5α-androstane-3α,17β-diol, and 5β-androstane-3α,17β-diol (excreted as glucuronides) and ETIO, ANDRO and 3β-hydroxyandrost-5-en-17-one (excreted as sulfates). The HIR of body water was estimated by determination of the HIR of total native urine, to trace the induced changes. The hydrogen in steroids is partly derived from the total amount of body water and cholesterol-enrichment could be calculated by use of these data. Although the sum of changes in the isotopic composition of body water was 150 0/00, shifts of approximately 30 0/00 were observed for urinary steroids. Parallel enrichment in their HIR was observed for most of the steroids, and none of the differences between the HIR of individual steroids was elevated beyond recently established thresholds. This finding is important to sports drug testing because it supports the intended use of this novel and complementary methodology even in cases where athletes have drunk water of different HIR, a plausible and, presumably, inevitable scenario while traveling.