Sistema visual para Ground Truth de sistemas autónomos

Este trabalho visa contribuir para o desenvolvimento de um sistema de visão multi-câmara para determinação da localização, atitude e seguimento de múltiplos objectos, para ser utilizado na unidade de robótica do INESCTEC, e resulta da necessidade de ter informação externa exacta que sirva de referência no estudo, caracterização e desenvolvimento de algoritmos de localização, navegação e controlo de vários sistemas autónomos. Com base na caracterização dos veículos autónomos existentes na unidade de robótica do INESCTEC e na análise dos seus cenários de operação, foi efectuado o levantamento de requisitos para o sistema a desenvolver. Foram estudados os fundamentos teóricos, necessários ao desenvolvimento do sistema, em temas relacionados com visão computacional, métodos de estimação e associação de dados para problemas de seguimento de múltiplos objectos . Foi proposta uma arquitectura para o sistema global que endereça os vários requisitos identi cados, permitindo a utilização de múltiplas câmaras e suportando o seguimento de múltiplos objectos, com ou sem marcadores. Foram implementados e validados componentes da arquitectura proposta e integrados num sistema para validação, focando na localização e seguimento de múltiplos objectos com marcadores luminosos à base de Light-Emitting Diodes (LEDs). Nomeadamente, os módulos para a identi cação dos pontos de interesse na imagem, técnicas para agrupar os vários pontos de interesse de cada objecto e efectuar a correspondência das medidas obtidas pelas várias câmaras, método para a determinação da posição e atitude dos objectos, ltro para seguimento de múltiplos objectos. Foram realizados testes para validação e a nação do sistema implementado que demonstram que a solução encontrada vai de encontro aos requisitos, e foram identi cadas as linhas de trabalho para a continuação do desenvolvimento do sistema global.

A questão visual na oftalmologia pediátrica da região de Lisboa

RESUMO: Na parte inicial incluem-se algumas notas sucintas com base no panorama científico,histórico e cultural da visão considerada segundo três abordagens - o olho (o olho humano na especificidade da sua posição filogenética, elemento anátomo-funcional básico do sistema visual ao qual o cérebro pertence), os olhos (unidades gémeas essenciais do rosto na sua actividade consensual e conjugada da binocularidade), o olhar (carregado de expressão psicológica e o seu efeito sobre o observador, sinal para o comportamento e criador de sentimentos, sedimentado em obras de arte e em formas de superstição dos povos). Segue-se a apresentação de um estudo descritivo transversal, como contribuição para o conhecimento do estado de saúde visual da população infantil da região de Lisboa e determinar factores que o influenciam. Entre Outubro de 2005 e Agosto de 2006 examinaram-se 649 crianças com idade inferior a 10 anos da Consulta de Oftalmologia Pediátrica dos Serviços de Assistência Médico-Social do Sindicato dos Bancários do Sul e Ilhas (SAMS). Colheram-se dados respeitantes a mais de 250 variáveis primárias que cobriram a maior parte dos itens do exame oftalmológico habitual. Na análise dos dados teve-se especialmente em conta a idade, com um papel decisivo nas principais fases de desenvolvimento do sistema visual. No caso das crianças de 6 a 7 anos de idade põem-se lado a lado resultados dos SAMS e das Escolas. A profusão de dados numéricos ditou a necessidade da determinação frequente da significância estatística dos resultados de subgrupos. Alguns resultados do estudo, na sua maioria do grupo SAMS: Crianças de 6-7 anos, 71,1% (SAMS) e 91,5% (Escolas) não tinham sido examinadas com menos de 4 anos. Frequência global de alterações miópicas 9,4%, de alterações hipermetrópicas 25,3%, umas e outras com variações acentuadas com a idade. Estrabismo convergente 3,9%. Ambliopia 2,6% (13/491 crianças >=4 anos de idade), mais frequente no sexo feminino, naquelas que tiveram a sua 1ª observação depois dos 4 anos e em que os pais não aderiam à terapêutica prescrita. Objectivos específicos ocuparam-se da acuidade visual e da refracção ocular. O estudo comparativo da refractometria automática sem e com cicloplegia permitiu evidenciar que o teste da acuidade visual é insuficiente, por si só, para fazer o diagnóstico correcto. A análise dos antecedentes familiares oftalmológicos demonstrou a importância do seu conhecimento e pôs em evidência, entre outras, as seguintes relações: 10 pag1.qxp 27-11-2001 18:28 Page 10 Índice Geral 11 Crianças com antecedentes de alterações miópicas têm maior frequência de diagnóstico de alterações miópicas e de refracção negativa, uma taxa mais elevada de correspondência quantitativa diagnóstico/refracção nas alterações miópicas. Estas crianças também têm, em geral, características inversas no que diz respeito a alterações hipermetrópicas. Crianças com antecedentes de alterações hipermetrópicas têm maior frequência de diagnóstico de alterações hipermetrópicas. Crianças com antecedentes de estrabismo têm maior frequência de diagnóstico de estrabismo convergente manifesto e de esodesvios no seu todo. Crianças com antecedentes familiares de astigmatismo têm maior frequência de diagnóstico de astigmatismo. Traçam-se alguns perfis oftalmológicos infantis que permitem apreciar de forma sinóptica um conjunto de parâmetros da saúde da visão. Os dados colhidos sobre a aderência dos pais à terapêutica prescrita e sobre a atitude em relação ao uso de óculos assim como os dados sobre o comportamento da criança na sala de aula e dificuldades de aprendizagem foram em geral escassos para permitirem tirar conclusões, embora mostrem indícios a investigar futuramente. Paralelamente ortoptistas e enfermeiras efectuaram um rastreio escolar da acuidade visual <0,8 e de alterações da motilidade ocular extrínseca que abrangeu 520 alunos do 1º ano do 1º ciclo do ensino básico (2005/2006) das escolas públicas da cidade de Lisboa. 101 destas crianças foram observadas no consultório da autora, umas referidas a partir do rastreio, outras como controlo deste. Quanto à acuidade visual o valor preditivo do teste negativo foi de 91% mas o do teste positivo de apenas 67% (33% de falsos positivos, consequentemente uma alta taxa de sobrerreferenciação). A qualidade do rastreio efectuado por ortoptistas foi inferior à do efectuado por enfermeiras. O rastreio não teve qualidade aceitável. Foi feito um inquérito a médicos e enfermeiros de centros de saúde sobre conhecimentos, atitudes e práticas em relação com os cuidados de oftalmologia pediátrica. Discutem-se os resultados, tiram-se conclusões e fazem-se recomendações susceptíveis de contribuir para uma melhor saúde visual das crianças. ABSTRACT: Firstly some brief remarks are made based on the scientific, historical and cultural panorama of the human vision with regard to three approaches: the eye (the human eye in its specific filogenetic place, fundamental anatomofunctional element of the visual system in interaction with the brain), the eyes (essential twin units of the face with their consensual and conjugated binocular activity), the gaze (psychologicaly overloaded, a means to express oneself and to influence the observer, a guide to other persons' behaviour, consolidated in works of art and in people's traditional superstitious believes and ways of thinking). A report is made on a cross-sectional descriptive study whose goal is to contribute to the knowledge of the level of visual health of children in the Lisbon Region and to identify factors which determine it. Between October 2005 and August 2006 649 children under 10 years were observed at the pediatric ophthalmologic consultation in the SAMS (Serviços de Assistência Médico-Social do Sindicato dos Bancários do Sul e Ilhas). Data were collected concerning more than 250 primary variables covering most itens of the usual ophthalmological examination. Special attention was paid to children's age since it plays a crucial role in main stages of visual system development. In the case of children age 6 to 7 SAMS and school results are often put side by side. On account of the great number of numerical data it was often necessary to look at the degree of statistical significancy of differencies between subgroups. Some of the study's results (mostly SAMS): Children age 6 to 7 - 71,1% (SAMS) and 91,5% (Schools) had not an ophthalmologic examination before 4 years old. Total frequency of myopic disorders 9,4%, of hypermetropic disorders 25,3%, both showing great differences between age groups; convergent strabismus 3,9%; amblyopia 2,6% (13/491 children over 3 years old), more frequent among little girls, in those with 1st examination after 4 years old and in those whose parents didn´t complied to the therapy ordered for the child. Specific objectives dealt with visual acuity and ocular refraction. The comparison of automatic refractometry without and with cycloplegy showed that visual acuity testing is often not enough for a correct diagnosis. Eye disorders in the family history proved to be a very important information. Analysis of corresponding data disclosed a lot of relationships among others: 12 pag1.qxp 27-11-2001 18:28 Page 12 Índice Geral 13 Children with a family history of myopic disorders have more frequently a diagnosis of myopic disorders and a negative refraction, a higher rate of quantitative diagnosis/refraction matching concerning myopic disorders. Those children have in general inverse characteristics regarding hypermetropic disorders. Children with a family history of hypermetropic disorders have more frequently a diagnosis of hypermetropic disorders. Children with a family history of strabismus have more frequently a diagnosis of manifest convergent strabismus and all forms of esodeviations. Children with a family history of astigmatism have more frequently a diagnosis of astigmatism. Ophthalmologic profiles are drawn allowing to take into account in a synoptic way a set of visual health parameters. Data on parents' compliance with therapy ordered for the child, and attitudes regarding child's glass wearing, as well as data on child's behaviour in the classroom and learning difficulties were as a rule too few to allow conclusions but still need more studies in the future. Orthoptists and nurses performed in the same study period a screening of visual acuity <0,8 and of ocular motility disorders addressed to children of 1srt degree of public schools (term 2005/2006) in the town of Lisbon. 520 of such children were screened. 101 of them were examined by the author in her medical office; some were refered, the others taken as a control. Regarding visual acuity the predictive value of a negative test was 91% but the predictive value of a positive test was only 67% (33% of false positive results, consequently a too high rate of overreferal). Performed by orthoptists screening quality was inferior in comparison with screening done by nurses. On the whole this screening had not the required quality. A survey on physicians' and nurses' knowledge, attitudes and practices related to pediatric ophthalmologic care was carried out in health centers. Results are discussed, conclusions drawn. Some suggestions are made aiming at a better children's visual health.

Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

Alterações da função visual e da qualidade de vida relacionada com a saúde em indivíduos idosos

RESUMO: Introdução: A visão é um sentido fundamental na relação do indivíduo com os mais variados ambientes, sendo elemento central na funcionalidade e independência do idoso, qualquer perturbação da função visual provoca limitações na qualidade de vida. As alterações demográficas em curso caracterizam-se pelo envelhecimento progressivo da população, paralelamente constata-se um aumento da prevalência de perturbações do sistema visual com alteração da função e do funcionamento visual. Considerando que os indivíduos idosos são mais dependentes da visão, e que não existem para esta área estudos desenvolvidos em Portugal, esta investigação tem como fundamento analisar a influência que a perturbação da função visual em indivíduos com 65 ou mais anos tem na qualidade de vida relacionada com a saúde. Estudaram-se também as características sócio-demográficas dos indivíduos participantes, da saúde visual e a percepção da saúde geral, bem como identificaram se junto dos idosos participantes e de Médicos especialistas em Medicina Geral e Familiar perspectivas sobre perturbações da função visual e envelhecimento. Desenho de estudo: Estudo transversal, caso-controlo e descritivo-exploratório. Materiais e Métodos: A partir de uma população de 112 indivíduos com 65 ou mais anos, frequentadores de várias instituições de apoio social do Concelho de Loures e de idosos frequentadores/institucionalizados da Mansão de Santa Maria de Marvila, unidade orgânica da Fundação D. Pedro IV, foram incluídos no estudo 90 (80,4%). Após consentimento informado, procedeu-se à avaliação da função visual nos Laboratórios de Ortóptica da Escola Superior de Tecnologia de Saúde de Lisboa, onde também se aplicaram o Questionário de Funcionamento Visual VFQ-25 e uma questão aberta para o tipo de dificuldades de visão sentidas durante o último ano. Aplicou-se ainda, em ambiente virtual, uma pergunta aberta a Médicos especialistas em Medicina Geral e Familiar para aspectos relacionados com o diagnóstico/suspeita relativamente tardio de perturbações da função visual. Procedeu-se ao tratamento descritivo das características sócio-demográficas, da percepção de saúde geral e da saúde visual e das respostas dos idosos e dos médicos. Analisou-se a relação entre função visual e qualidade de vida relacionada com a saúde aplicando o teste não-paramétrico de Mann-Whitney. Resultados: Constatou-se que os indivíduos da amostra são maioritariamente do género feminino (71,1%), casados (41,1%), detentores de baixos níveis de escolaridade em que 63,3% apenas frequentou/concluiu o 1º ciclo do ensino básico e quase na sua totalidade reformados (88,9%). Verifica-se que 77,8% dos idosos percepciona a sua saúde geral como razoável ou boa. Da mesma forma, 86,7% dos indivíduos têm a função visual alterada devido principalmente à alteração da acuidade visual para longe (86,7%), registando-se que 65,5% dos olhos tinham uma acuidade visual igual ou superior a 5/10. Outras dimensões que contribuíram para a alteração da função visual contam-se a sensibilidade ao contraste (63,3%), estereopsia (51,1%), visão cromática (38,9%) e a motilidade ocular (25,6%). Obtiveram-se assim maiores pontuações para as diversas escalas do questionário VFQ-25 em indivíduos com função visual alterada exceptuando nas escalas actividades de perto, condução e dependência. Verificou-se portanto existir relação entre alteração da função visual e perturbação da qualidade de vida relacionada com a saúde. À questão colocada aos idosos, 42,6% não manifestou qualquer razão para que visse mal/sentisse dificuldades de visão durante o último ano. A diminuição da acuidade visual para longe/perto foi referida por 20,5% dos indivíduos, seguido pela deterioração do estado de saúde geral e ocular por 15%. As respostas do Médicos especialistas em Medicina Geral e Familiar sobre razões para a suspeita/diagnóstico relativamente tardia das perturbações da função visual, indicam a iliteracia dos idosos para a saúde da visão e semiologia ocular (34%), a baixa formação/informação dos Médicos de Medicina Geral e Familiar na área da saúde da visão (22%) e a pouca acessibilidade e resposta demorada/ineficaz dos serviços de oftalmologia do SNS (20%) como principais motivos para os assuntos questionados.Conclusões: As alterações do sistema visual com impacto na função e no funcionamento visual alteram a qualidade de vida relacionada com a saúde, devido principalmente à alteração da acuidade visual para longe. Os idosos do estudo não valorizam a saúde visual ao percepcionarem positivamente a saúde geral e a saúde visual relativamente à avaliação da função visual. É fundamental definir estratégias e programas de literacia para a saúde da visão para toda a população, não apenas destinados a idosos. Sugere-se repensar o modelo de formação base dos Médicos com especial incidência na área da saúde da visão, com necessidades sentidas de formação/informação. As respostas obtidas dos idosos e dos Médicos indicaram existir fragilidades na saúde da visão, necessário repensar o modelo de prestação de cuidados de saúde nesta área. Esta investigação permitiu ao autor uma reflexão sobre as temáticas relacionadas com o envelhecimento levando a uma mudança de atitudes e comportamento na abordagem profissional a indivíduos idosos, promovendo autonomia nas escolhas e decisões em questões de saúde, na criação de estratégias para lidar com o problema de visão e na adaptação à nova condição de saúde da visão.---------------ABSTRACT:Purpose: The vision is a fundamental sense in the individual's relationship with the most varied environments, a central element in the functionality and independence of the elderly, any disturbance of visual function causes limitations in quality of life. The current demographic changes are characterized by progressive aging of population, there has been a parallel increase in the prevalence of disorders of the visual system by changing the visual function and functioning. Whereas the elderly are more dependent on vision, and there are no studies in this area developed in Portugal, this research is based analyze the influence that the disturbance of visual function in subjects aged 65 years or more has on the health related quality of life. We studied also the socio-demographic characteristics of the subjects, the eye health and general health perception, and identified themselves with the elderly participants and medical specialists in Family General Medicine perspective on disorders of visual function and aging. Design: Cross-sectional study, case control, descriptive and exploratory. Methods: From a population of 112 people with 65 or more years, regulars of various social welfare institutions of the Municipality of Loures and elderly regulars/institutionalized the Mansion of Santa Maria de Marvila, organic unity of the Foundation D. Pedro IV, were included 90 (80.4%). After informed consent, proceeded to the assessment of visual function in the Laboratories of Orthopticsof the School of Health Technology of Lisbon, where he also applied the Visual Functioning Questionnaire VFQ-25 and an open question for the type of vision difficulties experienced during the last year. Was applied also in a virtual environment, an open question to Doctors specialists in family general medicine related to the diagnosis/suspected relatively late disturbance of visual function. We carried out the descriptive treatment of socio-demographic characteristics, perception of general health and eye health and the responses of older people and doctors. We analyzed the relationship between visual function and quality of life related to health by applying the nonparametric Mann-Whitney test. Results: We found that individuals in the sample are mostly female (71.1%), married (41.1%), holders of low levels of education in which only 63.3% frequented / completed the 1st cycle of primary and almost entirely retired (88.9%). It is found that 77.8% of the elderly perceive their general health as fair or good. Likewise, 86.7% of individuals have altered vision mainly due to the change in visual acuity away (86.7%),up to 65.5% of eyes had a visual acuity of 5/10 or greater. Other dimensions that contributed to the alteration of visual function include contrast sensitivity (63.3%), stereopsis (51.1%), color vision (38.9%) and ocular motility (25.6%). There was thus obtained the highest scores for different scales of the questionnaire VFQ-25 in patients with altered vision except for scales related to near activities, driving and dependence. It is therefore a relationship between alteration in visual function and disturbance of quality of life related to health. To question for the elderly, 42.6% expressed no reason to see evil/feel difficulty seeing over the last year. The decrease in visual acuity for distance/near was reported by 20.5% of subjects, followed by the deterioration of general health and eye for 15%. The responses of medical specialists in general practice about reasons for the suspicion/diagnosis relatively late disturbance of visual function, indicate the illiteracy of the elderly for healthy vision and ocular semiology (34%), low education/information for Doctors in the health of vision (22%) and poor accessibility and response timeconsuming/ inefficient NHS ophthalmology services (20%) as main reasons for the subjects questioned. Conclusion: Changes in the visual system with an impact on visual function and the functioning change the health related quality of life, mainly due to the change in distance visual acuity. Older people do not value the visual health perceiving the general health and eye health positively relatively of visual function. It is essential to define strategies and literacy programs for eye health for the entire population, not just for the elderly. It is suggested reconsider the model of basic training of Doctors with special focus on the health of the vision, with special needs sensed training/information. The responses of older people and doctors have indicated there is weakness in eye health, need to rethink the model of health care in this area. This research allowed the author to reflect on issues related to aging leading to a change in attitudes and behavior in professional approach to the elderly, promoting autonomy in choices and decisions in health issues, creating strategies to deal with the problem of vision and adaptation to new conditions of eye health.

Light-distortion analysis as a possible indicator of visual quality after refractive lens exchange with diffractive multifocal intraocular lenses

METHODS: Refractive lens exchange was performed with implantation of an AT Lisa 839M (trifocal) or 909MP (bifocal toric) IOL, the latter if corneal astigmatism was more than 0.75 diopter (D). The postoperative visual and refractive outcomes were evaluated. A prototype light-distortion analyzer was used to quantify the postoperative light-distortion indices. A control group of eyes in which a Tecnis ZCB00 1-piece monofocal IOL was implanted had the same examinations. RESULTS: A trifocal or bifocal toric IOL was implanted in 66 eyes. The control IOL was implanted in 18 eyes. All 3 groups obtained a significant improvement in uncorrected distance visual acuity (UDVA) (P < .001) and corrected distance visual acuity (CDVA) (P Z .001). The mean uncorrected near visual acuity (UNVA) was 0.123 logMAR with the trifocal IOL and 0.130 logMAR with the bifocal toric IOL. The residual refractive cylinder was less than 1.00 D in 86.7% of cases with the toric IOL. The mean light-distortion index was significantly higher in the multifocal IOL groups than in the monofocal group (P < .001), although no correlation was found between the light-distortion index and CDVA. CONCLUSIONS: The multifocal IOLs provided excellent UDVA and functional UNVA despite increased light-distortion indices. The light-distortion analyzer reliably quantified a subjective component of vision distinct from visual acuity; it may become a useful adjunct in the evaluation of visual quality obtained with multifocal IOLs.

Controlo de qualidade e inspeção visual por imagem: definição de uma aplicação para registo de alterações e avaliação de desempenho

Dissertação de mestrado em Engenharia e Gestão da Qualidade

Development of a semi-automatic self learning pattern recognition system for the control of electronic boards

This project was funded under the Applied Research Grants Scheme administered by Enterprise Ireland. The project was a partnership between Galway - Mayo Institute of Technology and an industrial company, Tyco/Mallinckrodt Galway. The project aimed to develop a semi - automatic, self - learning pattern recognition system capable of detecting defects on the printed circuits boards such as component vacancy, component misalignment, component orientation, component error, and component weld. The research was conducted in three directions: image acquisition, image filtering/recognition and software development. Image acquisition studied the process of forming and digitizing images and some fundamental aspects regarding the human visual perception. The importance of choosing the right camera and illumination system for a certain type of problem has been highlighted. Probably the most important step towards image recognition is image filtering, The filters are used to correct and enhance images in order to prepare them for recognition. Convolution, histogram equalisation, filters based on Boolean mathematics, noise reduction, edge detection, geometrical filters, cross-correlation filters and image compression are some examples of the filters that have been studied and successfully implemented in the software application. The software application developed during the research is customized in order to meet the requirements of the industrial partner. The application is able to analyze pictures, perform the filtering, build libraries, process images and generate log files. It incorporates most of the filters studied and together with the illumination system and the camera it provides a fully integrated framework able to analyze defects on printed circuit boards.

Estudi de casos pel control de síntesi d’instruments musicals virtuals mitjançant la veu cantada

Report for the scientific sojourn carried out at the Music Technology Area (Sound Processing and Control Lab), Faculty of Music, McGill University, Montreal, Canada, from October to December 2005.The aim of this research is to study the singing voice for controlling virtual musical instrument synthesis. It includes analysis and synthesis algorithms based on spectral audio processing. After digitalising the acoustic voice signal in the computer, a number of expressive descriptors of the singer are extracted. This process is achieved synchronously, thus all the nuance of the singer performance have been tracked. In a second stage, the extracted parameters are mapped to a sound synthesizer, the so-called digital musical instruments. In order achieve it, several tests with music students of the Faculty of Music, McGill University have been developed. These experiments have contributed to evaluate the system and to derive new control strategies to integrate: clarinet synthesis, bass guitar, visual representation of voice signals.

Accurate performance of a rat model of schizophrenia in the water maze depends on visual cue availability and stability: a distortion in cognitive mapping abilities?

Rats were treated postnatally (PND 5-16) with BSO (l-buthionine-(S,R)-sulfoximine) in an animal model of schizophrenia based on transient glutathione deficit. The BSO treated rats were impaired in patrolling a maze or a homing table when adult, yet demonstrated preserved escape learning, place discrimination and reversal in a water maze task [37]. In the present work, BSO rats' performance in the water maze was assessed in conditions controlling for the available visual cues. First, in a completely curtained environment with two salient controlled cues, BSO rats showed little accuracy compared to control rats. Secondly, pre-trained BSO rats were impaired in reaching the familiar spatial position when curtains partially occluded different portions of the room environment in successive sessions. The apparently preserved place learning in a classical water maze task thus appears to require the stability and the richness of visual landmarks from the surrounding environment. In other words, the accuracy of BSO rats in place and reversal learning is impaired in a minimal cue condition or when the visual panorama changes between trials. However, if the panorama remains rich and stable between trials, BSO rats are equally efficient in reaching a familiar position or in learning a new one. This suggests that the BSO accurate performance in the water maze does not satisfy all the criteria for a cognitive map based navigation on the integration of polymodal cues. It supports the general hypothesis of a binding deficit in BSO rats.

Visual binding abilities in the initial and advanced stages of schizophrenia

OBJECTIVE: The study tests the hypothesis that intramodal visual binding is disturbed in schizophrenia and should be detectable in all illness stages as a stable trait marker. METHOD: Three groups of patients (rehospitalized chronic schizophrenic, first admitted schizophrenic and schizotypal patients believed to be suffering from a pre-schizophrenic prodrome) and a group of normal control subjects were tested on three tasks targeting visual 'binding' abilities (Muller-Lyer's illusion and two figure detection tasks) in addition to control parameters such as reaction time, visual selective attention, Raven's test and two conventional cortical tasks of spatial working memory (SWM) and a global local test. RESULTS: Chronic patients had a decreased performance on the binding tests. Unexpectedly, the prodromal group exhibited an enhanced Gestalt extraction on these tests compared both to schizophrenic patients and to healthy subjects. Furthermore, chronic schizophrenia was associated with a poor performance on cortical tests of SWM, global local and on Raven. This association appears to be mediated by or linked to the chronicity of the illness. CONCLUSION: The study confirms a variety of neurocognitive deficits in schizophrenia which, however, in this sample seem to be linked to chronicity of illness. However, certain aspects of visual processing concerned with Gestalt extraction deserve attention as potential vulnerability- or prodrome- indicators. The initial hypothesis of the study is rejected.

Visual representation of food in the brain : effects of repeated exposure and gut hormone secretion

The thesis at hand is concerned with the spatio-temporal brain mechanisms of visual food perception as investigated by electrical neuroimaging. Due to the increasing prevalence of obesity and its associated challenges for public health care, there is a need to better understand behavioral and brain processes underlying food perception and food-based decision-making. The first study (Study A) of this thesis was concerned with the role of repeated exposure to visual food cues. In our everyday lives we constantly and repeatedly encounter food and these exposures influence our food choices and preferences. In Study A, we therefore applied electrical neuroimaging analyses of visual evoked potentials to investigate the spatio-temporal brain dynamics linked to the repeated viewing of high- and low-energy food cues (published manuscript: "The role of energetic value in dynamic brain response adaptation during repeated food image viewing" (Lietti et al., 2012)). In this study, we found that repetitions differentially affect behavioral and brain mechanisms when high-energy, as opposed to low-energy foods and non-food control objects, were viewed. The representation of high-energy food remained invariant between initial and repeated exposures indicating that the sight of high-energy dense food induces less behavioral and neural adaptation than the sight of low-energy food and non-food control objects. We discuss this finding in the context of the higher salience (due to greater motivation and higher reward or hedonic valuation) of energy- dense food that likely generates a more mnemonically stable representation. In turn, this more invariant representation of energy-dense food is supposed to (partially) explain why these foods are over-consumed despite of detrimental health consequences. In Study Β we investigated food responsiveness in patients who had undergone Roux-en-Y gastric bypass surgery to overcome excessive obesity. This type of gastric bypass surgery is not only known to alter food appreciation, but also the secretion patterns of adipokines and gut peptides. Study Β aimed at a comprehensive and interdisciplinary investigation of differences along the gut-brain axis in bypass-operated patients as opposed to weight-matched non-operated controls. On the one hand, the spatio-temporal brain dynamics to the visual perception of high- vs. low-energy foods under differing states of motivation towards food intake (i.e. pre- and post-prandial) were assessed and compared between groups. On the other hand, peripheral gut hormone measures were taken in pre- and post-prandial nutrition state and compared between groups. In order to evaluate alterations in the responsiveness along the gut-brain-axis related to gastric bypass surgery, correlations between both measures were compared between both participant groups. The results revealed that Roux-en- Y gastric bypass surgery alters the spatio-temporal brain dynamics to the perception of high- and low-energy food cues, as well as the responsiveness along the gut-brain-axis. The potential role of these response alterations is discussed in relation to previously observed changes in physiological factors and food intake behavior post-Roux-en-Y gastric bypass surgery. By doing so, we highlight potential behavioral, neural and endocrine (i.e. gut hormone) targets for the future development of intervention strategies for deviant eating behavior and obesity. Together, the studies showed that the visual representation of foods in the brain is plastic and that modulations in neural activity are already noted at early stages of visual processing. Different factors of influence such as a repeated exposure, Roux-en-Y gastric bypass surgery, motivation (nutrition state), as well as the energy density of the visually perceived food were identified. En raison de la prévalence croissante de l'obésité et du défi que cela représente en matière de santé publique, une meilleure compréhension des processus comportementaux et cérébraux liés à la nourriture sont nécessaires. En particulier, cette thèse se concentre sur l'investigation des mécanismes cérébraux spatio-temporels liés à la perception visuelle de la nourriture. Nous sommes quotidiennement et répétitivement exposés à des images de nourriture. Ces expositions répétées influencent nos choix, ainsi que nos préférences alimentaires. La première étude (Study A) de cette thèse investigue donc l'impact de ces exposition répétée à des stimuli visuels de nourriture. En particulier, nous avons comparé la dynamique spatio-temporelle de l'activité cérébrale induite par une exposition répétée à des images de nourriture de haute densité et de basse densité énergétique. (Manuscrit publié: "The role of energetic value in dynamic brain response adaptation during repeated food image viewing" (Lietti et al., 2012)). Dans cette étude, nous avons pu constater qu'une exposition répétée à des images représentant de la nourriture de haute densité énergétique, par opposition à de la nourriture de basse densité énergétique, affecte les mécanismes comportementaux et cérébraux de manière différente. En particulier, la représentation neurale des images de nourriture de haute densité énergétique est similaire lors de l'exposition initiale que lors de l'exposition répétée. Ceci indique que la perception d'images de nourriture de haute densité énergétique induit des adaptations comportementales et neurales de moindre ampleur par rapport à la perception d'images de nourriture de basse densité énergétique ou à la perception d'une « catégorie contrôle » d'objets qui ne sont pas de la nourriture. Notre discussion est orientée sur les notions prépondérantes de récompense et de motivation qui sont associées à la nourriture de haute densité énergétique. Nous suggérons que la nourriture de haute densité énergétique génère une représentation mémorielle plus stable et que ce mécanisme pourrait (partiellement) être sous-jacent au fait que la nourriture de haute densité énergétique soit préférentiellement consommée. Dans la deuxième étude (Study Β) menée au cours de cette thèse, nous nous sommes intéressés aux mécanismes de perception de la nourriture chez des patients ayant subi un bypass gastrique Roux- en-Y, afin de réussir à perdre du poids et améliorer leur santé. Ce type de chirurgie est connu pour altérer la perception de la nourriture et le comportement alimentaire, mais également la sécrétion d'adipokines et de peptides gastriques. Dans une approche interdisciplinaire et globale, cette deuxième étude investigue donc les différences entre les patients opérés et des individus « contrôles » de poids similaire au niveau des interactions entre leur activité cérébrale et les mesures de leurs hormones gastriques. D'un côté, nous avons investigué la dynamique spatio-temporelle cérébrale de la perception visuelle de nourriture de haute et de basse densité énergétique dans deux états physiologiques différent (pre- et post-prandial). Et de l'autre, nous avons également investigué les mesures physiologiques des hormones gastriques. Ensuite, afin d'évaluer les altérations liées à l'intervention chirurgicale au niveau des interactions entre la réponse cérébrale et la sécrétion d'hormone, des corrélations entre ces deux mesures ont été comparées entre les deux groupes. Les résultats révèlent que l'intervention chirurgicale du bypass gastrique Roux-en-Y altère la dynamique spatio-temporelle de la perception visuelle de la nourriture de haute et de basse densité énergétique, ainsi que les interactions entre cette dernière et les mesures périphériques des hormones gastriques. Nous discutons le rôle potentiel de ces altérations en relation avec les modulations des facteurs physiologiques et les changements du comportement alimentaire préalablement déjà démontrés. De cette manière, nous identifions des cibles potentielles pour le développement de stratégies d'intervention future, au niveau comportemental, cérébral et endocrinien (hormones gastriques) en ce qui concerne les déviances du comportement alimentaire, dont l'obésité. Nos deux études réunies démontrent que la représentation visuelle de la nourriture dans le cerveau est plastique et que des modulations de l'activité neurale apparaissent déjà à un stade très précoce des mécanismes de perception visuelle. Différents facteurs d'influence comme une exposition repetee, le bypass gastrique Roux-en-Y, la motivation (état nutritionnel), ainsi que la densité énergétique de la nourriture qui est perçue ont pu être identifiés.

Visual search in spatial neglect studied with a preview paradigm.

Impaired visual search is a hallmark of spatial neglect. When searching for an unique feature (e.g., color) neglect patients often show only slight visual field asymmetries. In contrast, when the target is defined by a combination of features (e.g., color and form) they exhibit a severe deficit of contralesional search. This finding suggests a selective impairment of the serial deployment of spatial attention. Here, we examined this deficit with a preview paradigm. Neglect patients searched for a target defined by the conjunction of shape and color, presented together with varying numbers of distracters. The presentation time was varied such that on some trials participants previewed the target together with same-shape/different-color distracters, for 300 or 600 ms prior to the appearance of additional different-shape/same-color distracters. On the remaining trials the target and all distracters were shown simultaneously. Healthy participants exhibited a serial search strategy only when all items were presented simultaneously, whereas in both preview conditions a pop-out effect was observed. Neglect patients showed a similar pattern when the target was presented in the right hemifield. In contrast, when searching for a target in the left hemifield they showed serial search in the no-preview condition, as well as with a preview of 300 ms, and partly even at 600 ms. A control experiment suggested that the failure to fully benefit from item preview was probably independent of accurate perception of time. Our results, when viewed in the context of existing literature, lead us to conclude that the visual search deficit in neglect reflects two additive factors: a biased representation of attentional priority in favor of ipsilesional information and exaggerated capture of attention by ipsilesional abrupt onsets.

Servidor de gestió i control de cursos d'una escola de formació

L'objectiu principal d'aquest projecte era consolidar els coneixements adquirits al llarg de la carrera i a la vegada aconsegui un cert domini a l'entorn de programació Microsoft Visual Studio 2005 a l'àmbit.NET

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

Comparison of visual preservation after transplantation of BDNF or GDNF secreting mesenchymal stem cells in glaucomatous rat eyes

Purpose:To functionally and morphologically characterize the retina and optic nerve after transplantation of Brain-derived neurotrophic factor (BDNF) and Glial-derived neurotrophic factor (GDNF) secreting mesenchymal stem cells (MSCs) into glaucomatous rat eyes. Methods:Chronic ocular hypertension (COH) was induced in Brown Norway rats. Lentiviral constructs were used to transduce rat MSCs to produce BDNF, GDNF, or green fluorescent protein (GFP). The fellow eyes served as internal controls. Two days following COH induction, eyes received intravitreal injections of transduced MSCs. Electroretinography was performed to assess retinal function. Tonometry was performed throughout the experiment to monitor IOP. 42 days after MSC transplantation, rats were euthanized and the eyes and optic nerves were prepared for analysis. Results:Increased expression and secretion of BDNF and GDNF from lentiviral-transduced MSCs was verified using ELISA, and a bioactivity assay. Ratio metric analysis (COH eye/ Internal control eye response) of the Max combined response A-Wave showed animals with BDNF-MSCs (23.35 ± 5.15%, p=0.021) and GDNF-MSCs (28.73 ± 3.61%, p=0.025) preserved significantly more visual function than GFP-MSC treated eyes MSCs (18.05 ± 5.51%). Animals receiving BDNF-MSCs also had significantly better B-wave (33.80 ± 7.19%) and flicker ERG responses (28.52 ± 10.43%) than GFP-MSC treated animals (14.06 ± 12.67%; 3.52 ± 0.07%, respectively). Animals receiving GDNF-MSC transplants tended to have better function than animals with GFP-MSC transplants, but were not statistically significant (p=0.057 and p=0.0639). Conclusions:Mesenchymal stem cells are an excellent source of cells for autologous transplantation for the treatment of neurodegenerative diseases. We have demonstrated that lentiviral- transduced MSCs can survive following transplantation and preserve visual function in glaucomatous eyes. These results suggest that MSCs may be an ideal cellular vehicle for delivery of specific neurotrophic factors to the retina.