This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the ...This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.展开更多
Alzheimer’s disease (AD) is a neurodegenerative disease characterized by senile plaques and neurofibrillary tangles. Senile plaques are deposits of amyloid ?-peptide (A?) produced by the cleavage of a transmembrane p...Alzheimer’s disease (AD) is a neurodegenerative disease characterized by senile plaques and neurofibrillary tangles. Senile plaques are deposits of amyloid ?-peptide (A?) produced by the cleavage of a transmembrane protein termed Amyloid Precursor Protein (APP). The amyloidogenic cleavage of APP is performed by γ-secretase complex and ?-site APP cleaving enzyme 1 (BACE1), a key enzyme in AD that can be activated by different noxious stimuli. Interestingly, some viruses could activate double-stranded RNA-activated protein kinase (PKR), which phosphorylates Eukaryotic Initiation Factor 2 alpha (eIF2α). This phosphorylation stops global translation to avoid any synthesis of viral infective proteins, but paradoxically up-regulates BACE1 translation. One of the viral mechanisms to circumvent eIF2α phosphorylation is the recruitment of protein phosphatase 1 (PP1), to fully dephosphorylate eIF2α and allow viral protein synthesis. Due to the functional relationship between BACE1, PKR, PP1 and AD we have performed a large (1122 cases and 1191 control individuals) case-control genetic analysis using two biallelic polymorphisms rs2254958 and rs7480390, located within the genes coding for PKR and the catalytic unit A of PP1, respectively. Although a trend to association of the rs2254958 TT genotype with AD risk was found, our results show that neither rs7480390 nor rs2254958 are associated with AD susceptibility.展开更多
Among collagen members in the collagen superfamily,type XIX collagen has raised increasing interest in relation to its structural and biological roles.Type XIX collagen is a Fibril-Associated Collagen with Interrupted...Among collagen members in the collagen superfamily,type XIX collagen has raised increasing interest in relation to its structural and biological roles.Type XIX collagen is a Fibril-Associated Collagen with Interrupted Triple helices member,one main subclass of collagens in this superfamily.This collagen contains a triple helix composed of three polypeptide segments aligned in parallel and it is associated with the basement membrane zone in different tissues.The molecular structure of type XIX collagen consists of five collagenous domains,COL1 to COL5,interrupted by six non-collagenous domains,NCI to NC6.The most relevant domain by which this collagen exerts its biological roles is NCI domain that can be cleavage enzymatically to release matricryptins,exerting anti-tumor and anti-angiogenic effect in murine and human models of cancer.Under physiological conditions,type XIX collagen expression decreases after birth in different tissues although it is necessary to keep its basal levels,mainly in skeletal muscle and hippocampal and telencephalic interneurons in brain.Notwithstanding,in amyotrophic lateral sclerosis,altered transcript expression levels show a novel biological effect of this collagen beyond its structural role in basement membranes and its anti-tumor and anti-angiogenic properties.Type XIX collagen can exert a compensatory effect to ameliorate the disease progression under neurodegenerative conditions specific to amyotrophic lateral sclerosis in transgenic SOD1 G93 A mice and amyotrophic lateral sclerosis patients.This novel biological role highlights its nature as prognostic biomarker of disease progression in and as promising therapeutic target,paving the way to a more precise prognosis of amyotrophic lateral sclerosis.展开更多
The serotonergic system in the brain plays a major role in mood and anxiety regulation when exposed to stress. The aim of the present study was to evaluate the effects of Sertraline administration in coping with stres...The serotonergic system in the brain plays a major role in mood and anxiety regulation when exposed to stress. The aim of the present study was to evaluate the effects of Sertraline administration in coping with stress using the behavioural paradigms of the acoustic startle reflex (ASR) and its prepulse inhibition (PPI) in both sexes. Wistar rats were divided into two groups: intact animals and exposed to restraint stress (RS) 3 times per day during 7 days, which were then subdivided into three other groups: injected with Sertraline (5 mg/kg/day) or the drug vehicle saline for 8 consecutive days, and non-injected. ASR and PPI values were analyzed along 4 sessions to determine behavioral changes. Upon it, we also determine the effects of acute immobilization stress analyzing physiological stress indicators in blood. Our data show sex differences in response to stress paradigms. RS affected more intensely males than females, disturbing the males’ growth and the long-term startle habituation that were not affected in females. PPI increased in the vehicle-injected animals when compared to baseline in both sexes, and Sertraline reversed more efficiently it in females. Moreover, despite both sexes exposed to stressful paradigms exhibited a significant increase in serum glutamic-oxaloacetic transaminase and lactate dehydrogenase enzymes when compared with intact controls, as well as leucopenia, some differences according to sex were found in the haemostatic response to stress. Notably, the repeated injections procedure disturbed the early response to stress, which Sertraline only attenuated in both sexes. Our data suggest that 8-day Sertraline administration is effective in reversing stress-induced changes in some physio-logical parameters, but insufficient to return immunological values to normality.展开更多
Boom clay formation is a potential natural host rock for geological disposal of high-level nuclear waste in Belgium.Heating pulse tests with controlled power supply（maximum temperature was limited to 85℃） and contr...Boom clay formation is a potential natural host rock for geological disposal of high-level nuclear waste in Belgium.Heating pulse tests with controlled power supply（maximum temperature was limited to 85℃） and controlled hydraulic boundary conditions were performed under nearly constant volume conditions to study the impact of thermal loading on the clay formation.Selected test results of intact borehole samples retrieved in horizontal direction are presented and discussed.The study focuses on the time evolution of temperature and pore water pressure changes along heating and cooling paths,i.e.pore pressure build-up during quasi-undrained heating and later dissipation at constant temperature.展开更多
Purpose: To analyse the topographic concordance of conventional automated perimetry (24-2, SITA) and frequency doubling technology (FDT) in patients with advanced glaucoma. Methods: This prospective study included 22 ...Purpose: To analyse the topographic concordance of conventional automated perimetry (24-2, SITA) and frequency doubling technology (FDT) in patients with advanced glaucoma. Methods: This prospective study included 22 consecutive patients with an advanced visual field damage in SITA (24-2) (more than 75% and less than 100% of points explored had 0 dB of threshold sensitivity). These eyes were examined with the program C-20展开更多
Purpose: To evaluate the topographic concordance between sensibility values of short wave automated perimetry (SWAP) and frequency doubling technology (FDT) in ocular hypertension. Methods: 22 eyes of 22 patients diag...Purpose: To evaluate the topographic concordance between sensibility values of short wave automated perimetry (SWAP) and frequency doubling technology (FDT) in ocular hypertension. Methods: 22 eyes of 22 patients diagnosed of ocular hypertension underwent SWAP (24-2 test, Humphrey analyser) and FDT (C-20 threshold test). According the 17 points examined展开更多
Purpose: To evaluate the surgically induced corneal refraction (SICR) after phacoemulsification and deep sclerecto-my (P-DS). Methods: This prospective study included 15 eyes of 15 patients with a mean age of 32 years...Purpose: To evaluate the surgically induced corneal refraction (SICR) after phacoemulsification and deep sclerecto-my (P-DS). Methods: This prospective study included 15 eyes of 15 patients with a mean age of 32 years (range 47-90) who underwent phacoemulsification (a temporal clear cornea incision in right eye and a nasal incision in left eye), implantation of展开更多
Purpose: To evaluate the postoperative ocular surface modifications by conjunctival impression cytology after filtering surgery. Methods: We have prospectively studied 27 eyes of 23 patients who underwent trabeculecto...Purpose: To evaluate the postoperative ocular surface modifications by conjunctival impression cytology after filtering surgery. Methods: We have prospectively studied 27 eyes of 23 patients who underwent trabeculectomy or non-penetrating deep sclerec-tomy. Conjunctival impression cytology was performed before surgery and 15 days, 1,3 and 6 months after filtering surgery. We evaluated the degree of squamous metaplasia and the展开更多
Purpose: To compare the outcome of phacoemulsification combined with deep sclerectomy (P-DS) and SK-gel implant, with that of phacotrabeculectomy(P-T) and intraoperative use of mit-omycin C in patients with cataract a...Purpose: To compare the outcome of phacoemulsification combined with deep sclerectomy (P-DS) and SK-gel implant, with that of phacotrabeculectomy(P-T) and intraoperative use of mit-omycin C in patients with cataract and primary open-angle glaucoma. Methods: Thirty eyes (27 patients) who underwent P-DS, with at least 12 months of follow-up were展开更多
基金supported by CONACYT-Mexico,Lab Ex PERSYVAL-Lab(No.ANR-11-LABX-0025)Equipex ROBOTEX(No.ANR-10-EQPX-44-01)
文摘This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
基金supported by the Spanish Ministerio de Ciencia y Tecnología(FIS:PI07/0593 and PI10/00587,ISCIII-RETIC RED HERACLES RD06/0009/002-FEDER).
文摘Alzheimer’s disease (AD) is a neurodegenerative disease characterized by senile plaques and neurofibrillary tangles. Senile plaques are deposits of amyloid ?-peptide (A?) produced by the cleavage of a transmembrane protein termed Amyloid Precursor Protein (APP). The amyloidogenic cleavage of APP is performed by γ-secretase complex and ?-site APP cleaving enzyme 1 (BACE1), a key enzyme in AD that can be activated by different noxious stimuli. Interestingly, some viruses could activate double-stranded RNA-activated protein kinase (PKR), which phosphorylates Eukaryotic Initiation Factor 2 alpha (eIF2α). This phosphorylation stops global translation to avoid any synthesis of viral infective proteins, but paradoxically up-regulates BACE1 translation. One of the viral mechanisms to circumvent eIF2α phosphorylation is the recruitment of protein phosphatase 1 (PP1), to fully dephosphorylate eIF2α and allow viral protein synthesis. Due to the functional relationship between BACE1, PKR, PP1 and AD we have performed a large (1122 cases and 1191 control individuals) case-control genetic analysis using two biallelic polymorphisms rs2254958 and rs7480390, located within the genes coding for PKR and the catalytic unit A of PP1, respectively. Although a trend to association of the rs2254958 TT genotype with AD risk was found, our results show that neither rs7480390 nor rs2254958 are associated with AD susceptibility.
基金supported by Institutode Salud Carlos Ⅲ(Grant PI17/00949)Fondo Europeode Desarrollo Regional(FEDER)“Una manera de hacer Europa” from the European Union+1 种基金Centrode Investigación Biomédicaen Redsobre Enfermedades Neurodegenerativas(CIBERNED-612)Fundación FEDER(Federación Espa?olade Enfermedades Raras),Consolidated Groupsfrom Gobiernode Aragón
文摘Among collagen members in the collagen superfamily,type XIX collagen has raised increasing interest in relation to its structural and biological roles.Type XIX collagen is a Fibril-Associated Collagen with Interrupted Triple helices member,one main subclass of collagens in this superfamily.This collagen contains a triple helix composed of three polypeptide segments aligned in parallel and it is associated with the basement membrane zone in different tissues.The molecular structure of type XIX collagen consists of five collagenous domains,COL1 to COL5,interrupted by six non-collagenous domains,NCI to NC6.The most relevant domain by which this collagen exerts its biological roles is NCI domain that can be cleavage enzymatically to release matricryptins,exerting anti-tumor and anti-angiogenic effect in murine and human models of cancer.Under physiological conditions,type XIX collagen expression decreases after birth in different tissues although it is necessary to keep its basal levels,mainly in skeletal muscle and hippocampal and telencephalic interneurons in brain.Notwithstanding,in amyotrophic lateral sclerosis,altered transcript expression levels show a novel biological effect of this collagen beyond its structural role in basement membranes and its anti-tumor and anti-angiogenic properties.Type XIX collagen can exert a compensatory effect to ameliorate the disease progression under neurodegenerative conditions specific to amyotrophic lateral sclerosis in transgenic SOD1 G93 A mice and amyotrophic lateral sclerosis patients.This novel biological role highlights its nature as prognostic biomarker of disease progression in and as promising therapeutic target,paving the way to a more precise prognosis of amyotrophic lateral sclerosis.
基金supported by the University of Salamanca Research Support Grant 2015 to Dr.Dolores E.Lopez
文摘The serotonergic system in the brain plays a major role in mood and anxiety regulation when exposed to stress. The aim of the present study was to evaluate the effects of Sertraline administration in coping with stress using the behavioural paradigms of the acoustic startle reflex (ASR) and its prepulse inhibition (PPI) in both sexes. Wistar rats were divided into two groups: intact animals and exposed to restraint stress (RS) 3 times per day during 7 days, which were then subdivided into three other groups: injected with Sertraline (5 mg/kg/day) or the drug vehicle saline for 8 consecutive days, and non-injected. ASR and PPI values were analyzed along 4 sessions to determine behavioral changes. Upon it, we also determine the effects of acute immobilization stress analyzing physiological stress indicators in blood. Our data show sex differences in response to stress paradigms. RS affected more intensely males than females, disturbing the males’ growth and the long-term startle habituation that were not affected in females. PPI increased in the vehicle-injected animals when compared to baseline in both sexes, and Sertraline reversed more efficiently it in females. Moreover, despite both sexes exposed to stressful paradigms exhibited a significant increase in serum glutamic-oxaloacetic transaminase and lactate dehydrogenase enzymes when compared with intact controls, as well as leucopenia, some differences according to sex were found in the haemostatic response to stress. Notably, the repeated injections procedure disturbed the early response to stress, which Sertraline only attenuated in both sexes. Our data suggest that 8-day Sertraline administration is effective in reversing stress-induced changes in some physio-logical parameters, but insufficient to return immunological values to normality.
基金support provided by EIG EURIDICE/SCK.CEN(Belgium)through a PhD collaboration project with International Centre for Numerical Methods in Engineering(CIMNE,Spain)
文摘Boom clay formation is a potential natural host rock for geological disposal of high-level nuclear waste in Belgium.Heating pulse tests with controlled power supply（maximum temperature was limited to 85℃） and controlled hydraulic boundary conditions were performed under nearly constant volume conditions to study the impact of thermal loading on the clay formation.Selected test results of intact borehole samples retrieved in horizontal direction are presented and discussed.The study focuses on the time evolution of temperature and pore water pressure changes along heating and cooling paths,i.e.pore pressure build-up during quasi-undrained heating and later dissipation at constant temperature.
文摘Purpose: To analyse the topographic concordance of conventional automated perimetry (24-2, SITA) and frequency doubling technology (FDT) in patients with advanced glaucoma. Methods: This prospective study included 22 consecutive patients with an advanced visual field damage in SITA (24-2) (more than 75% and less than 100% of points explored had 0 dB of threshold sensitivity). These eyes were examined with the program C-20
文摘Purpose: To evaluate the topographic concordance between sensibility values of short wave automated perimetry (SWAP) and frequency doubling technology (FDT) in ocular hypertension. Methods: 22 eyes of 22 patients diagnosed of ocular hypertension underwent SWAP (24-2 test, Humphrey analyser) and FDT (C-20 threshold test). According the 17 points examined
文摘Purpose: To evaluate the surgically induced corneal refraction (SICR) after phacoemulsification and deep sclerecto-my (P-DS). Methods: This prospective study included 15 eyes of 15 patients with a mean age of 32 years (range 47-90) who underwent phacoemulsification (a temporal clear cornea incision in right eye and a nasal incision in left eye), implantation of
文摘Purpose: To evaluate the postoperative ocular surface modifications by conjunctival impression cytology after filtering surgery. Methods: We have prospectively studied 27 eyes of 23 patients who underwent trabeculectomy or non-penetrating deep sclerec-tomy. Conjunctival impression cytology was performed before surgery and 15 days, 1,3 and 6 months after filtering surgery. We evaluated the degree of squamous metaplasia and the
文摘Purpose: To compare the outcome of phacoemulsification combined with deep sclerectomy (P-DS) and SK-gel implant, with that of phacotrabeculectomy(P-T) and intraoperative use of mit-omycin C in patients with cataract and primary open-angle glaucoma. Methods: Thirty eyes (27 patients) who underwent P-DS, with at least 12 months of follow-up were
