[pt] A matéria cinzenta periaquedutal dorsal (MCPD) é associada com comportamento defensivo e ataques de pânico em humanos. Estimulações elétricas ou farmacológicas da MCPD induzem a reações aversivas de corrida e pulo em ratos. Os resultados no experimento 1 indicaram que animais submetidos a um contexto previamente associado com choques nas patas, obtiveram um comportamento defensivo de congelamento robusto e tiveram menores reações defensivas de corridas e pulos através da microinjeção de de 0.3 µl N-metil-D- aspartato (NMDA; 15.0 mg/kg), quando comparado com o grupo controle que não foi exposto ao procedimento de medo ao contexto. No experimento 2, o efeito de injeções de pentilenotetrazol (PTZ; 15.0 mg/kg i.p.) em ratos microinjetados com NMDA nas reações de corridas e pulos foi investigado. Os resultados mostraram que o PTZ (1ml/100gr) foi capaz de minimizar as reações aversivas de corridas e pulos induzidas pela microinjeção de NMDA na MCPD. Esses resultados sugerem que a ativação de mecanismos cerebrais que permeiam a ansiedade produzem um efeito inibitório em ataques de pânico. / [en] The dorsal portion of the periaqueductal gray (DPAG) is notably associated with defensive behavior and panic attacks in humans. Electrical or pharmacological stimulation of the DPAG induces aversive reactions such as running and jumping in rats. Our results indicate that animals exposed to contextual cues, that were previously associated with electrical footshocks, engaged in robust defensive freezing behavior and were less likely to display running and jumping defensive reactions by microinjection of 0.3 µl N-methyl-D-aspartate (NMDA; 15.0 mg/kg) into DPAG when compared with control animals that were not exposed to the context fear conditioning procedure. Furthermore the effect of pentylenotetrazole injections (PTZ; 15.0 mg/kg i.p.) in microinjected NMDA rats in aversive reactions of running and jumping was investigated. The result showed that PTZ dose (1ml/100gr) was capable to minimize the aversive reactions of running and jumping induced by microinjection of NMDA into DPAG. These results suggest that activation of the brain mechanisms that underlie anxiety produces an inhibitory effect on panic attacks.

L'objectif principal de ce travail de thèse est l'élaboration d'un système de vision binoculaire mettant en oeuvre deux caméras de types différents. Le système étudié est constitué d'une caméra de type omnidirectionnelle associée à une caméra PTZ. Nous appellerons ce couple de caméras un système de vision hybride. L'utilisation de ce type de capteur fournit une vision globale de la scène à l'aide de la caméra omnidirectionnelle tandis que l'usage de la caméra mécanisée permet une fovéation, c'est-à-dire l'acquisition de détails, sur une région d'intérêt détectée depuis l'image panoramique.Les travaux présentés dans ce manuscrit ont pour objet, à la fois de permettre le suivi d'une cible à l'aide de notre banc de caméras mais également de permettre une reconstruction 3D par stéréoscopie hybride de l'environnement nous permettant d'étudier le déplacement du robot équipé du capteur. / The primary goal of this thesis is to elaborate a binocular vision system using two different types of camera. The system studied here is composed of one omnidirectional camera coupled with a PTZ camera. This heterogeneous association of cameras having different characteristics is called a hybrid stereo-vision system. The couple composed of these two cameras combines the advantages given by both of them, that is to say a large field of view and an accurate vision of a particular Region of interest with an adjustable level of details using the zoom. In this thesis, we are presenting multiple contributions in visual tracking using omnidirectional sensors, PTZ camera self calibration, hybrid vision system calibration and structure from motion using a hybrid stereo-vision system.

L'analyse vidéo pour la vidéo-surveillance nécessite d'avoir une bonne résolution pour pouvoir analyser les flux vidéo avec un maximum de robustesse. Dans le contexte de la détection d'objets stationnaires dans les grandes zones, telles que les parkings, le compromis entre la largeur du champ d'observation et la bonne résolution est difficile avec un nombre limité de caméras. Nous allons utiliser une paire de caméras à focale variable de type Pan-Tilt-Zoom (PTZ). Les caméras parcourent un ensemble de positions (pan, tilt, zoom) prédéfinies afin de couvrir l'ensemble de la scène à une résolution adaptée. Chacune de ces positions peut être vue comme une caméra stationnaire à très faible taux de rafraîchissement. Dans un premier temps notre approche considère les positions des PTZ comme des caméras indépendantes. Une soustraction de fond robuste aux changements de luminosité reposant sur une grille de descripteurs SURF est effectuée pour séparer le fond du premier plan. La détection des objets stationnaires est effectuée par ré-identification des descripteurs à un modèle du premier plan. Dans un deuxième temps afin de filtrer certaines fausses alarmes et pouvoir localiser les objets en 3D une phase de mise en correspondance des silhouettes entre les deux caméras et effectuée. Les silhouettes des objets stationnaires sont placées dans un repère commun aux deux caméras en coordonnées rectifiées. Afin de pouvoir gérer les erreurs de segmentation, des groupes de silhouettes s'expliquant mutuellement et provenant des deux caméras sont alors formés. Chacun de ces groupes (le plus souvent constitué d'une silhouette de chaque caméra, mais parfois plus) correspond à un objet stationnaire. La triangulation des points frontière haut et bas permet ensuite d'accéder à sa localisation 3D et à sa taille.

Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2011 / Made available in DSpace on 2012-10-26T08:31:53Z (GMT). No. of bitstreams: 1 294386.pdf: 13412819 bytes, checksum: 0d09f0e0ebf93952eac15001d7ae9381 (MD5) / As redes veiculares têm se tornado cada vez mais populares nos últimos anos, onde cada veículo constitui uma rede móvel sem fio. Esse crescimento deve-se ao fato do aumento pela exigência de mobilidade nos grandes centros. O acesso mais fácil à tecnologia tem permitido isso, visto que adquirir um veículo não é mais um ato para poucos. Com o intuito de otimizar o fluxo sem grandes modificações das malhas viárias estudos e inovações surgiram. Neste trabalho foi feita uma proposta de uma arquitetura de comunicação hierárquica com o objetivo de combinar duas tecnologias de grande disseminação no mercado a fim de fornecer suporte a uma grande gama de aplicações de controle de tráfego urbano. Sendo a WiFi, a responsável pela comunicação de curtas distâncias e, a WiMAX, para comunicação de longa distância. Um estudo de caso, chamado SORVES, foi implementado em cima da arquitetura proposta, com o objetivo de monitorar visualmente veículos especiais (ambulâncias, viaturas dos bombeiros, etc.). Essa arquitetura, em sua instância mais simples, é composta dos seguintes elementos: um veículo, um GPS, uma unidade de processamento e um ponto WiFi, um BS e um SS WiMAX e uma câmera PTZ. Pode-se destacar no trabalho 2 contribuições: (1) comunicação WiFi entre veículo e ponto fixo na rodovia sem o estabelecimento de conexão; (2) a movimentação da câmera PTZ somente através da análise da posição enviada pelo veículo / Vehicular networks have become increasingly popular in recent years where every vehicle is a mobile wireless network. This growth is due increasing demand for mobility in cities. The easier access to the technology has allowed it, since buying a car is no longer an act for a few people. So, networks studies and innovations have emerged to optimize the car ow without major changes in the infrastructure of the roads. In this work a proposal is made for a hierarchical communication architecture in order to combine two technologies readily avaliable in the market to provide support for a wide range of applications in urban trafic control. These technologies are WiFi, responsible for communication over short distances, the WiMAX, responsible for communication over long distances. A case study called SORVES, was implemented using this proposed architecture, in order to optically monitor special vehicles (ambulances, vehicles of firefighters, etc.). This architecture, in the simplest case, consists of the following elements: a vehicle, a GPS, a processing unit, a couple of WiFi AP, a BS and SS WiMAX and a camera PTZ. We highlight two contributions in this work: (1) the communication WiFi without establishing of a connection between the vehicle and a fixed point on the road, (2) the PTZ motion of the camera only by analyzing the position sent by the vehicle.

This semestral project is concerned with remote control PTZ camera using the wireless controller, and the controller design including design documents. The controller will be composed of the signal converter, microcontroller and RF module. Control data to the controller will come via link RS485 and controller will be able to communicate using the following protocols-Ernitec and Pelco. The proposed controller, according to data from the manufacturer to have a range of up to 500m. This parameter and also other transmission parameters confirm in the diploma thesis which will focus the actual implementation of the controller.

This semestral project is concerned with remote control PTZ camera using the wireless controller, and the controller design including design documents. The controller will be composed of the signal converter, microcontroller and RF module. Control data to the controller will come via link RS485 and controller will be able to communicate using the following protocols-Ernitec and Pelco. The proposed controller, according to data from the manufacturer to have a range of up to 500m. This parameter and also other transmission parameters confirm in the diploma thesis which will focus the actual implementation of the controller.

This thesis deals with problematics of PTZ-camera re-calibration during movement. The objective of this work is to keep the camera in calibration mode from default status when the known positions of Vanishing Points are in the image. With their use during movement, which is changing with motion of the camera, their positions are kept with help of two implemented methods. The first method is based on the principle of homography, the second on the principle of cross ratio. The results show that both of these methods work especially for keeping the positions of First Vanishing Points. In the case of the Second Vanishing Points there appear various problems and the results are often quite inaccurate.

El presente proyecto de investigación tiene como finalidad presentar una solución a la problemática que se tiene en la Región Cusco, Provincia Cusco, Distrito de Santiago. Como se detalla el presente proyecto, existen diversos factores que determinan el tipo de problemática en el ámbito de seguridad que presenta el distrito de Santiago, por ejemplo, lugares de riñas frecuentes, puntos de mayor incidencia delictiva, lugares con nula o escasa iluminación, lugares de concentración de alcohólicos o drogadictos, todo esto a raíz de la falta de coordinación entre las instituciones a quienes les compete el ámbito de seguridad. Santiago es uno de los distritos principales de la ciudad del Cusco, por lo tanto, planteamos la propuesta de tener un sistema de seguridad integrado, el cual consiste en emplear cámaras de videovigilancia que estarán interconectadas mediante el uso de radio enlaces hacia un punto central o centro de control, desde dicho lugar se podrán monitorear las principales calles y avenidas con altos índices mayor incidencia. Se espera como resultado, disminuir los índices de inseguridad que actualmente presenta el distrito, con ayuda de la propuesta planteada.

The epilepsies are a heterogenous group of symptom complexes, whose common features is the recurrence of seizures. There is no certain therapy for epilepsy. In order to promote new advances for the prevention of epilepsy the molecular mechanism of epileptic activities should be clarified. In the present study the goal is to obtain information for molecular mechanism of epilepsy. To achieve this, molecular alterations from pentylenetetrazol (PTZ)-induced epileptic activities on rat brain tissue and cell membranes were investigated by Fourier Transform Infrared (FTIR) spectroscopy, Fourier Transform Infrared Microscopy and Atomic Force Microscopy (AFM). Moreover, the therapeutic role of an antiepileptic agent vigabatrin (VGB) on epileptic rat brain membranes were examined at molecular level. For better understanding of the action mechanism of PTZ and an antiepileptic drug VGB in cell membranes we firstly studied at model level using multilamellar liposomes (MLVs). We investigated PTZ-DPPC MLVs interactions in terms of lipid phase behavior, order and dynamics and nature of hydrogen bonding around its polar part, using Fourier Transform Infrared (FTIR) spectroscopy, Differential Scanning Calorimetry (DSC), Electronspin Resonans Spectroscopy (ESR) and Steady State Fluorescence Spectroscopy. According to our data, PTZ has no ability to interact with membrane lipids. On the other hand, the results of VGB-DPPC interactions showed that VGB strongly interact with the head group and/or the region near the head of membrane phospholipids. The molecular investigation of PTZ-induced epileptic activities revealed that PTZ-induced seizures cause a decrease in the lipid and protein content, membrane fluidity and glycogen level. They stimulate alterations in membrane packing and the secondary structure of proteins as well as lipid peroxidation. In addition, our results show the transcription of early genes following high dose PTZ administration. All these molecular alterations variatins are only resulted from the consequences of epileptic activities not from convulsant agent PTZ itself. The important finding is that, VGB restored some of the alterations by PTZ-induced epileptic activities on brain cell membrane. For instance, it restored membrane fluidity, lipid peroxidation, phospholipid degradation and changes in membrane organization. However, it was found that VGB has no significant effects on the changes in protein secondary structure.

Cette thèse s’inscrit dans le cadre d’un projet industriel multi-partenaires ayant pour objectif le développement d’un robot mobile collaboratif (un cobot), autonome dans ses mouvements au sol, capable de réaliser l’inspection visuelle d’un aéronef, à la fois en phase de petite ou grande maintenance dans un hangar ou en phase de pré-vol sur le tarmac d’un aéroport. Le cobot est équipé de capteurs lui permettant d’effectuer ses tâches de navigation autonome, mais également d’un ensemble de capteurs optiques constituant la tête d’inspection : une caméra orientable Pan-Tilt-Zoom et un scanner 3D qui délivrent respectivement des données sous forme d’images 2D et de nuages de points 3D. L’objectif de la thèse est de développer des algorithmes d’analyse d’images 2D et de nuages de points 3D, afin d’établir un diagnostic sur l’état de l’avion et son aptitude à voler. Nous avons développé des algorithmes pour vérifier certains éléments de l’appareil, tels que valves, portes, capteurs, pneus ou moteurs, et également pour détecter et caractériser des dommages 3D sur le fuselage (impacts, rayures, etc.). Nous avons exploité dans nos algorithmes les connaissances a priori disponibles, en particulier le modèle 3D CAO de l’avion (un AIRBUS A320 dans le cadre de nos essais). Durant ces travaux de la thèse, nous avons pu répondre à deux besoins (parfois antagonistes) : développer des algorithmes d’inspection rapides et robustes, mais également répondre aux exigences spécifiques d’un projet industriel qui visait à développer un prototype opérationnel. Nous nous sommes attachés à développer des algorithmes les plus génériques possibles, de manière à ce qu’ils puissent être utilisés pour d’autres types d’inspection, tels que l’inspection de bâtiments ou de navires par exemple. Nous avons aussi contribué au développement du prototype (robot mobile équipé de capteurs) en développant le module de contrôle des capteurs d’inspection et en intégrant nos codes sur le robot avec les autres modules développés par les partenaires. Le prototype a fait l’objet de nombreux essais en hangar de maintenance ou sur tarmac. / This thesis makes part of an industry oriented multi-partners project aimed at developing a mobile collaborative robot (a cobot), autonomous in its movements on the ground, capable of performing visual inspection of an aircraft during short or long maintenance procedures in the hangar or in the pre-flight phase on the tarmac. The cobot is equipped with sensors for realizing its navigation tasks as well as with a set of optical sensors which constitute the inspection head: an orientable Pan-Tilt-Zoom visible light camera and a three-dimensional scanner, delivering data in the format of two-dimensional images and three-dimensional point clouds, respectively. The goal of the thesis is to propose original approaches for processing 2D images and 3D clouds, with intention to make a decision with respect to the flight readiness of the airplane. We developed algorithms for verification of the aircraft items such as vents, doors, sensors, tires or engine as well as for detection and characterization of three-dimensional damages on the fuselage. We integrated a-priori knowledge on the airplane structure, notably numerical three-dimensional CAD model of the Airbus-A320. We argue that with investing effort to develop robust enough algorithms and with the help of existing optical sensors to acquire suitable data, we can come up with non-invasive, accurate, and time-efficient system for automatic airplane exterior inspection. The thesis work was placed in between two main requirements: develop inspection algorithms which could be as general as possible and also meet the specific requirements of an industry oriented project. Often, these two goals do not go along and the balance had to be made. On one side, we were aiming to design and assess the approaches that can be employed on other large structures, for ex. buildings, ships. On the other hand, writing source code for controlling sensors as well as integrating our whole developed source code with other modules on the real-time robotic system, were necessary in order to demonstrate the feasibility of our robotic prototype.