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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
181

Estudo da função biológica e molecular de YJL077C - ORF de função desconhecida - envolvimento na resposta antioxidante e na sensibilidade ao cobre em Saccharomyces cerevisiae / Study of the biological and molecular function of orf-YJL077C- involvement in the antioxidant response and in the sensitivity to copper in Saccharomyces cerevisiae

Claudia Aznar Alesso 09 April 2014 (has links)
Saccharomyces cerevisiae teve seu seqüenciamento genômico finalizado em 1996, sendo composto de cerca de 6600 ORF\'s ( \"open reading frames\", quadros abertos de leitura) das quais aproximadamente 20% estão anotadas como não caracterizadas e de função molecular desconhecida. Com o objetivo de caracterizar algumas dessas ORF\'s relacionadas aos processos antioxidantes, escolhemos a proteína Yjl077cp. Através de nossos experimentos foi possível relacionar a proteína Yjl077cp com a resposta antioxidante, pois a linhagem mutante para o gene YJL077C apresentou letalidade quando exposta por 24 horas a uma concentração de 3mM de peróxido de hidrogênio (H2O2) . Testes de tolerância ao cobre, demonstraram que esse metal na concentração de 10mM, adicionado diretamente ao meio de cultura YPD, após um período de 4 horas de incubação afeta a cinética de crescimento, e após 24 horas de incubação, essa concentração é letal para a linhagem mutante. Observamos que a adição de CuSO4, causa modificação de pH do meio de cultura YPD, foram realizados experimentos para que verificássemos o efeito da acidificação do meio de cultura na viabilidade de Δics3, através de experimentos de tolerância em meio YPD ácido (pH 4.0) e com pH corrigido com adição de CuSO4. De acordo com os resultados obtidos, o efeito da letalidade de 10 mM de CuSO4 observado sem correção de pH, não ocorre quando em meio de cultura com o pH corrigido (pH6.0), demonstrando que, a letalidade da linhagem Δics3 é causada pelo acréscimo do metal e a mudança de pH (ácido, pH4.0). Testes de ICP-AES detectaram uma maior absorção intracelular de cobre na linhagem mutante Δics3, em condições de pH 4.0, quando comparada a absorção desse mesmo metal em condições de pH 6.0, demonstrando que grandes quantidades de cobre, estão sendo incorporadas para o meio intracelular, devido a acidificação do meio, sugerindo o envolvimento de Δics3, às ações das VATP-ases. Em conjunto esses resultados demonstram que o gene ICS3 é importante para a manutenção da viabilidade celular de S. cerevisiae crescida em meio de cultura com pH ácido e em condições de altas concentrações de CuSO4. O objetivo do presente trabalho foi entender a relação de ICS3 na resposta antioxidante e sensibilidade ao cobre através de experimentos de tolerância e em meio YPD ácido (pH 4.5) e com pH corrigido após adição de CuSO4. / Saccharomyces cerevisiae had its genome sequencing completed in 1996, consisting of about 6600 ORF\'s (\"open reading frames\" open reading frames) of which approximately 20% are annotated as uncharacterized and unknown molecular function. In order to characterize some of these ORF\'s related to antioxidants processes, we chose Yjl077cp protein . Through our experiments it was possible to relate the Yjl077cp protein with the antioxidant response, because the mutant strain to YJL077C gene showed lethality when exposed for 24 hours at a concentration of 3 mM hydrogen peroxide (H2O2). Copper tolerance tests demonstrated that this metal at concentration 10mM added directly to the medium YPD culture after a 4-hour period of incubation affects the growth kinetics, and after 24 hours of incubation, these concentration is lethal to mutant strain. We found that the addition of CuSO4, causes pH modification in the YPD culture medium, experiments were conducted to we check the effect of acidification of the culture medium on the viability of Δics3 through experiments of acid tolerance in YPD medium (pH 4.0) and pH adjusted with addition of CuSO4. According to the results, the effect of mortality of 10 mM CuSO4 observed without pH correction, does not occur when the culture medium with the Ph adjusted (pH6.0), demonstrating that the lethality of the strain Δics3 is caused by adding the metal and the change of pH (acid, pH4.0). ICP-OES tests detected greater intracellular uptake of copper in the mutant strain l1ics3 under conditions of pH 4.0 when compared to absorption of the same metal under conditions of pH 6.0, demonstrating that large amounts of copper, are being incorporated into the intracellular medium due to acidification of the medium, suggesting the involvement of Δics3 to the actions of the VATP-ases. Together, these results demonstrate that ICS3 gene is important for maintaining cell viability of S. cerevisiae grown in culture medium at acidic pH, and under conditions of high concentrations of CuSO4. The objective of this study was to understand the relationship ICS3 in antioxidant response and sensitivity to copper through experiments tolerance and YPD medium acid (pH 4.5) and fixed pH after addition of CuSO4.
182

Fonction mitochondriale et espèces réactives dérivées de l'oxygène : effets du genre et de l'entraînement en endurance chez le rat Wistar et l'anguille européenne / Mitochondrial function and reactive oxygen species : effects of gender and endurance training in Wistar rat and European eel

Farhat, Firas 20 March 2015 (has links)
La mitochondrie est le siège principal de la production d’énergie sous forme d’ATP en conditions aérobies, mais aussi d’espèces réactives dérivées de l’oxygène (ROS). La fonction mitochondriale est étroitement liée à la production de ROS puisque ces derniers, selon leur taux, peuvent altérer ou optimiser le rendement énergétique. La plasticité structurale et fonctionnelle de la mitochondrie est essentielle au maintien de l’homéostasie dans toute situation qui nécessite des ajustements métaboliques comme l’exercice physique. Les mécanismes adaptatifs de la fonction mitochondriale et des ROS lors de l’entrainement sont encore loin d’être élucidés ainsi que l’impact du genre sur ces réponses. Dans cette perspective, deux modèles animaux (rat Wistar et anguille européenne) ont été choisis. Les effets d’un entrainement en endurance de même intensité (70% de la vitesse maximale aérobie de course ou de nage) ont été étudiés chez le rat Wistar et l’anguille européenne argentée. Cette dernière est une espèce endurante capable d’effectuer une migration de reproduction de 6000 km et caractérisée par un dimorphisme sexuel de taille. Des mesures in vitro de la consommation d’oxygène, la production radicalaire et d’ATP ont été effectuées simultanément à partir de fibres perméabilisées de cœur et de muscle squelettique. La vulnérabilité ou résistance de la fonction mitochondriale à l’exposition à un système générateur de ROS (mimant un stress oxydant) a également été étudiée. Avant entrainement, chez le rat Wistar, la femelle présente une fonction mitochondriale plus efficiente énergétiquement et plus résistante aux ROS, alors que chez l’anguille, ce profil métabolique et radicalaire est plutôt observé chez le mâle. Après entrainement, quelle que soit l’espèce, la meilleure performance physique observée s’accompagne de modifications métaboliques et radicalaires différentes selon le genre et l’espèce. Chez le rat, l’amélioration de la fonction mitochondriale se traduit différemment selon le sexe. Chez le mâle, l’entrainement induit une amélioration du rendement énergétique via un meilleur couplage entre oxydation et phosphorylation et/ou une meilleure utilisation des électrons au niveau de la chaine respiratoire. Chez la femelle, l’augmentation de la production d’ATP serait liée à l’augmentation de la consommation d’oxygène mitochondriale. Comme chez le rat, l’entraînement induit globalement chez l’anguille une amélioration du rendement énergétique et de la résistance de la fonction mitochondriale aux ROS, mais uniquement chez le mâle. L’ensemble de ces résultats montre des réponses métaboliques et radicalaires dépendantes du genre. Quelle que soit l’espèce, l’entrainement semble être chez le mâle plus bénéfique que chez la femelle en termes d’efficacité énergétique mitochondriale et de résistance de la fonction mitochondriale à un stress oxydant. Dans le contexte de la migration de l’anguille, ces adaptations permettraient au mâle, largement plus petit que la femelle, une efficacité de nage supérieure, permettant leur synchronisation d’arrivée sur le lieu de reproduction. Les similitudes interspécifiques de réponse à l’entraînement selon le genre confortent l’intérêt d’utilisation du modèle poisson dans le champ de la physiologie de l’exercice. / Mitochondrion is the main site of aerobic energy (ATP) and reactive oxygen species (ROS) productions. Mitochondrial function is closely linked to ROS, which, according their rate, can alter or optimize energy efficiency. Structural and functional plasticity of mitochondria is essential to maintain homeostasis in any situation that requires metabolic adjustments as physical exercise. The adaptive mechanisms of mitochondrial function and ROS during training and the impact of gender on these responses are still far from being solved. In this perspective, two animal models (Wistar rat and European eel) were chosen.The effects of endurance training of the same intensity (70% of maximal aerobic speed running or swimming) were studied in Wistar rat and silver European eel. The latter is an enduring species capable of performing a spawning migration of 6000 km and characterized by sexual dimorphism in size. In vitro measurements of oxygen consumption, free radical and ATP productions were carried out simultaneously from heart and skeletal muscle permeabilized fibers. The vulnerability or resistance of the mitochondrial function to a ROS generating system exposure (mimicking oxidative stress) was also studied.Before training, in rat, female has a mitochondrial function energetically more efficient and more resistant to ROS, whereas in eel, this metabolic and radical profile is observed rather in male. After training, whatever the species, the improved physical performance observed is associated with various metabolic and radical changes which depending on gender and species. In rats, the improving of mitochondrial function translates differently according to gender. In male, training induces improvement in energy efficiency through a better coupling between oxidation and phosphorylation and/or better use of electrons at the respiratory chain level. In female, increasing in ATP production may be related to the increase in mitochondrial oxygen consumption. As in rats, training induces globally in eel an improvement in energy efficiency and resistance of mitochondrial function to ROS, but only in male. All these results show metabolic and radical responses depending on gender. Whatever the species, training seems to be most beneficial in males than in females in terms of mitochondrial energy efficiency and resistance of mitochondrial function to oxidative stress. In the context of eel migration, these adaptations allow to male, largely smaller than female, a higher swim efficiency, allowing their synchronization on breeding site. Interspecific similarities in training response by gender confirm the interest of fish model’s using in the field of exercise physiology.
183

Preparation, stability and in vitro evaluation of liposomes containing chloroquine / Stephnie Nieuwoudt

Nieuwoudt, Stephnie January 2010 (has links)
Malaria is currently a huge treat worldwide, as far as infections are concerned, and is responsible for thousands of deaths per annum. The dilemma associated with the development of anti–malarial drug resistance over the past few decades should be addressed as a matter of urgency. Novel drug delivery systems should be developed in order to employ new and existing anti–malarial drugs in the treatment and management of malaria. The aim of these delivery systems should include an improvement in the efficacy, specificity, acceptability and therapeutic index of anti–malarial drugs. Previous studies have suggested that liposomes have the ability to encapsulate, protect and to promote the sustained release of anti–malarial drugs. Two liposome formulations, namely liposomes and chloroquine entrapped in liposomes, were formulated during this thesis and evaluated by conducting a stability study and an in vitro study with the main focus on cell viability. The stability study consisted of a series of stability tests regarding the stability of nine liposome and nine chloroquine entrapped in liposome formulations over a period of twelve weeks. The in vitro study included three assays such as a reactive oxygen species assay, a lipid peroxidation assay and a hemolysis assay. The aims of these studies included the manufacturing of liposomes, the incorporation of chloroquine into liposomes, the determination of the stability of the formulations as well as the evaluation of the possible in vitro toxicity of liposomes. Results obtained from these studies revealed that liposomes remained more stable over the stability study period in comparison to chloroquine entrapped in liposomes. The entrapment of chloroquine within liposomes was possible, although the initial entrapment efficiency (%) of 14.55 % was much too low. The production of reactive oxygen species occurred to a small extent in the red blood cells and the infected red blood cells. Equal amounts of reactive oxygen species (%) was observed within both the red blood cells and the infected red blood cells with a maximum value of 23.27 % in the presence of the chloroquine entrapped in liposomes at varying concentrations. Red blood cells experienced the highest degree of lipid peroxidation (%) in the presence of chloroquine, at varying concentrations, entrapped in liposomes. The maximum amount of lipid peroxidation (%) was 79.61 %. No significant degree of hemolysis (%) was observed in the red blood cells neither in the presence of the liposomes nor in the presence of the chloroquine entrapped in liposomes at varying concentrations. It can be concluded that liposomes are a more stable formulation and have less toxic effects on red blood cells and infected red blood cells in comparison to the chloroquine entrapped in liposome formulations. Future studies should investigate the possibility of a more stable and less toxic chloroquine entrapped in liposome formulation. / Thesis (M.Sc. (Pharmaceutics))--North-West University, Potchefstroom Campus, 2011.
184

Preparation, stability and in vitro evaluation of liposomes containing chloroquine / Stephnie Nieuwoudt

Nieuwoudt, Stephnie January 2010 (has links)
Malaria is currently a huge treat worldwide, as far as infections are concerned, and is responsible for thousands of deaths per annum. The dilemma associated with the development of anti–malarial drug resistance over the past few decades should be addressed as a matter of urgency. Novel drug delivery systems should be developed in order to employ new and existing anti–malarial drugs in the treatment and management of malaria. The aim of these delivery systems should include an improvement in the efficacy, specificity, acceptability and therapeutic index of anti–malarial drugs. Previous studies have suggested that liposomes have the ability to encapsulate, protect and to promote the sustained release of anti–malarial drugs. Two liposome formulations, namely liposomes and chloroquine entrapped in liposomes, were formulated during this thesis and evaluated by conducting a stability study and an in vitro study with the main focus on cell viability. The stability study consisted of a series of stability tests regarding the stability of nine liposome and nine chloroquine entrapped in liposome formulations over a period of twelve weeks. The in vitro study included three assays such as a reactive oxygen species assay, a lipid peroxidation assay and a hemolysis assay. The aims of these studies included the manufacturing of liposomes, the incorporation of chloroquine into liposomes, the determination of the stability of the formulations as well as the evaluation of the possible in vitro toxicity of liposomes. Results obtained from these studies revealed that liposomes remained more stable over the stability study period in comparison to chloroquine entrapped in liposomes. The entrapment of chloroquine within liposomes was possible, although the initial entrapment efficiency (%) of 14.55 % was much too low. The production of reactive oxygen species occurred to a small extent in the red blood cells and the infected red blood cells. Equal amounts of reactive oxygen species (%) was observed within both the red blood cells and the infected red blood cells with a maximum value of 23.27 % in the presence of the chloroquine entrapped in liposomes at varying concentrations. Red blood cells experienced the highest degree of lipid peroxidation (%) in the presence of chloroquine, at varying concentrations, entrapped in liposomes. The maximum amount of lipid peroxidation (%) was 79.61 %. No significant degree of hemolysis (%) was observed in the red blood cells neither in the presence of the liposomes nor in the presence of the chloroquine entrapped in liposomes at varying concentrations. It can be concluded that liposomes are a more stable formulation and have less toxic effects on red blood cells and infected red blood cells in comparison to the chloroquine entrapped in liposome formulations. Future studies should investigate the possibility of a more stable and less toxic chloroquine entrapped in liposome formulation. / Thesis (M.Sc. (Pharmaceutics))--North-West University, Potchefstroom Campus, 2011.
185

Implementation of SLAM Algorithms in a Small-Scale Vehicle Using Model-Based Development / Implementation av SLAM-algoritmer i småskaligt fordon genom modellbaserad utveckling

Alexandersson, Johan, Nordin, Olle January 2017 (has links)
As autonomous driving is rapidly becoming the next major challenge in the auto- motive industry, the problem of Simultaneous Localization And Mapping (SLAM) has never been more relevant than it is today. This thesis presents the idea of examining SLAM algorithms by implementing such an algorithm on a radio con- trolled car which has been fitted with sensors and microcontrollers. The software architecture of this small-scale vehicle is based on the Robot Operating System (ROS), an open-source framework designed to be used in robotic applications. This thesis covers Extended Kalman Filter (EKF)-based SLAM, FastSLAM, and GraphSLAM, examining these algorithms in both theoretical investigations, simulations, and real-world experiments. The method used in this thesis is model- based development, meaning that a model of the vehicle is first implemented in order to be able to perform simulations using each algorithm. A decision of which algorithm to be implemented on the physical vehicle is then made backed up by these simulation results, as well as a theoretical investigation of each algorithm. This thesis has resulted in a dynamic model of a small-scale vehicle which can be used for simulation of any ROS-compliant SLAM-algorithm, and this model has been simulated extensively in order to provide empirical evidence to define which SLAM algorithm is most suitable for this application. Out of the algo- rithms examined, FastSLAM was proven to the best candidate, and was in the final stage, through usage of the ROS package gMapping, successfully imple- mented on the small-scale vehicle.
186

Caractérisation des NADPH oxydases et effet de leur inhibition dans les leucémies aigues myéloïdes / Characterization of NADPH oxidases and effect of their inhibition in acute myeloid leukaemia

Dakik, Hassan 20 December 2017 (has links)
Dans le monde, 350 000 leucémies sont diagnostiquées chaque année. La rechute reste un problème majeur des leucémies aiguës myéloïdes (LAM) et le métabolisme oxydatif pourrait jouer un rôle essentiel dans la réponse au traitement. Un faible niveau des espèces réactives de l’oxygène (ROS) est associé à des propriétés des cellules souches leucémiques et la quiescence alors qu’un niveau plus élevé caractérise les leucoblastes proliférants. L’homéostasie des ROS repose sur un équilibre entre les systèmes oxydants et antioxydants. Les antioxydants sont bien documentés dans les LAM alors que les connaissances sur l’activité oxydante sont encore limitées. Dans ce travail nous avons choisi d’étudier les sept complexes NADPH oxydases (NOX) dans 25 lignées issues de LAM humaines et des LAM primaires. L’analyse des ARNm et des protéines montre des profils d’expression variables entre les lignées avec une expression plus forte des sous-unités du complexe NOX2 dans les lignées correspondant à des stades de différenciation myéloïde plus avancés. L’activité enzymatique des NOX est cependant équivalente entre les lignées. Deux inhibiteurs, DPI et VAS3947, ont été utilisés pour connaître la contribution des NOX à la production des ROS cellulaires. Alors qu’ils ont inhibé l’activité, ils ont aussi généré un stress oxydatif majeur conduisant à une diminution de la prolifération cellulaire et une forte apoptose, le DPI en augmentant les ROS mitochondriaux et VAS3047 les ROS cytoplasmiques. Afin de connaitre les sous-unités impliquées et de mieux comprendre les mécanismes, les sous-unités NOX2 et p22phox ont été inhibée par ARN interférence. Celle-ci n’ont pas affecté la prolifération mais ont montré des effets compensatoires. Nos data montrent qu’inhiber les NOX pourrait s’avérer une stratégie thérapeutique en augmentant le stress oxydatif dans les cellules leucémiques. / 350,000 leukaemia are diagnosed each year worldwide. In acute myeloid leukaemia (AML), relapse remains a major problem and the oxidative metabolism might play a crucial role in the therapeutic response. Low level of reactive oxygen species (ROS) is associated with properties of leukemic stem cells and quiescence whereas higher level promotes leukoblasts proliferation. ROS homeostasis relies on a tightly regulated balance between the oxidant and antioxidant systems. Although the antioxidant system is extensively studied in AML, the oxidant system remains poorly documented. In this work we aimed to study the seven NADPH oxidases (NOX) complexes in 25 AML human cell lines and primary samples. NOX transcriptional and protein profiles are variable with a higher expression of NOX2 in cell lines belonging to mature differentiation stages. An equivalent level of enzymatic activity was observed across all the cell lines. To reveal the contribution of NOX to global ROS production in the cells, two NOX inhibitors, DPI and VAS3947, were then used. Although both inhibitors efficiently blocked NOX activity they unexpectedly triggered strong oxidative stress leading to reduced cell proliferation and strong apoptosis, DPI by increasing mitochondrial ROS while VAS3947 by increasing cytoplasmic ROS production. To highlight which of the subunits were involved and to understand the mechanisms, NOX2 and p22phox subunits were inhibited using shRNA strategy. These did not affect cell proliferation but revealed a compensation effect. Our data suggest that NOX inhibition might be potential therapeutic strategy by increasing oxidative stress in leukemic cells.
187

Alocação de tarefas para a coordenação de robôs heterogêneos aplicados a agricultura de precisão / Task allocation for the coordination heterogeneous robots applied to precision agriculture

Eduardo Sacogne Fraccaroli 05 December 2017 (has links)
O Brasil é uma referência mundial na produção e exportação de citros, entretanto esse cultivo pode sofrer diversos problemas e perdas de produtividade por motivos diversos, como por exemplo, pragas. Para reduzir os riscos e perdas, torna-se interessante o uso de sistemas automatizados de monitoramento, justificando a necessidade de realizar a coleta de dados para determinar diversos fatores. Determinadas plantações, como a de citros, não podem ser monitoradas somente via solo ou somente via imagens aéreas, tornando necessário mesclar ambas as abordagens de acordo com o parâmetro a ser monitorado. Para a realização desse monitoramento devem ser utilizados robôs com habilidades distintas, robôs aéreos e robôs terrestres. Assim, é preciso designar as tarefas que cada robô realizará e também coordenar todos os robôs durante a execução do sistema como um todo, visando otimizar o processo de coleta de dados. Esse problema pode ser analisado e modelado como um problema de alocação de tarefas para robôs (Multi-Robot Task Allocation (MRTA)). Para resolver esse problema propõe-se um framework baseado em técnicas de cobertura de conjuntos e em mecanismo de mercado baseado em leilão. Teste simulados são realizados e demonstram que a presente proposta cumpre o papel na alocação das tarefas aos robôs. Além disso, visando a aplicação da solução proposta é projetado e desenvolvido uma plataforma robótica aérea (quadrirotor) de baixo custo utilizando peças prototipadas. Para o controle de estabilidade dessa plataforma, propõe-se um modelo matemático de acordo com os parâmetros inerciais do quadrirotor. Esse quadrirotor é utilizado em diversas aplicações reais, mostrando que o projeto desenvolvido pode ser reproduzido e destinado a execução de tarefas reais, como por exemplo a coleta de dados na agricultura de precisão. / Brazil is a world reference in the production and export of citrus, although this crop can suffer several problems and losses of productivity for diverse reasons, as for example, pests. In order to reduce risks and losses, it is interesting to use automated monitoring systems, justifying the need to perform data collection to determine several factors. Certain plantations, such as citrus plantations, can not be monitored only via soil or only via aerial images, making it necessary to merge both approaches according to the parameter to be monitored. To perform this monitoring, robots with different abilities, such asunmanned aerial vehicle (UAV) and unmanned ground vehicle (UCV) should be used. Therefore, it is necessary to assign the tasks that each robot will perform and also to coordinate all the robots during the execution of the system as a whole, in order to optimize the process of data collection. The problem can be studied and modeled as a task allocation problem for robots (MRTA). To solve this problem we propose a framework based set covering techniques and auction-based market mechanism. Simulated tests are performed and demonstrate that the present proposal fulfills the role in assigning tasks to robots. In addition, aiming at the application of the proposed solution is designed and developed a low cost aerial robotic platform (quadrirotor) which use prototyped parts. This quadrirotor is used in several real applications, showing that the developed project can be reproduced and destined to perform real tasks, such as data collection in precision agriculture.
188

Controle de trajetória baseado em visão computacional utilizando o Framework ROS

Oliveira, Leandro Luiz Rezende de 11 November 2013 (has links)
Submitted by Renata Lopes (renatasil82@gmail.com) on 2017-04-26T12:41:45Z No. of bitstreams: 1 leandroluizrezendedeoliveira.pdf: 11529978 bytes, checksum: 0d088d792c8861423c02cd09cfcdc538 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2017-04-26T13:54:24Z (GMT) No. of bitstreams: 1 leandroluizrezendedeoliveira.pdf: 11529978 bytes, checksum: 0d088d792c8861423c02cd09cfcdc538 (MD5) / Made available in DSpace on 2017-04-26T13:54:24Z (GMT). No. of bitstreams: 1 leandroluizrezendedeoliveira.pdf: 11529978 bytes, checksum: 0d088d792c8861423c02cd09cfcdc538 (MD5) Previous issue date: 2013-11-11 / O objetivo do presente trabalho é apresentar o desenvolvimento de um controle de trajetória para robôs móveis baseado em visão computacional, implementado no Framework ROS (Robotic Operating System). O ambiente do futebol de robôs foi utilizado como plataforma de teste da metodologia proposta. Para executar essa tarefa foi desenvolvido um algoritmo para o sistema de visão robótica, capaz de executar a calibração do sistema de captura de imagens e a identificação dos robôs no campo de acordo com a forma e a cor das etiquetas de identificação através da biblioteca OpenCV, a qual é integrada na estrutura fornecida pelo ROS. Os algoritmos elaborados de visão computacional, controle de alto nível e controle de baixo nível foram estruturados conforme as diretrizes do ROS, sendo assim denominados de nós. Os algoritmos de alto nível responsáveis pelo controle de trajetória, tratamento de imagem e controle são executados em um computador desktop ou notebook, ao passo que o algoritmo de baixo nível para controle é executado em uma plataforma Arduino embarcada no robô. O computador ou notebook e a plataforma Arduino embarcadas nos robôs trocam informações entre si de forma distribuída utilizando tópicos que interligam os nós e transmitem mensagens utilizando o padrão Publisher/Subscriber. Ainda é abordado o desenvolvimento do robô diferencial proposto, com seus dispositivos de controle, comunicação e tração. / The goal of this work is to present the development of a path control for mobile robots based on computer vision, implemented in ROS (Robotic Operating System) Framework. The robot soccer environment was used as test platform for the proposed methodology. To accomplish this task was developed an algorithm to the robotic vision system, able to perform the calibration of image capture system and the identification of robots in the field according to the shape and color identification labels through the OpenCV library, which is integrated into the structure provided by ROS. The algorithms developed for computer vision, high-level control and low-level control were structured according to the guidelines of the ROS, therefore called nodes. The algorithms responsible for the high-level path control, image processing and control are performed on a desktop computer or notebook, while the algorithm for low-level control is running on a platforms Arduino embedded in the robots. The computer or notebook and embedded platform Arduino exchange informations among themselves in a distributed manner using topics, interconnecting nodes and transmit messages using the Publisher/Subscriber default. Also is addresses the development of a differential robot proposed, with their control devices, communications and traction.
189

Transgene Redoxindikator-Mäuse mit mitochondrialer roGFP1-Expression: Phänotypisierung, neuronales Verteilungsmuster und Sensorfunktionalität / Transgenic redox indicator mice expressing mitochondrial roGFP1: phenotypic characterization, neuronal expression pattern and sensor functionality

Wagener, Kerstin Charlotte 06 December 2017 (has links)
No description available.
190

Des canaux Ioniques de la membrane plasmique lors de la mort cellulaire programmée induite par l’ozone chez A. thaliana / Role of plasma membrane ion channels in ozone-induced programmed cell death in A. thaliana

Tran, Quoc-tuan daniel 12 December 2011 (has links)
L'ozone troposphérique est un polluant secondaire majeur. Outre son rôle de gaz à effet de serre direct, l'ozone fait partie des polluants atmosphériques les plus toxiques et la pollution qu’elle engendre, affecte aussi bien la santé humaine que la productivité végétale. Les travaux présentés dans cette thèse porte sur l’étude du rôle des canaux ioniques de la membrane plasmique en réponse à une forte exposition à l’ozone ainsi que leurs interactions avec les évènements de signalisation mis en place lors du processus de PCD induit par ce stress sur des cellules en culture d’A. thaliana. Nous avons montré que cette mort cellulaire génétiquement contrôlée est caractérisée par une plasmolyse semblable à « l’Apoptosis Volume Decrease » (AVD) décrit en animal. Ce processus est promu par des cascades de signalisation où, dans un premier temps, les canaux anioniques sont très précocement activés potentiellement par l’acide oxalique issu de la dégradation de l’ascorbate par l’O3. Les données suggèrent une interconnexion entre les courants anioniques, l’influx cacique et une génération de ROS dépendante de la NADPH oxydase. Dans un deuxième temps, des canaux K+ rectifiants sortants sont activés de manière retardée et participent à la PCD. Cette activation retardée pourrait être due à une régulation post-transcriptionnelle des canaux GORK induite par l’O2•-. Enfin, nous avons également mis en évidence des activités enzymatiques de type caspase, au niveau cytoplasmique et nucléaire. Ces activités enzymatiques semblent être corrélées à la baisse de la teneur vacuolaire en ions K+, mais des données complémentaires sont nécessaires afin de comprendre les mécanismes sous-jacents. Ce travail souligne l’importance et la complexité de la régulation des canaux anioniques et potassiques et ce, dans les processus de signalisation et la mécanistique menant à la mort cellulaire programmée chez les plantes. / Tropospheric ozone is a major secondary pollutant. In addition to its role in greenhouse effect gas, ozone is one of the most toxic air pollutants, and its pollution affects both human health and crop productivity. The work presented in this thesis concerns the role of ion channels in the plasma membrane in response to acute exposure to ozone and their interactions with signaling events leading to O3-induced PCD in A. Thaliana cultured cells. We have shown that cell death was genetically controlled and characterized by cell shrinkage similar to the mechanism of "Apoptosis Volume Decrease" (AVD) described in animal. This process is initially promoted by an early activation of a plasma membrane anion channel, amongst which ascorbate-derived oxalic acid production potentially participates to this activation. Our data further suggests an interplay between anion channel with well known plant responses to O3, Ca2+ influx and NADPH-oxidase generating reactive oxygen species (ROS) in mediating the oxidative cell death. In a second step, K+ outwards rectifying currents are activated in a delayed manner and participate to PCD. This delayed activation could be due to O2•- post-transcriptional regulation of GORK channels. Finally, we also demonstrated caspase-like activities in the cytoplasm and the nucleus. These enzyme activities appear to be correlated with the decrease in vacuolar K+ ion content, but require additional data to understand the underlying mechanisms. This work highlights the importance and the complexity of ion channels regulation in the signaling pathway and the mechanistic processes leading to programmed cell death in plants.

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