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The role of the 27 kDa heat shock protein in gene expression in bronchial smooth muscle /Baker-Deadmond, Kimberly J. January 2004 (has links)
Thesis (Ph.D.)--University of Nevada, Reno, 2004. / Includes bibliographical references. Online version available on the World Wide Web.
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cFLIP regulates Fas-induced apoptosis and pro-inflammatory gene expression in human vascular smooth muscle cells /Dishmon, Monja. January 2006 (has links)
Thesis (Ph. D.)--University of Washington, 2006. / Vita. Includes bibliographical references (leaves 71-91).
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Human dermal fibroblasts in tissue engineering /Junker, Johan P. E., January 2009 (has links)
Diss. (sammanfattning) Linköping : Linköpings universitet, 2009.
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Μοριακός έλεγχος τού λείου μυϊκού φαινότυπουΜυρίσσα, Αναστασία 07 June 2013 (has links)
Ο Λείος Μυϊκός Φαινότυπος (ΛΜΦ) χαρακτηρίζεται από σημαντική πλαστικότητα και παίζει κομβικό λειτουργικό ρόλο τόσο σε φυσιολογικές όσο και σε παθολογικές καταστάσεις. Στις αρτηρίες, η μεταβολή του ΛΜΦ στο φάσμα από φυσιολογικός-συσταλτός μέχρι συνθετικός-παθολογικός εμπλέκεται αιτιολογικά σε διάφορες ανθρώπινες ασθένειες όπως στην αθηροσκλήρωση, στην υπέρταση και στην επαναστένωση των αγγείων μετά από εγχείρηση. Η έκφραση γονιδίων ΛΜΦ έιναι επίσης μεγάλης σημασίας σε ασθένειες άλλων οργάνων, όπως η ίνωση των νεφρών και του ήπατος και η μετάσταση του καρκίνου. Συνεπώς, η μελέτη των μοριακών μηχανισμών μέσω των οποίων επηρεάζεται ο ΛΜΦ είναι πολύ σημαντική για την ανάπτυξη νέων τεχνικών περιορισμού της εξέλιξης αυτών των νόσων.
Η λειτουργία πολλών ιστών όπως είναι τα αγγεία ελέγχεται σε σημαντικό βαθμό από το συμπαθητικό νευρικό σύστημα. Σκοπός λοιπόν της παρούσας εργασίας ήταν πρώτα-πρώτα να εξετάσουμε εάν in vitro η διέγερση των α και β αδρενεργικών υποδοχέων πιθανώς ρυθμίζει την έκφραση γονιδίων ΛΜΦ και προκαταρκτικά να διακριβώσουμε μέσω ποιών μοριακών μηχανισμών οι α1 (υπότυποι α1Α και α1Β) και οι β-ΑΥς επηρεάζουν και ελέγχουν το ΛΜΦ. Κατά δεύτερο λόγο θελήσαμε να εξετάσουμε εάν η εξωγενής έκφραση του μεταγραφικού παράγοντα Μυοκαρδίνη προκαλεί επιθηλιο-μεσεγχυματική μετάβαση (ΕΜΤ-Epithelial to Mesenchymal Transition) σε ενδοθηλιακά κύτταρα in vitro.
Για τα πρώτα πειράματά μας χρησιμοποιήσαμε δύο διαφορετικούς κυτταρικούς πληθυσμούς: α) διαφοροποιημένα λεία μυϊκά κύτταρα αορτής αρουραίου της κυτταρικής σειράς A7r5, και β) κύτταρα ινοβλαστών της κυτταρικής σειράς ΝΙΗ3Τ3 προερχόμενα απο ποντικό, προκειμένου να δούμε αντίστοιχα πως η δράση των ΑΥ ελέγχει την έκφραση των γονιδίων αυτών σε διαφοροποιημένα ΛΜΚ (A7r5) και σε αδιαφοροποίητα κύτταρα που όμως μπορούν να μετατραπούν σε «ΛΜΚ» (ΝΙΗ3Τ3).
Ως δείκτη για την έκφραση του ΛΜΦ, εξετάσαμε την έκφραση κυτταροσκελετικών, δομικών πρωτεϊνών-δεικτών, όπως η λείου μυϊκού τύπου α-Ακτίνη (SM-α-Αctin),, η λείου μυϊκού τύπου βαριά αλυσίδα της Μυοσίνης (SM-MHC), η λείου μυϊκού τύπου Καλπονίνη (SM-Calponin) και η λείου μυϊκού τύπου πρωτεΐνη 22α (τρανσγελίνη) (SM22α), σε δύο επίπεδα: α) είτε χρησιμοποιώντας αντισώματα, είτε β) με την χρήση πλασμιδίων αναφοράς όπου minimal υποκινητές των παραπάνω γονιδίων ελέγχουν την προσμετρούμενη έκφραση λουσιφεράσης. Η ενεργοποίηση της μεταγραφής αυτών των γονιδίων ρυθμίζεται, σε μεγάλο μέρος, από τις αλληλουχίες CArG (CArG boxes) στους υποκινητές τους, στις οποίες προσδένεται ο παράγοντας Serum Response Factor (SRF). Στα ΛΜΚ, ο μεταγραφικός παράγοντας SRF ενεργοποιεί τη μεταγραφή των γονιδίων-δεικτών μέσω δημιουργίας ενός απαραίτητου συμπλόκου με έναν μεταγραφικό παράγοντα της οικογένειας των Μυοκαρδινών, η οποία αποτελείται από 3 μέλη : τη Μυοκαρδίνη και τις συγγενείς πρωτεΐνες MRTF-A και MRTF-B.
Στη μελέτη που πραγματοποιήσαμε, αρχικά παρατηρήσαμε ότι οι δύο αυτοί κυτταρικοί πληθυσμοί δεν εκφράζουν τους α1-ΑΥς (α1Α και α1Β υπότυποι) ενδογενώς, αλλά, με εισαγωγή του αντίστοιχου πλασμιδίου των α1Α ή α1Β ΑΥς, το σύστημα καθίσταται λειτουργικό. Επιπλέον ανακαλύψαμε ότι τα κύτταρα A7r5 εκφράζουν ενδογενώς τους β-ΑΥς.
Από τα πειράματα που πραγματοποιήσαμε, καταλήξαμε στο συμπέρασμα ότι οι υποδοχείς αυτοί επηρεάζουν και καθορίζουν με διαφορετικό τρόπο το ΛΜΦ, ανάλογα με τον υπότυπο των ΑΥς και ανάλογα με τον τύπο των κυττάρων.
Πιο αναλυτικά, όσον αφορά στα κύτταρα A7r5 παρατηρήσαμε ότι:
α) η ενεργοποίηση των α1Α-ΑΥ επάγει την έκφραση και των τεσσάρων γονιδίων-δεικτών που καθορίζουν το ΛΜΦ τόσο σε μεταγραφικό όσο και σε πρωτεϊνικό επίπεδο, β) η ενεργοποίηση του υποκινητή της SM22α από τους α1Α-ΑΥς εξαρτάται από τα στοιχεία CΑrG ενώ η ενεργοποίηση του υποκινητή της SM-Calponin δεν εξαρτάται από τα στοιχεία αυτά, γ) η ενεργοποίηση των α1Β-ΑΥ επάγει τη μεταγραφική ενεργότητα των υποκινητών των γονιδίων SM22α και SM-Calponin ενώ δεν επηρεάζει την μεταγραφική ενεργότητα των υποκινητών των γονιδίων SM-α-Αctin και της SM-MHC, δ) η ενεργοποίηση των υποκινητών της SM22α και της SM-Calponin από τους α1Β-ΑΥς εξαρτάται από τα στοιχεία CΑrG, ε) οι β-ΑΥς, σε αντίθεση με τους α1-ΑΥς, επηρεάζουν με διαφορετικό τρόπο τη μεταγραφή των γονιδίων-δεικτών που καθορίζουν το ΛΜΦ, κυρίως ελαττώνοντας τη μεταγραφική ενεργότητα των υποκινητών των γονιδίων SM-Calponin, SM-α-Αctin και SM-MHC ενώ δεν επηρεάζουν τη μεταγραφική ενεργότητα του SM22α.
Επίσης, όταν παρόμοια πειράματα έγιναν στα κύτταρα ΝΙΗ3Τ3 παρατηρήσαμε ότι:
α) οι α1Α-ΑΥs επάγουν τη μεταγραφή των υποκινητών και των τεσσάρων γονιδίων-δεικτών που καθορίζουν το ΛΜΦ, β) στα κύτταρα αυτά η ενεργοποίηση των υποκινητών της SM22α και της SM-Calponin από τους α1Α-ΑΥς δεν εξαρτάται από τα στοιχεία CΑrG, γ) η ενεργοποίηση των α1Β-ΑΥs επάγει τη μεταγραφική ενεργότητα των υποκινητών των γονιδίων SM22α, SM-Calponin και SM-MHC ενώ δεν επηρεάζει την ενεργότητα του υποκινητή της SM-α-Αctin.
Από τα παραπάνω λοιπόν, καταλήξαμε στα εξής συμπεράσματα:
1) Η διέγερση των α1-ΑΥ οδηγεί σε άυξηση της έκφρασης των γονιδίων-δεικτών του ΛΜΦ, και άρα οι α1-ΑΥς λειτουργούν, τουλάχιστον in vitro, ως παράγοντες προώθησης του ΛΜΦ.
2) Η δράση των α1-ΑΥ εξαρτάται μόνο μερικώς απο την ύπαρξη στοιχείων CArG (SRE), και διαφέρει ανάλογα με τον υποκινητή, άρα οι διάφοροι υποκινητές χρησιμοποιούν διαφορετικά τα στοιχεία CArG που περιέχουν, πράγμα που ενισχύει την υπόθεση συνδυαστικής χρήσης μεταφραφικών παραγόντων για την «πλαστική» έκφραση του λειτουργικού ΛΜΦ.
3) Οι δύο υπότυποι των α1-ΑΥ που εξετάστηκαν, α1Α-ΑΥς και α1Β-ΑΥς, έχουν προφανείς διαφορές ως πρός την διέγερση της έκφρασης των ΛΜ γονιδίων, και άρα πιθανώς θα παίζουν διαφορετικό λειτουργικό ρόλο στα αγγεία και στους άλλους ιστούς όπου εκφράζονται.
4) Αντίθετα με τους α1-ΑΥς, οι β-ΑΥς λειτουργούν ανασταλτικά στην έκφραση των γονιδίων του ΛΜΦ, και άρα το τελικό προϊόν της συμπαθητικής διέγερσης στα αγγεία θα είναι η συνισταμένη των δράσεων α και β ΑΥ, που θα διαφέρει στα διάφορα αγγεία ανάλογα με την σχετική έκφραση των υποδοχέων αυτών.
Παράλληλα, εξετάζοντας ενδοθηλιακά κύτταρα φλέβας ανθρώπινου ομφάλιου λώρου (HUVEC), είδαμε ότι η εξωγενής έκφραση της Μυοκαρδίνης προκαλεί αλλαγές στο φαινότυπό τους, τόσο σε μορφολογικό επίπεδο όσο και μέσω de novo έκφρασης της SM-α-Ακτίνης και της SM-Καλπονίνης σε πρωτεϊνικό επίπεδο. Παρατηρήσαμε δηλαδή αλλαγές που είναι συμβατές με την επιθηλιο-μεσεγχυματική μετάβαση (ΕΜΤ-Epithelial to Mesenchymal Transition), διαδικασία με πολύ σπουδαίο ρόλο στην εμβρυογένεση, στη διαμόρφωση ιστών και οργάνων, αλλά επίσης και στην ίνωση, στη μετάσταση του καρκίνου και στην παθολογική αγγειογένεση. Συμπερασματικά, τα ενδοθηλιακά κύτταρα των αγγείων συμμετέχουν στη μετάβαση αυτή και μπορεί να συμβάλλουν σε διεργασίες κυτταρικής διαφοροποίησης και ιστικής δόμησης.
Συμπεραίνουμε ότι η έκφραση της Μυοκαρδίνης επαρκεί για να προκαλέσει ΕΜΤ σε ανθρώπινα ενδοθηλιακά κύτταρα, με πιθανές συνέπειες για τη δυνατότητα trans-διαφοροποίησης και συνεισφοράς αυτών των κυττάρων, σε ανακατασκευή και αναδιοργάνωση ιστών, όπως πχ. στην αθηροσκλήρωση και την καρδιακή ανεπάρκεια. / The Smooth Muscle Cell (SMC) Phenotype is characterized by important plasticity and it plays crucial functional role in physiological and pathological conditions. Modulation of SMC Phenotype in arteries is a key etiological feature of some major human pathologies, including atherosclerosis, hypertension and vessel restenosis. Expression of SMCs marker-genes is also important in chronic diseases of other organs, such as in kidney or hepatic fibrosis and in cancer metastasis. So, study of the molecular mechanisms which affect SMC phenotype is necessary in order to develop new therapeutic approaches to combat to these diseases.
Function of many tissues such as the vasculature is regulated by the sympathetic nervous system. The aim of this study was first, to examine in vitro whether the stimulation of alpha (α) and beta (β) adrenergic receptors (ARs) can control the expression of SMCs marker-genes in vitro and in case it did, to probe the molecular mechanisms via which α1-ARs (subtypes α1A and α1B) and β-ARs affect and regulate SMC Phenotype. Secondly, we wanted to investigate if the exogenous expression of Myocardin can cause Epithelial to Mesenchymal Transition (ΕΜΤ)-like changes in endothelial cells in vitro.
For our experiments, we used two different cell populations : a) A7r5, which are differentiated Smooth Muscle Cells isolated from rat embryonic aorta, and b) ΝΙΗ3Τ3, mouse fibroblasts, in order to examine how stimulation of ARs modulates the expression of these marker-genes in differentiated SMCs (A7r5) and in mesenchymal cells which can convert to SMCs (ΝΙΗ3Τ3), respectively.
As a marker for the expression of SMC Phenotype, we monitored the expression of cytoskeletal, structural protein-markers, such as Smooth Muscle-α-Actin (SM-α-Actin), SM-Myosin Heavy Chain (SM-MHC), h1-Calponin (SM-Calponin) and SM22α (transgelin) at two levels: a) using specific antibodies or b) using reporter plasmids in which the minimal promoters of the above genes drive luciferase gene transcription and hence activity. The coordinate transcriptional activation of these genes is, in major part, regulated by the function of CArG boxes in their promoters, which bind Serum Response Factor (SRF). In SMCs, SRF mediates its transcriptional effects via essential complex formation with members of the Myocardin family, which includes Myocardin (Myocd), Myocardin-Related Transcription Factor-A (MRTF-A) and MRTF-B.
In our study, we initially noticed that these two cell populations do not express α1-ARs (subtypes α1Α and α1Β) endogenously, but when we transfect them with the plasmids expressing α1Α and α1Β ARs, the cells respond to α1-ARs agonist stimulation. In addition, we discovered that A7r5 cells express endogenous β-ARs.
From our experiments, we concluded that these receptors can modulate SMC Phenotype in distinct way. This depends on both the specific subtype of receptor as well as on the cellular background (cell type).
More specific, we observed that in A7r5 cells:
a) activation of α1A-ARs by phenylephrine induces the expression of all four marker-genes at a transcriptional and at a protein level, b) activation of the SM22α minimal promoter by α1A-ARs depends on CΑrG boxes, while activation of the SM-Calponin minimal promoter does not depend on the presence of CΑrG boxes, c) activation of α1B-ARs induces the transcriptional activity of the minimal promoters of SM22α and SM-Calponin but does not affect the transcriptional activity of the minimal promoter of SM-α-Αctin and SM-MHC, d) activation of both the SM22α and the SM-Calponin minimal promoters by α1B-ARs depends on the presence of CΑrG boxes, e) on the contrary, β-ARs affect the transcription of SMCs marker-genes in an opposite way to α1-ARs reducing the transcriptional activity of the minimal promoters of SM-Calponin, SM-α-Αctin and SM-MHC genes, without affecting the transcriptional activity of the SM22α promoter.
Additionally, we noticed that in ΝΙΗ3Τ3 cells:
a) α1Α-ARs induce transcriptional activity of minimal promoters of SMC marker-genes, b) activation of minimal promoters of SM22α and SM-Calponin by α1A-ARs does not depend on CΑrG boxes, c) activation of α1B-ARs induce the transcriptional activity of the minimal promoters of SM22α, SM-Calponin και SM-MHC but does not affect the transcriptional activity of the minimal promoter of SM-α-Αctin.
Based on the above findings, we conclude that:
1) Stimulation of α1-ARs drives an increased expression of SMC marker genes and consequently α1-ARs function, at least in vitro, as factors which have the ability to induce/maintain the SMC Phenotype.
2) The activity of α1-ARs depends variably on the presence of CArG boxes (SREs) and differs between these minimal promoters. In essence, different promoters use their CArG boxes in a different way. This is in support of the hypothesis that combinational use of transcriptional factors is essential for «plastic» expression of the SMC Phenotype.
3) The two subtypes of α1-ARs examined, α1Α and α1Β, display obvious differences in stimulating SM-specific gene expression and consequently these subtypes may play different functional role in vessels and in other tissues in which they are expressed.
4) On the contrary, β-ARs inhibit the expression of SMC marker-genes. Therefore, the final result of vascular sympathetic stimulation would depend on the combined action of α και β ARs. This action will differ in different vessels, depending on the relative expression of these receptors and their subtypes.
In addition, adenoviral expression of Myocardin in human umbilical vein endothelial Cells (HUVECs) induced phenotypic alterations, evidenced by morphological changes and by de novo expression of SM-α-Αctin and SM-Calponin at the protein level. These observations are compatible with an Epithelial to Mesenchymal Transition (EMT), a process which plays an important role in embryogenesis, tissue and organs formation and angiogenesis, but also participates, in fibrosis and cancer metastasis. Consequently, vascular endothelial cells can undergo in EMT and may contribute in cellular differentiation and in tissue formation.
We conclude that the expression of Myocardin is sufficient to cause EMT-like changes in human endothelial cells. This may lead to cellular trans-differentiation and contribution of these cells in active tissue remodeling such as in atherosclerosis and in cardiac failure.
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Efeitos da castração e reposição hormonal tardia no tecido erétil do pênis de ratos Sprague-Dawley / Effects of castration and late hormonal replacement in the structure of rat corpora cavernosaAlexandre de Freitas Miranda 25 March 2009 (has links)
Estudos em animais e humanos sugerem que níveis adequados de testosterona são necessários para preservar a integridade do tecido eretor peniano. Nenhum estudo prévio confirmou se as mudanças estruturais são reversíveis após longo período de deprivação hormonal. Foi proposto a avaliação, através de métodos quantitativos, as alterações estruturais no corpo cavernoso de ratos submetidos à castração cirúrgica; bem como o papel da reposição hormonal tardia na reversão das possíveis alterações estruturais. Foram usados 25 ratos Sprague-Dawley machos com aproximadamente 12 semanas de idade. Os animais foram divididos em 5 grupos compostos por 5 animais em cada grupo e tratados da seguinte forma: ORQ1 = Grupo submetido à orquiectomia e sacrificado após 1 mês. C1- Grupo controle morto após 1 mês. ORQ2 - Grupo orquiectomizado e morto após 2 meses. C2 - Grupo controle morto após 2 meses. T Grupo orquiectomizado que recebeu, após 1 mês, suplementação com undecanoato de testosterona na dose de 100mg/ Kg subcutâneo. Após 1 mês de reposição hormonal os animais foram mortos.No Resultado Houve uma redução significativa no valor absoluto do colágeno, músculo liso, espaço sinusoidal e área total do corpo cavernoso após 2 meses no grupo castrado, quando comparado ao controle. Em termos gerais a densidade não apresentou nenhuma diferença significativa entre os grupos. A reposição hormonal com testosterona foi capaz de reverter as alterações observadas, demonstrando um aumento dos elementos estudados. A metodologia utilizada permitiu mostrar que valores absolutos demonstram melhor o que de fato ocorre com os elementos observados, eliminando um víeis de análise, quando se consideram os valores relativos. Esses resultados sugerem que a reposição, mesmo quando realizada tardiamente, foi eficaz na reversibilidade das alterações geradas pela castração / Introduction. Studies in animals and humans have suggested that adequate levels of testosterone are necessary to preserve the integrity of penile erectile tissue. No previously reported studies have confirmed if these structural changes are reversible following long-term hormonal deprivation.
To evaluate, through quantitative methods, the structural alterations in the corpora cavernosa of rats submitted to surgical castration as well as the role of late hormone replacement in reversing the possible structural alterations. We used 25 male Sprague-Dawley rats who were approximately 12 weeks of age. The animals were divided into 5 groups composed of 5 animals each and treated as follows. ORCHIEC-1 = group that underwent orchiectomy and were sacrificed after 1 month, C-1 = control group sacrificed after 1 month, ORCHIEC-2 = group that underwent orchiectomy and were sacrificed after 2 months, C-2 = control group sacrificed after 2 months, T = group that underwent orchiectomy, and after 1 month underwent testosterone replacement with a subcutaneous single dose of testosterone undecanoate at 100 mg/kg (T); after 1 month of hormonal replacement, the animals were sacrificed. Quantification of smooth muscle, collagen and elastic system fibers in controls and rats submitted to orchiectomy alone and with late hormonal replacement. There were a significant decrease in the absolute values of collagen, smooth muscle, sinusoidal space and total area of corpora cavernosa after 2 months in the castrated group when compared with controls. Overall, as regards density, no significant differences were observed among the groups. The hormonal replacement with testosterone was able to reverse the alterations observed, demonstrating an increase in the elements studied. The method used for this research allowed demonstrating that absolute values are reliable to quantify the structural alterations of corpora cavernosa structures. The results suggest that hormonal replacement, even when instituted at a late stage, is effective in reversing the corpora cavernosa alterations produced by castration
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Creation and evolution of compactified cosmologiesGray, James January 2002 (has links)
No description available.
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Gene regulation in embryonic developmentLosa Llabata, Marta January 2016 (has links)
Branchial arches (BAs) are a series of transient structures that develop on the ventro-lateral surface of the head in vertebrate embryos. BAs initially appear as a series of similar segments; as development proceeds each BA will contribute to different structures. Here, it was investigated the transcriptional mechanisms that instruct the different fates of the BAs in development. Initially, each BA contains a blood vessel, known as aortic arch (AA) artery, that connects the dorsal aorta with the heart. Remodelling of the AAs is crucial to form the adult heart circulation. This process leads to regression of the anterior AAs, running though the first and second BAs (BA1 and BA2), and persistence of the AAs contained in more posterior BAs (PBA). To identify the mechanisms that control remodelling of the AAs, we compared the transcriptomes and epigenomic landscapes of different BAs. Using RNA-seq and H3K27Ac ChIP-seq, we uncovered the activation of a vascular smooth muscle cell (VSMC) differentiation transcriptional program exclusively in the PBAs (and not in BA1/BA2). In support of this finding, we show that VSMC differentiation occurs specifically in the PBAs, but not BA1-2 in mouse embryonic development. Despite the absence of VSMC differentiation in developing BA1-2, cells harvested from these tissues reveal a spontaneous tendency to differentiate towards VSMC fate when grown in vitro, and activate several VSMC-specific genes (Myocd, Acta2, Tagln, Jag1). Together, our results suggest that forming VSMCs is a key process for the persistence of AAs. We also showed that cells derived from all BAs have the potential to differentiate to VSMCs in vitro. However, only cells in the PBAs differentiate to VSMCs in vivo, resulting in the maintenance of posterior AAs. In this study, we also uncovered a novel transcriptional principle that specifies the fate of BA2. Using ChIP-seq, we found that binding of Meis transcription factors establish a ground pattern in the BAs. Hoxa2, which specifies BA2 identity, selects a subset of Meis-bound sites. Meis binding is strongly increased at these sites, which coincide with active enhancers, linked to genes highly expressed in the BA2 and regulated by Hoxa2. Thus, Hoxa2 modifies a ground state binding of Meis to instruct segment-specific transcriptional programs.
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Modelagem e implementação no ros de um controlador para manipuladores móveisBarros, Taiser Tadeu Teixeira January 2014 (has links)
Este trabalho apresenta a modelagem matemática para um manipulador móvel composto por uma base móvel (o robô móvel Twil) e um manipulador (o manipulador WAM da Barrett). Os modelos cinemático e dinâmico para a base móvel, manipulador e manipulador móvel são apresentados. Como o manipulador móvel é um sistema não linear, uma estratégia de controle baseada em linearização por realimentação da dinâmica da plataforma seguida por uma transformação não suave para tratar a não holonomicidade do modelo cinemático é proposta. Então o método de backstepping é utilizado para obter as entradas do modelo dinâmico. Um controlador de torque calculado é proposto para o manipulador, Estas técnicas de controle são utilizadas simultaneamente para controlar o manipulador móvel. A implementação dos controladores propostos, na forma de plugins para o gerenciador de controladores é feita no ROS, assim os controladores são executados em tempo real. A maioria dos controladores existentes no ROS são do tipo SISO baseados em controle PID e independentes para cada junta, sendo que neste trabalho controladores MIMO não lineares são implementados. / This work presents a mathematical modelling for a mobile manipulator composed by a mobile base (the Twil mobile robot) and a manipulator (the Barrett WAM manipulator). The kinematic and dynamic models for the mobile base, the manipulator and the mobile manipulator are presented. As the the mobilie manipulator is a non-linear system, a control strategy based on feedback linearization of the platform dynamics followed by a non-smooth transform to handle the non-holonomicity of its kinematic model is proposed. Then, the backstepping method is used to obtain the inputs for the dynamic model. A computed torque controller is proposed for the manipulador. These control techniques are used simultaneously to control the mobile manipulator. The implementation of the proposed controllers is done in ROS as plugins for the controller manager so that the controllers run in real-time. Most controllers existing in ROS are independent joint SISO controllers based on the PID control law while in this work MIMO non-linear controllers are implemented.
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The role of pulmonary mast cells in neurotrophin 4 mediated cholinergic neuroplasticity in neonatal asthmaPatel, Kruti Rajan 15 June 2016 (has links)
Asthma is a chronic inflammatory lung disease characterized by recurrent wheezing, coughing and difficulties in breathing. Asthma affects 25.7 million people in the USA including 8 million children. Asthma is often associated with early-life exposure to environmental insults. However, mechanisms that link early-life insults to persistent airway dysfunction are unknown. Our previous studies in mice showed that early-life allergen exposure increases the levels of neurotrophin 4 (NT4) causing airway smooth muscle (ASM) hyper innervation and persistent airway hyper reactivity (AHR). I show that early-life allergen exposure selectively increases cholinergic innervation. Notably, cholinergic nerves release acetylcholine, a potent airway constrictor that signals through the M3 receptor in ASM. Building upon these findings, my thesis encompasses two components. Firstly, how is NT4 expression aberrantly up regulated following early-life allergen exposure? Secondly, what is the effect of enhanced cholinergic innervation on the neonatal ASM?
I find that NT4 is selectively expressed by ASM and mast cells in mice, nonhuman primates and humans. We show in mice that while NT4 expression in ASM remains unchanged upon allergen exposure, mast cells expand in number and degranulate to release NT4 thereby increasing NT4 levels in the lung. Adoptive transfer of wild-type mast cells, but not NT4-/- mast cells restores ASM innervation and AHR in KitW-sh/W-sh mice following early-life insults. In an infant primate model of asthma, the increased ASM innervation is also associated with the expansion and degranulation of mast cells. Therefore, pulmonary mast cells are a key source of aberrant NT4 expression following early-life insults in both mice and possibly primates.
Next, I speculated that an increased cholinergic output in the neonatal lung might lead to persistent AHR. Using recurrent methacholine exposure and M3 receptor blocker, 4-DAMP, I show that enhanced cholinergic signaling in neonatal mice leads to persistent AHR without inflammation. In contrast, methacholine exposure in adult mice has no prolonged effects on airway reactivity. Together, my findings support a model in which deregulated neural activities following early-life insults cause persistent ASM hyper contractility. Thus, early-life interventions to block mast cell degranulation and the cholinergic pathway may benefit children with recurrent wheezing. / 2016-12-15T00:00:00Z
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Forecast comparison with nonlinear methods for Brazilian industrial productionRocha, Jordano Vieira 07 April 2015 (has links)
Submitted by Jordano Vieira Rocha (jordanorocha@hotmail.com) on 2015-04-30T08:48:24Z
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Previous issue date: 2015-04-07 / This work assesses the forecasts of three nonlinear methods — Markov Switching Autoregressive Model, Logistic Smooth Transition Autoregressive Model, and Autometrics with Dummy Saturation — for the Brazilian monthly industrial production and tests if they are more accurate than those of naive predictors such as the autoregressive model of order p and the double differencing device. The results show that the step dummy saturation and the logistic smooth transition autoregressive can be superior to the double differencing device, but the linear autoregressive model is more accurate than all the other methods analyzed. / Este trabalho avalia as previsões de três métodos não lineares — Markov Switching Autoregressive Model, Logistic Smooth Transition Autoregressive Model e Autometrics com Dummy Saturation — para a produção industrial mensal brasileira e testa se elas são mais precisas que aquelas de preditores naive, como o modelo autorregressivo de ordem p e o mecanismo de double differencing. Os resultados mostram que a saturação com dummies de degrau e o Logistic Smooth Transition Autoregressive Model podem ser superiores ao mecanismo de double differencing, mas o modelo linear autoregressivo é mais preciso que todos os outros métodos analisados.
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