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Grasp Planning and Visual Servoing for an Outdoors Aerial Dual Manipulator

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Engineering 2020年第1期6卷 77-88页

作者： pablo Ramon-soria Begoña CArrue Anibal Ollero Robotics Visionand Control GroupSchool of EngineeringUniversity of SevilleSeville 41092Spain

This paper describes a system for grasping known objects with unmanned aerial vehicles (UAVs) provided with dual manipulators using an RGB-D camera. Aerial manipulation remains a very challenging task. This paper covers three principal aspects for this task: object detection and pose estimation, grasp planning, and in-flight grasp execution. First, an artificial neural network (ANN) is used to obtain clues regarding the object’s position. Next, an alignment algorithm is used to obtain the object’s sixdimensional (6D) pose, which is filtered with an extended Kalman filter. A three-dimensional (3D) model of the object is then used to estimate an arranged list of good grasps for the aerial manipulator. The results from the detection algorithm—that is, the object’s pose—are used to update the trajectories of the arms toward the object. If the target poses are not reachable due to the UAV’s oscillations, the algorithm switches to the next feasible grasp. This paper introduces the overall methodology, and provides the experimental results of both simulation and real experiments for each module, in addition to a video showing the results.

关键词： Aerial manipulation Grasp planning Visual servoing

Identification and Expression of Some Plant Cell Wall-Degrading Enzymes Present in Three Ontogenetics Stages of Thecaphora frezii, a Peanut (<i>Arachis hypogaea</i>L.) Pathogenic Fungus

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American Journal of Plant Sciences 2022年第1期13卷 1-22页

作者： Néstor Walter soria Ana Cristina Figueroa María Soledad Díaz Valeria Roxana Alasino pablo Yang Dante Miguel Beltramo Cátedra de Biotecnología Facultad de Ciencias Químicas Unidad Asociada al CONICET: área de Cs. Agrarias Ingeniería Cs. Biológicas Universidad Católica de Córdoba Córdoba Argentina Centro de Excelencia en Productos y Procesos de Córdoba—CEPROCOR Santa María de Punilla Córdoba Argentina CONICET Santa María de Punilla Córdoba Argentina

Peanuts can be affected by the presence of pathogenic microorganisms. The fungus Thecaphora frezii (T. frezii), which belongs to the taxonomic class Ustilaginomycetes, is the causal agent of the disease known as “peanut smut”. The life cycle of this fungus includes three stages, namely teliospores, basidiospores and hyphae. In the hyphae stage, infection occurs in the peanut plant, which requires the involvement of some enzymes secreted by the fungus. These include the Plant Cell Wall-Degrading Enzymes (PCWDEs), which degrade various polysaccharides. This study aimed to identify the presence of transcript for enzymes belonging to the PCWDEs from three stages of T. frezii. For this, total RNA was extracted from the three ontogenetic stages of T. frezii. These samples were analyzed using an RNA-Seq approach and some transcripts were quantified using Real Time PCR. The analysis of the data provided by the RNA-Seq of the three T. frezii stages, it was possible to identify some transcripts that could encode enzymes compatible with polysaccharides degradation that are part of the plant cell wall. In T. frezii transcriptome, 40 deduced proteins would be enzymes with functions of PCWDEs were identified. They were divided into 27 glycoside hydrolases;two polysaccharide lyases;three carbohydrate esterases and eight enzymes with auxiliary activities. In addition, the fungal SNF1 gene was identified whose activity could be affected by high glucose level, and indirectly influence the levels of some PCWDEs. The analysis of the PCWDEs could help to understand part of the fungal infection process and possibly find substances that can control its development.

关键词： Carbohydrate-Degrading Enzymes Phytopathogenic Fungi Smut Fungi Transcriptome Thecaphora frezii

Non-redundant Contribution of the Plastidial FAD8 ω-3 Desatumse to Glycerolipid Unsatumtion at Different Temperatures in Arabidopsis

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Molecular Plant 2015年第11期8卷 1599-1611页

作者： Angela Roman Maria L. Hernandez Angel soria-Garcia Sara Lopez-Gomollon Beatriz Lagunas Rafael Picorel Jose Manuel Martinez-Rivas Miguel Alfonso Estacion Experimental de Aula Dei (EEAD-CSIC) Avda. Montanana 1005 50059 Zaragoza Spain Instituto de la Grasa (IG-CSIC) Campus Universidad Pablo de Olavide Building 46 Ctra. Utrera kin 1 41013 Seville Spain

Plastidial ω-3 desaturase FAD7 is a major contributor to trienoic fatty acid biosynthesis in the leaves of Arabidopsis plants. However, the precise contribution of the other plastidial ω-3 desaturase, FAD8, is poorly understood. Fatty acid and lipid analysis of several ω-3 desaturase mutants, including two insertion lines of AtFAD7 and AtFAD8, showed that FAD8 partially compensated the disruption of the AtFAD7 gene at 22℃, indicating that FAD8 was active at this growth temperature, contrasting to previous observations that circumscribed the FAD8 activity at low temperatures. Our data revealed that FAD8 had a higher selectivity for 18：2 acyl-lipid substrates and a higher preference for lipids other than galactolipids, particularly phosphatidylglycerol, at any of the temperatures studied. Differences in the mechanism controlling AtFAD7 and AtFAD8 gene expression at different temperatures were also detected. Confocal microscopy and biochemical analysis of FAD8-YFP over-expressing lines confirmed the chloroplast envelope localization of FAD8. Co-localization experiments suggested that FAD8 and FAD7 might be located in close vicinity in the envelope membrane. FAD8-YFP over-expressing lines showed a specific increase in 18：3 fatty acids at 22℃. Together, these results indicate that the function of both plastidial ω-3 desaturases is coordinated in a non-redundant manner.

关键词： Arabidopsis thaliana glycerolipid fatty acid FAD7 FAD8 plastid

Regulation of mitochondrial function and endoplasmic reticulum stress by nitric oxide in pluripotent stem cells

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World Journal of Stem Cells 2017年第2期9卷 26-36页

作者： Estefania Caballano-Infantes José Terron-Bautista Amparo Beltrán-Povea Gladys M Cahuana Bernat soria Hajji Nabil Francisco J Bedoya Juan R Tejedo Andalusian Center for Molecular Biology and Regenerative Medicine-University pablo de Olavide 41092 SevilleSpain Biomedical Research Network on Diabetes and Related Metabolic Diseases(CIBERDEM) Instituto de Salud CarlosⅢ28029 MadridSpain Andalusian Center for Molecular Biology and Regenerative Medicine(CABIMER) 41092 SevilleSpain Andalusian Center for Molecular Biology and Regenerative Medicine Fundación Progreso y Salud41092 SevilleSpain Centre for Pharmacology and Therapeutics Division of Experimental MedicineImperial College LondonHammersmith Hospital CampusLondon W12 0NNUnited Kingdom

Mitochondrial dysfunction and endoplasmic reticulum stress(ERS) are global processes that are interrelated and regulated by several stress factors. Nitric oxide(NO) is a multifunctional biomolecule with many varieties of physiological and pathological functions, such as the regulation of cytochrome c inhibition and activation of the immune response, ERS and DNA damage; these actions are dose-dependent. It has been reported that in embryonic stem cells, NO has a dual role, controlling differentiation, survival and pluripotency, but the molecular mechanisms by which it modulates these functions are not yet known. Low levels of NO maintain pluripotency and induce mitochondrial biogenesis. It is well established that NO disrupts the mitochondrial respiratory chain and causes changes in mitochondrial Ca^(2+) flux that induce ERS. Thus, at high concentrations, NO becomes a potential differentiation agent due to the relationship between ERS and the unfolded protein response in many differentiated cell lines. Nevertheless, many studies have demonstratedthe need for physiological levels of NO for a proper ERS response. In this review, we stress the importance of the relationships between NO levels, ERS and mitochondrial dysfunction that control stem cell fate as a new approach to possible cell therapy strategies.

关键词： Endoplasmic reticulum stress Mitochondrial function Nitric oxide Pluripotency Cell differentiation Mitochondrial biogenesis

Role of nitric oxide in the maintenance of pluripotency and regulation of the hypoxia response in stem cells

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World Journal of Stem Cells 2015年第3期7卷 605-617页

作者： Amparo Beltran-Povea Estefania Caballano-Infantes Carmen Salguero-Aranda Franz Martín Bernat soria Francisco J Bedoya Juan R Tejedo Gladys M Cahuana Andalusian Center for Molecular Biology and Regenerative Medicine-University pablo de Olavide CIBERDEM RED-TERCEL 41092 Seville Spain Andalusian Center for Molecular Biology and Regenerative Medicine (CABIMER) -Fundación Progreso y Salud CIBERDEM RED-TERCEL 41092 Seville Spain

Stem cell pluripotency and differentiation are global processes regulated by several pathways that have been studied intensively over recent years. Nitric oxide(NO) is an important molecule that affects gene expression at the level of transcription and translation and regulates cell survival and proliferation in diverse cell types. In embryonic stem cells NO has a dual role, controlling differentiation and survival, but the molecular mechanisms by which it modulates these functions are not completely defined. NO is a physiological regulator of cell respiration through the inhibition of cytochrome c oxidase. Many researchers have been examining the role that NO plays in other aspects of metabolism such as the cellular bioenergetics state, the hypoxia response and the relationship of these areas to stem cell stemness.

关键词： Pluripotency Differentiation Nitric oxide Metabolism Hypoxia Stem cell

Thermoluminiscence Response of an Alloy Quaternary Ionic Crystal Exposed to High Energy Radiation

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Journal of Energy and Power Engineering 2016年第7期10卷 400-404页

作者： Ricardo rodriguez-Mijangos R. Perez-Salas M. Cervantes A. rodriguez-soria Departamento de Investigacion en Fisica Universidad de Sonora P. O. Box 5-88 83190 Hermosillo Sonora Mexico Division de Ciencias Basicas e Ingenieria Av. San pablo No. 180 UAM Azcapotzalco Col. Reynosa Tamaulipas C.P. 02200 Mexico D. F. Mexico