FPGA-Based Decentralized Control of Arrayed MEMS for Microrobotic Application

In this paper, the authors have developed and implemented a decentralized decision-making strategy using field-programmable gate array (FPGA) technology as a prototype for an integrated controller of a microelectromechanical systems (MEMS) array for air-flow planar micromanipulation. The MEMS array was proposed to be integrated in a hybrid multichip module containing the FPGA-based controller. Algorithms and architectures, used for the decentralized control implementation and the hardware resource optimization, are described. A charge-coupled device camera was used to make each MEMS like an autonomous system when the distributed MEMS chip was tested. Finally, under air-flow condition, the FPGA-based decentralized control system successfully performed an object manipulation.     

Line of sight controller tuning using Bayesian optimisation: application to a double stage stabilisation platform

The inertial stabilisation of the line of sight of an imager fixed on a mobile carrier is considered in order to acquire good quality images despite the disturbances generated by the carrier. A double stage mechanical stabilisation architecture is proposed, where a second stabilisation stage, based on a piezoelectric actuator, is added to the usual structure. The piezoelectric actuator transfer function and hysteresis are characterised through experiments. In order to design the controllers of both stages, a high-level image quality criterion (the modulation transfer function (MTF)) is considered, together with design constraints on the main variables of interest. The criterion and the constraints are evaluated by realistic simulations based on some input and noise profiles measured on a real-life system. The MTF evaluation being time-consuming, a Bayesian optimisation method specially dedicated to expensive-to-evaluate functions is used to obtain the parameters of the controllers. The obtain experimental results are displayed and their performances discussed.     

Accurate road following and reconstruction by computer vision

This paper presents a method designed to track and to recover the three-dimensional (3-D) shape of a road by computer vision. The method is based first upon an accurate detection algorithm which provides a reliable estimation of the roadside in the image. This algorithm works by recursive updating of a statistical model of the lane obtained by an off-line training phase. Once the sides have been located, a reconstruction algorithm computes the vehicle location on its lane, the 3-D shape of the road, and gives both the sides location and their confidence interval for the next image. The detection algorithm then looks for the roadside in this interval in order to limit the computational times, which are about 30-150 ms on a HP workstation.     

Analysis of DNA Replication by Optical Mapping in Nanochannels

DNA replication is essential to maintain genome integrity in S phase of the cell division cycle. Accumulation of stalled replication forks is a major source of genetic instability, and likely constitutes a key driver of tumorigenesis. The mechanisms of regulation of replication fork progression have therefore been extensively investigated, in particular with DNA combing, an optical mapping technique that allows the stretching of single molecules and the mapping of active region for DNA synthesis by fluorescence microscopy. DNA linearization in nanochannels has been successfully used to probe genomic information patterns along single chromosomes, and has been proposed to be a competitive alternative to DNA combing. Yet this conjecture remains to be confirmed experimentally. Here, two complementary techniques are established to detect the genomic distribution of tracks of newly synthesized DNA in human cells by optical mapping in nanochannels. Their respective advantages and limitations are compared, and applied them to detect deregulations of the replication program induced by the antitumor drug hydroxyurea. The developments here thus broaden the field of applications accessible to nanofluidic technologies, and can be used in the future as part for molecular diagnostics in the context of high throughput cancer drug screening.     

Modulated Structures Induced by Phase Transformations

Abstract

Modulated structures can be found in organic, inorganic and even quasicrystalline structures. They are generally detected by diffraction from the presence of satellites surrounding the Bragg reflections. Their positions may vary continuously with temperature or pressure so that the phase can be considered as incommensurately modulated. Incommensurate phases usually transform to a periodic high symmetry phase by increasing temperature and to a commensurate lock-in phase by lowering the temperature. Their domain of stability varies with temperature, pressure and with the type of compound. Examples have been identified where the interval of equilibrium vary from a few tenths to a few hundreds of degrees. Recent progress in the field of incommensurate structure analysis has been greatly favoured by the superspace group approach which is now almost exclusively applied. In many cases, the resolution of the modulated phases by diffraction methods has contributed towards the understanding of the phase changes. In addition, microscopic models for the transition mechanisms have been developed to understand small organic systems. The methods of molecular dynamics have been able to explain the formation of various sequences of commensurate and incommensurate phases observed experimentally.     

Monitoring a well in a clay layer: revisiting the time lag problem

As monitoring wells (MWs) in clay layers have a time lag of weeks or months, the piezometric level (PL) at a given time is difficult to assess. For time lag problems due to external loadings, Hvorslev provided solutions depending on the clay saturated hydraulic conductivity, k, but not on its specific storage S _s. This paper examines natural conditions rather than external loading and reports some practical examples using the finite element method. When the hydraulic heads in the upper and lower aquifers are initially constant and then change rapidly at the same time to take new constant values, the time lag is shown to depend on both k and S _s and the MW gives the correct PL after several weeks. This time lag largely exceeds that obtained following Hvorslev. When the aquifer heads vary with time, which is the usual case, the water level in the pipe is never a PL and any extrapolation of water level versus time gives an unreliable prediction of the PL.      

Steady state groundwater seepage in sloping unconfined aquifers

This paper reviews analytical solutions for steady state seepage of groundwater in an ideal sloping unconfined aquifer, recharged by an effective infiltration, when the unsaturated seepage is neglected. Available solutions are examined and compared. Their robustness is assessed with a finite element code, which solves the complete equations for saturated and unsaturated flow, thus making none of the simplifying assumptions of the theoretical solutions. An example is provided for a sloping aquifer on the north shore of the Saint-Lawrence River.     

Donor lymphocyte infusion for the treatment of relapse after allogeneic hematopoietic stem cell transplantation

The results of donor lymphocyte infusion (DLI) for treatment of relapse after bone marrow transplantation (BMT) are reviewed. Durable complete remission can be achieved at the molecular level for a majority (more than 70%) of patients with CML, when treated at early relapse. Results are less favourable for acute leukemias, although useful responses have been reported. Data are scarce though promising for myelodysplastic syndromes and multiple myeloma. Major treatment-associated toxicities are GVHD and bone marrow aplasia. The latter complication can be predicted by evaluating the level of residual donor-derived hematopoiesis. Modification of infused cells (CD8 negative selection or transduction with a suicide gene), addition of peripheral blood stem cells, and early implementation of escalating doses may counteract the complications and increase the response rate. Response rate is variably influenced by the presence of chronic GVHD after initial BMT, T-cell depleted BMT, underlying disease and stage at relapse, and the level of mixed chimerism. DLI is a direct demonstration of the graft-versus-leukemia effect (GVL). Because GVL after BMT is sometimes the predominant cause of cure, it may be advisable in such situations to redirect the conditioning regimens for BMT towards engraftment and less immediate cytotoxicity.     

HA-1 and the SMCY-derived peptide FIDSYICQV (H-Y) are immunodominant minor histocompatibility antigens after bone marrow transplantation

BACKGROUND: Allogeneic bone marrow donors can be incompatible at different levels. Even HLA-identical pairs will be still incompatible for numerous minor histocompatibility antigens (mHag). Nevertheless, some incompatibilities are found to be associated with an increased risk of graft-versus-host disease (GVHD), which could be related to the way the immune system recognizes these antigens. METHODS: We determined the specificity of cytotoxic T-cell clones isolated during acute GVHD or during bone marrow graft rejection in patients (n=14) transplanted with marrow from donors who were histoincompatible for different minor and/or major histocompatibility antigens. RESULTS: We found a clear hierarchy among the different types of histoincompatibilities. In three combinations mismatched for a class I allele, all 27 clones isolated during GVHD were specific for the incompatible HLA molecule. In the 11 class I-identical combinations, 14 different mHags were recognized. The mHag HA-1, known to have a significant impact on the development of GVHD, was recognized in the two HA-1-incompatible combinations. In one of these combinations, which was sex mismatched, all 56 clones analyzed were directed against HA-1, demonstrating the dominance of this mHag. In the four HA-1-compatible, sex-mismatched combinations, the anti-H-Y response was directed against one immunodominant epitope rather than against multiple Y-chromosome-encoded epitopes. All male specific cytotoxic T lymphocytes (n=15) recognized the same high-performance liquid chromatography-purified peptide fraction presented by T2 cells. Moreover, all cytotoxic T lymphocytes tested (n=6) were specific for the SMCY-derived peptide FIDSYICQV, originally described as being the H-Y epitope recognized in the context of HLA-A*0201. CONCLUSIONS: Some histocompatibility antigens are recognized in an immunodominant fashion and will therefore be recognized in the majority of mismatched combinations. Only for such antigens, correlations between mismatches and the occurrence of GVHD or graft rejections will be found.