Denis Gingras

Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system

An integrated navigation information system must know continuously the current position with a good precision. The required performance of the positioning module is achieved by using a cluster of heterogeneous sensors whose measurements are fused. The most popular data fusion method for positioning problems is the extended Kalman filter. The extended Kalman filter is a variation of the Kalman filter used to solve non-linear problems. Recently, an improvement to the extended Kalman filter has been proposed, the unscented Kalman filter. This paper describes an empirical analysis evaluating the performances of the unscented Kalman filter and comparing them with the extended Kalman filters performances.

Src-dependent Phosphorylation of Membrane Type I Matrix Metalloproteinase on Cytoplasmic Tyrosine 573 ROLE IN ENDOTHELIAL AND TUMOR CELL MIGRATION

Membrane type 1 matrix metalloproteinase (MT1-MMP) is a transmembrane MMP that plays important roles in migratory processes underlying tumor invasion and angiogenesis. In addition to its matrix degrading activity, MT1-MMP also contains a short cytoplasmic domain whose involvement in cell locomotion seems important but remains poorly understood. In this study, we show that MT1-MMP is phosphorylated on the unique tyrosine residue located within this cytoplasmic sequence (Tyr573) and that this phosphorylation requires the kinase Src. Using phosphospecific antibodies recognizing MT1-MMP phosphorylated on Tyr573, we observed that tyrosine phosphorylation of the enzyme is rapidly induced upon stimulation of tumor and endothelial cells with the platelet-derived chemoattractant sphingosine-1-phosphate, suggesting a role in migration triggered by this lysophospholipid. Accordingly, overexpression of a nonphosphorylable MT1-MMP mutant (Y573F) blocked sphingosine-1-phosphate-induced migration of Human umbilical vein endothelial cells and HT-1080 (human fibrosarcoma) cells and failed to stimulate migration of cells lacking the enzyme (bovine aortic endothelial cells). Altogether, these findings strongly suggest that the Src-dependent tyrosine phosphorylation of MT1-MMP plays a key role in cell migration and further emphasize the importance of the cytoplasmic domain of the enzyme in this process.

Phase calibration and applications of a liquid-crystal spatial light modulator

A simple phase-characterization method for spatial light modulators is proposed. The low-cost method permits high-precision measurement and provides data for the setting of the spatial-light-modulator operating point in the phase-modulation mode. The dynamic phase response is used to perform efficient kinoform recording. In order to record the kinoform, we modify the global iterative coding to compute phase holograms. Finally, modified phase-phase correlation is introduced. The phase-phase correlator permits sharper correlation peaks, better energy transmission, and higher discrimination than an amplitude-phase correlation. Optical experimental results are presented.

Impaired tyrosine phosphorylation of membrane type 1-matrix metalloproteinase reduces tumor cell proliferation in three-dimensional matrices and abrogates tumor growth in mice

Pericellular proteolysis of the extracellular matrix by membrane type 1-matrix metalloproteinase (MT1-MMP) confers tumor cells with the ability to proliferate within three-dimensional (3D) matrices and sustains tumor growth in mice. In this study, we show that in addition to its matrix-degrading activity, phosphorylation of MT1-MMP on its unique tyrosine residue located within its cytoplasmic sequence (Tyr573) may also participate to these processes. Fibrosarcoma cells expressing a proteolytically active but non-phosphorylable mutant of MT1-MMP showed a markedly reduced proliferation rate when embedded within 3D type I collagen matrices, this antiproliferative effect being correlated with arrest in the G(0)/G(1) phase of the cell cycle. Impaired tyrosine phosphorylation of MT1-MMP also inhibits anchorage-independent growth of HT-1080 cells in soft agar as well as their invasion of collagen barriers, two prominent attributes of tumor cells, suggesting a broad inhibitory effect of the MT1-MMP mutant on tumorigenesis. Accordingly, whereas HT-1080 cells formed well-vascularized tumors containing tyrosine-phosphorylated MT1-MMP, tumor growth was completely abolished by expression of the non-phosphorylable MT1-MMP mutant. These findings thus indicate a close co-operation between the matrix-degrading activity of MT1-MMP and tyrosine phosphorylation of its intracellular domain for tumor cell invasion and proliferation and suggest that the targeting of the intracellular signaling pathways leading to tyrosine phosphorylation of MT1-MMP may represent an unexpected alternative strategy for the inhibition of this enzyme.

Tissue factor pathway inhibitor (TFPI) interferes with endothelial cell migration by inhibition of both the Erk pathway and focal adhesion proteins

Tissue factor pathway inhibitor (TFPI) is a plasma Kunitz-type serine protease inhibitor that is mainly known for its inhibition of tissue factor-mediated coagulation. In addition to its anticoagulant properties, emerging data show that TFPI may also regulate endothelial cell functions via a non-haemostatic pathway. In this work we demonstrate that at concentrations within the physiological range, TFPI inhibits both endothelial cell migration and their differentiation into capillary-like structures in vitro. These effects were specific to endothelial cells since no inhibitory effect was observed on the migration of tumor (glioblastoma) cells. Inhibition of endothelial cell migration was correlated with a concomitant loss in cell adhesion, suggesting an alteration of focal adhesion complex integrity. Accordingly, we observed that TFPI inhibited the phosphorylation of focal adhesion kinase and paxillin, two key proteins involved in the scaffolding of these complexes, and that this effect was specific to endothelial cells. These results suggest that TFPI influences the angiogenic process via a non-haemostatic pathway, by downregulating the migratory mechanisms of endothelial cells.

A Novel Approach for Improved Vehicular Positioning Using Cooperative Map Matching and Dynamic Base Station DGPS Concept

In this paper, a novel approach for improving vehicular positioning is presented. This method is based on the cooperation of the vehicles by communicating their measured information about their position. This method consists of two steps. In the first step, we introduce our cooperative map matching method. This map matching method uses the V2V communication in a vehicular ad hoc network (VANET) to exchange global positioning system (GPS) information between vehicles. Having a precise road map, vehicles can apply the road constraints of other vehicles in their own map matching process and acquire a significant improvement in their positioning. After that, we have proposed the concept of a dynamic base station DGPS (DDGPS), which is used by vehicles in the second step to generate and broadcast the GPS pseudorange corrections that can be used by newly arrived vehicles to improve their positioning. The DDGPS is a decentralized cooperative method that aims to improve the GPS positioning by estimating and compensating the common error in GPS pseudorange measurements. It can be seen as an extension of DGPS where the base stations are not necessarily static with an exact known position. In the DDGPS method, the pseudorange corrections are estimated based on the receivers belief on its positioning and its uncertainty and then broadcasted to other GPS receivers. The performance of the proposed algorithm has been verified with simulations in several realistic scenarios.

A New Decentralized Bayesian Approach for Cooperative Vehicle Localization Based on Fusion of GPS and VANET Based Inter-Vehicle Distance Measurement

Accurate and reliable vehicle localization is a key component of numerous automotive and Intelligent Transportation System (ITS) applications, including active vehicle safety systems, real time estimation of traffic conditions, and high occupancy tolling. Various safety critical vehicle applications in particular, such as collision avoidance or mitigation, lane change management or emergency braking assistance systems, rely principally on the accurate and reliable knowledge of vehicles? positioning within given vicinity.

Membrane-type 1 matrix metalloproteinase stimulates cell migration through epidermal growth factor receptor transactivation

Proteolysis of extracellular matrix proteins by membrane-type 1 matrix metalloproteinase (MT1-MMP) plays a pivotal role in tumor and endothelial cell migration. In addition to its proteolytic activity, several studies indicate that the proinvasive properties of MT1-MMP also involve its short cytoplasmic domain, but the specific mechanisms mediating this function have yet to be fully elucidated. Having previously shown that the serum factor sphingosine 1-phosphate stimulates MT1-MMP promigratory function through a process that involves its cytoplasmic domain, we now extend these findings to show that this cooperative interaction is permissive to cellular migration through MT1-MMP–dependent transactivation of the epidermal growth factor receptor (EGFR). In the presence of sphingosine 1-phosphate, MT1-MMP stimulates EGFR transactivation through a process that is dependent upon the cytoplasmic domain of the enzyme but not its catalytic activity. The MT1-MMP–induced EGFR transactivation also involves Gi protein signaling and Src activities and leads to enhanced cellular migration through downstream extracellular signal-regulated kinase activation. The present study, thus, elucidates a novel role of MT1-MMP in signaling events mediating EGFR transactivation and provides the first evidence of a crucial role of this receptor activity in MT1-MMP promigratory function. Taken together, our results suggest that the inhibition of EGFR may represent a novel target to inhibit MT1-MMP–dependent processes associated with tumor cell invasion and angiogenesis. (Mol Cancer Res 2007;5(6):569–83)

A model-based road sign identification system

A road sign (RS) recognition system poses a real challenge for machine vision. It must recognize a wide variety of RSs under considerable variations in illumination and imaging geometry-all in real-time. Such a system is presented, with emphasis on the system architecture and specific model-based techniques used in the different processing steps. Central to this are a unique physics-based color detection approach and a novel template matching scheme for planar objects. Since the approach strongly relies on modelling for both detection and recognition, it offers the advantage of being reconfigurable by changing only a few parameters. The system is modular with respect to the sensor and the recognition data structure is simple to extend and maintain, and is easily adaptable to different regulations, e.g. North American vs European RSs. The data needed for recognition is computed automatically by modelling image formation with a few geometrical parameters. Experimental results are presented which demonstrate the performance of the system in a real task environment with high overall performance.

Platelet-activating factor stimulates interleukin-6 production by human endothelial cells and synergizes with tumor necrosis factor for enhanced production of granulocyte-macrophage colony stimulating factor.

The interaction between human endothelial cells (EC) and leukocytes during inflammation is in part mediated through the release of soluble factors. Since platelet-activating factor (PAF) is a potent mediator of inflammatory responses, we investigated the potential of PAF to modulate IL-6 and GM-CSF production by EC. Exposure of these cells to PAF resulted in a concentration-dependent increase in IL-6 production, with a maximum at 10−10 M PAF. Sequential incubation of EC with PAF and TNFα resulted in a synergistic increase of IL-6 production. This effect was specific for PAF since it was prevented by preincubation with the PAF receptor antagonist, WEB 2086. Northern blot analysis revealed enhanced IL-6 mRNA expression in PAF-treated EC. However, the synergy observed in protein synthesis between PAF and TNFα was not reflected in IL-6 mRNA accumulation, suggesting a post-translational modulation. Pretreatment of EC with the protein synthesis inhibitor cycloheximide before their exposure to PAF resulted, after washout of the cycloheximide, in a markedly augmented production of IL-6, suggesting a synergy between augmented IL-6 mRNA accumulation by PAF and IL-6 mRNA superinduction by cycloheximide. GM-CSF production by EC was also stimulated by the combined effects of PAF and TNFα, but PAF alone did not affect GM-CSF production. Taken together, our data suggest that PAF can stimulate EC to synthesize cytokines, including IL-6 and GM-CSF, which may contribute to local and, possibly, systemic responses during inflammation.