(MARGOT) Monocular Camera-Based Robot Grasping Strategy for Metallic Objects.

Robotic handling of objects is not always a trivial assignment, even in teleoperation where, in most cases, this might lead to stressful labor for operators. To reduce the task difficulty, supervised motions could be performed in safe scenarios to reduce the workload in these non-critical steps by using machine learning and computer vision techniques. This paper describes a novel grasping strategy based on a groundbreaking geometrical analysis which extracts diametrically opposite points taking into account surface smoothing (even those target objects that might conform highly complex shapes) to guarantee the uniformity of the grasping. It uses a monocular camera, as we are often facing space restrictions that generate the need to use laparoscopic cameras integrated in the tools, to recognize and isolate targets from the background, estimating their spatial coordinates and providing the best possible stable grasping points for both feature and featureless objects. It copes with reflections and shadows produced by light sources (which require extra effort to extract their geometrical properties) in unstructured facilities such as nuclear power plants or particle accelerators on scientific equipment. Based on the experimental results, utilizing a specialized dataset improved the detection of metallic objects in low-contrast environments, resulting in the successful application of the algorithm with error rates in the scale of millimeters in the majority of repeatability and accuracy tests.

CD229 (Ly9) a Novel Biomarker for B-Cell Malignancies and Multiple Myeloma.

CD229 (Ly9) homophilic receptor, which belongs to the SLAM family of cell-surface molecules, is predominantly expressed on B and T cells. It acts as a signaling molecule, regulating lymphocyte homoeostasis and activation. Studies of CD229 function indicate that this receptor functions as a regulator of the development of marginal-zone B cells and other innate-like T and B lymphocytes. The expression on leukemias and lymphomas remains poorly understood due to the lack of CD229 monoclonal antibodies (mAb) for immunohistochemistry application (IHC). In this study, we used a new mAb against the cytoplasmic region of CD229 to study the expression of CD229 on normal tissues and B-cell malignancies, including multiple myeloma (MM), using tissue microarrays. We showed CD229 to be restricted to hematopoietic cells. It was strongly expressed in all cases of MM and in most marginal-zone lymphomas (MZL). Moderate CD229 expression was also found in chronic lymphocyte leukemia (CLL), follicular (FL), classic mantle-cell (MCL) and diffuse large B-cell lymphoma. Given the high expression on myeloma cells, we also analyzed for the presence of soluble CD229 in the sera of these patients. Serum levels of soluble CD229 (sCD229) at the time of diagnosis in MM patients could be useful as a prognostic biomarker. In conclusion, our results indicate that CD229 represents not only a useful biomarker but also an attractive therapeutic target.

High-mobility group box (TOX) antibody a useful tool for the identification of B and T cell subpopulations.

Thymocyte selection-associated high-mobility group box (TOX) is a DNA-binding factor that is able to regulate transcription by modifying local chromatin structure and modulating the formation of multi-protein complexes. TOX has multiple roles in the development of the adaptive immune system including development of CD4 T cells, NK cells and lymph node organogenesis. However very few antibodies recognizing this molecule have been reported and no extensive study of the expression of TOX in reactive and neoplastic lymphoid tissue has been performed to date. In the present study, we have investigated TOX expression in normal and neoplastic lymphoid tissues using a novel rat monoclonal antibody that recognizes its target molecule in paraffin-embedded tissue sections. A large series of normal tissues and B- and T-cell lymphomas was studied, using whole sections and tissue microarrays. We found that the majority of precursor B/T lymphoblastic, follicular and diffuse large B-cell lymphomas, nodular lymphocyte-predominant Hodgkin lymphomas and angioimmunoblastic T-cell lymphomas strongly expressed the TOX protein. Burkitt and mantle cell lymphomas showed TOX expression in a small percentage of cases. TOX was not found in the majority of chronic lymphocytic leukemia, myelomas, marginal zone lymphomas and classical Hodgkin lymphomas. In conclusion, we describe for the first time the expression of TOX in normal and neoplastic lymphoid tissues. The co-expression of TOX and PD-1 identified in normal and neoplastic T cells is consistent with recent studies identifying TOX as a critical regulator of T-cell exhaustion and a potential immunotherapy target. Its differential expression may be of diagnostic relevance in the differential diagnosis of follicular lymphoma, the identification of the phenotype of diffuse large B-cell lymphoma and the recognition of peripheral T-cell lymphoma with a follicular helper T phenotype.