Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi

En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular, se deriva la cinemática directa para ambos manipuladores y se resuelve el problema de la cinemática inversa. Para el Kuka LWR 4+ dicha solución se obtiene en forma analítica, mientras que para el ABB Yumi se sigue un enfoque analítico y numérico. Además, se calculan simbólicamente tanto las singularidades del Kuka LWR 4+ como las direcciones singulares asociadas a éstas. Este estudio contribuye al conocimiento cinemático de dos manipuladores redundantes de gran actualidad e interés para la comunidad robótica, y proporciona información útil para el diseño de diferentes algoritmos y leyes de control.Postprint (author's final draft

Systemic resistance in citrus to Tetranychus urticae induced by conspecifics is transmitted by grafting and mediated by mobile amino acids

Recent research suggests that systemic signalling and communication between roots and leaves plays an important role in plant defence against herbivores. In the present study, we show that the oviposition of the two-spotted spider mite Tetranychus urticae in the systemic leaves of citrus rootstock Citrus aurantium (sour orange) was reduced by 50% when a lower leaf was previously infested with conspecifics. Metabolomic and gene expression analysis of the root efflux revealed a strong accumulation of glutamic acid (Glu) that triggered the expression of the citrus putative glutamate receptor (GRL) in the shoots. Additionally, uninfested sour orange systemic leaves showed increased expression of glutamate receptors and higher amounts of jasmonic acid (JA) and 12-oxo-phytodienoic acid in plants that were previously infested. Glu perception in the shoots induced the JA pathway, which primed LOX-2 gene expression when citrus plants were exposed to a second infestation. The spider mite-susceptible citrus rootstock Cleopatra mandarin (C. unshiu) also expressed systemic resistance, although the resistance was less effective than the resistance in sour orange. Surprisingly, the mobile signal in Cleopatra mandarin was not Glu, which suggests a strong genotype-dependency for systemic signalling in citrus. When the cultivar Clemenules (C. clementina) was grafted onto sour orange, there was a reduction in symptomatic leaves and T. urticae populations compared to the same cultivar grafted onto Cleopatra mandarin. Thus, systemic resistance is transmitted from the roots to the shoots in citrus and is dependent on rootstock resistance

Systemic resistance in citrus to Tetranychus urticae induced by conspecifics is transmitted by grafting and mediated by mobile amino acids

Recent research suggests that systemic signalling and communication between roots and leaves plays an important role in plant defence against herbivores. In the present study, we show that the oviposition of the two-spotted spider mite Tetranychus urticae in the systemic leaves of citrus rootstock Citrus aurantium (sour orange) was reduced by 50% when a lower leaf was previously infested with conspecifics. Metabolomic and gene expression analysis of the root efflux revealed a strong accumulation of glutamic acid (Glu) that triggered the expression of the citrus putative glutamate receptor ( GRL ) in the shoots. Additionally, uninfested sour orange systemic leaves showed increased expression of glutamate receptors and higher amounts of jasmonic acid (JA) and 12-oxo-phytodienoic acid in plants that were previously infested. Glu perception in the shoots induced the JA pathway, which primed LOX-2 gene expression when citrus plants were exposed to a second infestation. The spider mite- susceptible citrus rootstock Cleopatra mandarin ( C. unshiu ) also expressed systemic resistance, although the resistance was less effective than the resistance in sour orange. Surprisingly, the mobile signal in Cleopatra mandarin was not Glu, which suggests a strong genotype-dependency for systemic signalling in citrus. When the cultivar Clemenules ( C. clementina ) was grafted onto sour orange, there was a reduction in symptomatic leaves and T. urticae populations compared to the same cultivar grafted onto Cleopatra mandarin. Thus, systemic resistance is transmitted from the roots to the shoots in citrus and is dependent on rootstock resistance

Competencias para la sostenibilidad en los planes de estudio de los grados de ciencias de la Universitat de València

Se ha realizado un estudio sobre las Competencias Generales y Específicas para la Sostenibilidad en los planes de estudio de los grados del área de Ciencias de la Universitat de València1. La metodología aplicada es de tipo descriptivo y empírico. Se ha construido un tesauro para la recogida de datos, que contempla los temas prioritarios de la Declaración de la Década de la Educación para el Desarrollo Sostenible y se ha desarrollado una herramienta de análisis, la construcción de una base de datos relacional.Se hace una propuesta para la inclusión en las competencias generales de todos los grados de Competencias para la Sostenibilidad

Desarrollo de una Escala de valoración radiológica del grado de Osteoartrosis para las articulaciones de la rodilla y el codo en el perro. ESCALA "BIOARTH"

La Escala Biorth es una herramienta práctica para el veterinario clínico que sirve para cuantificar los signos radiol'goicos de osteoartrosis en las articulaciones de la rodilla y el codo canino, y de esta manera

Usefulness of ultrasound as neurolocalization technique for the anesthetic blockade of the pelvic limb in dogs

P?ginas 10-16Recurso Electr?nicoEn este estudio, se evalu? la utilidad de la ecograf?a como t?cnica de neurolocalizaci?n para el bloqueo anest?sico de los nervios perif?ricos ci?tico, femoral, y plexo lumbar en el perro. Las caracter?sticas de estas estructuras nerviosas fueron estudiadas mediante disecci?n anat?mica realizada en 12 cad?veres caninos. La utilidad de esta t?cnica ecoguiada para el bloqueo anest?sico de estos nervios fue evaluada en 27 cad?veres caninos mediante la inyecci?n de un colorante alrededor de estos nervios y la posterior evaluaci?n del patr?n de tinci?n obtenido. Adicionalmente, la efectividad de esta t?cnica ecoguiada para el bloqueo anest?sico de los nervios ci?tico y emoral fue evaluada en nueve Beagles experimentales, mediante la inyecci?n de un anest?sico local cerca a los nervios estudiados, y la posterior evaluaci?n del d?ficit motor obtenido en la extremidad bloqueada. Los resultados de este estudio validan la utilidad de la ecograf?a como t?cnica de neurolocalizaci?n con el fin de llevar a cabo el bloqueo anest?sico del nervio ci?tico en la cara lateral del muslo y para los nervios femoral y obturador mediante un abordaje ventral suprainguinal.ABSTRACT. This study evaluated the usefulness of ultrasound as a neurolocalization technique for the anesthetic blockade of peripheral nerves such as sciatic, femoral and lumbar plexus in the dog. The characteristics of these neural structures were studied by anatomical dissection performed in 12 canine cadavers. The usefulness of this ultrasound-guided technique for the anesthetic blockade of those nerves was evaluated in 27 dog cadavers by injecting of a staining solution around the nerves followed by evaluation of the staining pattern obtained. Additionally, the effectiveness of this ultrasound-guided technique for the sciatic and the femoral nerve blockade was evaluated in 9 experimental Beagles, by injecting local anesthetic closely to these nerves and the subsequent evaluation of motor deficit in the blocked limb. The results of this study validate the usefulness of ultrasound as a neurolocalization technique with the aim to carry out an anesthetic blockade of the sciatic nerve in the lateral aspect of the thigh and also for the femoral and obturator nerves through a ventral suprainguinal approach. Keywords: Dog, Femora

Could Plant Hormones Provide a Reliable Tool for Early Detection of Rhynchophorus ferrugineus (Coleóptera: Curculionidae) Infested Palms?

Rhynchophorus ferrugineus (Olivier) (Coleoptera: Curculionidae) is one of the most important pest of palms worldwide. A serious management problem is the difficulty of detecting early infestation stages, which is critical for successful control. Our main objective has been to characterize the metabolic response of Phoenix canariensis hort. ex Chabaud to R. ferrugineus injury to identify candidate biomarkers for early detection. Mechanical wounding and R. ferrugineus infestation resulted in different patterns of plant hormone and secondary metabolite production: SA and caffeic acid concentrations increased by several orders of magnitude following R. ferrugineus development within the palm 7 days after infestation. These compounds did not change in mechanically wounded palms. Therefore, these substances could be further exploited as early warning signs of infestation

Un caso de osteopatía craneomandibular con afección de huesos largos en un perro mestizo

La osteopatía craneomandibular es una enfermedad ósea proliferativa que afecta fundamentalmente a huesos de la cabeza de origen endocondral. Suele presentarse en animales jóvenes de pocos meses de edad. El diagnóstico se basa en la sintomatología y hallazgos radiológicos. El tratamiento es sintomático. Consiste en la administración de analgésicos y antiinflamatorios.