Navegación de un robot móvil basada en odometría utilizando encoder diferencial e IMU

En este Trabajo Fin de Grado se dispone de un robot móvil a controlar por un dispositivo Raspberry Pi (denominándose el conjunto Pi Robot). El objetivo principal del trabajo es desarrollar un sistema de control basado en sensores propioceptivos para dicho robot que permita realizar trayectorias definidas por el usuario. Para la consecución de esta tarea se implementarán dispositivos de bajo coste que permitan que la plataforma robótica sea accesible en coste, facilitando la posibilidad de crear equipos de múltiples robots. En particular, se aborda la instalación y uso de dos dispositivos: Encoder diferencial y unidad de medición inercial (IMU). Con estos dispositivos se estudia y analiza el comportamiento dinámico del robot definiendo un modelo adecuado. El modelo se valida experimentalmente analizando su eficacia ante comportamientos no lineales como la saturación de la acción o zona muerta. Utilizando este modelo, se desarrolla e implementa un control que permite realizar movimientos con suficiente precisión como para realizar las trayectorias deseadas por el usuario. En particular, se diseñan algoritmos de control con los que se implementan diferentes controles (de velocidad y de posición) para un funcionamiento robusto. Para conseguir un ajuste de parámetros adecuados y un funcionamiento robusto, se analiza el uso de los diferentes tipos de información adquirida con los sensores mediante los distintos controles. Además de estudiar y crear programas para el Pi Robot utilizado, los programas que definen el modelado del sistema se implementan de forma general. Por lo tanto, su uso es directamente utilizable en otros robots con distintos parámetros dinámicos mediante el uso de las funciones de calibración. La evaluación experimental de los algoritmos de control se realiza con una serie de programas que controlan al robot desde su posición actual hasta una posición definida por el usuario o siguiendo una trayectoria predefinida

Homeostatic control of polyamine levels under long-term salt stress in Arabidopsis

Salt stress has been frequently studied in its first osmotic phase. Very often, data regarding the second ionic phase is missing. It has also been suggested that Putrescine or/and Spermine could be responsible for salt resistance. In order to test this hypothesis under long-term salt stress, we obtained Arabidopsis thaliana transgenic plants harboring pRD29A::oatADC or pRD29A::GUS construction. Although Putrescine was the only polyamine significantly increased after salt acclimation in pRD29A::oatADC transgenic lines, this rendered in no advantage to this kind of stress. The higher Spermine levels found in WT and transgenic lines when compared to control conditions along with no increment on Putrescine levels in WT plants under salt acclimation, leads us to analyze Spermine effect on pADC1 and pADC2 expression. Increasing levels of this polyamine inhibits these promoters expression while enhances pRD29A expression, making Spermine the polyamine responsible for salt acclimation, and the transgenic lines developed in this work suitable for studying Putrescine roles in conditions where its biosynthesis would be inhibited in the WT genotype

La iglesia española en los primeros años del pontificado del Papa Luna

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Esquemas de lecciones y encuestas

Campaña Nacional para o bienio 1944-1946 "La Restauración cristiana de la familia

Metodología de priorización de innovaciones en el transporte de mercancías por carretera para la reducción de la huella de carbono

Con este trabajo se desarrolla una metodología que permita la comparación respecto a diversos criterios para el problema de la huella de carbono en el transporte por carretera. Para ello el trabajo evalúa 10 soluciones actuales de cara a reducir las emisiones de gases de efecto invernadero. Estas alternativas se describirán y analizarán en base a diferentes criterios para obtener la máxima información de cada una de ellas. La información se obtiene a través de la revisión bibliográfica de la base de datos ScienceDirect. Una vez conseguidos todos los datos que describen cada una de las alternativas, estos datos se aplicarán a un caso de estudio que evalúa diferentes rutas entre 2 puntos de la península ibérica. Los resultados obtenidos se analizarán nuevamente por un método de decisión multicriterio que elaborará un ranking dependiendo de qué alternativa es la mejor de manera general.De esta manera se obtendrá una metodología para la resolución de cualquier problema multicriterio presentando una herramienta útil para futuros trabajos.<br /

New insights into the role of spermine in Arabidopsis thaliana under long-term salt stress

Polyamines (putrescine, spermidine and spermine) are traditionally implicated in the response of plants to environmental cues. Free spermine accumulation has been suggested as a particular feature of long-term salt stress, and in the model plant Arabidopsis thaliana the spermine synthase gene (AtSPMS) has been reported as inducible by abscisic acid (ABA) and acute salt stress treatments. With the aim to unravel the physiological role of free spermine during salinity, we analyzed polyamine metabolism in A. thaliana salt-hypersensitive sos mutants (salt overlay sensitive; sos1-1, sos2-1 and sos3-1), and studied the salt stress tolerance of the mutants in spermine and thermospermine synthesis (acl5-1, spms-1 and acl5-1/spms-1). Results presented here indicate that induction in polyamine metabolism is a SOS-independent response to salinity and is globally over-induced in a sensitive background. In addition, under long-term salinity, the mutants in the synthesis of spermine and thermospermine (acl5-1, spms-1 and double acl5-1/spms-1) accumulated more Na+ and performed worst than WT in survival experiments. Therefore, support is given to a role for these higher polyamines in salt tolerance mechanisms.This work was supported by Grants PICT of Agencia Nacional de Promoción Científica y Tecnológica (ANPCYT, Argentina), Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET, Argentina), San Martin University and AECI (Spanish International Cooperation Agency) to OAR and grants BIO2005-09252-C02-01 and BIO2008-05493-C02-01 to AFT. DHS was and AIA is fellows of CONICET. AFT, TA and OAR also acknowledge grants-in-aid from COST-Action FA0605. OAR and MM are Members of the Research Committee from CONICET.Peer reviewe

Integration of polyamins in the cold acclimation response

8 páginas, 1 figura, 3 tablas -- PAGS nros. 31-38Temperature is one of the most important environmental factors limiting the geographical distribution of plants and accounts for significant reductions in the yield of agriculturally important crops. Low temperature damages many plant species, especially those adapted to tropical climates. In contrast, some species from temperate regions are able to develop freezing tolerance in response to low-non-freezing temperature, an adaptive process named cold acclimation. Numerous molecular, biochemical and physiological changes occur during cold acclimation, most of them being associated with significant changes in gene expression and metabolite profiles. During recent years, transcriptomic and metabolomic approaches have allowed the identification of cold-responsive genes and main metabolites which accumulate in plants exposed to cold. The obtained data support the previously held idea that polyamines (PAs) are involved in plant responses to cold, although their specific role is still not well understood. In this review, we synthesize published data regarding PA-responses to cold stress and integrate them with global transcriptional and metabolic changes. The potential of PA genetic engineering for the development of plants resistant to cold and freezing temperatures, and their plausible mechanisms of action are also discussedOur research was supported by grants from the Ministerio de Ciencia e Innovación, Spain (BIO2008-05493-C02-01, CSD2007-00036) and the Comissionat per Universitats i Recerca (Generalitat de Catalunya, SGR2009-1060). Work in JS laboratory is supported by grants GEN2006-27787-E/VEG, BIO2007-65284, CSD2007-00057 and EUI2009-04074 from the Ministerio de Ciencia e Innovación, Spain, and grant P2006/GEN-0191 from the Regional Government of Madrid. AFT, JS, RA and PC also acknowledge grants-in-aid from COST-Action FA0605Peer reviewe

Incidence and Risk Factors for Development of Cardiac Toxicity in Adult Patients with Newly Diagnosed Acute Myeloid Leukemia

The incidence of cardiac morbimortality in acute myeloid leukemia (AML) is not well known. We aim to estimate the cumulative incidence (CI) of cardiac events in AML patients and to identify risk factors for their occurrence. Among 571 newly diagnosed AML patients, 26 (4.6%) developed fatal cardiac events, and among 525 treated patients, 19 (3.6%) experienced fatal cardiac events (CI: 2% at 6 months; 6.7% at 9 years). Prior heart disease was associated with the development of fatal cardiac events (hazard ratio (HR) = 6.9). The CI of non-fatal cardiac events was 43.7% at 6 months and 56.9% at 9 years. Age ≥ 65 (HR = 2.2), relevant cardiac antecedents (HR = 1.4), and non-intensive chemotherapy (HR = 1.8) were associated with non-fatal cardiac events. The 9-year CI of grade 1–2 QTcF prolongation was 11.2%, grade 3 was 2.7%, and no patient had grade 4–5 events. The 9-year CI of grade 1–2 cardiac failure was 1.3%, grade 3–4 was 15%, and grade 5 was 2.1%; of grade 1–2, arrhythmia was 1.9%, grade 3–4 was 9.1%, and grade 5 was 1%. Among 285 intensive therapy patients, median overall survival decreased in those experiencing grade 3–4 cardiac events (p < 0.001). We observed a high incidence of cardiac toxicity associated with significant mortality in AML