DESIGN AND INTEGRATION OF A HUMAN-ROBOT PHYSICAL INTERACTION PLATFORM WITH PURPOSES OF MEDICAL DIAGNOSIS AND REHABILITATION OF UPPER LIMB

In this paper a human-robot physical interaction system with purposes of diagnosis and rehabilitation of upper limb is proposed.Anunderactuatedhaptic device with six degrees of freedom is used, with low inertia and low joint friction.Adaptive control technique is used for passive haptic guidance and active exploration, in order to compensate the dynamic uncertainty of the human operator in the loop.To validate the experimental platform, a procedure is established with three steps: i) knowledge of the haptic interface (interaction with the kinematic virtual environment), ii) navigation in a virtual pipe with changes in the geometric characteristics (verification of position, velocity, collisions and runtime), and iii) haptic guidance in a structured path based on a clinical protocol (study of convergence and energy).Environmental conditions such as temperature, humidity, lighting and noise are characterizedwith purposes to define experimental conditions.In this work, we assess based on the NASA-TLX protocol,the workload perception of simple temporal-spatial tasks

DESIGN AND INTEGRATION OF A HUMAN-ROBOT PHYSICAL INTERACTION PLATFORM WITH PURPOSES OF MEDICAL DIAGNOSIS AND REHABILITATION OF UPPER LIMB

In this paper a human-robot physical interaction system with purposes of diagnosis and rehabilitation of upper limb is proposed.Anunderactuatedhaptic device with six degrees of freedom is used, with low inertia and low joint friction.Adaptive control technique is used for passive haptic guidance and active exploration, in order to compensate the dynamic uncertainty of the human operator in the loop.To validate the experimental platform, a procedure is established with three steps: i) knowledge of the haptic interface (interaction with the kinematic virtual environment), ii) navigation in a virtual pipe with changes in the geometric characteristics (verification of position, velocity, collisions and runtime), and iii) haptic guidance in a structured path based on a clinical protocol (study of convergence and energy).Environmental conditions such as temperature, humidity, lighting and noise are characterizedwith purposes to define experimental conditions.In this work, we assess based on the NASA-TLX protocol,the workload perception of simple temporal-spatial tasks

In Silico analysis of protein neoplastic biomarkers for cervix and uterine cancer

Comunicaciones a congreso

First survey of Wolf-Rayet star populations over the full extension of nearby galaxies observed with CALIFA

The search of extragalactic regions with conspicuous presence of Wolf-Rayet (WR) stars outside the Local Group is challenging task due to the difficulties in detecting their faint spectral features. In this exploratory work, we develop a methodology to perform an automated search of WR signatures through a pixel-by-pixel analysis of integral field spectroscopy (IFS) data belonging to the Calar Alto Legacy Integral Field Area survey, CALIFA. This technique allowed us to build the first catalogue of Wolf-Rayet rich regions with spatially-resolved information, allowing to study the properties of these complexes in a 2D context. The detection technique is based on the identification of the blue WR bump (around He II 4686 {\AA}, mainly associated to nitrogen-rich WR stars, WN) and the red WR bump (around C IV 5808 {\AA} and associated to carbon-rich WR stars, WC) using a pixel-by-pixel analysis. We identified 44 WR-rich regions with blue bumps distributed in 25 galaxies of a total of 558. The red WR bump was identified only in 5 of those regions. We found that the majority of the galaxies hosting WR populations in our sample are involved in some kind of interaction process. Half of the host galaxies share some properties with gamma-ray burst (GRB) hosts where WR stars, as potential candidates to being the progenitors of GRBs, are found. We also compared the WR properties derived from the CALIFA data with stellar population synthesis models, and confirm that simple star models are generally not able to reproduce the observations. We conclude that other effects, such as the binary star channel (which could extend the WR phase up to 10 Myr), fast rotation or other physical processes that causes the loss of observed Lyman continuum photons, are very likely affecting the derived WR properties, and hence should be considered when modelling the evolution of massive stars.Comment: 33 pages, accepted for publication in A&

Bar pattern speeds in CALIFA galaxies: I. Fast bars across the Hubble sequence

The bar pattern speed ($\Omega_{\rm b}$) is defined as the rotational frequency of the bar, and it determines the bar dynamics. Several methods have been proposed for measuring $\Omega_{\rm b}$. The non-parametric method proposed by Tremaine \& Weinberg (1984; TW) and based on stellar kinematics is the most accurate. This method has been applied so far to 17 galaxies, most of them SB0 and SBa types. We have applied the TW method to a new sample of 15 strong and bright barred galaxies, spanning a wide range of morphological types from SB0 to SBbc. Combining our analysis with previous studies, we investigate 32 barred galaxies with their pattern speed measured by the TW method. The resulting total sample of barred galaxies allows us to study the dependence of $\Omega_{\rm b}$ on galaxy properties, such as the Hubble type. We measured $\Omega_{\rm b}$ using the TW method on the stellar velocity maps provided by the integral-field spectroscopy data from the CALIFA survey. Integral-field data solve the problems that long-slit data present when applying the TW method, resulting in the determination of more accurate $\Omega_{\rm b}$. In addition, we have also derived the ratio $\cal{R}$ of the corotation radius to the bar length of the galaxies. According to this parameter, bars can be classified as fast ($\cal{R}$ $1.4). For all the galaxies,$\cal{R}$is compatible within the errors with fast bars. We cannot rule out (at 95$\%$level) the fast bar solution for any galaxy. We have not observed any significant trend between$\cal{R}$ and the galaxy morphological type. Our results indicate that independent of the Hubble type, bars have been formed and then evolve as fast rotators. This observational result will constrain the scenarios of formation and evolution of bars proposed by numerical simulations.Comment: 17 pages, 10 figures, accepted for publication in A&

Central star formation and metallicity in CALIFA interacting galaxies

We use optical integral-field spectroscopic (IFS) data from 103 nearby galaxies at different stages of the merging event, from close pairs to merger remnants provided by the CALIFA survey, to study the impact of the interaction in the specific star formation and oxygen abundance on different galactic scales. To disentangle the effect of the interaction and merger from internal processes, we compared our results with a control sample of 80 non-interacting galaxies. We confirm the moderate enhancement (2-3 times) of specific star formation for interacting galaxies in central regions as reported by previous studies; however, the specific star formation is comparable when observed in extended regions. We find that control and interacting star-forming galaxies have similar oxygen abundances in their central regions, when normalized to their stellar masses. Oxygen abundances of these interacting galaxies seem to decrease compared to the control objects at the large aperture sizes measured in effective radius. Although the enhancement in central star formation and lower metallicities for interacting galaxies have been attributed to tidally induced inflows, our results suggest that other processes such as stellar feedback can contribute to the metal enrichment in interacting galaxies.Comment: 9 pages, 9 figures. Accepted for publication in Astronomy & Astrophysic

Estado actual de los estudios de conservación de las pinturas rupestres esquemáticas del Monte Valonsadero (Soria) y propuestas para su protección y salvaguarda

El primero de los autores reúne aquí su experiencia, de más de veinte años de estudio y seguimiento de las pinturas rupestres esquemáticas del Monte Valonsadero, con las síntesis —que él mismo traza y los demás autores anotan, corrigen o amplían— de los trabajos de estudio de la alteración de las areniscas que soportan los paneles pintados, de los análisis mineralógicos de sus pinturas y de la conservación y posible medidas para su protección, cuando se aproxima el año 2001, fecha en que este interesante núcleo de arte rupestre cumplirá cincuenta años de su descubrimiento. El interés de los autores está centrado en la necesidad de salvaguardar este tipo de manifestaciones, para lo cual entienden como prioritario el conocimiento de su estado de conservación y la llamada de atención a la Administración a fin de que ésta desarrolle sobre aquéllas cuantas actuaciones sean precisas para cumplir con la inexorable obligación de legarlas, al menos en su situación actual, a la posterioridad.The first one oí the authors assembles his experience of more than twenty-year-old study made of the schematic rock paintings in Monte Valonsadero, together with the syntheses —also made by him and later revised by the other authors— firstly of the studies of the alteration of the sandstone which support the paintings, secondly of the mineralogical analysis of the paint, and finally aiming to the preservation and possible actions for their protection. This article has an especial significance owing to the closeness of the year 2001, date on which the discovery of this interesting cave art nucleus will be fifty years of age. The main interest of tfie authors aims at the necessity of safeguarding tfiis type of paintings and ttiat is why they give priority to the knowledge of the preservation level in which the paintings are and, at the same time, they make a cali on the Authorities attention so that they could make any precise action to fulfil their inexorable duty to leave the paintings, at least as they are nowadays, to posterity

Leishmania spp. epidemiology of canine leishmaniasis in the Yucatan Peninsula

Canine Leishmaniasis is widespread in various Mexican states, where different species of Leishmania have been isolated from dogs. In the present study, we describe the detection of L. braziliensis, L. infantum, and L. mexicana in serum of dogs from the states of Yucatan and Quintana Roo in the Yucatan Peninsula (Mexico). A total of 412 sera were analyzed by ELISA using the total extract of the parasite and the iron superoxide dismutase excreted by different trypanosomatids as antigens. We found the prevalence of L. braziliensis to be 7.52%, L. infantum to be 6.07%, and L. mexicana to be 20.63%, in the dog population studied. The results obtained with ELISA using iron superoxide dismutase as the antigen were confirmed by western blot analysis with its greater sensitivity, and the agreement between the two techniques was very high