The impact of abortion legalisation on birth outcomes in Uruguay

This work evaluates the impact of an abortion reform in Uruguay allowing free interruption of pregnancy until 12 weeks of gestation on the quantity and quality of births in the short run. We employ a differences-in-differences approach, a comprehensive administrative register of births and a novel identification strategy based on the planned or unplanned nature of pregnancies that end in births. Our results suggest that this policy induced an 8% decline in the number of births of unplanned pregnancies, driven by the group of mothers between 20 and 34 years old with secondary education. This increased the average quality of births in terms of more intensive prenatal control care and a lower probability of having a single mother. Furthermore, we document a positive selection process of births affected by the reform, as adequate prenatal control care and Apgar scores rose among the affected demographic group

New control architecturebased on PXI for a 3-finger haptic device applied to virtual manipulation

To perform advanced manipulation of remote environments such as grasping, more than one finger is required implying higher requirements for the control architecture. This paper presents the design and control of a modular 3-finger haptic device that can be used to interact with virtual scenarios or to teleoperate dexterous remote hands. In a modular haptic device, each module allows the interaction with a scenario by using a single finger; hence, multi-finger interaction can be achieved by adding more modules. Control requirements for a multifinger haptic device are analyzed and new hardware/software architecture for these kinds of devices is proposed. The software architecture described in this paper is distributed and the different modules communicate to allow the remote manipulation. Moreover, an application in which this haptic device is used to interact with a virtual scenario is shown

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms

This paper describes the design and evaluation of a new platform created in order to improve the learning experience of bilateral control algorithms in teleoperation. This experimental platform, developed at Universidad Politécnica de Madrid, is used by the students of the Master on Automation and Robotics in the practices of the subject called “Telerobotics and Teleoperation”. The main objective is to easily implement different control architectures in the developed platform and evaluate them under different conditions to better understand the main advantages and drawbacks of each control scheme. So, the student’s tasks are focused on adjusting the control parameters of the predefined controllers and designing new ones to analyze the changes in the behavior of the whole system. A description of the subject, main topics and the platform constructed are detailed in the paper. Furthermore, the methodology followed in the practices and the bilateral control algorithms are presented. Finally, the results obtained in the experiments with students are also shown

Two-Hand Virtual Object Manipulation Based on Networked Architecture

A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forces can be reflected in any direction without any torque component. Scenarios for virtual manipulation are based on distributed architecture where each finger device has its own real-time controller. A computer receives the status of each finger and runs a simulation with the virtual object manipulation. The information of the Scenario is updated at a rate of 200 Hz. The information from the haptic controller is processed at 1 kHz; it provides a good realism for object manipulation

Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation

This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation

Virulence in Mice of a Toxoplasma gondii Type II Isolate Does Not Correlate With the Outcome of Experimental Infection in Pregnant Sheep

[EN] Toxoplasma gondii is an apicomplexan parasite that infects almost all warm-blooded animals. Little is known about how the parasite virulence in mice extrapolates to other relevant hosts. In the current study, in vitro phenotype and in vivo behavior in mice and sheep of a type II T. gondii isolate (TgShSp1) were compared with the reference type II T. gondii isolate (TgME49). The results of in vitro assays and the intraperitoneal inoculation of tachyzoites in mice indicated an enhanced virulence for the laboratory isolate, TgME49, compared to the recently obtained TgShSp1 isolate. TgShSp1 proliferated at a slower rate and had delayed lysis plaque formation compared to TgME49, but it formed more cyst-like structures in vitro. No mortality was observed in adult mice after infection with 1-105 tachyzoites intraperitoneally or with 25-2,000 oocysts orally of TgShSp1. In sheep orally challenged with oocysts, TgME49 infection resulted in sporadically higher rectal temperatures and higher parasite load in cotyledons from ewes that gave birth and brain tissues of the respective lambs, but no differences between these two isolates were found on fetal/lamb mortality or lesions and number of T. gondii-positive lambs. The congenital infection after challenge at mid-pregnancy with TgShSp1, measured as offspring mortality and vertical transmission, was different depending on the challenged host. In mice, mortality in 50% of the pups was observed when a dam was challenged with a high oocyst dose (500 TgShSp1 oocysts), whereas in sheep infected with the same dose of oocysts, mortality occurred in all fetuses. Likewise, mortality of 9 and 27% of the pups was observed in mice after infection with 100 and 25 TgShSp1 oocysts, respectively, while in sheep, infection with 50 and 10 TgShSp1 oocysts triggered mortality in 68 and 66% of the fetuses/lambs. Differences in vertical transmission in the surviving offspring were only found with the lower oocyst doses (100% after infection with 10 TgShSp1 oocysts in sheep and only 37% in mice after infection with 25 TgShSp1 oocysts). In conclusion, virulence in mice of T. gondii type II isolates may not be a good indicator to predict the outcome of infection in pregnant sheepSIRS-S is supported by a fellowship from the Spanish Ministry of Education, Culture, and Sports (MECD), as a part of the Program of Training of University Teaching Staff (FPU, grant number FPU13/03438) and a mobility grant for predoctoral short stays in R+D centers (EST16/0719). DG-E is the recipient of a postdoctoral contract from the Junta de Castilla y León, partially funded by the European Social Fund (European Union). NA-V is the recipient of a predoctoral contract from the Ministerio de Economía, Industria y Competitividad (Ref. BES-2016-076513). This work was supported by the Ministry of Economy and Competitiveness (AGL2016-75935-C2-1-R and C2-2-R), the Community of Madrid, Spain (PLATESA, S2013/ABI2906), Junta de Castilla y León (LE080U16), and a grant of the Swiss National Science Foundation to AH (project No. 310030_165782

The psychosocial risks of farm workers in south-east Spain

This work used the FPSICO v.1 method of the Spanish National Institute of Safety and Hygiene to determine the possible psychosocial risks of farm workers in Almería-type greenhouses located in south-eastern Spain to propose health-condition improvements. A 75-question survey was used to evaluate seven psychosocial variables: cognitive load, temporal autonomy, job description, supervision-participation, role definition, worker interest, and personal relationships. A total of 548 workers were evaluated. Also, five qualitative characteristics (of workers) were identified: sex, age, greenhouse type, nationality, and crop type. None of the variables were associated with high psychosocial risk. Thus, the psychosocial health risks encountered by Almería-type greenhouse workers are acceptable, although optimisations over the mid and long term are necessary

Analysis of local and peripheral immune response developed in sheep experimentally infected with Toxoplasma gondii at different times of gestation

Trabajo presentado al: 4th International Meeting on Apicomplexa in Farm Animals. (11-14 October 2017 - Madrid, Spain).Toxoplasmosis is one the main infectious causes of reproductive failure in sheep where the time of gestation when sheep are infected affects the clinical and lesional outcome of the disease. In order to investigate the variations of local and peripheral immune responses during gestation, pregnant sheep were infected at early, mid and late gestation and subsequently culled at 2, 3 and 4 weeks post infection. In those sheep inoculated during the second term, serological antibodies were detected earlier and the increase in serological γ-IFN was higher than in the other infected animals. Regarding the local immune response at the placenta, infiltration of inflammatory cells was mainly found in the maternal septa, although it also invaded foetal mesenchyme adjacent to the lesions. The increase in the number of T lymphocytes was observed only in ewes infected during the second and last terms of gestation while the increase of B cells occurred in sheep infected at the first and second terms. The expression of iba-1 antigen by macrophages was more frequent after infection during the first term whereas macrophages expressing lysozyme, CD163 or calprotectin were more frequent in infections at mid-gestation. A significant increase in the transcription of γ-IFN, when compared to control animals, occurred after infections in the first and second term, while TNF-α and IL-10 transcription increased only in the second and last term, respectively. There were no differences when comparing transcription of cytokines between animals infected at different terms of gestation. This study shows that the time of gestation when infection occurs has a clear influence over the pathogenesis of ovine toxoplasmosis as a greater inflammatory response was found after inoculating sheep at the second term of gestation. This finding may explain the later invasion of the placenta by the parasite at early and mid gestation described in previous studies.This study was founded by AGL2016-75935-C2-2-R and LE080U16 research grants.Peer Reviewe

Infección experimental por Toxoplasma gondii en el primer, segundo y último tercio de gestación en ovejas. Respuesta lesional y distribución del parásito

6 páginas.--Trabajo presentado al: XL Congreso Nacional y el XVI Congreso Internacional de la Sociedad Española de Ovinotecnia y Caprinotecnia. (Castellón de la Plana, España, 16-18 septiembre 2015).Peer Reviewe

Foetal periventricular leucomalacia as the main lesion in abortion during the acute phase of ovine toxoplasmosis

Trabajo presentado al: ApiCOWplexa in Farm Animals/ 3rd lnternational Meeting on Apicomplexan Parasites in Farm Animals. (Edimburgo, 30th Junio al 3rd Julio, 2015).Peer Reviewe