Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro‐controller for trajectory tracking and an obstacle avoidance adaptive neuro‐  controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.Supported by the Coastal Monitoring System for the Mar Menor (CMS‐  463.01.08_CLUSTER) project founded by the Regional Government of Murcia, by the SICUVA project (Control and Navigation System for AUV Oceanographic Monitoring Missions. REF: 15357/PI/10) founded by the Seneca Foundation of Regional Government of Murcia and by the DIVISAMOS project (Design of an Autonomous Underwater Vehicle for Inspections and oceanographic mission‐UPCT: DPI‐ 2009‐14744‐C03‐02) founded by the Spanish Ministry of Science and Innovation from Spain

Control espacial de un dedo antropomorfo

Los problemas de la cinemática inversa de manipuladores redundantes han sido investigados desde hace muchos años. La cinemática inversa es computacionalmente complicada y puede traer retardos significativos en el control en tiempo real. Para un robot redundante, cálculos adicionales son requeridos para la solución de la cinemática inversa a través de esquemas de optimización. Recientemente, las redes neuronales han sido ampliamente usadas en el control de robots, debido a que son rápidas, toleran fallos y son capaces de aprender. Basado en el hecho que los humanos no calculan exactamente la cinemática inversa, pero pueden hacer posicionamientos precisos de forma heurística, nosotros desarrollamos un mapeo de la cinemática inversa a través de una red neuronal difusa. La implementación del esquema propuesto ha demostrado que es factible que cuando existen los casos de redundancia y no redundancia, sea muy eficientemente computacional. El algoritmo presentado realiza las transformaciones espaciomotoras y las motoras-espacial. Simulaciones sobre un dedo antropomorfo se llevaron a acabo para evaluar el desarrollo de la red neurodifusa.Se agradece el apoyo recibido por los miembros del grupo de investigación de Neurotecnología, Control y Robótica (NEUROCOR) del departamento de Ingeniería de Sistemas y Automática de la Universidad Politécnica de Cartagena. Este trabajo fue financiado en parte por la CICYT-TIC99- 0446-C02-01, y por el proyecto PALOMA -IST- 2001-33073- de Investigación Básica

Impact of magnesium supplementation in muscle damage of professional cyclists competing in a stage race

Producción CientíficaMagnesium is a cofactor of different enzymatic reactions involved in anabolic and catabolic processes that affect muscular performance during exercise. In addition, it has been suggested that magnesium could participate in maintaining muscle integrity during demanding effort. The main purpose of this study was to analyze the effects of magnesium supplementation in preventing muscle damage in professional cyclists taking part in a 21-day cycling stage race. Eighteen male professional cyclists (n = 18) from two teams were recruited to participate in the research. They were divided into 2 groups: the control group (n = 9) and the magnesium-supplemented group (n = 9). The supplementation consisted of an intake of 400 mg/day of magnesium during the 3 weeks of competition. Blood samples were collected according to World Anti-Doping Agency rules at three specific moments during competition: immediately before the race; mid competition; and before the last stage. Levels of serum and erythrocyte magnesium, lactate dehydrogenase, creatinine kinase, aspartate transaminase, alanine transaminase, myoglobin, aldolase, total proteins, cortisol and creatinine were determined. Serum and erythrocyte magnesium levels decreased during the race. Circulating tissue markers increased at the end of the race in both groups. However, myoglobin increase was mitigated in the supplemented group compared with the controls. We conclude that magnesium supplementation seems to exert a protective effect on muscle damage

Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project

This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framework

Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project

Los resúmenes se publicarán e imprimirán en la revista Instrumentation Viewpoint: ISSN: 1886-4864 y se incluirán en los materiales de la conferencia. Los artículos completos se publicarán electrónicamente como actas de la conferencia.This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framewo

Estudio y desarrollo de primitivas motoras para manipulación con manos robóticas antropomórfas

En la última década se ha construido un considerable número de manos robóticas antropomorfas. Sin embargo, muy pocos estudios se han llevado a cabo en relación con la destreza o habilidad de dichas manos. En este trabajo se presentan una serie de estudios relacionados con la manipulación de precisión por parte de manos robóticas antropomorfas. Se entiende manipulación de precisión al control cinemático de la posición del objeto agarrado, utilizando únicamente los contactos de las puntas de los dedos con el objeto. La aproximación utilizada, define un conjunto de primitivas de manipulación básicas que la mano puede llevar a cabo. Estas funciones primitivas son flexibles ya que incluyen una serie de parámetros asociados a la geometría y tamaño de los objetos a manipular y además, permiten su implementación partiendo de distintas topologías de agarre iniciales. En este trabajo también se describe como estas primitivas se pueden emplear de forma secuencial para dar lugar a tareas de manipulación más complejas. Los estudios se han realizado sobre una mano robótica antropomorfa virtual, diseñada con técnicas CAD descritas en el artículo.Este trabajo ha sido financiado por el proyecto SYNERAGH (SYstem Neuroscience and Engineeering Research for Athropomorphic Grasping and Handling) BRITE-EURAM BE – 4505

Liquid Biopsy as Novel Tool in Precision Medicine: Origins, Properties, Identification and Clinical Perspective of Cancer’s Biomarkers

Producción CientíficaIn recent years, there has been an increase in knowledge of cancer, accompanied by a technological development that gives rise to medical oncology. An instrument that allows the implementation of individualized therapeutic strategies is the liquid biopsy. Currently, it is the most innovative methodology in medical oncology. Its high potential as a tool for screening and early detection, the possibility of assessing the patient’s condition after diagnosis and relapse, as well as the effectiveness of real-time treatments in different types of cancer. Liquid biopsy is capable of overcoming the limitations of tissue biopsies. The elements that compose the liquid biopsy are circulating tumor cells, circulating tumor nucleic acids, free of cells or contained in exosomes, microvesicle and platelets. Liquid biopsy studies are performed on various biofluids extracted in a non-invasive way, and they can be performed both from the blood and in urine, saliva or cerebrospinal fluid. The development of genotyping techniques, using the elements that make up liquid biopsy, make it possible to detect mutations, intertumoral and intratumoral heterogeneity, and provide molecular information on cancer for application in medical oncology in an individualized way in different types of tumors. Therefore, liquid biopsy has the potential to change the way medical oncology could predict the course of the disease

Proceso de creación de personajes en la puesta en escena Cuerdas de Bárbara Colio, dirección de José Cotero.

En la totalidad de este trabajo expusimos, de primera instancia, toda la información recabada a partir del tema principal que permea la obra Cuerdas de Bárbara Colio: el abandono paternal. En el primer capítulo se abordan los subtemas que corresponden a las causas y consecuencias de este fenómeno social que sin duda es detonante de traumas desde la infancia de los personajes, mismos que llevan consigo hasta su etapa adulta. En el segundo capítulo desarrollamos todas las características de nuestro proceso de creación de personaje; como antecedentes e historia de vida que sustentan la construcción del mismo. Es en este capítulo donde cada uno de nosotros expone lo general y particular de los rasgos de carácter que distinguen a cada personaje apoyados de exploraciones guiadas por nuestro director. Por último, en el tercer capítulo hablamos sobre los elementos tonales que constituyen la totalidad de la puesta en escena como la música, escenografía y vestuario

Mating, but Not Male Accessory Gland Products, Changes Female Response to Olfactory Cues in Anastrepha Fruit Flies

Copulation and/or ejaculate components can alter female physiological state and female post-mating behavior. The objective of the present study was to determine if copulation and male reproductive accessory gland products (MAGs) modify the behavior of female Anastrepha ludens (Loew) and Anastrepha obliqua (Macquart; Diptera: Tephritidae) in response to two stimuli: male-emitted pheromone and oviposition host volatiles. Olfactometry studies revealed that mated females of both A. ludens and A. obliqua have a stronger response for host volatiles compared to unmated females, which have a stronger response for male pheromone. We also examined olfactory responses of females mated to testectomized males who could transfer MAGs but not sperm. In both species, MAGs alone did not cause the change in the olfactory response observed after copulation, unlike what has been found in Ceratitis capitata (Wiedemann). Females mated to testectomized males responded equally to the male sex pheromone or to host volatiles, thus suggesting that the whole ejaculate is needed to elicit the complete behavioral switch in olfactory response. The function of MAGs is still unknown in these two pests of economic importance. The response for host volatiles by mated females has implications for the development of baits and traps that should preferably attract and target this population.Fil: Córdova García, Guadalupe. Universidad Veracruzana; MéxicoFil: Sirot, Laura. The College Of Wooster; Estados UnidosFil: Abraham, Solana. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Tucumán. Planta Piloto de Procesos Industriales Microbiológicos; ArgentinaFil: Díaz Fleischer, Francisco. Universidad Veracruzana; MéxicoFil: Flores Estevez, Norma. Universidad Veracruzana; MéxicoFil: López Ortega, Maurilio. Universidad Veracruzana; MéxicoFil: Pérez Staples, Diana. Universidad Veracruzana; Méxic

Effect of the Combination of Creatine Monohydrate Plus HMB Supplementation on Sports Performance, Body Composition, Markers of Muscle Damage and Hormone Status: A Systematic Review

Although there are many studies showing the isolated effect of creatine monohydrate (CrM) and beta-hydroxy beta-methylbutyrate (HMB), it is not clear what effect they have when they are combined. The main purpose of this systematic review was to determine the efficacy of mixing CrM plus HMB in comparison with their isolated effects on sports performance, body composition, exercise induced markers of muscle damage, and anabolic-catabolic hormones. This systematic review was carried out in accordance with PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) statement guidelines and the PICOS model, for the definition of the inclusion criteria. Studies were found by searching PubMed/MEDLINE, Web of Science (WOS), and Scopus electronic databases from inception to July 3rd 2019. Methodological quality and risk of bias were assessed by two authors independently, and disagreements were resolved by third-party evaluation, in accordance with the Cochrane Collaboration Guidelines samples. The literature was examined regarding the effects of the combination of CrM plus HMB on sport performance using several outcome variables (athletic performance, body composition, markers of muscle damage, and hormone status). This systematic review included six articles that investigated the effects of CrM plus HMB on sport performance (two on strength performance, showing improvements in one of them; three on anaerobic performance, presenting enhancements in two of them; and one on aerobic performance, not presenting improvements), body composition (three on body mass, showing improvements in one of them; two on fat free mass, presenting increases in one of them; and two on fat mass, showing decreases in one of them) and markers of muscle damage and hormone status (four on markers of muscle damage and one on anabolic-catabolic hormones, not showing benefits in any of them). In summary, the combination of 3-10 g/day of CrM plus 3 g/day of HMB for 1-6 weeks could produce potential positive effects on sport performance (strength and anaerobic performance) and for 4 weeks on body composition (increasing fat free mass and decreasing fat mass). However, this combination seems to not show positive effects relating to markers of exercise-induced muscle damage and anabolic-catabolic hormones