Diseño y programación de un robot humanoide de bajo coste

Las técnicas de impresión 3D están facilitando el desarrollo de robótica de bajo coste, permitiendo el diseño y construcción de robots, aunque no son adecuados en entornos industriales o de producción; sin embargo, pueden ser usados en educación, entretenimiento, prototipos, sistemas de robótica sociales, entre otras aplicaciones. En este proyecto se detalla el proceso de construcción, programación y componentes involucrados para el control y puesta en marcha del robot humanoide Inmoov. Según (Langevin, 2016) el proyecto Inmoov es el primer robot humanoide de código abierto de tamaño real cuyas piezas pueden ser replicables con cualquier impresora 3D con un área de 12x12x12cm y es controlado mediante Arduino. Entre los aspectos que diferencian este proyecto del proyecto Inmoov original están: control de objetivos, trayectorias, configuración de comandos de voz y audio del humanoide mediante una aplicación interactiva, persistente y escalable desde el ordenador, control de comando de voz desde el móvil mediante comunicación bluetooth

Human Pose Detection for Robotic-Assisted and Rehabilitation Environments

Assistance and rehabilitation robotic platforms must have precise sensory systems for human–robot interaction. Therefore, human pose estimation is a current topic of research, especially for the safety of human–robot collaboration and the evaluation of human biomarkers. Within this field of research, the evaluation of the low-cost marker-less human pose estimators of OpenPose and Detectron 2 has received much attention for their diversity of applications, such as surveillance, sports, videogames, and assessment in human motor rehabilitation. This work aimed to evaluate and compare the angles in the elbow and shoulder joints estimated by OpenPose and Detectron 2 during four typical upper-limb rehabilitation exercises: elbow side flexion, elbow flexion, shoulder extension, and shoulder abduction. A setup of two Kinect 2 RGBD cameras was used to obtain the ground truth of the joint and skeleton estimations during the different exercises. Finally, we provided a numerical comparison (RMSE and MAE) among the angle measurements obtained with OpenPose, Detectron 2, and the ground truth. The results showed how OpenPose outperforms Detectron 2 in these types of applications.Óscar G. Hernández holds a grant from the Spanish Fundación Carolina, the University of Alicante, and the National Autonomous University of Honduras

Filling and emptying manoeuvres in large pipes. Application to a cast iron pipeline DN400 located in Massamagrell, Valencia, Spain

Air pockets inside hydraulic installations during filling and emptying processes can generate pressure surges and negative pressure, respectively. Serious damages can be occurred in pipelines. In order to analyse hydraulic variables in filling and emptying operations, the selection of a mathematical model is chosen, which is suitable of simulating accurately the behaviour of both fluids (water and air) in pressurized water systems. The mathematical model proposed by the authors has been validated in small laboratory facilities. The aim of this work is to validate the mathematical model in current pipeline installations with large both nominal diameter and length. The pipeline is a nominal diameter DN400, and is located in Massamagrell, Valencia, Spain. The filling and emptying manoeuvres in the selected pipeline are performed by the Empresa Mixta Metropolitana S.A. (EMIMET). A good agreement is obtained when a comparison of absolute pressure and water flow is carried out between the mathematical model and the measurements.Debido a las bolsas de aire que hay en el interior de las tuberías durante los procesos de llenado y vaciado, se producen depresiones o sobrepresiones en el interior de las mismas, capaces de producir serios daños en las instalaciones. Para analizar todas las variables hidráulicas en las maniobras de llenado y vaciado, se opta por la aplicación de un modelo matemático, el cual es capaz de simular con exactitud el comportamiento de ambos fluidos, tanto la columna de agua como la bolsa de aire. El modelo propuesto por los autores ya ha sido validado en pequeñas instalaciones de laboratorio. En este trabajo, se pretende validar el modelo matemático en una instalación real de grandes dimensiones. Concretamente, se trata de una conducción de diámetro DN400, ubicada en Massamagrell (Valencia), donde se analizan las maniobras de llenado y de vaciado. Finalmente, se comparan los resultados que proporciona el modelo con las mediciones realizadas por la Empresa Mixta Metropolitana S.A. (EMIMET), obteniéndose una similitud muy aceptable

Distinct roles for PARP-1 and PARP-2 in c-Myc-driven B-cell lymphoma in mice

Dysregulation of the c-Myc oncogene occurs in a wide variety of hematologic malignancies, and its overexpression has been linked with aggressive tumor progression. Here, we show that poly (ADP-ribose) polymerase 1 (PARP-1) and PARP-2 exert opposing influences on progression of c-Myc-driven B-cell lymphoma. PARP-1 and PARP-2 catalyze the synthesis and transfer of ADP-ribose units onto amino acid residues of acceptor proteins in response to DNA strand breaks, playing a central role in the response to DNA damage. Accordingly, PARP inhibitors have emerged as promising new cancer therapeutics. However, the inhibitors currently available for clinical use are not able to discriminate between individual PARP proteins. We found that genetic deletion of PARP-2 prevents c-Myc-driven B-cell lymphoma, whereas PARP-1 deficiency accelerates lymphomagenesis in the E¿-Myc mouse model of aggressive B-cell lymphoma. Loss of PARP-2 aggravates replication stress in preleukemic E¿-Myc B cells, resulting in accumulation of DNA damage and concomitant cell death that restricts the c-Myc-driven expansion of B cells, thereby providing protection against B-cell lymphoma. In contrast, PARP-1 deficiency induces a proinflammatory response and an increase in regulatory T cells, likely contributing to immune escape of B-cell lymphoma, resulting in an acceleration of lymphomagenesis. These findings pinpoint specific functions for PARP-1 and PARP-2 in c-Myc-driven lymphomagenesis with antagonistic consequences that may help inform the design of new PARP-centered therapeutic strategies, with selective PARP-2 inhibition potentially representing a new therapeutic approach for the treatment of c-Myc-driven tumors.The J.Y. laboratory is funded by the Spanish Ministerio de Economía, Industria y Competitividad (grant SAF2017-83565-R), Spanish Ministerio de Ciencia e Innovación (grant PID2020-112526RB-I00), and Fundación Científica de la Asociación Española Contra el Cáncer (grant PROYEI6018YÉLA). Work in the J.E.S. laboratory is supported by a core grant to the Laboratory of Molecular Biology from the Medical Research Council (U105178808). The F.D. laboratory is supported by a Laboratory of Excellence grant (ANR-10-LABX-0034_Medalis) to Strasbourg University, Centre National de la Recherche Scientifique. The P.N. laboratory is supported by grants from the Spanish Ministry of Economy and Competitiveness/Instituto de Salud Carlos III–Fondo Europeo de Desarrollo Regional (FEDER; PI17/00199 and PI20/00625) and the Generalitat de Catalunya (2017-SGR-225). The P.M. laboratory acknowledges support from Centres de Recerca de Catalunya/Generalitat de Catalunya and Fundació Josep Carreras-Obra Social la Caixa for core support, the Spanish Ministry of Economy and Competitiveness (grant SAF-2019-108160-R), the Fundación Uno entre Cienmil, the Obra Social La Caixa (grant LCF/PR/HR19/52160011), and the German Josep Carreras Leukamie Stiftung. Work at the G.R. and P.M. laboratories are cofinanced by the European Regional Development Fund through the Interreg V-A Spain-France-Andorra Program (project PROTEOblood; grant EFA360/19). The O.F.-C. laboratory is funded by grants from the Spanish Ministry of Science, Innovation and Universities (RTI2018-102204-B-I00; cofinanced with European FEDER funds) and the European Research Council (ERC-617840). T.V.-H. was supported by a Marie Sklodowska Curie fellowship (GA792923). The A.B. laboratory is supported by the Spanish Ministry of Economy and Competitiveness (grant PID2019-104695RB-I00)

Numerical atomic orbitals for linear scaling

The performance of basis sets made of numerical atomic orbitals is explored in density-functional calculations of solids and molecules. With the aim of optimizing basis quality while maintaining strict localization of the orbitals, as needed for linear-scaling calculations, several schemes have been tried. The best performance is obtained for the basis sets generated according to a new scheme presented here, a flexibilization of previous proposals. The basis sets are tested versus converged plane-wave calculations on a significant variety of systems, including covalent, ionic and metallic. Satisfactory convergence (deviations significantly smaller than the accuracy of the underlying theory) is obtained for reasonably small basis sizes, with a clear improvement over previous schemes. The transferability of the obtained basis sets is tested in several cases and it is found to be satisfactory as well.Comment: 9 pages with 2 encapsulated postscript figures, submitted to Phys. Rev.

Nitrogen and Phosphorous Retention in Tropical Eutrophic Reservoirs with Water Level Fluctuations: A Case Study Using Mass Balances on a Long-Term Series

Nitrogen and phosphorous loading drives eutrophication of aquatic systems. Lakes and reservoirs are often effective N and P sinks, but the variability of their biogeochemical dynamics is still poorly documented, particularly in tropical systems. To contribute to the extending of information on tropical reservoirs and to increase the insight on the factors affecting N and P cycling in aquatic ecosystems, we here report on a long-term N and P mass balance (2003–2018) in Valle de Bravo, Mexico, which showed that this tropical eutrophic reservoir lake acts as a net sink of N (−41.7 g N m y) and P (−2.7 g P m y), mainly occurring through net sedimentation, equivalent to 181% and 68% of their respective loading (23.0 g N m y and 4.2 g P m y). The N mass balance also showed that the Valle de Bravo reservoir has a high net N atmospheric influx (31.6 g N m y), which was 1.3 times the external load and likely dominated by N fixation. P flux was driven mainly by external load, while in the case of N, net fixation also contributed. During a period of high water level fluctuations, the net N atmospheric flux decreased by 50% compared to high level years. Our results outlining water regulation can be used as a useful management tool of water bodies, by decreasing anoxic conditions and net atmospheric fluxes, either through decreasing nitrogen fixation and/or promoting denitrification and other microbial processes that alleviate the N load. These findings also sustain the usefulness of long-term mass balances to assess biogeochemical dynamics and its variability.This research was funded by UNAM, PAPIIT-IN207702 and CONACYT-SEMARNAT, C01-1125 projects to M.M-

Nuclear DICKKOPF-1 as a biomarker of chemoresistance and poor clinical outcome in colorectal cancer

Sporadic colorectal cancer (CRC) insurgence and progression depend on the activation of Wnt/β-catenin signaling. Dickkopf (DKK)-1 is an extracellular inhibitor of Wnt/β-catenin signaling that also has undefined β-catenin-independent actions. Here we report for the first time that a proportion of DKK-1 locates within the nucleus of healthy small intestine and colon mucosa, and of CRC cells at specific chromatin sites of active transcription. Moreover, we show that DKK-1 regulates several cancer-related genes including the cancer stem cell marker aldehyde dehydrogenase 1A1 (ALDH1A1) and Ral-binding protein 1-associated Eps domain-containing 2 (REPS2), which are involved in detoxification of chemotherapeutic agents. Nuclear DKK-1 expression is lost along CRC progression; however, it remains high in a subset (15%) of CRC patients (n = 699) and associates with decreased progression-free survival (PFS) after chemotherapy administration and overall survival (OS) [adjusted HR, 1.65; 95% confidence interval (CI), 1.23-2.21; P = 0.002)]. Overexpression of ALDH1A1 and REPS2 associates with nuclear DKK-1 expression in tumors and correlates with decreased OS (P = 0.001 and 0.014) and PFS. In summary, our findings demonstrate a novel location of DKK-1 within the cell nucleus and support a role of nuclear DKK-1 as a predictive biomarker of chemoresistance in colorectal cancer

Transient inhibition of the JAK/STAT pathway prevents B-ALL development in genetically predisposed mice

Preventing development of childhood B-cell acute lymphoblastic leukemia (B-ALL), a disease with devastating effects, is a longstanding and unsolved challenge. Heterozygous germline alterations in the PAX5 gene can lead to B-ALL upon accumulation of secondary mutations affecting the JAK/STAT signaling pathway. Preclinical studies have shown that this malignant transformation occurs only under immune stress such as exposure to infectious pathogens. Here we show in Pax5+/− mice that transient, early-life administration of clinically relevant doses of ruxolitinib, a JAK1/2 inhibitor, significantly mitigates the risk of B-ALL following exposure to infection; 1 of 29 animals treated with ruxolitinib developed B-ALL versus 8 of 34 untreated mice. Ruxolitinib treatment preferentially targeted Pax5+/− versus wild-type B-cell progenitors and exerted unique effects on the Pax5+/− B-cell progenitor transcriptional program. These findings provide the first in vivo evidence for a potential strategy to prevent B-ALL development.C. Cobaleda and C. Vicente-Dueñas labs are members of the EU COST Action LEGEND (CA16223). Research in C. Vicente-Dueñas group has been funded by Instituto de Salud Carlos III through the project " PI17/00167 and by a “Miguel Servet Grant” [CPII19/00024 - AES 2017-2020; co-funded by European Regional Development Fund (ERDF)/European Social Fund (ESF) "A way to make Europe"/"Investing in your future"]. J.J. Yang and K.E. Nichols receive funding from the American Lebanese Syrian Associated Charities (ALSAC) and R01CA241452 from the NCI. Research in ISG group is partially supported by FEDER and by SAF2015-64420-R MINECO/FEDER, UE, RTI2018-093314-B-I00 MCIU/AEI/FEDER, UE, 9659122185-122185-4-21 MCIU/AEI/FEDER, UE, by Junta de Castilla y León (UIC-017, CSI001U16, CSI234P18, and CSI144P20). M. Ramírez-Orellana and I. Sánchez-García have been supported by the Fundacion Unoentrecienmil (CUNINA project). C. Cobaleda, M. Ramírez-Orellana, and I. Sánchez-García have been supported by the Fundación Científica de la Asociación Española contra el Cáncer (PRYCO211305SANC). A. Casado-García (CSI067-18) and M. Isidro-Hernández (CSI021-19) are supported by FSE-Conserjería de Educación de la Junta de Castilla y León 2019 and 2020 (ESF, European Social Fund) fellowship, respectively. J. Raboso-Gallego is supported by a scholarship from University of Salamanca co-financed by Banco Santander and ESF. S. Alemán-Arteaga is supported by an Ayuda para Contratos predoctorales para la formación de doctores (PRE2019-088887)

Doñana. Acta vertebrata. vol 12(1)

Contribución a la biometría y biología de la Bermejuela Rutilus arcasii (Steindch., 1866) del embalse de PinillaSistemática de iguanidae, sensu lato y de anolinae en Cuba (Repitilia, sauria)Nueva subespecie de Anolis isolepis (Lacertilia: Iguanidae) para CubaAlimentación del ratonero común (Buteo buteo,L. 1758) en el norte de España.Censo y datos sobre la biología del Halcón de Eleonor (Falco eleonorae Gené, 1839) en las Islas Canarias. Agosto-septiembre 1983Selección de hábitat en un grupo de aves forestales del norte de la Península Ibérica:Importancia de la estructura de la vegetación y competencia interespecíficaThe intersexual differentiation in the foraging behaviour of Oenanthe hispanica L. during the breeding seasonEtograma de Gazella dorcasAlgunos datos sobre el crecimiento y las dimorfometrías sexuales del esqueleto postcraneal de Mus spretus Lataste, 1883 (Rodentia: muridaeDistribución y taxonomía de Molossops temminckii (Chiroptera, Molossidae) en Venezuela.Estudio de una población rural de ratones (Mus musculus L.) II. Análisis comparativo de once estimadores del tamaño poblacional.Distribución de Hyla arborea L. (AMPHIBIA, ANURA, HYLIDAE) en el macizo ibérico septentrionaPresencia y nidificación de gavilán (Accipiter nisus granti Sharpe 1890) en la isla de el Hierro.Autumn food of the ptarmigan (Lagopus mutus Montin, 17776 in the spanish central pyreneesPollo atípico en nido de Hirundo rustica.Primera cita del chorlito social (Vanellus gragarius) en las marismas del GuadalquivirPeer reviewe

Safety and Revisit Related to Discharge the Sixty-one Spanish Emergency Department Medical Centers Without Hospitalization in Patients with COVID-19 Pneumonia. A Prospective Cohort Study UMC-Pneumonia COVID-19

Background: Information is needed on the safety and efficacy of direct discharge from the emergency department (ED) of patients with COVID-19 pneumonia. Objectives: The objectives of the study were to study the variables associated with discharge from the ED in patients presenting with COVID-19 pneumonia, and study ED revisits related to COVID-19 at 30 days (EDR30d). Methods: Multicenter study of the SIESTA cohort including 1198 randomly selected COVID patients in 61 EDs of Spanish medical centers from March 1, 2020, to April 30, 2020. We collected baseline and related characteristics of the acute episode and calculated the adjusted odds ratios (aOR) for ED discharge. In addition, we analyzed the variables related to EDR30d in discharged patients. Results: We analyzed 859 patients presenting with COVID-19 pneumonia, 84 (9.8%) of whom were discharged from the ED. The variables independently associated with discharge were being a woman (aOR 1.890; 95%CI 1.176-3.037), age 1200/mm(3) (aOR 4.667; 95%CI 1.045-20.839). The EDR30d of the ED discharged group was 40.0%, being lower in women (aOR 0.368; 95%CI 0.142-0.953). A total of 130 hospitalized patients died (16.8%) as did two in the group discharged from the ED (2.4%) (OR 0.121; 95%CI 0.029-0.498). Conclusion: Discharge from the ED in patients with COVID-19 pneumonia was infrequent and was associated with few variables of the episode. The EDR30d was high, albeit with a low mortality