A bottom-up robot architecture based on learnt behaviors driven design

Draft previo a la revisión. El artículo definitivo tiene derechos de autor.In reactive layers of robotic architectures, behaviors should learn their operation from experience, following the trends of modern intelligence theories. A Case Based Reasoning (CBR) reactive layer could allow to achieve this goal but, as complexity of behaviors increases, thecurse of dimensionality arises: a too high amount of cases in the behaviors casebases deteriorate response times so robot's reactiveness is finally too slow for a good performance. In this work we analyze this problem and propose some improvements in the traditional CBR structure and retrieval phase, at reactive level, to reduce the impact of scalability problems when facing complex behaviors design.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Reciprocal regulation between the molecular clock and kidney injury

Molecular clock; Kidney injuryRellotge molecular; Lesió renalReloj molecular; Lesión renalTubulointerstitial fibrosis is the common pathological substrate for many etiologies leading to chronic kidney disease. Although perturbations in the circadian rhythm have been associated with renal disease, the role of the molecular clock in the pathogenesis of fibrosis remains incompletely understood. We investigated the relationship between the molecular clock and renal damage in experimental models of injury and fibrosis (unilateral ureteral obstruction, folic acid, and adenine nephrotoxicity), using genetically modified mice with selective deficiencies of the clock components Bmal1, Clock, and Cry. We found that the molecular clock pathway was enriched in damaged tubular epithelial cells with marked metabolic alterations. In human tubular epithelial cells, TGFβ significantly altered the expression of clock components. Although Clock played a role in the macrophage-mediated inflammatory response, the combined absence of Cry1 and Cry2 was critical for the recruitment of neutrophils, correlating with a worsening of fibrosis and with a major shift in the expression of metabolism-related genes. These results support that renal damage disrupts the kidney peripheral molecular clock, which in turn promotes metabolic derangement linked to inflammatory and fibrotic responses.This work was supported by grants from the Ministerio de Ciencia e Innovación PID2019-104233RB-100/AEI/10.13039/501100011033 (S Lamas), Instituto de Salud Carlos III REDinREN RD12/0021/0009 and RD16/0009/0016 (S Lamas), Comunidad de Madrid “NOVELREN” B2017/BMD-3751 and INNOREN P2022/BMD-7221 (S Lamas and C Barbas), and Fundación Renal “Iñigo Alvarez de Toledo” (S Lamas), all from Spain. C Rey-Serra has been the recipient of an FPI research training contract from the Spanish Research State Agency (BES-2016-076735). The CBMSO receives institutional support from Fundación “Ramón Areces.” We acknowledge the laboratories of Fernando Rodríguez Pascual (CBMSO) for helping with plasmid constructions and of Marta Ruiz‐Ortega at the Fundación Jiménez Díaz for helping with immunohistochemistry. We also acknowledge the help of the following facilities of the CBMSO: animal housing, flow cytometry, and confocal and electron microscopy

Diabetes-specific enteral nutrition formula in hyperglycemic, mechanically ventilated, critically ill patients: a prospective, open-label, blind-randomized, multicenter study

Introduction: Although standard enteral nutrition is universally accepted, the use of disease-specific formulas for hyperglycemic patients is still controversial. This study examines whether a high-protein diabetes-specific formula reduces insulin needs, improves glycemic control and reduces ICU-acquired infection in critically ill, hyperglycemic patients on mechanical ventilation (MV). Methods: This was a prospective, open-label, randomized (web-based, blinded) study conducted at nine Spanish ICUs. The patient groups established according to the high-protein formula received were: group A, newgeneration diabetes-specific formula; group B, standard control formula; group C, control diabetes-specific formula. Inclusion criteria were: expected enteral nutrition >= 5 days, MV, baseline glucose > 126 mg/dL on admission or > 200 mg/dL in the first 48 h. Exclusion criteria were: APACHE II = 40 kg/m(2). The targeted glucose level was 110-150 mg/dL. Glycemic variability was calculated as the standard deviation, glycemic lability index and coefficient of variation. Acquired infections were recorded using published consensus criteria for critically ill patients. Data analysis was on an intention-to-treat basis. Results: Over a 2-year period, 157 patients were consecutively enrolled (A 52, B 53 and C 52). Compared with the standard control formula, the new formula gave rise to lower insulin requirement (19.1 +/- 13.1 vs. 23.7 +/- 40.1 IU/day, p < 0.05), plasma glucose (138.6 +/- 39.1 vs. 146.1 +/- 49.9 mg/dL, p < 0.01) and capillary blood glucose (146.1 +/- 45.8 vs. 155.3 +/- 63.6 mg/dL, p < 0.001). Compared with the control diabetes-specific formula, only capillary glucose levels were significantly reduced (146.1 +/- 45.8 vs. 150.1 +/- 41.9, p < 0.01). Both specific formulas reduced capillary glucose on ICU day 1 (p < 0.01), glucose variability in the first week (p < 0.05), and incidences of ventilator-associated tracheobronchitis (p < 0.01) or pneumonia (p < 0.05) compared with the standard formula. No effects of the nutrition formula were produced on hospital stay or mortality. Conclusions: In these high-risk ICU patients, both diabetes-specific formulas lowered insulin requirements, improved glycemic control and reduced the risk of acquired infections relative to the standard formula. Compared with the control-specific formula, the new-generation formula also improved capillary glycemia

Ultrasound/Elastography Techniques, Lipidomic and Blood Markers Compared to Magnetic Resonance Imaging in non-Alcoholic Fatty Liver Disease Adults

Introduction: Non-alcoholic fatty liver disease (NAFLD) may progress to steatohepatitis, cirrhosis and complicated hepatocellular carcinoma with defined differential symptoms and manifestations. Objective: To evaluate the fatty liver status by several validated approaches and to compare imaging techniques, lipidomic and routine blood markers with magnetic resonance imaging in adults subjects with non-alcoholic fatty liver disease. Materials and methods: A total of 127 overweight/obese with NAFLD, were parallelly assessed by Magnetic Resonance Imaging (MRI), ultrasonography, transient elastography and a validated metabolomic designed test to diagnose NAFLD in this cross-sectional study. Body composition (DXA), hepatic related biochemical measurements as well as the Fatty Liver Index (FLI) were evaluated. This study was registered as FLiO: Fatty Liver in Obesity study; NCT03183193. Results: The subjects with more severe liver disease were found to have worse metabolic parameters. Positive associations between MRI with inflammatory and insulin biomarkers were found. A linear regression model including ALT, RBP4 and HOMA-IR was able to explain 40.9% of the variability in fat content by MRI. In ROC analyses a combination panel formed of ALT, HOMA-IR and RBP4 followed by ultrasonography, ALT and metabolomic test showed the major predictive ability (77.3%, 74.6%, 74.3% and 71.1%, respectively) for liver fat content. Conclusions: A panel combination including routine blood markers linked to insulin resistance showed highest associations with MRI considered as a gold standard for determining liver fat content. This combination of tests can facilitate the diagnosis of early stages of non-alcoholic liver disease thereby avoiding other invasive and expensive method

Larval development of the pea crab Afropinnotheres monodi Manning, 1993 (Decapoda, Pinnotheridae) using plankton-collected and laboratory-reared specimens: effects of temperature

The aim of this study was to assess the effect of temperature on the survival and duration of larval development in the African pea crab Afropinnotheres monodi, as well as to describe its larval stages. We studied larvae reared in the laboratory and also specimens collected from plankton from the Gulf of Cádiz at two different temperatures. According to the results of this study, larval development of A. monodi involves four zoea stages and one megalopa and lasts around 25 days at 25°C, and longer than 40 days at 19°C. Such a temperature-related duration of this dispersive phase may be causing a higher recruitment to parental populations during the summer, but a higher dispersal to new locations during the rest of the year, a seasonal pattern of dispersion which could favour the successful expansion of this non-native species into European waters. The identification of both larval phases from plankton samples and adult specimens was carried out using morphological characters and molecular techniques. Both the 16S mtDNA sequences of this species, now available in GenBank, and the larval descriptions provided by this study could help to establish an early alert for the detection of this African species in its northward expansion

Liver transplantation in cirrhotic patients with diabetes mellitus: Midterm results, survival, and adverse events

Liver cirrhosis is frequently associated with diabetes mellitus (DM), and this metabolic complication is also frequent after orthotopic liver transplantation (OLT). The aim of our study is to investigate which factors are associated with DM before and after OLT and their impact on post-OLT evolution. We evaluated the prevalence of DM among 115 liver transplant candidates with cirrhosis and assessed their evolution after OLT (median follow-up, 41 months). Sixteen candidates had DM requiring pharmacological therapy (group A), 45 candidates had DM controlled with diet (group B), and 54 candidates did not have DM (group C). One-year and 3-year actuarial survival rates were 100% and 100% for group A, 91% and 85% for group B, and 77% and 74% for group C, respectively (P <.03). Post-OLT DM was more frequent in group A. The incidence of other metabolic complications, major infections, rejection, and arterial hypertension; the need for hospitalization; and renal and graft function of patients in groups A, B, and C were similar. The only risk factor for DM 1 year after OLT on multivariate analysis was pre-OLT DM requiring pharmacological treatment. The incidence of complications, need for hospitalization, and renal and graft function 1 year after OLT for patients with post-OLT DM were similar to those of patients without post-OLT DM. In conclusion, patients with cirrhosis who have DM have a greater risk for post-OLT DM, but their midterm survival is not worse than the survival of those without DM

Taylor-made aerogels through a freeze-drying process: economic assessment

Polymer aerogels reinforced with carbon nanofibers and alumina aerogels reinforced with hydroxyethyl-cellulose have been successfully synthesized by means of a pilot plant freeze-drying process. Their main physicochemical properties have been measured and compared, and their production costs have been computed. The SWOT matrix of the process has been determined from internal and external analyses, revealing the interest of these products as building insulation materials and the need of establishing a detailed economic analysis. A homemade Excel-VBA application was designed in order to determine the economic parameters of the freeze-drying process. As a consequence of the total economic and physicochemical analysis, it was concluded that the production of aerogels reinforced with hydroxyethyl-cellulose could only be recommended if they are used as an insulating material in buildings with higher thermal stability requirements.Se han sintetizado con éxito aerogeles poliméricos reforzados con nanofibras de carbono y aerogeles de alúmina reforzados con hidroxietilcelulosa mediante un proceso de liofilización en planta piloto. Se han medido y comparado sus principales propiedades fisicoquímicas y se han calculado sus costes de producción. La matriz DAFO del proceso se ha determinado a partir de análisis internos y externos, revelando el interés de estos productos como materiales aislantes para la construcción y la necesidad de establecer un análisis económico detallado. Se diseñó una aplicación Excel-VBA casera para determinar los parámetros económicos del proceso de liofilización. Como consecuencia del análisis económico y fisicoquímico tota

Metodología aplicada en el estudio del desarrollo del lenguaje en niños con detección temprana de la hipoacusia neonatal

Producción CientíficaDado que el potencial discapacitante que causa la deficiencia auditiva neonatal disminuye con una detección e intervención tempranas, hemos elaborado un proyecto de investigación, con el que nos proponemos conocer el grado de desarrollo del lenguaje de los niños y niñas que procedentes del cribado auditivo universal, han sido diagnosticados/as por nosotros de hipoacusia prelingual en estos últimos 15 años y analizar las variables determinantes y las que son modificables. El objeto de esta comunicación consistirá en presentar la metodología que vamos a utilizar. Método: Partimos de los datos almacenados en nuestro Servicio de ORL, que comprende a 282 niños con hipoacusia. Hemos tenido la oportunidad de crear un grupo de investigación en el que coincidimos especialistas de la audición infantil y del lenguaje, por lo que contamos con medios suficientes para el estudio. Resultados: Describimos los elementos que configuran este proyecto, en relación al equipo de trabajo y a su desarrollo. Tras aplicar unos criterios de exclusión/inclusión, hemos seleccionado a un grupo de 45 niños entre 3 y 15 años, definiendo sus características auditivas. Mediante pruebas específicas, adaptadas a la edad, estudiaremos los diferentes aspectos del lenguaje; y a través Rev. ORL, 20xx, x x de una entrevista estructurada realizada a los padres, intentaremos determinar las variables que influyen en el proceso re-habilitador. Finalmente, los datos serán analizados estadísticamente. Discusión: La variabilidad y la escasa prevalencia de la hipoacusia infantil, dificultan la realización de estudios con población suficiente para obtener resultados estadísticamente significativos. Sin embargo, creemos que el grupo de niños seleccionado y la metodología utilizada nos permitirán conocer mejor las variables influyentes en el desarrollo del lenguaje. Conclusiones: El programa de cribado auditivo universal ha permitido una intervención más precoz, lo que debería mejorar los niveles de lenguaje de los niños detectados/as con hipoacusia. Aunque el desarrollo normalizado de la comunicación depende de otros factores difíciles de determinar, a través del protocolo presentado pretendemos equiparar estos resultados, validando el proceso de cribado/diagnóstico e intervención de nuestro medio.Universidad de Valladoli

Proposal of New Safety Limits for In Vivo Experiments of Magnetic Hyperthermia Antitumor Therapy

Background: Lately, major advances in crucial aspects of magnetic hyperthermia (MH) therapy have been made (nanoparticle synthesis, biosafety, etc.). However, there is one key point still lacking improvement: the magnetic field-frequency product (H × f = 4.85 × 108 Am−1s−1) proposed by Atkinson–Brezovich as a limit for MH therapies. Herein, we analyze both local and systemic physiological effects of overpassing this limit. Methods: Different combinations of field frequency and intensity exceeding the Atkinson–Brezovich limit (591–920 kHz, and 10.3–18 kA/m) have been applied for 21 min to WAG/RijHsd male rats, randomly distributed to groups of 12 animals; half of them were sacrificed after 12 h, and the others 10 days later. Biochemical serum analyses were performed to assess the general, hepatic, renal and/or pancreatic function. Results: MH raised liver temperature to 42.8 ± 0.4 °C. Although in five of the groups the exposure was relatively well tolerated, in the two of highest frequency (928 kHz) and intensity (18 kA/m), more than 50% of the animals died. A striking elevation in liver and systemic markers was observed after 12 h in the surviving animals, independently of the frequency and intensity used. Ten days later, liver markers were almost recovered in all of the animals. However, in those groups exposed to 591 kHz and 16 kA/m, and 700 kHz and 13.7 kA/m systemic markers remained altered. Conclusions: Exceeding the Atkinson–Brezovich limit up to 9.59 × 109 Am−1s−1 seems to be safe, though further research is needed to understand the impact of intensity and/or frequency on physiological conditions following MH.This research was funded by Basque Country Government (grant number IT-1005-16)