Simulación en tiempo real de vehículos industriales con modelos multicuerpo de gran complejidad

El objetivo de esta Tesis ha sido la consecución de simulaciones en tiempo real de vehículos industriales modelizados como sistemas multicuerpo complejos formados por sólidos rígidos. Para el desarrollo de un programa de simulación deben considerarse cuatro aspectos fundamentales: la modelización del sistema multicuerpo (tipos de coordenadas, pares ideales o impuestos mediante fuerzas), la formulación a utilizar para plantear las ecuaciones diferenciales del movimiento (coordenadas dependientes o independientes, métodos globales o topológicos, forma de imponer las ecuaciones de restricción), el método de integración numérica para resolver estas ecuaciones en el tiempo (integradores explícitos o implícitos) y finalmente los detalles de la implementación realizada (lenguaje de programación, librerías matemáticas, técnicas de paralelización). Estas cuatro etapas están interrelacionadas entre sí y todas han formado parte de este trabajo. Desde la generación de modelos de una furgoneta y de camión con semirremolque, el uso de tres formulaciones dinámicas diferentes, la integración de las ecuaciones diferenciales del movimiento mediante métodos explícitos e implícitos, hasta el uso de funciones BLAS, de técnicas de matrices sparse y la introducción de paralelización para utilizar los distintos núcleos del procesador. El trabajo presentado en esta Tesis ha sido organizado en 8 capítulos, dedicándose el primero de ellos a la Introducción. En el Capítulo 2 se presentan dos formulaciones semirrecursivas diferentes, de las cuales la primera está basada en una doble transformación de velocidades, obteniéndose las ecuaciones diferenciales del movimiento en función de las aceleraciones relativas independientes. La integración numérica de estas ecuaciones se ha realizado con el método de Runge-Kutta explícito de cuarto orden. La segunda formulación está basada en coordenadas relativas dependientes, imponiendo las restricciones por medio de penalizadores en posición y corrigiendo las velocidades y aceleraciones mediante métodos de proyección. En este segundo caso la integración de las ecuaciones del movimiento se ha llevado a cabo mediante el integrador implícito HHT (Hilber, Hughes and Taylor), perteneciente a la familia de integradores estructurales de Newmark. En el Capítulo 3 se introduce la tercera formulación utilizada en esta Tesis. En este caso las uniones entre los sólidos del sistema se ha realizado mediante uniones flexibles, lo que obliga a imponer los pares por medio de fuerzas. Este tipo de uniones impide trabajar con coordenadas relativas, por lo que la posición del sistema y el planteamiento de las ecuaciones del movimiento se ha realizado utilizando coordenadas Cartesianas y parámetros de Euler. En esta formulación global se introducen las restricciones mediante fuerzas (con un planteamiento similar al de los penalizadores) y la estabilización del proceso de integración numérica se realiza también mediante proyecciones de velocidades y aceleraciones. En el Capítulo 4 se presenta una revisión de las principales herramientas y estrategias utilizadas para aumentar la eficiencia de las implementaciones de los distintos algoritmos. En primer lugar se incluye una serie de consideraciones básicas para aumentar la eficiencia numérica de las implementaciones. A continuación se mencionan las principales características de los analizadores de códigos utilizados y también las librerías matemáticas utilizadas para resolver los problemas de álgebra lineal tanto con matrices densas como sparse. Por último se desarrolla con un cierto detalle el tema de la paralelización en los actuales procesadores de varios núcleos, describiendo para ello el patrón empleado y las características más importantes de las dos herramientas propuestas, OpenMP y las TBB de Intel. Hay que señalar que las características de los sistemas multicuerpo problemas de pequeño tamaño, frecuente uso de la recursividad, y repetición intensiva en el tiempo de los cálculos con fuerte dependencia de los resultados anteriores dificultan extraordinariamente el uso de técnicas de paralelización frente a otras áreas de la mecánica computacional, tales como por ejemplo el cálculo por elementos finitos. Basándose en los conceptos mencionados en el Capítulo 4, el Capítulo 5 está dividido en tres secciones, una para cada formulación propuesta en esta Tesis. En cada una de estas secciones se describen los detalles de cómo se han realizado las distintas implementaciones propuestas para cada algoritmo y qué herramientas se han utilizado para ello. En la primera sección se muestra el uso de librerías numéricas para matrices densas y sparse en la formulación topológica semirrecursiva basada en la doble transformación de velocidades. En la segunda se describe la utilización de paralelización mediante OpenMP y TBB en la formulación semirrecursiva con penalizadores y proyecciones. Por último, se describe el uso de técnicas de matrices sparse y paralelización en la formulación global con uniones flexibles y parámetros de Euler. El Capítulo 6 describe los resultados alcanzados mediante las formulaciones e implementaciones descritas previamente. Este capítulo comienza con una descripción de la modelización y topología de los dos vehículos estudiados. El primer modelo es un vehículo de dos ejes del tipo chasis-cabina o furgoneta, perteneciente a la gama de vehículos de carga medianos. El segundo es un vehículo de cinco ejes que responde al modelo de un camión o cabina con semirremolque, perteneciente a la categoría de vehículos industriales pesados. En este capítulo además se realiza un estudio comparativo entre las simulaciones de estos vehículos con cada una de las formulaciones utilizadas y se presentan de modo cuantitativo los efectos de las mejoras alcanzadas con las distintas estrategias propuestas en esta Tesis. Con objeto de extraer conclusiones más fácilmente y para evaluar de un modo más objetivo las mejoras introducidas en la Tesis, todos los resultados de este capítulo se han obtenido con el mismo computador, que era el top de la gama Intel Xeon en 2007, pero que hoy día está ya algo obsoleto. Por último los Capítulos 7 y 8 están dedicados a las conclusiones finales y las futuras líneas de investigación que pueden derivar del trabajo realizado en esta Tesis. Los objetivos de realizar simulaciones en tiempo real de vehículos industriales de gran complejidad han sido alcanzados con varias de las formulaciones e implementaciones desarrolladas. ABSTRACT The objective of this Dissertation has been the achievement of real time simulations of industrial vehicles modeled as complex multibody systems made up by rigid bodies. For the development of a simulation program, four main aspects must be considered: the modeling of the multibody system (types of coordinates, ideal joints or imposed by means of forces), the formulation to be used to set the differential equations of motion (dependent or independent coordinates, global or topological methods, ways to impose constraints equations), the method of numerical integration to solve these equations in time (explicit or implicit integrators) and the details of the implementation carried out (programming language, mathematical libraries, parallelization techniques). These four stages are interrelated and all of them are part of this work. They involve the generation of models for a van and a semitrailer truck, the use of three different dynamic formulations, the integration of differential equations of motion through explicit and implicit methods, the use of BLAS functions and sparse matrix techniques, and the introduction of parallelization to use the different processor cores. The work presented in this Dissertation has been structured in eight chapters, the first of them being the Introduction. In Chapter 2, two different semi-recursive formulations are shown, of which the first one is based on a double velocity transformation, thus getting the differential equations of motion as a function of the independent relative accelerations. The numerical integration of these equations has been made with the Runge-Kutta explicit method of fourth order. The second formulation is based on dependent relative coordinates, imposing the constraints by means of position penalty coefficients and correcting the velocities and accelerations by projection methods. In this second case, the integration of the motion equations has been carried out by means of the HHT implicit integrator (Hilber, Hughes and Taylor), which belongs to the Newmark structural integrators family. In Chapter 3, the third formulation used in this Dissertation is presented. In this case, the joints between the bodies of the system have been considered as flexible joints, with forces used to impose the joint conditions. This kind of union hinders to work with relative coordinates, so the position of the system bodies and the setting of the equations of motion have been carried out using Cartesian coordinates and Euler parameters. In this global formulation, constraints are introduced through forces (with a similar approach to the penalty coefficients) are presented. The stabilization of the numerical integration is carried out also by velocity and accelerations projections. In Chapter 4, a revision of the main computer tools and strategies used to increase the efficiency of the implementations of the algorithms is presented. First of all, some basic considerations to increase the numerical efficiency of the implementations are included. Then the main characteristics of the code’ analyzers used and also the mathematical libraries used to solve linear algebra problems (both with dense and sparse matrices) are mentioned. Finally, the topic of parallelization in current multicore processors is developed thoroughly. For that, the pattern used and the most important characteristics of the tools proposed, OpenMP and Intel TBB, are described. It needs to be highlighted that the characteristics of multibody systems small size problems, frequent recursion use and intensive repetition along the time of the calculation with high dependencies of the previous results complicate extraordinarily the use of parallelization techniques against other computational mechanics areas, as the finite elements computation. Based on the concepts mentioned in Chapter 4, Chapter 5 is divided into three sections, one for each formulation proposed in this Dissertation. In each one of these sections, the details of how these different proposed implementations have been made for each algorithm and which tools have been used are described. In the first section, it is shown the use of numerical libraries for dense and sparse matrices in the semirecursive topological formulation based in the double velocity transformation. In the second one, the use of parallelization by means OpenMP and TBB is depicted in the semi-recursive formulation with penalization and projections. Lastly, the use of sparse matrices and parallelization techniques is described in the global formulation with flexible joints and Euler parameters. Chapter 6 depicts the achieved results through the formulations and implementations previously described. This chapter starts with a description of the modeling and topology of the two vehicles studied. The first model is a two-axle chassis-cabin or van like vehicle, which belongs to the range of medium charge vehicles. The second one is a five-axle vehicle belonging to the truck or cabin semi-trailer model, belonging to the heavy industrial vehicles category. In this chapter, a comparative study is done between the simulations of these vehicles with each one of the formulations used and the improvements achieved are presented in a quantitative way with the different strategies proposed in this Dissertation. With the aim of deducing the conclusions more easily and to evaluate in a more objective way the improvements introduced in the Dissertation, all the results of this chapter have been obtained with the same computer, which was the top one among the Intel Xeon range in 2007, but which is rather obsolete today. Finally, Chapters 7 and 8 are dedicated to the final conclusions and the future research projects that can be derived from the work presented in this Dissertation. The objectives of doing real time simulations in high complex industrial vehicles have been achieved with the formulations and implementations developed

High Performance Algorithms and Implementations Using Sparse and Parallelization Techniques on MBS

In this paper we will see how the efficiency of the MBS simulations can be improved in two different ways, by considering both an explicit and implicit semi-recursive formulation. The explicit method is based on a double velocity transformation that involves the solution of a redundant but compatible system of equations. The high computational cost of this operation has been drastically reduced by taking into account the sparsity pattern of the system. Regarding this, the goal of this method is the introduction of MA48, a high performance mathematical library provided by Harwell Subroutine Library. The second method proposed in this paper has the particularity that, depending on the case, between 70 and 85% of the computation time is devoted to the evaluation of forces derivatives with respect to the relative position and velocity vectors. Keeping in mind that evaluating these derivatives can be decomposed into concurrent tasks, the main goal of this paper lies on a successful and straightforward parallel implementation that have led to a substantial improvement with a speedup of 3.2 by keeping all the cores busy in a quad-core processor and distributing the workload between them, achieving on this way a huge time reduction by doing an ideal CPU usag

Diferenciación automática de fuerzas en la integración implícita de sistemas multicuerpo

La diferenciación automática es una herramienta informático-matemática muy potente para calcular cualquier tipo de derivadas de funciones. Entre sus ventajas respecto a otras formas de calcular derivadas están su precisión, su eficiencia y su sencillez de implementación. Este artículo trata sobre la implementación de esta técnica en un algoritmo de simulación dinámica de sistemas multicuerpo. Concretamente, se aplica a un integrador implícito que resuelve las ecuaciones diferenciales del movimiento planteadas de forma semirecursiva. Para ello, se ha elegido la librería ADOL-C, que trabaja por sobrecarga de operadores. Los fundamentos de la diferenciación automática, así como la base matemática de la formulación y del integrador implícito, son explicados con cierto detalle. Finalmente, se comparan la diferenciación automática y la diferenciación numérica desde el punto de vista de la eficiencia, y se estudia la influencia que tiene el tamaño del sistema multicuerpo en los tiempos de cálculo de la simulación. En suma, se ofrece una interesante perspectiva para la optimización del cálculo de sistemas multicuerpo y el desarrollo de algoritmos eficientes, así como una posible implementación de la diferenciación automática en el campo de los sistemas multicuerpo

Identification of carbon black in military textiles using infrared imaging techniques

The carbon black has been used in military fabrics to comply with the color requirements and infrared radiation lessen- ing criteria. Currently, military industries don’t distinguish between fabrics with carbon black fibers or with carbon black into dyes or prints. The latter initially allows us to comply with the color specifications in the visible and infrared, but fabrics are degraded with use losing that initial capacity. The inclusion of carbon black in the fiber gets that the fab- ric doesn’t degrade with the wear, washed and dried, ensuring the accomplishment of the specifications all the time. The use of infrared imaging will allow us to define a method to discriminate those textiles with carbon black in their fibers from those which are dyed or printed

Plasma rico en plaquetas y plasma gel en cicatrización por segunda intención en conejos

Objective. The objective of the research was to evaluate the effect of platelet rich plasma and plasma gel on wound healing by secondary intention in rabbits. Methodology. Eight rabbits (Oryctolagus cuniculi) between 12 and 24 months of age, apparently healthy, male, and female, weighing between 3,5 and 4,5kg were used to which 3 wounds of 2 cm in diameter, assigning a different type of treatment for each one: Treatment 1 (T1): placebo as control; Treatment 2 (T2): platelet rich plasma; Treatment 3 (T3): plasma gel. Biopsies were performed on days 7, 14 and 21 after starting treatment to assess the degree of inflammation, re-epithelialization, neovascularization, collagen deposition, fibroplasia, bacterial contamination, and fungal contamination. Results. On day seven of starting the treatments, a significant increase in the degree of inflammation of the T1 lesions was obtained. On day fourteen the collagen deposition values were statistically higher for T3. At day 7 and 14, fibroplasia was higher for T2 and T3 compared to T1. Conclusions. Wounds treated by secondary intention with platelet rich plasma and plasma gel improve, between 7 and 15 days of treatment, reducing the degree of inflammation and increasing collagen deposition compared to placebo treatment. Between the use of platelet rich plasma and plasma gel, better results were obtained for wounds treated with plasma gel, especially on day fifteen after starting the treatments. Area of study: veterinary medicine, animal health, dermatology.Objetivo. El objetivo de la investigación fue evaluar el efecto del plasma rico en plaquetas y plasma gel en cicatrización de heridas por segunda intención en conejos. Metodología.  Se utilizó 8 conejos (Oryctolagus cuniculi) de entre 12 a 24 meses de edad, aparentemente sanos, machos y hembras, con un peso de entre 3.5 a 4.5 kg, a los cuales se realizó 3 heridas de 2 cm de diámetro, asignando un diferente tipo de tratamiento a cada una: Tratamiento 1 (T1): plasma gel; Tratamiento 2 (T2): plasma rico en plaquetas; Tratamiento 3 (T3): placebo como control. Se realizaron biopsias a los días 7, 14 y 21 de iniciado el tratamiento para valorar el grado de inflamación, reepitelización, neovascularización, depósito de colágeno, fibroplasia, contaminación bacteriana y contaminación fúngica. Resultados. Al día 7 de iniciados los tratamientos se obtuvo un incremento significativo en el grado de inflamación de las lesiones de T1. Para el día 14 los valores de depósito de colágeno fueron estadísticamente mayores para T3. Al día 7 y 14 la fibroplasia fue mayor para T2 y T3 en comparación a T1.  Conclusiones. Las heridas tratadas por segunda intención con el uso plasma rico en plaquetas y plasma gel mejoran entre los 7 a 15 días de tratamiento, reduciendo el grado de inflamación y aumentando el depósito de colágeno en comparación a tratamientos placebo. Entre el uso de Plasma rico en plaquetas y Plasma gel se obtuvieron mejores resultados de los parámetros de cicatrización para las heridas tratadas con Plasma gel, sobre todo al día 15 de iniciado los tratamientos. Área de estudio: medicina veterinaria, salud animal, dermatología

Learning challenges in the teaching of Urbanism in Spain, results after the Bologna Process

This paper aims to address the challenges faced by the training in urban and territorial planning in the Spanish Schools of Architecture after the adjustment of the Bachelor of Architecture to the European Higher Education Area (Bologna Process).Architecture is a regulated profession; graduates have access to an enabling degree where professional competence acquires an internationalised global dimension today. But Architecture, compared to newly created degrees, drags centuries-old training baggage, which has been trying to adapt to the changes with the times. Thus, while Engineering -the other main degree of the branch of knowledge Engineering and Architecture- has chosen to specialise, unfold and multiply in a great diversity of university degrees, Spanish professional architectural associations decided to maintain a unique title. Urban planning is one of the specific competences of the architecture degree in Spain, but not in other European countries such as France. The research will start by analysing what has been the training trajectory in urban and territorial planning in Spain, since the creation of the first Chair of Urbanism at the School of Architecture of Madrid in 1918, until nowadays. In parallel, we will revise the new professional competences involved in the matter. The curriculum of 1932 introduces the subject Urbanology, replacing the matter Layout, Urbanisation and Sanitation of Cities of the Plan of 1914. It was the only subject related to the topic until 1957. This new plan proposed basic training of two urbanistic courses, together with an optional choice for a speciality itinerary in the fifth academic year: Urbanism Section. These successive revisions of the curriculum in 1964 and 1975 maintained and developed this speciality.From the restructuring of 90s (RD 4/1994) the teaching offer of the already numerous Schools of Architecture was diversified, through the offer of optional subjects. In addition to the two core subjects of city planning, and therefore shared in all the degrees, many centres continued to offer specific routes or itineraries concerning city and territory.The conclusions of this retrospective analysis will be confronted with the competences currently required in urban planning, through the revision of the present regulatory framework. We will consider the European guidelines and the specific competence content included in the White Paper on Architectural Education for the urban profile. In this sense, the revision of different Spanish Schools of Architecture will be approached, confronting them with educational references in urbanism of other European contexts.Among the expected results, we can point out that in opposition to the diversification experienced by other disciplines, the training in Architecture has maintained the generalist and integrative character despite the general content reduction that has led to the redefinition of the degree as a consequence of the Bologna Process.In this context, not only the competence deficit is evident compared to previous curriculums, but it is also difficult to guarantee that the architecture students' learning responds to the new professional demands at a time when urban and territorial planning is in redefinition. Ultimately, the communication aims to reflect on the past and present of the teaching of urbanism in Spain to reflect on the challenges that its training must address in the near future

Physical activity, sedentary time, and fitness in relation to brain shapes in children with overweight/obesity: Links to intelligence

Funding information Additional support was obtained from the Alicia Koplowitz Foundation (grant number, ALICIAK-2018), University of Granada, Plan Propio de Investigación 2016, Excellence actions: Units of Excellence, Unit of Excellence on Exercise and Health (UCEES), the Junta de Andalucía, Consejería de Conocimiento, Investigación y Universidades; and under the umbrella of the European Union's Horizon 2020 research and innovation programme (grant number, 667302); the SAMID III network, RETICS, funded by the; C.C.-S. is supported by a grant from the Spanish Ministry of Science and Innovation (grant number, FJC2018-037925-I) and by a grant from the European Union’s Horizon 2020 research and innovation programme under the Marie Sklodowska Curie grant agreement No 101028929.; IEC is supported by the Spanish Ministry of Science and Innovation (grant number, RYC2019-027287-I).; J.H.M. is supported by the Spanish Ministry of Education, Culture and Sport (grant number, FPU15/02645) and by the Swedish Research Council for Health, Working Life and Welfare (2012–00036).; J.V.-R. is supported by the Spanish Ministry of Science, Innovation and Universities (grant numbers, FJCI-2017-33396 & IJC2019-041916-I).; This project was funded by the Spanish Ministry of Economy and Competitiveness and the “Fondo Europeo de Desarrollo Regional (FEDER)” (grant numbers, DEP2013-47540, DEP2016-79512-R, DEP2017-91544-EXP, and RYC- 2011-09011)Objectives: To examine the association between physical activity, sedentary time, and physical fitness with the shapes of subcortical brain structures in children with overweight/obesity. Further, we analyzed whether differences in the shapes of subcortical brain structures were related to intelligence. We hypothesized that those children with higher physical activity levels, lower sedentary time, and better fitness, would show greater expansion of the brain regions analyzed, and these expansions would be associated with higher intelligence. Study design: 100 children (10.0 ± 1.1 years, 40 girls) were included in the analyses. Physical activity and sedentary time were measured by accelerometry, and physical fitness was evaluated by a fitness battery. Shapes of subcortical brain structures were assessed by magnetic resonance imaging. Intelligence was measured by the Kaufmann Brief Intelligence test. Results: Physical activity was related to expansion of the right/left pallidum, right/left putamen, and right thalamus (p < 0.05). Higher sedentary time was related to contraction of the left thalamus and right nucleus accumbens (p < 0.05). Higher levels of cardiorespiratory fitness were associated with expansion of the right amygdala (p = 0.022). Greater strength in the upper-limb was related to expansion of the right/left pallidum and the left nucleus accumbens (p < 0.038), and contraction of the left amygdala (p = 0.030). Better speed-agility was associated with expansion of the left nucleus accumbens (p = 0.036). Physical activity- and fitness-related expansion of the right pallidum was associated with higher intelligence (all p < 0.05). Conclusion: Physical activity, sedentary time, and physical fitness were significantly related to the shapes of subcortical brain structures, which in turn were related to intelligence in children with overweight/obesity. Keywords: brain shapes; cardiorespiratory fitness; cognitive performance; gray matter; moderate-to-vigorous; muscular strength; sedentarism; speed-agility.Alicia Koplowitz Foundation (grant number, ALICIAK-2018)University of Granada, Plan Propio de Investigación 2016Excellence actions: Units of Excellence, Unit of Excellence on Exercise and Health (UCEES), the Junta de Andalucía, Consejería de Conocimiento, Investigación y UniversidadesEuropean Union's Horizon 2020 research and innovation programme (grant number, 667302)SAMID III network, RETICSSpanish Ministry of Science and Innovation (grant number, FJC2018-037925-I)European Union’s Horizon 2020 research and innovation programme under the Marie Sklodowska Curie grant agreement No 101028929Spanish Ministry of Science and Innovation (grant number, RYC2019-027287-I)Spanish Ministry of Education, Culture and Sport (grant number, FPU15/02645)Swedish Research Council for Health, Working Life and Welfare (2012–00036)Spanish Ministry of Science, Innovation and Universities (grant numbers, FJCI-2017-33396 & IJC2019-041916-I)Spanish Ministry of Economy and Competitiveness and the “Fondo Europeo de Desarrollo Regional (FEDER)” (grant numbers, DEP2013-47540, DEP2016-79512-R, DEP2017-91544-EXP, and RYC- 2011-09011)Funding for open access charge: Universidad de Granada/CBU

Cultural Heritage Preservation Policies and Citizen Participation. Medium-sized cities in Andalusia. The case of Antequera (Malaga-Spain)

This poster has been developed under the R&D project entitled Caracterización Urbano Patrimonial y Modelo Turístico Cultural en Ciudades Medias. Potencialidades y Retos para su Internacionalización: Bética Interior [Urban Heritage Characterization and Cultural Tourism Model in Medium-Sized Cities. Potentialities and Challenges for its Internationalization: Inner Baetica], funded by the competitive call of the State Plan 2013-2016 Excellence - R&D Projects of the Ministry of Economy and Competitiveness of the Government of Spain (HAR2016-79788-P)

The Many Axes of Deer Lactation

In undomesticated animals information about the production and composition of milk over time is still scarce. In general, for most mammals it is known that milk composition changes across lactation, is different for male and female offspring, and even that marsupials, such as kangaroos, can simultaneously produce milk of different compositions for young of different ages. Such parallel milk production of differing compositions has not yet been studied in single-offspring placental mammals, but may help to explain behavioural processes like allosuckling (feeding the young of other adults) and lateralized suckling preferences. In this study we analysed the production and composition of milk in red deer throughout the lactation period and now confirm for the first time that there are axial differences present. The front teats, which are the favoured suckling positions of the deer?s offspring, produce milk with a greater protein-to-fat ratio. Also, from the beginning of lactation the yield is greater on the left side, the side preferred by calves in all of the studied species, both at population and individual level. The links between milk production and calf behaviour in deer deserve further stud

Enhanced anti-tumour immunity requires the interplay between resident and circulating memory CD8(+) T cells

The goal of successful anti-tumoural immunity is the development of long-term protective immunity to prevent relapse. Infiltration of tumours with CD8(+) T cells with a resident memory (Trm) phenotype correlates with improved survival. However, the interplay of circulating CD8(+) T cells and Trm cells remains poorly explored in tumour immunity. Using different vaccination strategies that fine-tune the generation of Trm cells or circulating memory T cells, here we show that, while both subsets are sufficient for anti-tumour immunity, the presence of Trm cells improves anti-tumour efficacy. Transferred central memory T cells (Tcm) generate Trm cells following viral infection or tumour challenge. Anti-PD-1 treatment promotes infiltration of transferred Tcm cells within tumours, improving anti-tumour immunity. Moreover, Batf3-dependent dendritic cells are essential for reactivation of circulating memory anti-tumour response. Our findings show the plasticity, collaboration and requirements for reactivation of memory CD8(+) T cells subsets needed for optimal tumour vaccination and immunotherapy.We are grateful to N. Anandasabapathy, J. Pardo and members of the D.S. lab for discussions and critical reading of the manuscript. We also thank R.A. Mota for the contribution to the development of animal models. We thank the CNIC facilities, personnel and to K. McCreath for editorial assistance. We are indebted to all the scientists who have shared reagents with us, as indicated in Methods. M.E. is the recipient of a CNIC International PhD Programme fellowship `La Caixa'-Severo Ochoa, 2013 Call (OSLC-CNIC-2013-04). S.I. is funded by grant SAF2015-74561-JIN. I. M. is supported by Asociacion Espanola contra el Cancer and Fundacion BBVA. A.H. is funded by the Spanish Ministry of Economy, Industry and Competitiveness (MEIC) and European Fund for Regional Development (FEDER) (SAF2015-65607-R). D.S. lab is funded by the MEIC and FEDER (SAF-2013-42920-R and SAF-2016-79040-R), and the Fondation ACTERIA. D.S. and I. M. lab are funded by the European Commission (635122-PRO-CROP H2020). D.S. and A.H. lab are funded by the CNIC. The CNIC is supported by the MEIC and the Pro CNIC Foundation, and is a Severo Ochoa Center of Excellence (SEV-2015-0505).S