A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE

This paper presents a spike-based control system applied to a fixed robotic platform. Our aim is to take a step forward to a future complete spikes processing architecture, from vision to direct motor actuation. This paper covers the processing and actuation layer over an anthropomorphic robot. In this way, the processing layer uses the neuro-inspired VITE algorithm, for reaching a target, based on PFM taking advantage of spike system information: its frequency. Thus, all the blocks of the system are based on spikes. Each layer is implemented within a FPGA board and spikes communication is codified under the AER protocol. The results show an accurate behavior of the robotic platform with 6-bit resolution for a 130º range per joint, and an automatic speed control of the algorithm. Up to 96 motor controllers could be integrated in the same FPGA, allowing the positioning and object grasping by more complex anthropomorphic robots.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Ministerio de Economía y Competitividad TEC2012-37868-C04-0

Towards AER VITE: building spike gate signal

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative-Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0

Neuro-Inspired Real-Time USB & PCI to AER Interfaces for Vision Processing

Address-Event-Representation (AER) is an emergent neuromorphic interchip communication protocol that allows for real-time virtual massive connectivity between huge number neurons located on different chips. By exploiting high speed digital communication circuits (with nanoseconds timings), synaptic neural connections can be time multiplexed, while neural activity signals (with mili-seconds timings) are sampled at low frequencies. When building multi-chip muti-layered AER systems it is absolutely necessary to have a computer interface that allows (a) to read AER interchip traffic into the computer and visualize it on screen, and (b) convert conventional frame-based video stream in the computer into AER and inject it at some point of the AER structure. This is necessary for test and debugging of complex AER systems. This paper describes a set of PC interfaces to neuroinspired systems, analyses the performance and power consumption. The interfaces use PCI or USB bus connections that have been developed under an EU project, where they have been tested in a stressed situation.Ministerio de Ciencia y Educación TEC2006-11730-C03-02 (SAMANTA 2)Ministerio de Ciencia y Educación TIN2006- 15617-C03-03Junta de Andalucía P06-TIC-01417Commission of the European Communities IST-2001- 3412

The Effects of Parenteral K1 Administration in Pseudoxanthoma Elasticum Patients Versus Controls. A Pilot Study

Introduction: Pseudoxanthoma elasticum (PXE) is a rare disease caused by mutations in the ABCC6 gene. Vitamin K1 is involved in the posttranslational carboxylation of some proteins related to inhibition of the calcification process. Our aim was to investigate, in patients affected by PXE, baseline levels of vitamin K1-dependent proteins and -metabolites and whether parenteral administration of phytomenadione was effective in modulating their levels. Methods: We included eight PXE patients with typical clinical symptoms (skin, retina, and vascular calcification) and two ABCC6 causative mutations; 13 clinically unaffected first-degree patients' relatives (9 carrying one ABCC6 mutation and 4 non-carriers). We assessed urinary vitamin K1 metabolites and serum Glu- and Gla-OC, Gas6 and undercaboxylated prothrombin (PIVKA-II), at baseline and after 1 and 6\u2009weeks after a single intramuscular injection of 10\u2009mg vitamin K1. Results: Comparison of PXE patients, heterozygous, and non-carriers revealed differences in baseline levels of serum MK-4 and of urinary vitamin K metabolites. The response to phytomenadione administration on vitamin K-dependent proteins was similar in all groups. Conclusion: The physiological axis between vitamin K1 and vitamin K-dependent proteins is preserved; however, differences in the concentration of vitamin K metabolites and of MK-4 suggest that vitamin K1 metabolism/catabolism could be altered in PXE patients

Identification of hereditary breast and ovarian cancer germline variants in Granada (Spain): NGS perspective

Funding for open access charge: Universidad de Granada/CBUA. Maria Molina-Zayas has been a recipient of the 2018 AEFA Post-residency Grant (Spanish Association of Clinical Laboratory) and Dr. Carmen Garrido-Navas holds a postdoctoral fellowship from the Ministry of Economy, Competitiveness, Enterprises and Universities (DOC_01682).The aim of this study was to assess the prevalence of germline variants in cancer-predisposing genes by either targeted (BRCA1/2) or multigene NGS panel in a high-risk Hereditary Breast and Ovarian Cancer (HBOC) cohort. Samples from 824 Caucasian probands were retrospectively collected and the impact of genetic diagnosis and genetic variants epidemiology in this cohort was evaluated. Performance of risk-reducing prophylactic measures, such as prophylactic mastectomy and/or prophylactic oophorectomy, was assessed through clinical follow-up of patients with a positive genetic result. Pathogenic variants predisposing to HBOC were identified in 11.9% (98/824) individuals at BRCA2 (47/98), BRCA1 (24/98), PALB2 (8/51), ATM (7/51), CHEK2 (6/51) MSH6, (2/51), RAD51C (2/51) and TP53 (2/386). Of them, 11 novel pathogenic variants and 12 VUS were identified, characterized, and submitted to ClinVar. Regarding clinical impact, the risk of developing basal or Her2 breast cancer was increased 15.7 times or 37.5 times for BRCA1 and MSH6 pathogenic variants respectively. On the contrary, the risk of developing basal or luminal A breast cancer was reduced to 81% or 77% for BRCA2 and BRCA1 pathogenic variants, respectively. Finally, 53.2% of individuals testing positive for class IV/V variants underwent prophylactic surgery (mastectomy, oophorectomy or both) being significantly younger at the cancer diagnosis than those undertaking prophylactic measures (p = 0.008). Of them, 8 carried a pathogenic/likely pathogenic variant in other genes different from BRCA1 and BRCA2, and the remaining (46.7%) decided to continue with clinical follow-up. No differences in pathogenicity or risk of developing cancer were found for BRCA1/2 between targeted and multigene sequencing strategies; however, NGS was able to resolve a greater proportion of high-risk patients.Universidad de Granada/CBUA2018 AEFA Post-residency Grant (Spanish Association of Clinical Laboratory)Ministry of Economy, Competitiveness, Enterprises and Universities DOC_0168

Preengorde de alevines de besugo (pagellus bogaraveo B.) nacidos en cautividad

Se llevó a cabo una experiencia de preengorde de besugo (Pagellus bogaraveo), para la que se utilizaron dos lotes (A y B) de alevines nacidos en cautividad. El lote A, compuesto por 800 individuos con un peso medio de 2.02 ±0.5954 g se mantuvo en condiciones de cultivo estandar (Experiencia 1 ). Con éste grupo se calculó la curva de crecimiento para ésta especie P=2,2073*eo.o2551 (R2= 0.9286), la relación talla peso P=0.019*L 3 ·1484 (R2= 0.9443) y la tasa de crecimiento diaria G= 2.65 %, para un periodo de preengorde de 100 días a partir de los aproximadamente 120 días de su nacimiento. El índice de conversión obtenido fué del 1.22 y la mortalidad 5.8%. Con el lote B, compuesto por 2000 alevines con un peso medio de 4.8±1.36g, se realizaron dos experiencias de preengorde (Experiencia 2 y 3) con una duración de 120 días a partir de los aproximadamente 135 dias de su nacimiento, modificando las condiciones estandar iniciales. En la Experiencia 2 (n= 1500) se comparó el crecimiento de los alevines sometidos a diferentes densidades de cultivo (1, 2 y 3gr/l.) y los resultados mostraron que no había diferencias significativas (P>0.005) en los pesos medios fmales alcanzados. En la Experiencia 3, los alevines (n=500) fueron sometidos a dos temperaturas diferentes ( 16± 1 oc y 19± 1 °C) y el análisis de los pesos medios finales mostró que el crecimiento de los dos grupos fué significativamente diferente (P<0.05)

Doce miradas del conflicto colombiano

Esta publicación es uno de los resultados de la concesión al Instituto de estudios internacionales y europeos Francisco de Vitoria de la Universidad Carlos III del proyecto Difusión y aplicación del Derecho internacional humanitario en Colombia, del que ha sido Investigador Principal el Prof. Carlos R. Fernández Liesa.Este libro es el resultado del proyecto de investigación Difusión y aplicación del Derecho internacional humanitario en Colombia, de la convocatoria CAP de la Agencia española de cooperación internacional (2012-2103) adscrito al Instituto de estudios internacionales y europeos Francisco de Vitoria de la Universidad Carlos III de Madrid. Esta edición ha contado con el apoyo de la Cátedra Iberoamericana Santander y de la Cátedra Mario Villarroel de Derecho internacional humanitario y de derechos humanos.Dirección de la colección, Carlos R. Fernández Liesa y Montserrat Huguet SantosEn este volumen de doce contribuciones hay cuatro de españoles, tres catedráticos de Derecho internacional (Manuel Pérez González, Antonio Pigrau y Carlos R. Fernández Liesa) y un Magistrado del Tribunal Supremo, general togado, Fernando Pignatelli. Por parte colombiana han realizado seis ponencias a cargo de profesores de Uninorte (Gabriel Orozco, Rosemary Suárez, José Luis Ramos, Roberto González Arana, Luis Fernando Trejos, Pedro Montero, Cecilia Giovanneti Lugo, Jessyka Manotas e Ivonne Molinero) y dos a cargo de importantes expertos. De un lado, Armando Borrero, profesor y antiguo Consejero de Seguridad Nacional de Colombia y, de otra, Saúl Ramírez Quesada, Presidente del Colegio de abogados de ColombiaPalabras previas / Carlos R. Fernández Liesa. -- Impacto Humanitario de la violencia armada en Colombia / Gabriel Orozco y Rosmery Suárez. -- Impacto del conflicto armado en el desempeño económico de las regiones: el caso del Caribe colombiano / José L. Ramos R. -- Derecho internacional humanitario y derechos humanos. Reflexiones sobre el conflicto colombiano / Carlos R. Fernández Liesa. -- Tipos de conflictos y aplicación del derecho internacional humanitario, con especial referencia a los conflictos armados internacionales / Manuel Pérez González. -- La crisis del derecho en los conflictos armados confusos y desregulados / Armando Borrero Mansilla. -- Nuevas perspectivas del conflicto armado colombiano / Roberto González Arana. -- La diplomacia insurgente. Otra forma de internacionalización del conflicto armado colombiano: el caso de las FARC-EP / Luis Fernando Trejos Rosero. -- La aplicación del derecho internacional humanitario en Colombia / Saúl Ramírez Quesada. -- Derechos de las víctimas en el tránsito hacia la normalización judicial (la verdad, la justicia, la reparación y las garantías de no repetición) / Pedro Montero Linares. -- La mujer y su doble condición: víctima de los conflictos internos y protagonista en los procesos de justicia transicional. El caso de Colombia / Cecilia Giovannetti Lugo, Jessyka Manota Muñoz e Ivonne Molinares Guerrero. -- El sistema de eficacia del derecho internacional humanitario, en especial la protección penal de las víctimas en los conflictos armados internos / Fernando Pignatelli y Meca. -- Colombia: la investigación pendiente de la Corte Penal Internacional / Antoni Pigrau

Adherence to Human Colon Cells by Multidrug Resistant Enterobacterales Strains Isolated From Solid Organ Transplant Recipients With a Focus on Citrobacter freundii

Enterobacteria species are common causes of hospital-acquired infections, which are associated with high morbidity and mortality rates. Immunocompromised patients such as solid organ transplant (SOT) recipients are especially at risk because they are frequently exposed to antibiotics in the course of their treatments. In this work, we used a collection of 106 Escherichia coli, 78 Klebsiella pneumoniae, 25 Enterobacter spp., and 24 Citrobacter spp. multidrug resistant strains isolated from transplant patients (hepatic, renal or renal/pancreatic) in order to examine their ability to adhere in vitro to HT-29 human colon cells, and to determine if some adhesive characteristics are associated with prevalence and persistence of these strains. A total of 33 E. coli (31%), 21 K. pneumoniae (27%), 7 Enterobacter spp. (28%), and 5 Citrobacter spp. (21%), adhered to the colon epithelial cells. Two main adherence patterns were observed in the four species analyzed, diffuse adherence, and aggregative adherence. Under transmission electronic microscopy (TEM), most bacteria lacked visible fimbria on their surface, despite their strong adherence to epithelial cells. None of the strains studied was able to induce any cytotoxic effect on HT-29 cells although some of them strongly colonizing both cells and glass coverslips at high density. Some of the strains failed to adhere to the epithelial cells but adhered strongly to the cover-slide, which shows that microscopy studies are mandatory to elucidate the adherence of bacteria to epithelial cells in vitro, and that quantitative assays using colony forming unit (CFUs) counting need to be supplemented with pictures to determine definitively if a bacterial strain adheres or not to animal cells in vitro. We report here, for the first time, the aggregative adherence pattern of two multidrug resistant (MDR) Citrobacter freundii strains isolated from human patients; importantly, biofilm formation in Citrobacter is totally dependent on the temperature; strong biofilms were formed at room temperature (RT) but not at 37°C, which can play an important role in the colonization of hospital surfaces. In conclusion, our results show that there is a great variety of adhesion phenotypes in multidrug-resistant strains that colonize transplanted patients.This research was supported by Plan Nacional de I+D+i and Instituto de Salud Carlos III (Fondo de Investigaciones Sanitarias PI13/01191 to MF and PI16/01103 to JR-V), Subdirección General de Redes y Centros de Investigación Cooperativa, Spanish Ministry of Economy and Competitiveness, Spanish Network for Research in Infectious Diseases (REIPI RD16/0016/0007, RD16/0016/0010, RD16/0016/0012, RD16/0016/0011, RD16/0016/0008, and RD16/0016/0002) co-financed by the European Development Regional Fund A way to achieve Europe ERDF, and Ministerio de Ciencia e Innovación, Acciones de dinamización ≪Redes de Investigación≫RED2018-102469-

Biofilm formation by multidrug resistant Enterobacteriaceae strains isolated from solid organ transplant recipients

Solid organ transplant (SOT) recipients are especially at risk of developing infections by multidrug resistant bacteria (MDR). In this study, the biofilm-forming capability of 209 MDR strains (Escherichia coli n = 106, Klebsiella pneumoniae n = 78, and Enterobacter spp. n = 25) isolated from rectal swabs in the first 48 hours before or after kidney (93 patients), liver (60 patients) or kidney/pancreas transplants (5 patients) were evaluated by using a microplate assay. Thirty-nine strains were isolated before transplant and 170 strains were isolated post-transplant. Overall, 16% of E. coli strains, 73% of K. pneumoniae strains and 4% Enterobacter strains showed moderate or strong biofilm production. Nine strains isolated from infection sites after transplantation were responsible of infections in the first month. Of these, 4 K. pneumoniae, 1 E. coli and 1 Enterobacter spp. strains isolated pre-transplant or post-transplant as colonizers caused infections in the post-transplant period. Our results suggest that in vitro biofilm formation could be an important factor for adhesion to intestine and colonization in MDR K. pneumoniae strains in SOT recipients, but this factor appears to be less important for MDR E. coli and Enterobacter spp.Acknowledgements: The authors thank Dr. Fidel Madrazo (Electron Microscopy Unit, Technology Support Services, IDIVAL) for helping with confocal microscopy. This research was supported by ‘Plan Nacional de I + D + i and Instituto de Salud Carlos III (Fondo de Investigaciones Sanitarias PI 13/01191 to MCF and PI 16/01103 to JRV), Subdirección General de Redes y Centros de Investigación Cooperativa, Spanish Ministry of Economy and Competitiveness, Spanish Network for Research in Infectious Diseases (REIPI RD12/0015) and (REIPI RD16/0016) co-financed by the European Development Regional Fund “A way to achieve Europe” ERDF