Simulación de procesos de producción robotizados mediante el programa Robotstudio

El proyecto fin de carrera está encuadrado dentro del proyecto colaborativo de investigación europeo ManuBuild, adscrito al Sexto Programa Marco de la Comisión Europea, que tiene una duración de 4 años (2005-2009). El proyecto aborda el posible cambio en la filosofía de la construcción del enfoque actual a un proceso más integrado, abierto, eficiente y seguro teniendo como línea básica el paso a la industrialización de todo el proceso. Este documento se divide principalmente en tres bloques: • Bloque de introducción y bases teóricas: En este bloque se presentan las líneas básicas del proyecto fin de carrera, su organización y esquema, así como el fondo teórico en que se sustenta el mismo. Los capítulos que comprende son: - Introducción: Motivación y esquema del proyecto. - Industrialización de la construcción: Aspectos generales del concepto de industrialización en la construcción, presentación del proyecto ManuBuild y descripción de la Factoría Móvil, el Service Core y los robots industriales. - Estado del arte: Estado del arte en softwares de simulación de robots. • Bloque principal de desarrollo del proyecto: En este bloque se explica con detalle el desarrollo de la simulación con el software elegido y se realiza una verificación del proceso de transferencia de programas del software al robot físico. A continuación se comentan las conclusiones y los futuros pasos a realizar. Contiene los capítulos: - Implementación en RobotStudio: Introducción al programa, metodología de desarrollo, proceso de programación y simulación de una estación y desarrollo de un modelo para probar la transferencia software-robot físico. - Conclusiones y trabajos futuros. • Bloque de documentación y referencias: En este bloque se muestran todos los anexos que complementan al proyecto, así como todas las referencias y bibliografía considerada en el desarrollo del mismo. Los capítulos que lo componen son: - Bibliografía y referencias: Conjunto de literatura consultada en el desarrollo del proyecto y referencias relevantes. - Anexos: Recopilación de documentos que sirven de apoyo al desarrollo del proyecto. Incluye un glosario de términos comunes en robótica y/o usados en el presente documento, índice de figuras, y programas de rapid.Ingeniería Industria

Historia natural y comportamiento epidemiológico del cáncer de próstata en la República de Panamá, años 1984-1989

Objetivos generales: Describir la historia natural y el comportamiento epidemiológico del cáncer de próstata en la República de Panamá. Determinar los posibles factores de riesgo asociados al desarrollo del cáncer de próstata. Objetivos específicos: Describir la historia natural del cáncer de próstata en base a los conocimientos médicos existentes en la literatura. Analizar la tendencia de las tasas de incidencia del cáncer de próstata por años en el periodo comprendido de 1974 a 1989. Determinar la tendencia de las tasas de incidencias del cáncer de próstata, según año, provincia, edad, y diagnóstico histopatológico en el periodo de 1984-89. Comparar las tasas de mortalidad por tumores malignos en la República de Panamá en el periodo de 1984-89. Comparar las tasas de mortalidad por tumores malignos en el hombre en el periodo de 1984- 89. Analizar las tendencia de la tasas de mortalidad por cáncer de próstata en el periodo de 1984-89. Analizar la tendencia de las tasas de mortalidad del cáncer de próstata según año, provincia, edad, y diagnóstico histopatológico en el periodo de 1984-89. Describir el cuadro clínico de los pacientes con diagnóstico histopatológico de cáncer de próstata que recibieron atención médica en el Complejo Hospitalario Dr. R.A.H., en periodo 1984-89

Estabilidad estructural de los campos de Morse - Smale

Demuestra que un campo de Morse - Smale, definida en una variedad compacta de dimensión dos, es estructuralmente estable, esto es, que el comportamiento topológico de sus órbitas no se altera mediante pequeñas perturbaciones del campo

CAR T cells for T-cell leukemias: Insights from mathematical models

Immunotherapy has the potential to change the way all cancer types are treated and cured. Cancer immunotherapies use elements of the patient immune system to attack tumor cells. One of the most successful types of immunotherapy is CAR-T cells. This treatment works by extracting patient's T-cells and adding to them an antigen receptor allowing tumor cells to be recognized and targeted. These new cells are called CAR-T cells and are re-infused back into the patient after expansion in-vitro. This approach has been successfully used to treat B-cell malignancies (B-cell leukemias and lymphomas). However, its application to the treatment of T-cell leukemias faces several problems. One of these is fratricide, since the CAR-T cells target both tumor and other CAR-T cells. This leads to nonlinear dynamical phenomena amenable to mathematical modeling. In this paper we construct a mathematical model describing the competition of CAR-T, tumor and normal T-cells and studied some basic properties of the model and its practical implications. Specifically, we found that the model reproduced the observed difficulties for in-vitro expansion of the therapeutic cells found in the laboratory. The mathematical model predicted that CAR-T cell expansion in the patient would be possible due to the initial presence of a large number of targets. We also show that, in the context of our mathematical approach, CAR-T cells could control tumor growth but not eradicate the disease

EXPONENTIAL DECAY OF WAVE EQUATION WITH A VISCOELASTIC BOUNDARY CONDITION AND SOURCE TERM

In this paper we are concerned with the stability of solutions for the wave equation with a viscoelastic Boundary condition and source term by using the potential well method, the multiplier technique and unique continuation theorem for the wave equation with variable coefficient

Dual-target car-ts with on-and off-tumour activity may override immune suppression in solid cancers: A mathematical proof of concept

Chimeric antigen receptor (CAR)-T cell-based therapies have achieved substantial success against B-cell malignancies, which has led to a growing scientific and clinical interest in extending their use to solid cancers. However, results for solid tumours have been limited up to now, in part due to the immunosuppressive tumour microenvironment, which is able to inactivate CAR-T cell clones. In this paper we put forward a mathematical model describing the competition of CAR-T and tumour cells, taking into account their immunosuppressive capacity. Using the mathematical model, we show that the use of large numbers of CAR-T cells targetting the solid tumour antigens could overcome the immunosuppressive potential of cancer. To achieve such high levels of CAR-T cells we propose, and study computationally, the manufacture and injection of CAR-T cells targetting two antigens: CD19 and a tumour-associated antigen. We study in silico the resulting dynamics of the disease after the injection of this product and find that the expansion of the CAR-T cell population in the blood and lymphopoietic organs could lead to the massive production of an army of CAR-T cells targetting the solid tumour, and potentially overcoming its immune suppression capabilities. This strategy could benefit from the combination with PD-1 inhibitors and low tumour loads. Our computational results provide theoretical support for the treatment of different types of solid tumours using T cells engineered with combination treatments of dual CARs with on-and off-tumour activity and anti-PD-1 drugs after completion of classical cytoreductive treatmentsThis work has been funded by the James S. Mc. Donnell Foundation (USA) 21st Century Science Initiative in Mathematical and Complex Systems Approaches for Brain Cancer (Collaborative award 220020450), Ministerio de Ciencia e Innovación, Spain (grant number PID2019-110895RB-I00), and Junta de Comunidades de Castilla-La Mancha (grant number SBPLY/17/180501/000154). OLT is supported by a PhD Fellowship from the University of Castilla-La Mancha research pla

Dynamic characterisation of interlaminar fracture toughness in carbon fibre epoxy composite laminates

In this work, the rate dependence of mode I interlaminar fracture toughness for two different materials systems, IM7/8552 and IM7/M91, both unidirectional UD carbon-fibre epoxy composite laminates have been examined over a wide range of loading rates from 0.5 mm/min up to 2000 mm/s at room temperature. Quasi-static fracture tests were performed using a DCB (double-cantilever beam) method with a screw-driven testing machine, while the dynamic tests were carried out using a WIF (wedge-insert fracture) specimen loaded dynamically in a hydraulic system. For performing the tests at high displacement rates, a special setup was designed and manufactured which allowed the insertion of the wedge within the DCB specimens at different cross-head displacement rates. The experimental technique used a pair of strain gauges attached to the bending surface of one of the arms of the cantilever beams and far from the initial crack tip. The peak values of the recorded strain were used to determine the fracture toughness under dynamic conditions through use of the compliance calibration method. A finite element model was developed to check the consistency of the measurements and validate the data reduction method used. The results exhibited rate insensitive behaviour in the case of the IM7/8552 laminates while IM7/M91 showed the contrary behaviour with maximum peak at 500 mm/s of displacement rate, with a toughness increase of 95% with respect to the quasi-static conditions.The research leading to these results has received funding from the European Union as Horizon 2020 research and innovation program under the Marie Sklodowska-Curie grant agreement No. 722096, DYNACOMP project

Biliary PAH metabolites in European eel (Anguilla anguilla) from Mar Menor lagoon (SE Spain)

Polycyclic aromatic hydrocarbons (PAHs) are ubiquitous organic contaminants present in marine sediments as a consequence of their continuous input from either land- or marine-based sources. Fishes have a higher capacity to metabolize and excrete PAHs than invertebrates such as mollusks and consequently the concentration of PAH metabolites in the bile fluid of fish can be used as an indirect indicator of exposure to PAH contamination. In this study the concentration and distribution of major PAHs metabolites in European eel (Anguilla anguilla) bile from the hypersaline Mar Menor coastal lagoon (SE Spain) were characterized for the first time. Eels of two different weight classes (350 g) were sampled from the northern and southern part of the lagoon using traditional fishing methods by local fishermen in spring 2014 and winter 2015. Bile samples were treated individually and maintained at -20ºC until analysis. 10 L of bile sample was diluted with water for liquid chromatography, incubated with β-glucuronidase/arylsulfatase for 2 hours at 37ºC, then the reaction was stopped with cold methanol and the sample centrifuged. The concentrations of PAHs metabolites (phenanthrol and pyrenol) in the supernatant were directly analysed by liquid chromatography with fluorescence detection using a standard solution for external calibration. Phenanthrol and pyrenol were found in all samples, with pyrenol being always the predominant one. The metabolite concentrations were higher in specimens sampled in spring 2014 than in winter 2015, suggesting a different seasonal pattern of PAH exposure to fish in the Mar Menor lagoon

Biomonitoring strategy to assess the effects of chemical pollution along the Iberian Mediterranean Coast: Present state and future development

oral presentationSince 2001, the Oceanographic Centre of Murcia (Spanish Institute of Oceanography, IEO) started to include selected biomarkers within the chemical pollution monitoring activities conducted along the Iberian Mediterranean coast. The main objectives of this biomonitoring programme are: (1) the determination of spatial distribution and temporal trends of chemical pollution in coastal and reference areas; (2) to seek evidence of detrimental biological effects and assess them over time. Sediment samples, feral fish (Mullus barbatus) and wild mussels (Mytilus galloprovincialis) are analysed yearly for selected pollutants (trace metals, organochlorinated compounds and polycyclic aromatic hydrocarbons) and selected biomarkers are measured in fish and/or mussels (EROD activity, metallothionein content, micronuclei frequency, genotoxic damages, acetylcholinesterase, stress on stress and lysosomal membrane stability). An integrated chemical-biological effect assessment approach is being conducted at four selected areas since 2006. Due to its geographical location, Spain contributes to both the CEMP and MEDPOL programmes and our future strategy will be focused to achieve the harmonization of criteria among different programmes and to meet the monitoring requirements in a cost-effective and cost-efficient way. The general strategy and methods of this biomonitoring programme together with some preliminary results and future development (use of caged mussels) are described and discussed.This Biomonitoring Programme was initially funded by the Spanish Institute of Oceanography, IEO (projects BIOMEJIMED I, BIOMEJIMED II and BIOMEJIMED III). Since November 2005 it is funded by Ministry of Environment (MEDPOLIEO project)