Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Abstract: UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying close to solid bodies implies a higher risk of collisions, thus requiring an increase in the precision of the measurement and control of the UAV’s position. The aerodynamic distortions generated by nearby walls or other objects are also relevant, making the control more complex and further placing demands on the positioning system. Performing wall-related tasks implies flying very close to the wall and, in some cases, even touching it. This work presents a Near-Wall Positioning System (NWPS) based on the combination of an Ultra-wideband (UWB) solution and LIDAR-based range finders. This NWPS has been developed and tested to allow precise positioning and orientation of a multirotor UAV relative to a wall when performing tasks near it. Specific position and orientation control hardware based on horizontal thrusters has also been designed, allowing the UAV to move smoothly and safely near walls.Ministerio de Ciencia, Innovación y Universidades; RTI2018-101114-B-I00), Xunta de Galicia; ED431C2017/12)

Listado de plantas ornamentales urbanas de Tunja (Boyacá, Colombia)

The floristic inventory of the ornamental plants of the city of Tunja is presented in this paper. A total of 430 species were found, distributed in 314 genera and 101 families, of which 307 species are Eudicotyledonous, 96 Monocotyledonous, 11 Pteridophytes, 10 Gymnosperms and 6 Magnolids. At the floristic level, the families Asteraceae, Cactaceae, Orchidaceae, Solanaceae and Asparagaceae presented the highest number of genera and species. The most important growth habit in terms of species richness was that of herbs, followed by woody habits (trees and shrubs). Tree and shrub species thrive in outdoor environments, while succulents predominate indoors. Twelve species with some degree of threat are registered according to the International Union for Conservation of Nature (IUCN).Se presenta el inventario florístico de las plantas ornamentales de la ciudad de Tunja. Se encontraron 430 especies, distribuidas en 314 géneros y 101 familias, de las cuales 307 especies son Eudicotiledóneas, 96 Monocotiledóneas, 11 Pteridofitos, 10 Gimnospermas y 6 Magnólidas. A nivel florístico, las familias Asteraceae, Cactaceae, Orchidaceae, Solanaceae y Asparagaceae presentaron el mayor número de géneros y especies. El hábito de crecimiento más importante en términos de riqueza de especies fue el de las hierbas, seguido por los hábitos leñosos (árboles y arbustos). En ambientes de exterior se encontraron más especies de tipo arbóreo y arbustivo, mientras que en ambientes de interior predominaron las suculentas. Se registran doce especies con algún grado de amenaza de acuerdo con la Unión Internacional para la Conservación de la Naturaleza (IUCN, en inglés)

Reconstitution of respiratory complex I on a biomimetic membrane supported on gold electrodes

For the first time, respiratory complex I has been reconstituted on an electrode preserving its structure and activity. Respiratory complex I is a membrane-bound enzyme that has an essential function in cellular energy production. It couples NADH:quinone oxidoreduction to translocation of ions across the cellular (in prokaryotes) or mitochondrial membranes. Therefore, complex I contributes to the establishment and maintenance of the transmembrane difference of electrochemical potential required for adenosine triphosphate synthesis, transport, and motility. Our new strategy has been applied for reconstituting the bacterial complex I from Rhodothermus marinus onto a biomimetic membrane supported on gold electrodes modified with a thiol self-assembled monolayer (SAM). Atomic force microscopy and faradaic impedance measurements give evidence of the biomimetic construction, whereas electrochemical measurements show its functionality. Both electron transfer and proton translocation by respiratory complex I were monitored, simulating in vivo conditions. © 2014 American Chemical Society.This work was funded by the Spanish MINECO (project CTQ2012-32448) and by Fundação para a Ciência e a Tecnologia (PTDC/BBB-BQB/2294/2012 to M.M.P.). The work was also supported by Fundação para a Ciência e a Tecnologia through grant # PEst-OE/EQB/LA0004/2011. M.P. and O.G.-S. acknowledge the Ramon y Cajal and the FPI programs respectively from the Spanish MINECO. A.P.B. is recipient of a grant from Fundação para a Ciência e a Tecnologia (SFRH/BPD/80741/2011).Peer Reviewe

Adiciones al listado de plantas ornamentales urbanas de Tunja (Boyacá-Colombia)

Eighty-nine new records of species were added to the list of urban ornamental plants of Tunja (Boyacá). This contribution is presented as a catalog with three taxonomic groups: Pteridophyta (2 families, 2 genera and 2 species), Eudicotyledons (21 families with 47 genera, 72 species and 1 cultivar) and Monocotyledons (7 families, 12 genera and 15 species). Within the families, the most important in terms of richness were the Cactaceae (with 13 genera and 21 species) and the Crassulaceae (with 8 genera and 21 species). Therefore, the growth habit that prevailed were succulents. Information such as the common name and origin of each species is provided, and photographs are also included.Se adicionan 89 nuevos registros de especies al listado de plantas ornamentales urbanas de Tunja (Boyacá). Esta contribución se presenta a manera de catálogo con tres grupos taxonómicos, Pteridophyta (2 familias, 2 géneros y 2 especies), Eudicotiledónea (21 familias con 47 géneros, 72 especies y 1 cultivar) y Monocotiledónea (7 familias, 12 géneros y 15 especies). Dentro de las familias, la más importantes a nivel de riqueza fueron Cactaceae (con 13 géneros y 21 especies) y Crassulaceae (con 8 géneros y 21 especies); por consiguiente, el hábito de crecimiento que predominó fueron las suculentas.  Se proporciona información como nombre común y origen de cada especie y adicionalmente se incluyen fotografías

El Pino Canario: Un superviviente entre volcanes

El pino canario constituye una singularidad dentro del conjunto de pinos, ya que presenta una amplia gama de estrategias que permiten su persistencia y que han sido adquiridas a lo largo de su evolución en un ambiente volcánico. Todos los pinos son especies que presentan adaptaciones frente al fuego y de centran en dos estrategias: 1) una eficiente dispersión posincendio basada en una gran capacidad dispersiva y en la presencia de piñas serótinas; y 2) la resistencia individual, con cortezas gruesas que les permiten alcanzar gran longevidad

CSVS, a crowdsourcing database of the Spanish population genetic variability

The knowledge of the genetic variability of the local population is of utmost importance in personalized medicine and has been revealed as a critical factor for the discovery of new disease variants. Here, we present the Collaborative Spanish Variability Server (CSVS), which currently contains more than 2000 genomes and exomes of unrelated Spanish individuals. This database has been generated in a collaborative crowdsourcing effort collecting sequencing data produced by local genomic projects and for other purposes. Sequences have been grouped by ICD10 upper categories. A web interface allows querying the database removing one or more ICD10 categories. In this way, aggregated counts of allele frequencies of the pseudo-control Spanish population can be obtained for diseases belonging to the category removed. Interestingly, in addition to pseudo-control studies, some population studies can be made, as, for example, prevalence of pharmacogenomic variants, etc. In addition, this genomic data has been used to define the first Spanish Genome Reference Panel (SGRP1.0) for imputation. This is the first local repository of variability entirely produced by a crowdsourcing effort and constitutes an example for future initiatives to characterize local variabilityworldwide. CSVS is also part of the GA4GH Beacon network.Spanish Ministry of Economy and Competitiveness SAF2017-88908-R PT17/0009/0006 PI19/00321 CIBERER ACCI-06/07/0036 PI14-948 PI171659Regional Government of Madrid, RAREGenomicsCM B2017/BMD3721 B2017/BMD-3721European Union (EU)European Union (EU) 676559University Chair UAM-IIS-FJD of Genomic MedicineRamon Areces Foundatio

Genomic characterization of individuals presenting extreme phenotypes of high and low risk to develop tobacco-induced lung cancer

Single nucleotide polymorphisms (SNPs) may modulate individual susceptibility to carcinogens. We designed a genome-wide association study to characterize individuals presenting extreme phenotypes of high and low risk to develop tobacco-induced non-small cell lung cancer (NSCLC), and we validated our results. We hypothesized that this strategy would enrich the frequencies of the alleles that contribute to the observed traits. We genotyped 2.37 million SNPs in 95 extreme phenotype individuals, that is: heavy smokers that either developed NSCLC at an early age (extreme cases); or did not present NSCLC at an advanced age (extreme controls), selected from a discovery set (n=3631). We validated significant SNPs in 133 additional subjects with extreme phenotypes selected from databases including >39,000 individuals. Two SNPs were validated: rs12660420 (p(combined)=5.66x10(-5); ORcombined=2.80), mapping to a noncoding transcript exon of PDE10A; and rs6835978 (p(combined)=1.02x10(-4); ORcombined=2.57), an intronic variant in ATP10D. We assessed the relevance of both proteins in early-stage NSCLC. PDE10A and ATP10D mRNA expressions correlated with survival in 821 stage I-II NSCLC patients (p=0.01 and p<0.0001). PDE10A protein expression correlated with survival in 149 patients with stage I-II NSCLC (p=0.002). In conclusion, we validated two variants associated with extreme phenotypes of high and low risk of developing tobacco-induced NSCLC. Our findings may allow to identify individuals presenting high and low risk to develop tobacco-induced NSCLC and to characterize molecular mechanisms of carcinogenesis and resistance to develop NSCLC

Clonal chromosomal mosaicism and loss of chromosome Y in elderly men increase vulnerability for SARS-CoV-2

The pandemic caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2, COVID-19) had an estimated overall case fatality ratio of 1.38% (pre-vaccination), being 53% higher in males and increasing exponentially with age. Among 9578 individuals diagnosed with COVID-19 in the SCOURGE study, we found 133 cases (1.42%) with detectable clonal mosaicism for chromosome alterations (mCA) and 226 males (5.08%) with acquired loss of chromosome Y (LOY). Individuals with clonal mosaic events (mCA and/or LOY) showed a 54% increase in the risk of COVID-19 lethality. LOY is associated with transcriptomic biomarkers of immune dysfunction, pro-coagulation activity and cardiovascular risk. Interferon-induced genes involved in the initial immune response to SARS-CoV-2 are also down-regulated in LOY. Thus, mCA and LOY underlie at least part of the sex-biased severity and mortality of COVID-19 in aging patients. Given its potential therapeutic and prognostic relevance, evaluation of clonal mosaicism should be implemented as biomarker of COVID-19 severity in elderly people. Among 9578 individuals diagnosed with COVID-19 in the SCOURGE study, individuals with clonal mosaic events (clonal mosaicism for chromosome alterations and/or loss of chromosome Y) showed an increased risk of COVID-19 lethality

Stock identification: advancing in the knowledge of stock structure as a requirement for stock assessment

DEMERSTEM- Objectives of WP 1: -Improve the knowledge on the selected demersal stocks with a particular effort to solve the problems of stock identification and improvement of the quality of the data used for the assessment. -This follows the recommendations regularly made by CECAF.Peer reviewe