Bioinspired decision-making for a socially interactive robot

Nowadays, robots and humans coexist in real settings where robots need to interact autonomously making their own decisions. Many applications require that robots adapt their behavior to different users and remember each user’s preferences to engage them in the interaction. To this end, we propose a decision making system for social robots that drives their actions taking into account the user and the robot’s state. This system is based on bio-inspired concepts, such as motivations, drives and wellbeing, that facilitate the rise of natural behaviors to ease the acceptance of the robot by the users. The system has been designed to promote the human-robot interaction by using drives and motivations related with social aspects, such as the users’ satisfaction or the need of social interaction. Furthermore, the changes of state produced by the users’ exogenous actions have been modeled as transitional states that are considered when the next robot’s action has to be selected. Our system has been evaluated considering two different user profiles. In the proposed system, user’s preferences are considered and alter the homeostatic process that controls the decision making system. As a result, using reinforcement learning algorithms and considering the robot’s wellbeing as the reward function, the social robot Mini has learned from scratch two different policies of action, one for each user, that fit the users’ preferences. The robot learned behaviors that maximize its wellbeing as well as keep the users engaged in the interactions.The research leading to these results has received funding from the projects: Development of social robots to help seniors with cognitive impairment (ROBSEN), funded by the Ministerio de Economía y Competitividad (DPI2014-57684-R); and RoboCity2030-III-CM, funded by Comunidad de Madrid and cofunded by Structural Funds of the EU (S2013/MIT-2748).Publicad

Polyvinyl alcohol–pectin cryogel films for controlled release of enrofloxacin

The release of enrofloxacin entrapped in polyvinyl alcohol (PVA) cryogel at pH 5.5 showed a first-order kinetic, releasing 69.7% of the antibiotic after 4.5 h at 37 °C. In order to slow down the fluoroquinolone release rate, high-methoxylated pectin was added into the cryogel (PVA–P). A film containing 1.0% (w/v) HM pectin and 5.0 μg/ml enrofloxacin released only 3.7% of the antibiotic after 4.5 h. Since the FTIR spectrum showed that most of the interactions between PVA–P matrix and enrofloxacin were due to polar groups (carboxylate and amine), a two-layer film system was designed to modulate the releasing rate of the drug. The top film equilibrated with 0.75 or 1.5 M NaCl release up to 41.9% and 89.0% of the enrofloxacin in 4 h, respectively. The release rate of enrofloxacin was found dependent on NaCl concentration in the upper gel layer. The two-layer cryogel system showed attractive features for transcutaneous antibiotic delivery.Centro de Investigación y Desarrollo en Fermentaciones Industriale

Food Poisoning Caused by Bacteria (Food Toxins)

In the environment, there are polluting substances that can cause adverse reactions in human beings when entering the body through different ways (ingestion, inhalation, injection, or absorption). The main pollutants can be poisons, chemical compounds, toxic gases, and bacterial toxins. These can be found in different places and their effects depend on the dose and exposure time. Furthermore, foodborne diseases (FBDs) can cause disability; these diseases can be caused by toxins produced by bacteria or other toxic substances in the food, which can cause severe diarrhea, toxic shock syndrome, debilitating infections such as meningitis and even death. FBDs are transmitted through food contaminated with pathogenic microorganisms that have multiple factors of virulence, which gives them the ability to cause an infection; some bacterial genres can produce toxins directly in the food, but other genres can produce them once they have colonized the intestine. Among the pathogens involved in FBDs that are also considered to be toxigenic are Salmonella spp., Vibrio parahaemolyticus, Vibrio cholerae, Staphylococcus aureus, Clostridium botulinum, Clostridium perfringens, Bacillus cereus, Listeria monocytogenes. Foodborne diseases can be prevented and acute diarrhea syndromes, fever and even death from dehydration can be avoided, especially in children under the age of 5 and in immunocompromised people

An Approach to Develop Digital Twins in Industry

[EN] The industry is currently undergoing a digital revolution driven by the integration of several enabling technologies. These include automation, robotics, cloud computing, industrial cybersecurity, systems integration, digital twins, etc. Of particular note is the increasing use of digital twins, which offer significant added value by providing realistic and fully functional process simulations. This paper proposes an approach for developing digital twins in industrial environments. The novelty lies in not only focusing on obtaining the model of the industrial system and integrating virtual reality and/or augmented reality but also in emphasizing the importance of incorporating other enabled technologies of Industry 4.0, such as system integration, connectivity with standard and specific industrial protocols, cloud services, or new industrial automation systems, to enhance the capabilities of the digital twin. Furthermore, a proposal of the software tools that can be used to achieve this incorporation is made. Unity is chosen as the real-time 3D development tool for its cross-platform capability and streamlined industrial system modeling. The integration of augmented reality is facilitated by the Vuforia SDK. Node-RED is selected as the system integration option, and communications are carried out with MQTT protocol. Finally, cloud-based services are recommended for effective data storage and processing. Furthermore, this approach has been used to develop a digital twin of a robotic electro-pneumatic cell.SIGrant PID2020-117890RB-I00 funded by MCIN/AEI/10.13039/501100011033. The work of José Ramón Rodríguez-Ossorio and Guzmán González-Mateos has been supported by grants from the Research Program of the University of León.Agencia Estatal de Investigació

Guidelines to develop demonstration models on industry 4.0 for engineering training

[EN] Industrial digitization is currently a great challenge which involves continuous advances in tech-nologies such as automation, robotics, internet of things, cloud computing, big data, virtual and augmented reality or cybersecurity. Only those companies able to adapt and with qualified work-ers will be competitive. Therefore, it is necessary to design new environments to train students and workers in these enabling technologies. In this paper, a set of guidelines is proposed to develop a demonstration model on Industry 4.0. Following these guidelines, an existing manufacturing industrial system, based on an electro-pneumatic cell for classifying pieces, is updated to the Industry 4.0 paradigm. The result is an Industry 4.0 demonstration model where enabling tech-nologies are added in an integrated way. In this manner, students do not only train in each technology, but also understand the interactions between them. In the academic year 2020/21, this demonstration model has been used by engineering students in a subject of a master’s degree. Impressions and comments from students about the structure and management of the environ-ment, as well as the influence on their learning process are collected and discussed.SIThis work was supported by the Spanish State Research Agency, MCIN/AEI/10.13039/501100011033 under Grant PID2020-117890RB-I00. The work of José Ramón Rodríguez- Ossorio was supported by a grant of the Research Programme of the Universidad de León 2020. The work of Guzmán González-Mateos was supported by a grant of the Research Programme of the University of León 202

Evaluación comparativa del rendimiento productivo y adaptabilidad del pepino (Cucumis sativus L.) de una variedad partenocárpica (Modán RZ) y una híbrida (Tropicuke II) bajo dos sistemas de cultivo; hidropónico en invernadero y cultivo tradicional

RESUMEN: En la investigación se evaluó el uso de dos sistemas de producción (hidropónico en invernadero y tradicional a campo abierto) de “pepino” (Cucumis sativus L.) y el uso de dos variedades hibridas; una partenocárpica (Modán RZ) y una tradicional (Tropicuke II) para determinar: 1. Rendimiento promedio de frutos por hectárea (kg/ha), 2. Total de frutos por hectárea (unidades/ha), 3. Promedio de frutos por planta (unidades), 4. Peso promedio del fruto (gr), 5. Longitud promedio de fruto (cm), 6. Diámetro promedio del fruto (cm), 7. Porcentaje de abortos o purgas (%), 8. Relación beneficio/costo ($). La investigación se realizó en el campo experimental de la Facultad Multidisciplinaria Oriental (FMO), Universidad de El Salvador (UES), Municipio de San Miguel. Se utilizarón 192 plantas de “pepino”, como unidades experimentales (96 por cada sistema de cultivo y variedad), distribuidos en cuatro tratamientos y se realizó en un periodo de 127 días. Las mediciones se obtuvieron en promedio cada 6 días a partir del primer corte; los tratamientos establecidos en la investigación son: T1= Tropicuke II con sistema tradicional, T2= Modàn RZ con sistema tradicional, T3= Tropicuke II con sistema hidropónico en invernadero, T4= Modàn RZ con sistema hidropónico en invernadero. La fertilización suministrada para los T1 y T2 manejados en sistema tradicional, fue la misma utilizando 5.3 kg de sulfato de amonio, 1.8 kg de fórmula 00-00-60 y 1.6 kg de MAP técnico (fosfato mono amónico). Y la nutrición suministrada para los T3 Y T4 manejados en sistema hidropónico en invernadero fue con: nitrato de calcio 20 kg, nitrato de potasio 20kg, sulfato de potasio 10 kg, sulfato de magnesio 6 kg, MAP técnico (fosfato mono amónico). 4 kg, mezcla de microelementos 1.5 kg. Además de fertilizaciones foliares con metalosato multimineral en los dos sistemas para todo el ciclo fenológico del cultivo. Para el análisis experimental se utilizó el diseño estadístico completamente al azar en arreglo factorial, utilizando cuatro tratamientos y 96 unidades experimentales para T1 y T2 y 96 unidades experimentales para T3 y T4. Es decir 48 unidades experimentales por tratamiento. ABSTRACT: The research evaluated the use of two production systems (hydroponic in the greenhouse and traditional in the open field) of "cucumber" (Cucumis sativus L.) and the use of two hybrid varieties; a parthenocarpic (Modán RZ) and a traditional one (Tropicuke II) to determine: 1. Average yield of fruits per hectare (kg / ha), 2. Total of fruits per hectare (units / ha), 3. Average of fruits per plant (units), 4. Average fruit weight (gr), 5. Average fruit length (cm), 6. Average fruit diameter (cm), 7. Percentage of abortions or purges ($). The research was carried out in the experimental field of the Oriental Multidisciplinary Faculty (FMO), University of El Salvador (UES), Municipality of San Miguel. 192 "cucumber" plants were used as experimental units (96 for each cultivation system and variety), distributed in four treatments and it was carried out in a period of 127 days. Measurements were obtained on average every 6 days from the first cut; The treatments established in the research are: T1 = Tropicuke II with traditional system, T2 = Modàn RZ with traditional system, T3 = Tropicuke II with hydroponic system in greenhouse, T4 = Modàn RZ with hydroponic system in greenhouse. The fertilization supplied for T1 and T2 managed in a traditional system was the same using 5.3 kg of ammonium sulfate, 1.8 kg of formula 00-00-60 and 1.6 kg of technical MAP (mono ammonium phosphate). And the nutrition supplied for the T3 and T4 managed in a hydroponic system in the greenhouse was with: calcium nitrate 20 kg, potassium nitrate 20 kg, potassium sulfate 10 kg, magnesium sulfate 6 kg, technical MAP (mono ammonium phosphate). 4 kg, mixture of microelements 1.5 kg. In addition to foliar fertilizations with multimineral metallosate in the two systems for the entire phenological cycle of the crop. For the experimental analysis, the completely randomized statistical design in factorial arrangement was used, using four treatments and 96 experimental units for T1 and T2 and 96 experimental units for T3 and T4. That is, 48 experimental units per treatment

La microenseñanza como forma de evaluación formativa en Magisterio

La microenseñanza es una forma de evaluación formativa consistente en realizar una minilección a un reducido grupo de alumnos, quienes evaluarán la docencia. El profesor reconfigura su actuación con arreglo a esta realimentación y vuelve a impartir la clase que se evalúa nuevamente en un proceso cíclico. Este trabajo estudia qué ítems de un formulario de evaluación son los más relevantes para los docentes y sus razones. Los participantes son un grupo de alumnos de magisterio (N=45). El nivel de adecuación a los discentes (actividades y vocabulario utilizado), el grado de interacción y el interés de la propuesta son los mejor valorados. En sus comentarios, la seguridad es uno de los factores que más aparece como elemento positivo del sistema

Estimulación bicameral en la miocardiopatía hipertrófica obstructiva subaórtica. Información preliminar

Dual chamber pacing in patients suffering from obstructive hypertrophic cardiomyopathy reduces subatrial pressure gradient and improves symptoms. In two years, 8 patients (4 women and 4 men) aged 15-19 years old (average 40) were trated and studied; they showed subatrial gradients equal to or higher than 54 mmHg according to echocardiography results by adding 20 mmKg to peak gradient of mitral valve failure and substracting the same from systolic pressure detemined by shygmomanometry. All patients kept II-IV grade functional capacity as indicated in NYHA classification in spite of the drug therapy with maximum tolerable dosage of beta-blockers and anticalcic drugs. They were implanted dual-chamber pacers with 100 mseg AV delay programming which was modified according to the evolution of echocardiographic & clinical results. The average subatrial pressure gradient was 78 mmHg before pacer implanting and 31 mmHg after a follow-up period from 1.5 to 21 months in wich pressure gradients were reduced by 60 % and patients reached I-II grade functional capacity. This method is an alternative for those patients who do not improve their condition with drug therapy before deciding to treat them surgically. Nevertheless, obstruction is just one part of the complex pathology of this disease since diastolic dysfunction, myocardial ischemia and arrhythmias are other disorders where the effects of pacer treatment is not yet defined.La estimulación con marcapasos bicameral en pacientes con Miocardiopatía Hipertrófica Obstructiva disminuye el gradiente de presión subaórtico y mejora la sintomatología. En un período de dos años estudiamos y tratamos a 8 pacientes, 4 femeninos, entre 15 y 69 años (valor promedio de 40 años), con esa entidad que manifestaban gradientes subaórticos iguales o mayores de 54 mmHg medidos por ecocardiografía. Se calcularon en vista de tres cámaras adicionándole 20 mmHg al gradiente pico de la insuficiencia mitral y sustrayéndolo a la presión sistólica determinada por esfigmomanometría. Todos se mantenían con capacidad funcional grado III-IV según la clasificación de la NYHA, a pesar del tratamiento farmacológico con betabloqueadores y anticálcicos a dosis máxima tolerable. Se les implantaron marcapasos bicamerales con retardo aurículo-ventricular de 100 milisegundos, que se les modificó evolutivamente según los resultados ecocardiográficos y clínicos. El promedio de gradientes de presión subaórtico fue de 78 mmHg preimplante y en el seguimiento entre 1,5 y 21 meses, disminuyó en el 60 % (a 31 mmHg de promedio) con mejoría en todos los pacientes de la capacidad funcional a grado I-II. Este proceder es una opción para aquellos pacientes que no mejoran con tratamiento farmacológico antes de decidir tratamiento quirúrgico; no obstante la obstrucción es sólo parte de la compleja patología de esta entidad, la disfunción diastólica, la isquemia miocárdica y las arritmias son otros procesos en los que los efectos del tratamiento con marcapasos está por definir

Profile of Matrix-Remodeling Proteinases in Osteoarthritis: Impact of Fibronectin

The extracellular matrix (ECM) is a complex and specialized three-dimensional macromolecular network, present in nearly all tissues, that also interacts with cell surface receptors on joint resident cells. Changes in the composition and physical properties of the ECM lead to the development of many diseases, including osteoarthritis (OA). OA is a chronic degenerative rheumatic disease characterized by a progressive loss of synovial joint function as a consequence of the degradation of articular cartilage, also associated with alterations in the synovial membrane and subchondral bone. During OA, ECM-degrading enzymes, including urokinase-type plasminogen activator (uPA), matrix metalloproteinases (MMPs), and a disintegrin and metalloproteinase with thrombospondin motifs (ADAMTSs), cleave ECM components, such as fibronectin (Fn), generating fibronectin fragments (Fn-fs) with catabolic properties. In turn, Fn-fs promote activation of these proteinases, establishing a degradative and inflammatory feedback loop. Thus, the aim of this review is to update the contribution of ECM-degrading proteinases to the physiopathology of OA as well as their modulation by Fn-fs

Estimulación bicameral en la miocardiopatía hipertrófica obstructiva subaórtica. Información preliminar

Dual chamber pacing in patients suffering from obstructive hypertrophic cardiomyopathy reduces subatrial pressure gradient and improves symptoms. In two years, 8 patients (4 women and 4 men) aged 15-19 years old (average 40) were trated and studied; they showed subatrial gradients equal to or higher than 54 mmHg according to echocardiography results by adding 20 mmKg to peak gradient of mitral valve failure and substracting the same from systolic pressure detemined by shygmomanometry. All patients kept II-IV grade functional capacity as indicated in NYHA classification in spite of the drug therapy with maximum tolerable dosage of beta-blockers and anticalcic drugs. They were implanted dual-chamber pacers with 100 mseg AV delay programming which was modified according to the evolution of echocardiographic & clinical results. The average subatrial pressure gradient was 78 mmHg before pacer implanting and 31 mmHg after a follow-up period from 1.5 to 21 months in wich pressure gradients were reduced by 60 % and patients reached I-II grade functional capacity. This method is an alternative for those patients who do not improve their condition with drug therapy before deciding to treat them surgically. Nevertheless, obstruction is just one part of the complex pathology of this disease since diastolic dysfunction, myocardial ischemia and arrhythmias are other disorders where the effects of pacer treatment is not yet defined.La estimulación con marcapasos bicameral en pacientes con Miocardiopatía Hipertrófica Obstructiva disminuye el gradiente de presión subaórtico y mejora la sintomatología. En un período de dos años estudiamos y tratamos a 8 pacientes, 4 femeninos, entre 15 y 69 años (valor promedio de 40 años), con esa entidad que manifestaban gradientes subaórticos iguales o mayores de 54 mmHg medidos por ecocardiografía. Se calcularon en vista de tres cámaras adicionándole 20 mmHg al gradiente pico de la insuficiencia mitral y sustrayéndolo a la presión sistólica determinada por esfigmomanometría. Todos se mantenían con capacidad funcional grado III-IV según la clasificación de la NYHA, a pesar del tratamiento farmacológico con betabloqueadores y anticálcicos a dosis máxima tolerable. Se les implantaron marcapasos bicamerales con retardo aurículo-ventricular de 100 milisegundos, que se les modificó evolutivamente según los resultados ecocardiográficos y clínicos. El promedio de gradientes de presión subaórtico fue de 78 mmHg preimplante y en el seguimiento entre 1,5 y 21 meses, disminuyó en el 60 % (a 31 mmHg de promedio) con mejoría en todos los pacientes de la capacidad funcional a grado I-II. Este proceder es una opción para aquellos pacientes que no mejoran con tratamiento farmacológico antes de decidir tratamiento quirúrgico; no obstante la obstrucción es sólo parte de la compleja patología de esta entidad, la disfunción diastólica, la isquemia miocárdica y las arritmias son otros procesos en los que los efectos del tratamiento con marcapasos está por definir