Vibration-based adaptive novelty detection method for monitoring faults in a kinematic chain

Postprint (published version

Práctica de diseño hardware/software de un robot móvil con interfaces inalámbricas

En el presente artículo se describe una práctica de laboratorio multitarea en el ámbito de las asignaturas de sistemas empotrados en los grados de Ingeniería Informática, mediante una metodología de gestión de proyectos basada en Kanban. La práctica abarca diferentes familias de microcontroladores de distintos niveles de dificultad de programación, lectura de diferentes tipos de sensores con distintas interfaces, comunicación inalámbrica y control de motores. Esta práctica se enfoca como la elaboración de un proyecto en el que los alumnos han de ir realizando mediante tareas que inicialmente se planifican utilizando la metodología Kanban. En concreto, el desarrollo de la práctica se basa en la elaboración de un robot móvil controlado remotamente y de forma inalámbrica. El sistema de divide en tres partes: el dispositivo de control que cuenta con un microcontrolador tipo Arduino y dos joysticks analógicos como interfaz de usuario, el robot móvil que utiliza un microcontrolador STM32 con un RTOS (Real Time Operating System) con el que se realiza la lectura de los diferentes sensores que irán embarcados en el robot además de manejar el controlador de motores para un motor DC para la velocidad y un servo para el control de la dirección. Para la comunicación inalámbrica se utilizan módulos de radio de 2.4GHz de la familia XBee Pro Serie Z2B. Por último, se diseñará una aplicación software de escritorio bajo un sistema operativo Windows escrita en lenguaje C# utilizando .NET Framework y WPF (Windows Presentation Foundation), que mostrará la información que el robot envía de cada uno de sus sensores. El PC donde está alojada la aplicación tiene conectado un módulo XBee, anteriormente mencionado, con el que se comunica mediante una conexión serie virtual (VCP). Para implementar la metodología Kanban se hará uso de una herramienta online y gratuita llamada Trello que permite la creación de diferentes tableros en el que ir añadiendo tareas (mediante tarjetas) e irlas moviendo entre las diferentes columnas según el estado de ésta. A cada tarea se le puede añadir uno o más participantes además de ponerle una fecha de vencimiento entre otras opciones. En el desarrollo de este tipo de prácticas se añade la dificultad del manejo de diferentes entornos de desarrollo, uno por cada tipo de microcontrolador y el de la aplicación software. Esta práctica se ha dividido en varias sesiones y ha presentado un gran atractivo para el alumnado ya que se consigue un sistema funcional y muy ampliable al final de estas.This paper presents a laboratory session of embedded systems imparted in the Computer Science degree using Kanban, a project management methodology. In the laboratory session different microcontroller families are used for reading several sensor types, wireless communications and motor control. This session is focused like a project in which the students have to complete the task previously described using Kanban. The project consist on implementing a mobile robot that is handled using a wireless controller. The system is divided in three parts: the controller device that is designed using an Arduino microcontroller to read two analogical joysticks used by the user, the mobile robot that uses a STM32 microcontroller with a RTOS (Real Time Operating System) to read the sensors attached to the robot and to handle the motor controller for a DC motor to control the velocity and, finally, a servo motor to change the robot direction. Some 2.4GHz radio modules of the XBee Pro Serie Z2B are used to implement the wireless communication. Finally a C# WPF Windows application is implemented using .NET framework, which collects the information from on-board sensors. An XBee module is plugged in the computer where the application runs using a virtual communication port (VCP). To plan the project under the Kanban methodology, an online free tool called Trello is used. Trello lets the user create different panels in which cards can be added and moved between different columns that denote the state of each card. Cards allow to add several participants and a due date. In this laboratory session the students have to learn several development environments which presents an extra difficulty. The laboratory session has been divided in several practical sessions and the students have been very motivated during every of them because at the end they obtain a functional robot which can be extended with new sensors

Deletion of GPIHBP1 causing severe chylomicronemia

Lipoprotein lipase (LPL) is a hydrolase that cleaves circulating triglycerides to release fatty acids to the surrounding tissues. The enzyme is synthesized in parenchymal cells and is transported to its site of action on the capillary endothelium by glycophosphatidylinositol (GPI)-anchored high-density lipoprotein-binding protein 1 (GPIHBP1). Inactivating mutations in LPL; in its cofactor, apolipoprotein (Apo) C2; or in GPIHBP1 cause severe hypertriglyceridemia. Here we describe an individual with complete deficiency of GPIHBP1. The proband was an Asian Indian boy who had severe chylomicronemia at 2 months of age. Array-based copy-number analysis of his genomic DNA revealed homozygosity for a 17.5-kb deletion that included GPIHBP1. A 44-year-old aunt with a history of hypertriglyceridemia and pancreatitis was also homozygous for the deletion. A bolus of intravenously administered heparin caused a rapid increase in circulating LPL and decreased plasma triglyceride levels in control individuals but not in two GPIHBP1-deficient patients. Thus, short-term treatment with heparin failed to attenuate the hypertriglyceridemia in patients with GPIHBP1 deficiency. The increasing resolution of copy number microarrays and their widespread adoption for routine cytogenetic analysis is likely to reveal a greater role for submicroscopic deletions in Mendelian conditions. We describe the first neonate with complete GPIHBP1 deficiency due to homozygosity for a deletion of GPIHBP1

Dual purpose cattle production systems and the challenges of the tropics of Mexico

Short and medium term constraints on beef and milk production in Mexico are analyzed, as are some biological and economic characteristics and advantages of dual purpose cattle production systems (DPS) in the Mexican tropics. Available resources, such as soil, water, forages, cheap by-product feeds, and the existing animal population, could be managed to increase milk production from DPS and double their proportional contribution to the national milk supply. Milk production from DPS is cheaper than that from other intensive systems in use in Mexico. However, DPS face several challenges, such as lack of information about costs and bioeconomical benefits from different proposed technologies. Some relevant examples are discussed in relation to certain public policies either suggested or applied, such as changes in land use to accommodate an increased animal population needed to satisfy the demand for animal products in urban areas. Greater production could also be achieved by improving nutritional and reproductive management of the herds. Another matter discussed is the lack of harmony between animal genetic and feed resources and the biological and economic consequences thereof. Finally, to avoid negative environmental effects and take optimal advantage of DPS potential, the integration of a technological package, based on utilization of regional resources and nutrient recycling plus improved efficiency of nutrient utilization through the use of crossbred animals, is suggested. (Spanish

EEMD-MUSIC-Based Analysis for Natural Frequencies Identification of Structures Using Artificial and Natural Excitations

This paper presents a new EEMD-MUSIC- (ensemble empirical mode decomposition-multiple signal classification-) based methodology to identify modal frequencies in structures ranging from free and ambient vibration signals produced by artificial and natural excitations and also considering several factors as nonstationary effects, close modal frequencies, and noisy environments, which are common situations where several techniques reported in literature fail. The EEMD and MUSIC methods are used to decompose the vibration signal into a set of IMFs (intrinsic mode functions) and to identify the natural frequencies of a structure, respectively. The effectiveness of the proposed methodology has been validated and tested with synthetic signals and under real operating conditions. The experiments are focused on extracting the natural frequencies of a truss-type scaled structure and of a bridge used for both highway traffic and pedestrians. Results show the proposed methodology as a suitable solution for natural frequencies identification of structures from free and ambient vibration signals

Práctica de desarrollo de interfaces hardware/software para la monitorización del estado de un PC

Este artículo presenta una práctica laboratorio impartida mediante una metodología de aprendizaje basado en proyectos (ABP) [1] para dotar de la capacidad de diseñar y desarrollar un monitor del estado de un ordenador, integrado en un sistema empotrado que se comunica con una aplicación de escritorio, a nuestros alumnos de la asignatura de Diseño de Microcontroladores (DM) en el contexto del Máster en Ingeniería de Computadores y Redes. Esta práctica abarca la comunicación Hardware/ Software entre un microcontrolador con un núcleo Cortex-M4 y una aplicación software escrita en lenguaje C# usando el entorno Visual Studio Community 2015 a través de puertos series virtuales (VCP). Esta práctica está enfocada como un proyecto que los alumnos han de ir realizando desde cero, avanzando mediante la consecución de hitos, hasta conseguir obtener un sistema final. El sistema a desarrollar se divide en dos partes, por un lado tenemos un PC con un sistema operativo de la familia Windows, en el que se construye una aplicación visual mediante Windows Forms, la cual obtiene información del sistema de forma periódica y la envía al microcontrolador mediante comandos usando el puerto serie (USB o comunicación Bluetooth). Por otro lado tenemos un microcontrolador de la familia STM32 que dispone de un display LCD ejecutando una plataforma completamente libre, .NET Micro Framework, la cual recibe a través del puerto serie la información obtenida gracias a la aplicación software del PC y la muestra en la pantalla, obteniendo así una herramienta de monitorización del PC sin tener que estar conectado físicamente a éste. El desarrollo de este tipo de proyectos se añade la dificultad de la necesidad del uso de diferentes herramientas para el desarrollo del firmware y del software en paralelo, de manera incremental, y enfocadas para ámbitos de uso muy distintos. Esta práctica ha tenido una gran acogida por parte de los alumnos, ya que les ha servido de ejemplo del desarrollo de firmware para un microcontrolador usando la plataforma .NET MF y de su comunicación con el PC por medio de una aplicación visual.This manuscript presents a practical laboratory session imparted using a project-based learning methodology (PBL) to provide the capacity of designing and developing a computer status monitoring device, integrated in an embedded system that communicates with a desktop software tool, to our students in the Computer Engineering Master’s Degree. This practice session encompasses Hardware/ Software communication between a microcontroller with a Cortex-M4 kernel and a desktop software application through virtual COM ports (VCP) written in C# using Visual Studio Community 2015. This lab session is focused as a project that students must be making from scratch by achieving and completing some milestones to obtain a final functional system. The project is divided into two different parts. First, we have a Windows PC where a visual software application that gathers information from the system and sends it periodically to the microcontroller (USB or Bluetooth) has to be built using Windows Forms. On the other hand, we have a microcontroller from the STM32 family that has a 2.4’ LCD display executing .NET Micro Framework that receives the information obtained from the PC through the serial port and displays it in the screen. This way, students create a computer status monitoring tool that does not need to be connected physically to it to receive the information. The development of this project is added to the need of using different tools for firmware and software development, focused to very different fields of use. This practice has been well received by the students, because it has served as an example of the firmware development for a microcontroller using the .NET MF platform as well as the communication between the PC and the microcontroller using a visual software application

High Resolution Melt (HRM) analysis is an efficient tool to genotype EMS mutants in complex crop genomes

Background: Targeted Induced Loci Lesions IN Genomes (TILLING) is increasingly being used to generate and identify mutations in target genes of crop genomes. TILLING populations of several thousand lines have been generated in a number of crop species including Brassica rapa. Genetic analysis of mutants identified by TILLING requires an efficient, high-throughput and cost effective genotyping method to track the mutations through numerous generations. High resolution melt (HRM) analysis has been used in a number of systems to identify single nucleotide polymorphisms (SNPs) and insertion/deletions (IN/DELs) enabling the genotyping of different types of samples. HRM is ideally suited to high-throughput genotyping of multiple TILLING mutants in complex crop genomes. To date it has been used to identify mutants and genotype single mutations. The aim of this study was to determine if HRM can facilitate downstream analysis of multiple mutant lines identified by TILLING in order to characterise allelic series of EMS induced mutations in target genes across a number of generations in complex crop genomes. Results: We demonstrate that HRM can be used to genotype allelic series of mutations in two genes, BraA.CAX1a and BraA.MET1.a in Brassica rapa. We analysed 12 mutations in BraA.CAX1.a and five in BraA.MET1.a over two generations including a back-cross to the wild-type. Using a commercially available HRM kit and the Lightscanner™ system we were able to detect mutations in heterozygous and homozygous states for both genes. Conclusions: Using HRM genotyping on TILLING derived mutants, it is possible to generate an allelic series of mutations within multiple target genes rapidly. Lines suitable for phenotypic analysis can be isolated approximately 8-9 months (3 generations) from receiving M3 seed of Brassica rapa from the RevGenUK TILLING service

Genetical and comparative genomics of Brassica under altered Ca supply identifies Arabidopsis Ca-transporter orthologs

Although Ca transport in plants is highly complex, the overexpression of vacuolar Ca2+ transporters in crops is a promising new technology to improve dietary Ca supplies through biofortification. Here, we sought to identify novel targets for increasing plant Ca accumulation using genetical and comparative genomics. Expression quantitative trait locus (eQTL) mapping to 1895 cis- and 8015 trans-loci were identified in shoots of an inbred mapping population of Brassica rapa (IMB211 x R500); 23 cis- and 948 trans-eQTLs responded specifically to altered Ca supply. eQTLs were screened for functional significance using a large database of shoot Ca concentration phenotypes of Arabidopsis thaliana. From 31 Arabidopsis gene identifiers tagged to robust shoot Ca concentration phenotypes, 21 mapped to 27 B. rapa eQTLs, including orthologs of the Ca2+ transporters At-CAX1 and At-ACA8. Two of three independent missense mutants of BraA.cax1a, isolated previously by targeting induced local lesions in genomes, have allele-specific shoot Ca concentration phenotypes compared with their segregating wild types. BraA.CAX1a is a promising target for altering the Ca composition of Brassica, consistent with prior knowledge from Arabidopsis. We conclude that multiple-environment eQTL analysis of complex crop genomes combined with comparative genomics is a powerful technique for novel gene identification/prioritization

Efficacy of the Combination of Pinaverium Bromide 100mg Plus Simethicone 300mg in Abdominal Pain and Bloating in Irritable Bowel Syndrome: A Randomized, Placebo-controlled Trial

Goals: We aimed to evaluate the efficacy and safety of PB+S (pinaverium bromide 100 mg plus simethicone 300 mg) in patients with irritable bowel syndrome (IBS). Background: IBS is a multifactorial disorder; thus, combination therapy with different mechanisms of action is expected to be useful. PB+S has shown effectiveness in an open-label clinical study in IBS. However, there are no placebo-controlled trials. Materials and Methods: IBS-Rome III patients with abdominal pain/discomfort for at least 2 days within the week prior to baseline assessment were included in this 12-week, randomized, doubleblind, placebo-controlled study of PB+S versus placebo, bid. The primary endpoint was overall symptom improvement, evaluated weekly by the patient (Likert Scale). Secondary endpoints included the weekly improvement in the severity of abdominal pain and bloating assessed both by patients (10-cm Visual Analogue Scale) and investigators (Likert Scale); frequency of Bristol Scale stool types (consistency) evaluated by patients and the IBS Quality of Life scores. Results: A total of 285 patients (female: 83%; 36.5±8.9 y old) received at least 1 dose of PB+S (n=140) or placebo (n=145). No difference was observed in overall symptom improvement between the groups (P=0.13). However, PB+S was superior in abdominal pain (effect size: 31%, P=0.038) and bloating (33%, P=0.019). Patients with IBS-C and IBS-M showed the best improvement in the frequency of stool types with PB+S. No differences were observed in IBS Quality of Life scores and adverse events

Coronary Revascularization and Long-Term Survivorship in Chronic Coronary Syndrome

Ischemic heart disease (IHD) persists as the leading cause of death in the Western world. In recent decades, great headway has been made in reducing mortality due to IHD, based around secondary prevention. The advent of coronary revascularization techniques, first coronary artery bypass grafting (CABG) surgery in the 1960s and then percutaneous coronary intervention (PCI) in the 1970s, has represented one of the major breakthroughs in medicine during the last century. The benefit provided by these techniques, especially PCI, has been crucial in lowering mortality rates in acute coronary syndrome (ACS). However, in the setting where IHD is most prevalent, namely chronic coronary syndrome (CCS), the increase in life expectancy provided by coronary revascularization is controversial. Over more than 40 years, several clinical trials have been carried out comparing optimal medical treatment (OMT) alone with a strategy of routine coronary revascularization on top of OMT. Beyond a certain degree of symptomatic improvement and lower incidence of minor events, routine invasive management has not demonstrated a convincing effect in terms of reducing mortality in CCS. Based on the accumulated evidence more than half a century after the first revascularization procedures were used, invasive management should be considered in those patients with uncontrolled symptoms despite OMT or high-risk features related to left ventricular function, coronary anatomy, or functional assessment, taking into account the patient expectations and preferences