Corrección de rotación y traslación del sistema de locomoción del robot NAO

En esta investigación se presenta el desarrollo y validación de dos propuestas de solución mediante técnicas de procesamiento de información visual para la estimación y corrección del error en el desplazamiento del robot humanoide NAO debido a factores inherentes a su sistema de locomoción. La primera propuesta se basa en la detección de líneas mediante la transformada de Hough y la segunda se basa en el registro de imágenes utilizando como información la textura del suelo. El espacio de pruebas donde se desarrollan las técnicas es un laberinto fabricado en madera con una superficie de 180 cm x 300cm y paredes de 60 cm de altura. Se evalúa cada técnica al determinar el error de posición tanto en desplazamientos como en rotaciones después de recorrer una distancia determinada para alcanzar una posición final deseada, evaluando los tiempos de procesamiento para finalmente determinar cuál de las dos técnicas es más adecuada para realizar la corrección de posicionamiento dentro del entorno estructurado seleccionado. En el penúltimo capítulo de esta tesis se describen algunas aplicaciones que se han podido lograr gracias al desarrollo de este trabajo de investigación, donde se destaca la participación en la competencia internacional RoboCup 2017 en Nagoya Japón

Implementation of an OBD-II diagnostics tool over CAN-BUS with Arduino

Desde su surgimiento, el objetivo fundamental del estándar OBD [On Board Diagnostics] ha sido el control de los gases emitidos por los automóviles y de sus efectos en el medio ambiente. Este proyecto implementa un sistema basado en el protocolo OBD-II sobre un bus CAN [Controller Area Network], que permite visualizar variables en tiempo real y realizar un diagnóstico del estado del automóvil que muestra los códigos de funcionamiento, falla y rendimiento energético. Los sistemas de diagnóstico abordo permiten conocer los códigos de fallo almacenados y un gran número de variables de especial relevancia, como la velocidad, el nivel de combustible y el nivel de emisión de dióxido de carbono, en tiempo real. Se implementó un sistema OBD-II centrado en el extremo del bus, que corresponde al escáner o unidad de diagnóstico, en una placa Arduino Mega 2560 conectada a un módulo compuesto transceiver-controller CAN. El scanner posee una conexión USB que facilita visualizar los datos recuperados de forma versátil en una PC a través de una interfaz gráfica creada en LabVIEW™.Since its beginnings, the goal of On Board Diagnostics [OBD] standard has been to take control over gasses emission  in automotives and its effects in the environment. This project implements a system based on OBD-II diagnostic protocol over a CAN bus, which allows both, displaying real time variables and diagnostic the vehicle status to get codes about its functioning, failures and energy efficiency. On board diagnostic systems allow to obtain failure codes stored and several relevant variables as: speed, gas level and CO2 emission levels, in real time. An OBD-II system centered at the end of the bus, corresponding to the scanner or diagnostic unit, was implemented on an Arduino Mega 2560 board connected to a CAN transceiver-controller composite module. The scanner has a USB connection that makes it easy to view the data recovered in a versatile way on a PC through a graphical interface created in LabVIEW ™. &nbsp

Ferramenta de monitoramento da qualidade da água e aviso de risco de inundação

En julio de 2010, la Asamblea General de las Naciones Unidas reconoció el derecho humano al agua y al saneamiento, reafirmando que el acceso a agua potable limpia es esencial para la realización de todos los derechos humanos. Por lo tanto, controlar la calidad del agua debe ser una prioridad. En este marco, es interesante realizar un sistema sencillo, sostenible y de bajo costo, que facilite el control de los parámetros de calidad del agua. El objetivo general de este trabajo es diseñar e implementar un sistema de de monitoreo de la calidad del agua en redes de distribución a la población u otros escenarios donde sea necesaria analizar la potabilidad de la misma. Además, incorpora un sistema de alerta ante la posible inundación de los embalses en zonas bajas o de interés general. Dispone de una interfaz de comunicaciones móviles, soportado sobre la red GSM, GPRS y 3G, para el envío de señales de monitoreo y alarma.In July 2010, the United Nations General Assembly explicitly recognized the human right to water and sanitation, reaffirming that clean drinking water is essential for the realization of all the human rights. Therefore, controlling water quality should be a priority. In this context, it is interesting to make a simple, sustainable and low-cost system, in order take control over water quality parameters. This project main goal is to design and implement a water quality monitoring system on distribution networks to population or another interesting environment. It incorporates a quick alert system of flooding on low-altitude zones. It has mobile communication interface, over GSM, GPRS or 3G network, to send alarm and monitoring signals.Em julho de 2010, a Assembleia Geral das Nações Unidas reconheceu o direito humano à água e ao saneamento, reafirmando que o acesso a água potável limpa é essencial para a realização de todos os direitos humanos. Portanto, controlar a qualidade da água deve ser uma prioridade. Neste contexto, é interessante realizar um sistema simples, sustentável e de baixo custo que facilite o controle dos parâmetros de qualidade da água. O objetivo geral deste trabalho é projetar e implementar um sistema de monitoramento da qualidade da água em redes de distribuição para a população ou outros cenários onde seja necessário analisar a potabilidade da mesma. Além disso, incorpora um sistema de alerta para a possível inundação de reservatórios em áreas baixas ou áreas de interesse geral. Possui uma interface de comunicações móveis, suportada na rede GSM, GPRS e 3G, para o envio de sinais de monitoramento e alarme.

Relationship between Dyslipidemia and Physical Activity in Mexican Children

Purpose: The purpose of this research was to determine the relationship between physical activity and lipid levels in children 10 to 13 years of age living in Durango, Mexico. Method: Cross-sectional study performed in 823 children (n=428, 52% boys; n=395, 48% girls) enrolled in nine elementary schools. Physical activity was monitored in two ways: a) a questionnaire was used to obtain information about physical activity done in the previous week, and b) steps were counted for 24 hours with a Yamax SW-200 pedometer. A subsample of 425 children provided serum samples to determine total-cholesterol (TC), HDL-cholesterol (HDL-C), LDL-cholesterol (LDL-C) and triglycerides (TG). Results: Over half (52.9%) participated in a sports team inside or outside of school; most (90.9%) reported one sport, with few (9.1%) reporting 2-3 sports. The most commonly reported vigorous PA was: soccer (33%), basketball (24%), jogging (8-12 km/h) (23%), volleyball (17%) and others (3%). Those who participated in a sports team had higher levels of HDL-C and lower TG. Participation in 2 or 3 sports reduced TG levels just over 20%. Boys who reported 30 minutes or more per day of vigorous activity had lower triglyceride levels than those who reported less (p = 0.020). Boys accumulated significantly more steps per day (m=17,030 ± 6444) than girls (m=12,991± 5316; p \u3c 0.001). The prevalence of lipid abnormalities was higher in children with fewer steps. Hypercholesterolemia was lower in boys with the highest number of steps (p = 0.044), in girls the differences were not statistically significant. Hypertriglyceridemia in both sexes was lower in the group with the highest number of steps (

Relationship Between Dyslipidemia and Obesity in Children

Purpose: Dyslipidemia is a general term that refers to abnormal levels of lipids. The purpose of this research was to determine the relationship among the nutritional state and the percentage of body fat with the levels of lipids in 10 to 13 year old children living in the city of Durango, Mexico. Method: The study was carried out with 823 elementary school children. The selection was done at random. The biochemical studies were done in a subpopulation of 425 children. Each child underwent the following studies: sociodemographic, anthropometric and corporal composition. After fasting overnight, a venous blood sample was obtained. lipid profile including cholesterol, LDL-C, HDL-C and triglycerides were determined in serum. In order to classify lipid levels we used the reference values suggested by the National Cholesterol Education Program (NCEP). The desirable values were: TC \u3c170 mg\u3e/dl, HDL -C \u3e45 mg/dl, LDL -C \u3c110 mg\u3e/dl and TG \u3c100 mg\u3e/dl. The nutritional state was calculated according the age and sex specific BMI values developed by the CDC. Fat mass content was determined using a bioelectrical impedance analyzer (Tanita TBF-215). Statistical analyses were performed using SPSS14. Results: This study included 428 (52%) boys and 395 (48%) girls. Mean age was 11.5 years. The prevalence of overweight and obesity was 36.7. In the population studied we found abnormal levels of lipids in: cholesterol (41.8%), HDL-C (55.8%), LDL-C (32.3%) and TG (38.5%). The girls showed lower levels of HDL-C than the boys (p \u3c 0.05), the other lipoproteins were not statistical different ( p \u3e 0.05). The lipids levels (TC, LDL-C and TG) were higher in those with a BMI greater than 85 th percentile of BMI, and DHL-C was lower. In those with a body fat greater than 20%, all the lipids levels resulted abnormal. Conclusions: A high risk of dislypidemia was associated with gender, BMI and body fat

The PYL4 A194T mutant uncovers a key role of PYL4-PP2CA interaction for ABA signaling and plant drought resistance

[EN] Because abscisic acid (ABA) is recognized as the critical hormonal regulator of plant stress physiology, elucidating its signaling pathway has raised promise for application in agriculture, for instance through genetic engineering of ABA receptors. PYRABACTIN RESISTANCE1/PYR1-LIKE (PYL)/REGULATORY COMPONENTS OF ABA RECEPTORS ABA receptors interact with high affinity and inhibit clade A phosphatases type-2C (PP2Cs) in an ABA-dependent manner. We generated an allele library composed of 10,000 mutant clones of Arabidopsis (Arabidopsis thaliana) PYL4 and selected mutations that promoted ABA-independent interaction with PP2CA/ABA-HYPERSENSITIVE3. In vitro protein-protein interaction assays and size exclusion chromatography confirmed that PYL4(A194T) was able to form stable complexes with PP2CA in the absence of ABA, in contrast to PYL4. This interaction did not lead to significant inhibition of PP2CA in the absence of ABA; however, it improved ABA-dependent inhibition of PP2CA. As a result, 35S: PYL4(A194T) plants showed enhanced sensitivity to ABA-mediated inhibition of germination and seedling establishment compared with 35S:PYL4 plants. Additionally, at basal endogenous ABA levels, whole-rosette gas exchange measurements revealed reduced stomatal conductance and enhanced water use efficiency compared with nontransformed or 35S:PYL4 plants and partial up-regulation of two ABA-responsive genes. Finally, 35S:PYL4(A194T) plants showed enhanced drought and dehydration resistance compared with nontransformed or 35S:PYL4 plants. Thus, we describe a novel approach to enhance plant drought resistance through allele library generation and engineering of a PYL4 mutation that enhances interaction with PP2CA.Pizzio Bianchi, GA.; Rodriguez, L.; Antoni-Alandes, R.; Gonzalez Guzman, M.; Yunta, C.; Merilo, E.; Kollist, H.... (2013). The PYL4 A194T mutant uncovers a key role of PYL4-PP2CA interaction for ABA signaling and plant drought resistance. Plant Physiology. 163(1):441-455. doi:10.​1104/​pp.​113.​224162S441455163

Geno-and cytotoxicity induced on Cyprinus carpio by aluminum, iron, mercury and mixture thereof.

Metals such as Al, Fe and Hg are used in diverse anthropogenic activities. Their presence in water bodies is due mainly to domestic, agricultural and industrial wastewater discharges and constitutes a hazard for the organisms inhabiting these environments. The present study aimed to evaluate geno- and cyto- toxicity induced by Al, Fe, Hg and the mixture of these metals on blood of the common carp Cyprinus carpio. Specimens were exposed to the permissible limits in water for human use and consumption according to the pertinent official Mexican norm [official Mexican norm NOM-127-SSA1-1994] Al (0.2 mg L 1), Fe (0.3 mg L 1), Hg (0.001 mg L 1) and their mixture for 12, 24, 48, 72 and 96 h. Bio- markers of genotoxicity (comet assay and micronucleus test) and cytotoxicity (caspase-3 activity and TUNEL assay) were evaluated. Significant increases relative to the control group (po0.05) were observed in all biomarkers at all exposure times in all test systems; however, damage was greater when the metals were present as a mixture. Furthermore, correlations between metal concentrations and biomarkers of geno- and cytotoxicity were found only at certain exposure times. In conclusion, Al, Fe, Hg and the mixture of these metals induce geno- and cytotoxicity on blood of C. carpio.CONACyT-Mexico, Project 18154

C2-Domain Abscisic Acid-Related Proteins Mediate the Interaction of PYR/PYL/RCAR Abscisic Acid Receptors with the Plasma Membrane and Regulate Abscisic Acid Sensitivity in Arabidopsis

Supplemental Data: http://www.plantcell.org/content/26/12/4802/suppl/DC1© 2014 American Society of Plant BiologistsMembrane-delimited abscisic acid (ABA) signal transduction plays a critical role in early ABA signaling, but the molecular mechanisms linking core signaling components to the plasma membrane are unclear. We show that transient calcium-dependent interactions of PYR/PYL ABA receptors with membranes are mediated through a 10-member family of C2-domain ABA-related (CAR) proteins in Arabidopsis thaliana. Specifically, we found that PYL4 interacted in an ABA-independent manner with CAR1 in both the plasma membrane and nucleus of plant cells. CAR1 belongs to a plant-specific gene family encoding CAR1 to CAR10 proteins, and bimolecular fluorescence complementation and coimmunoprecipitation assays showed that PYL4-CAR1 as well as other PYR/PYL-CAR pairs interacted in plant cells. The crystal structure of CAR4 was solved, which revealed that, in addition to a classical calcium-dependent lipid binding C2 domain, a specific CAR signature is likely responsible for the interaction with PYR/PYL receptors and their recruitment to phospholipid vesicles. This interaction is relevant for PYR/PYL function and ABA signaling, since different car triple mutants affected in CAR1, CAR4, CAR5, and CAR9 genes showed reduced sensitivity to ABA in seedling establishment and root growth assays. In summary, we identified PYR/PYL-interacting partners that mediate a transient Ca2+-dependent interaction with phospholipid vesicles, which affects PYR/PYL subcellular localization and positively regulates ABA signaling.We thank Joerg Kudla (University of Munster) for kindly providing plasma membrane markers. This work was supported by the Ministerio de Ciencia e Innovacion, Fondo Europeo de Desarrollo Regional, and Consejo Superior de Investigaciones Cientificas (Grants BIO2011-23446 to P.L.R and BFU2011-25384 to A. A.; fellowships to L.R., R.A., and A.C.I.-G.; BES-2009- 016569; JAE-DOC contract to M.G.-G.) as well as the Senacyt-Ifarhu (Panama) (fellowship to M.D.).Rodriguez, L.; Gonzalez Guzman, M.; Díaz, M.; Rodrigues, A.; Izquierdo Garcia, AC.; Peirats-Llobet, M.; Fernández López, MA.... (2014). C2-Domain Abscisic Acid-Related Proteins Mediate the Interaction of PYR/PYL/RCAR Abscisic Acid Receptors with the Plasma Membrane and Regulate Abscisic Acid Sensitivity in Arabidopsis. Plant Cell. 26(12):4802-4820. doi:10.1105/tpc.114.129973S48024820261

Software de base, métricas y aplicaciones en arquitecturas multiprocesador orientadas a cómputo de altas prestaciones

Caracterizar las arquitecturas multiprocesador distribuidas enfocadas especialmente a cluster y cloud computing, con énfasis en las que utilizan procesadores de múltiples núcleos (multicores y GPUs), con el objetivo de modelizarlas, estudiar su escalabilidad, analizar y predecir performance de aplicaciones paralelas, estudiar el consumo energético y su impacto en la perfomance así como desarrollar esquemas para detección y tolerancia a fallas en las mismas.\nProfundizar el estudio de arquitecturas basadas en GPUs y su comparación con clusters de multicores, así como el empleo combinado de GPUs y multicores en computadoras de alta perfomance. En particular estudiar perfomance en Clusters “híbridos”.\nAnalizar y desarrollar software de base para clusters de multicores y GPUs, tratando de optimizar el rendimiento.\nInvestigar arquitecturas multicore asimétricas, sus aplicaciones y el software de base de las mismas apuntando a optimizar el rendimiento de aplicaciones de propósito general.\nA partir del año 2013 se han incorporado nuevas líneas de interés:\n- Cloud computing, incluyendo aplicaciones de HPC sobre cloud.\n- El desarrollo de aplicaciones que integran Big Data y procesamiento sobre Cloud.\n- La utilización de los registros de hardware de los procesadores para la toma de diferentes decisiones en tiempo de ejecución.\n- El desarrollo de herramientas para la transformación de código heredado, buscando su optimización sobre arquitecturas paralelas.\nEs de hacer notar que este proyecto se coordina con otros proyectos en curso en el III-LIDI, relacionados con Algoritmos Paralelos, Sistemas Distribuidos y Sistemas de Tiempo Real.Eje: Procesamiento Distribuído y Paralel