Greenways: physical activity, nature and culture

Resumen basado en el de la publicaciónSe parte del estudio de un trabajo fin de master dentro del master de Educador/a Ambiental en la Universidad de Almería y se adelantan algunas cuestiones del proyecto de tesis a desarrollar que dará continuidad al estudio iniciado. Se indaga, desde la perspectiva narrativa, las concepciones y significados en torno al uso de las Vías Verdes y las posibilidades de desarrollo en diversos ámbitos, en especial, en el de la actividad física en el medio natural. Se plantea la vinculación del campo de estudio de la actividad física con la educación ambiental; y vincular el espacio natural a cuestiones sociales, culturales, educativas y deportivas adquiriendo un significado relevante desde la perspectiva educativa ambiental, profundizando en las aportaciones obtenidas en el estudio piloto. La tesis doctoral se enmarca en el paradigma cualitativo y en el uso de herramientas etnográficas para la obtención de información (entrevistas y observación participante), desde la perspectiva narrativa.ES

Gestión y generación del conocimiento mediante el uso de plataformas digitales de formación

Las empresas e instituciones se enfrentan a un nuevo entorno, cada vez más competitivo y globalizado que les exige proporcionar respuestas inmediatas, flexibles y personalizadas. Las plataformas digitales de formación han facilitado enormemente la atención inmediata y flexible del alumno, en un marco de dispersión geográfica y horaria. Sin embargo, existen grandes diferencias entre unas plataformas y otras, principalmente desde el punto de vista de la posibilidad de la interacción. La oferta de plataformas en el mercado es amplia y diversa, el futuro de esta modalidad formativa es prometedor, pero exige una implicación de los docentes desde el punto de vista metodológico

Manual de fotografía analógica en la era digital

Universidad de Sevilla. Grado en Comunicación Audiovisua

University students’ academic achievement indicators: grades versus cumulative credits

El objetivo de este trabajo es estudiar el comportamiento diferencial de dos indicadores de rendimiento académico mediante modelos de regresión lineal multivariante: el indicador tradicional –promedio de calificaciones– y un indicador novedoso –el avance en la carrera– definido como la razón entre los créditos acumulados por el alumno durante cierto período de tiempo y los créditos que teóricamente debió acumular en dicho período de acuerdo con el plan de estudios programado. Se trata de una investigación correlacional, de corte transversal, de variables no manipuladas experimentalmente. Participaron 587 estudiantes matriculados en carreras de Química de la Universidad de la República (UdelaR) durante 2000-2003, con al menos una asignatura aprobada durante el período comprendido entre marzo de 2003 y marzo de 2005. El grupo de participantes fue dividido aleatoriamente en dos muestras: estimación –se construyeron los modelos de regresión lineal incluyendo análisis de interacciones y diagnóstico de anomalías– y validación –los modelos fueron validados mediante contrastes de hipótesis de igualdad de parámetros. Los factores explicativos considerados fueron el rendimiento previo, las metas académicas de los estudiantes, la percepción de su propia capacidad y variables sociodemográficas. Los dos indicadores están notablemente correlacionados entre sí (r=0,615, p<0,001) y ninguno correlaciona significativamente con las metas de resultado (promedio, p=0,612; avance, p=0,358). Los modelos multivariantes fueron satisfactoriamente validados y muestran que los indicadores se ven igualmente afectados por el rendimiento previo, que resultó la variable dominante (promedio, p=0,493, p<0,001; avance, p=0,484, p<0,001). Se diferencian en que el promedio además resulta afectado por la capacidad percibida (p=0,175, p<0,001) y, de manera indirecta, por las metas de aprendizaje (p=0,16, p<0,05, controlando por capacidad percibida). El comportamiento de ambos indicadores es similar, siendo los estudiantes que obtienen las peores calificaciones los más susceptibles de presentar retraso curricular. Hay una dominancia del rendimiento previo como predictor de ambas formas de rendimiento futuroIntroduction. The purpose of this paper is to study the differential function of two academic achievement measurements: the traditional indicator, grades, and a new indicator, career progress, defined as the ratio of cumulative credits earned by students to theoretical credits that should have been earned, over a given period of time, by means of multivariate linear modelling. Method. It is a correlational cross-sectional study, with no manipulation of variables. Participants were 587 students enrolled in Chemistry degree courses at the Universidad de la Republica in 2000-2003 with at least one subject passed in the period March 2003-March 2005. Participants were randomly divided into two samples: Linear models were built on the estimation sample, including interaction analysis and regression diagnostics, and validated on the validation sample, by testing the hypothesis that parameters are the same across samples. Prior achievement, achievement goals, perceived ability and demographic variables were employed as predictors. Results. Both achievement indicators are noticeably correlated (r=0.615, p<0.001) and show no significant correlation with outcome goals (grades, p=0.612; career progress, p=0,358). Multivariate models were satisfactorily validated and suggest that both measurements are equally affected by prior achievement, which proved to be the dominant predictive factor (grades, p=0,493, p<0,001; career progress, p=0,484, p<0,001). Grades are also influenced by perceived ability (p=0,175, p<0,001) and, indirectly, by learning goals (p=0,16, p<0,05, controlling for perceived ability). Discussion. Both indicators perform similarly, suggesting that students low in grades are the most likely to have a slower career progress. Prior achievement is the best predictor of both academic achievement measurement

Automatic selection of the Groebner Basis' monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems

This is an Author's Accepted Manuscript of an article published in José Guzmán-Giménez, Ángel Valera Fernández, Vicente Mata Amela & Miguel Ángel Díaz-Rodríguez (2023) Automatic selection of the Groebner Basis¿ monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems, Mechanics Based Design of Structures and Machines, 51:5, 2458-2480, DOI: 10.1080/15397734.2021.1899829 [copyright Taylor & Francis], available online at: http://www.tandfonline.com/10.1080/15397734.2021.1899829[EN] The methods most commonly used to synthesize the Inverse Kinematic Model (IKM) of open-chain robotic systems strongly depend on the robot's geometry, which make them difficult to systematize. In a previous work we presented a systematic procedure that relies on Groebner Bases to synthesize the IKM of non-redundant open-chain robots. This study expands the developed procedure with a methodology for the automatic selection of the basis' monomial order. The procedure's inputs are the robot's Denavit-Hartenberg parameters and the movement range of its actuators, while the output is the synthesized IKM, ready to be used in the robot's control system or in a simulation of its behavior. This procedure can synthesize the IKM of a wide range of open-chain robotic systems, such as Cartesian robots, SCARA, non-redundant multi-legged robots, and all non-redundant manipulators that satisfy the in-line wrist condition. The procedure's performance is assessed through two study cases of open-chain robots: a walking hexapod and a PUMA manipulator. The optimal monomial order is successfully identified for all cases. Also the output errors of the synthesized IKMs are negligible when evaluated in their corresponding workspaces, while their computation times are comparable to those required by the kinematic models calculated by traditional methods.This research was partially funded by Plan Nacional de IthornDthorni, Agencia Estatal de Investigacion del Ministerio de Economia, Industria y Competitividad del Gobierno de Espana, in the project FEDER-CICYT DPI201784201-R.Guzmán-Giménez, J.; Valera Fernández, Á.; Mata Amela, V.; Díaz-Rodríguez, MÁ. (2023). Automatic selection of the Groebner Basis' monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems. Mechanics Based Design of Structures and Machines. 51(5):2458-2480. https://doi.org/10.1080/15397734.2021.18998292458248051

La medicina tradicional y natural: actuación en enfermedades proctológicas agudas.

Las enfermedades anorrrectales constituyen  un  problema de salud  por su variedad y  por los  tratamientos médicos y quirúrgicos para resolverlas. Con el  fin de evaluar la aplicación del método de implante de cromado a  los pacientes  que acudieron a la consulta de MTN del Hospital “León Cuervo Rubio” con enfermedades proctológicas, con síntomas agudos en los años 2006 y 2007, previo consentimiento de los mismos, se realizó estudio descriptivo, longitudinal, prospectivo a 112 pacientes,  que presentaban, fluxión hemorroidal, fisura anal, trombosis hemorroidal, fístula simple pequeña, combinaciones de  entidades. El método  consistió en dejar insertado un segmento de catgut crómico de  1 cm en el esfínter anal externo, en ambas direcciones a partir de H12, con o sin anestésico local, según elección de los pacientes. Se empleó la estadística descriptiva y se realizaron comparaciones mediante los estadígrafos Z o chí cuadrado al 95 % de certeza. La fluxión hemorroidal fue la complicación más  frecuente y el dolor la máxima sintomatología, ambas por encima del 50%., la edad, sexo y raza se comportaron acorde a lo mencionado en la literatura.  El resultado más relevante fue la resolución del dolor en más del 50%  en los tres primeros días y todos antes de los diez días, al igual que los otros síntomas y signos tratados. Se  concluye como una terapéutica novedosa, eficaz y económica, aceptada por los pacientes

Synthesis of the Inverse Kinematic Model of Non-Redundant Open-Chain Robotic Systems Using Groebner Basis Theory

[EN] One of the most important elements of a robot's control system is its Inverse Kinematic Model (IKM), which calculates the position and velocity references required by the robot's actuators to follow a trajectory. The methods that are commonly used to synthesize the IKM of open-chain robotic systems strongly depend on the geometry of the analyzed robot. Those methods are not systematic procedures that could be applied equally in all possible cases. This project presents the development of a systematic procedure to synthesize the IKM of non-redundant open-chain robotic systems using Groebner Basis theory, which does not depend on the geometry of the robot's structure. The inputs to the developed procedure are the robot's Denavit-Hartenberg parameters, while the output is the IKM, ready to be used in the robot's control system or in a simulation of its behavior. The Groebner Basis calculation is done in a two-step process, first computing a basis with Faugere's F4 algorithm and a grevlex monomial order, and later changing the basis with the FGLM algorithm to the desired lexicographic order. This procedure's performance was proved calculating the IKM of a PUMA manipulator and a walking hexapod robot. The errors in the computed references of both IKMs were absolutely negligible in their corresponding workspaces, and their computation times were comparable to those required by the kinematic models calculated by traditional methods. The developed procedure can be applied to all Cartesian robotic systems, SCARA robots, all the non-redundant robotic manipulators that satisfy the in-line wrist condition, and any non-redundant open-chain robot whose IKM should only solve the positioning problem, such as multi-legged walking robots.This research was partially funded by Plan Nacional de I+D+i, Agencia Estatal de Investigacion del Ministerio de Economia, Industria y Competitividad del Gobierno de Espana, in the project FEDER-CICYT DPI2017-84201-R.Guzmán-Giménez, J.; Valera Fernández, Á.; Mata Amela, V.; Díaz-Rodríguez, MÁ. (2020). Synthesis of the Inverse Kinematic Model of Non-Redundant Open-Chain Robotic Systems Using Groebner Basis Theory. Applied Sciences. 10(8):1-22. https://doi.org/10.3390/app10082781S122108Atique, M. M. U., Sarker, M. R. I., & Ahad, M. A. R. (2018). Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention. Heliyon, 4(12), e01053. doi:10.1016/j.heliyon.2018.e01053Flanders, M., & Kavanagh, R. C. (2015). Build-A-Robot: Using virtual reality to visualize the Denavit-Hartenberg parameters. Computer Applications in Engineering Education, 23(6), 846-853. doi:10.1002/cae.21656Özgür, E., & Mezouar, Y. (2016). Kinematic modeling and control of a robot arm using unit dual quaternions. Robotics and Autonomous Systems, 77, 66-73. doi:10.1016/j.robot.2015.12.005Wang, X., Han, D., Yu, C., & Zheng, Z. (2012). The geometric structure of unit dual quaternion with application in kinematic control. Journal of Mathematical Analysis and Applications, 389(2), 1352-1364. doi:10.1016/j.jmaa.2012.01.016Barrientos, A., Álvarez, M., Hernández, J. D., del Cerro, J., & Rossi, C. (2012). Modelado de Caden as Cinemáticas mediante Matrices de Desplazamiento. Una alternativa al método de Denavit-Hartenberg. Revista Iberoamericana de Automática e Informática Industrial RIAI, 9(4), 371-382. doi:10.1016/j.riai.2012.09.004Virgil Petrescu, R. V., Aversa, R., Apicella, A., Mirsayar, M., Kozaitis, S., Abu-Lebdeh, T., & Tiberiu Petrescu, F. I. (2017). Geometry and Inverse Kinematic at the MP3R Mobile Systems. Journal of Mechatronics and Robotics, 1(2), 58-65. doi:10.3844/jmrsp.2017.58.65Chen, S., Luo, M., Abdelaziz, O., & Jiang, G. (2017). A general analytical algorithm for collaborative robot (cobot) with 6 degree of freedom (DOF). 2017 International Conference on Applied System Innovation (ICASI). doi:10.1109/icasi.2017.7988522Bouzgou, K., & Ahmed-Foitih, Z. (2014). Geometric modeling and singularity of 6 DOF Fanuc 200IC robot. Fourth edition of the International Conference on the Innovative Computing Technology (INTECH 2014). doi:10.1109/intech.2014.6927745Mahajan, A., Singh, H. P., & Sukavanam, N. (2017). An unsupervised learning based neural network approach for a robotic manipulator. International Journal of Information Technology, 9(1), 1-6. doi:10.1007/s41870-017-0002-2Duka, A.-V. (2014). Neural Network based Inverse Kinematics Solution for Trajectory Tracking of a Robotic Arm. Procedia Technology, 12, 20-27. doi:10.1016/j.protcy.2013.12.451Toshani, H., & Farrokhi, M. (2014). Real-time inverse kinematics of redundant manipulators using neural networks and quadratic programming: A Lyapunov-based approach. Robotics and Autonomous Systems, 62(6), 766-781. doi:10.1016/j.robot.2014.02.005Rokbani, N., & Alimi, A. M. (2013). Inverse Kinematics Using Particle Swarm Optimization, A Statistical Analysis. Procedia Engineering, 64, 1602-1611. doi:10.1016/j.proeng.2013.09.242Jiang, G., Luo, M., Bai, K., & Chen, S. (2017). A Precise Positioning Method for a Puncture Robot Based on a PSO-Optimized BP Neural Network Algorithm. Applied Sciences, 7(10), 969. doi:10.3390/app7100969Köker, R. (2013). A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization. Information Sciences, 222, 528-543. doi:10.1016/j.ins.2012.07.051Rokbani, N., Casals, A., & Alimi, A. M. (2014). IK-FA, a New Heuristic Inverse Kinematics Solver Using Firefly Algorithm. Computational Intelligence Applications in Modeling and Control, 369-395. doi:10.1007/978-3-319-11017-2_15Buchberger, B. (2001). Multidimensional Systems and Signal Processing, 12(3/4), 223-251. doi:10.1023/a:1011949421611Kendricks, K. D. (2013). A kinematic analysis of the gmf a-510 robot: An introduction and application of groebner basis theory. Journal of Interdisciplinary Mathematics, 16(2-03), 147-169. doi:10.1080/09720502.2013.800304Wang, Y., Hang, L., & Yang, T. (2006). Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base. Frontiers of Mechanical Engineering in China, 1(1), 115-124. doi:10.1007/s11465-005-0022-7Abbasnejad, G., & Carricato, M. (2015). Direct Geometrico-static Problem of Underconstrained Cable-Driven Parallel Robots With $n$ Cables. IEEE Transactions on Robotics, 31(2), 468-478. doi:10.1109/tro.2015.2393173Rameau, J.-F., & Serré, P. (2015). Computing mobility condition using Groebner basis. Mechanism and Machine Theory, 91, 21-38. doi:10.1016/j.mechmachtheory.2015.04.003Xiguang Huang, & Guangpin He. (2009). Forward kinematics of the general Stewart-Gough platform using Gr&#x00F6;bner basis. 2009 International Conference on Mechatronics and Automation. doi:10.1109/icma.2009.5246088Uchida, T., & McPhee, J. (2012). Using Gröbner bases to generate efficient kinematic solutions for the dynamic simulation of multi-loop mechanisms. Mechanism and Machine Theory, 52, 144-157. doi:10.1016/j.mechmachtheory.2012.01.015Faugère, J.-C. (2010). FGb: A Library for Computing Gröbner Bases. Lecture Notes in Computer Science, 84-87. doi:10.1007/978-3-642-15582-6_17Faugére, J.-C. (1999). A new efficient algorithm for computing Gröbner bases (F4). Journal of Pure and Applied Algebra, 139(1-3), 61-88. doi:10.1016/s0022-4049(99)00005-5Faugère, J. C., Gianni, P., Lazard, D., & Mora, T. (1993). Efficient Computation of Zero-dimensional Gröbner Bases by Change of Ordering. Journal of Symbolic Computation, 16(4), 329-344. doi:10.1006/jsco.1993.1051Salzer, H. E. (1960). A note on the solution of quartic equations. Mathematics of Computation, 14(71), 279-279. doi:10.1090/s0025-5718-1960-0117882-

Sobre la configuración constructiva de la cúpula del crucero de la Catedral de Segovia

El crucero de la catedral de Segovia está cubierto con una cúpula semiesférica, elevada sobre un tambor cilíndrico sobre pechinas, aunque inicialmente se proyectó con un cimborrio cuadrado cerrado por bóveda de crucería. Su construcción ocupó durante veinticuatro años a Francisco Viadero, quien la concluye en 1686, siglo y medio después de que Juan Gil de Hontañón diera las trazas iniciales del cimborrio, en 1524. Este cambio aparece reflejado en la colección de planos relacionados con la construcción del templo que guarda el archivo catedralicio. Son dibujos que abarcan desde la segunda década del siglo XVI hasta la mitad del siglo XVII y entre ellos hay siete proyectos para el crucero, lo que indica el interés y la preocupación por tan singular elemento de la catedral. La comunicación aborda el estudio de la configuración del crucero a partir de estos dibujos, con especial atención a un dibujo preparatorio para una traza de montea, poco estudiado hasta el momento, que resulta de especial interés para conocer la forma definitiva del cimborrio y las técnicas de construcción en piedra en la España de la Edad ModernaMinisterio de Ciencia e Innovació

Bulk Wave Dissipation in the Armor Layer of Slope Rock and Cube Armored Breakwaters

The authors wish to acknowledge Thomas Lykke Andersen for allowing performing laboratory tests in the wave flume of Aalborg University.The objective of this research is to analyze the interaction of the incident wave train with a mound breakwater (specifically, dissipation in the armor layer) and to quantify the performance of the structure built with different types and sizes of armor units. The generalized Π -Buckingham theorem is invoked to choose a complete set of independent variables that govern the principal interaction processes. The analysis is based on two sets of experimental data obtained in the wave flume of IISTA, University of Granada, and in the wave flume of Aalborg University. The bulk dissipation depends on the product of the relative water depth and the incident wave steepness, (h/L)(HI/L), the relative size of the armor diameter, Da/HI, the relative thickness, e/L, the shape and specific placement criterion, the characteristics of the porous core, B∗/L, D50,p/L, and the slope angle of the breakwater. For a given breakwater, the product of (h/L)(HI/L) can be used to identify and quantify three hydrodynamic performance regimes: reflective, dissipative and transitional, based on the prevalent interaction processes. Moreover, the dimensional analysis provides a functional relationship between the stability parameter and the bulk dissipation. For two mound breakwaters, one built with cubes of Da=49.6 mm and the other one with rocks of Da=44.0 mm, the bulk dissipation is almost similar over the entire range of (h/L)(HI/L). These results could be useful for the assimilation of data obtained in different wave flumes, the optimization of the breakwater design and to revise the notional permeability parameter.Spanish Ministry of Economy and Business (project "Integrated verification of the hydrodynamic and structural behaviour of a breakwater and its implications on the investment project-VIVALDI") BIA2015-65598-P"Programa Iberoamericano de Ciencia y Tecnologia para el Desarrollo", CYTED (project "Protection of coastal urban fronts against global warming-PROTOCOL") 917PTE0538Junta de Andalucía TEP-209Spanish Ministry of Education, Culture and Sports FPU14/0357

Homocysteine treatment alters redox capacity of both endothelial and tumor cells

Homocysteine is a non-proteinogenic amino acid playing key roles in two interconnected metabolic pathways, namely, the activated methyl cycle and the linear trans-sulfuration pathway that allows the conversion of methionine to cysteine. A dysregulation of intracellular homocysteine metabolism could yield an increased export of this amino acid, leading to hyperhomocysteinemia, which has been associated with an increased risk of cardiovascular diseases. In spite of decades of experimental effort, there is no definitive consensus on what could be the molecular mechanisms whereby hyperhomocysteinemia could contribute to cardiovascular disease. The redox active nature of homocysteine has favored the idea of an induction of oxidative stress as the underlying mechanism of homocysteine toxicity. In contrast, homocysteine can also behave as an anti-oxidant. The present work is aimed to further analyze the capacity of homocysteine to modulate the redox capacity of both endothelial and tumor cells. [Our experimental work is supported by grants BIO2014-56092-R (MINECO and FEDER) and P12-CTS-1507 (Andalusian Government and FEDER) and funds from group BIO-267 (Andalusian Government). The "CIBER de Enfermedades Raras" is an initiative from the ISCIII (Spain)].Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech