obtención de barridos láser 3D nivelados conn el robot móvil Andábata en movimiento

Este artículo describe la adquisición de barridos tridimensionales (3D) nivelados en el robot móvil Andábata sin necesidad de detener su movimiento. Para ello, la computadora de Andábata debe integrar cada uno de los rangos láser, adquiridos con unos determinados ángulos de cabeceo y guiñada, con la información odométrica y las medidas de inclinación del vehículo para producir coordenadas Cartesianas niveladas referenciadas al inicio de cada barrido. Todo ello se ha realizado bajo el sistema operativo de robots ROS con la ayuda de paquetes estándard. El correcto funcionamiento de este esquema local de Localización y Modelado Simultáneos (SLAM) se ha comprobado experimentalmente sobre terreno inclinado.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Dificultades de la inmatriculación de escrituras imperfectas rurales, con ocasión a la vigencia de la Ley 29824

La presente investigación tuvo como propósito determinar los factores jurídicos que dificultan la Inmatriculación de predios rurales con Escritura Imperfecta de los Jueces de paz no letrados antes de la emisión de la Ley de Justicia de Paz N° 29824 del 03 de abril del 2012, y la Emisión de la Directiva N° 004 – 2015 – SUNARP/ SN, pues existen centenares de Escritura Imperfectas, tomando plena Vigencia. Para ello, se ha realizado un estudio, Explicativo pues se relacionaron los conceptos referentes a inmatriculación de Escrituras Imperfectas tratando de incorporar una explicación de los factores que dificultan la primera Inscripción; mediante el método Exegético, el estudio lineal de la normatividad relaciona con la Primera Inscripción de Escrituras Imperfectas emitida por un Juez de Paz No Letrado. Los resultados establecen que los factores jurídicos que dificultan la Inmatriculación de predios rurales son la incongruencia de normas sobre la materia, además la falta de Protocolización de la Escrituras imperfectas por parte de la ODAJUD, concluyéndose que existen antinomias que al momento de su aplicación dificulta la calificación y la inexigencia, de protocolización de las Escrituras Imperfectas, genera un trámite burocrático más amplio.The purpose of this investigation was to determine the legal factors that hinder the registration of rural properties with Imperfect Deed of non-lawyer Justices of the Peace before the issuance of Justice of the Peace Law No. 29824 of April 3, 2012, and the Issuance of Directive No. 004 - 2015 - SUNARP / SN, as there are hundreds of Imperfect Deeds, taking full force. For this, an explanatory study has been carried out, since the concepts related to the registration of Imperfect Scriptures were related, trying to incorporate an explanation of the factors that hinder the first Registration; Through the Exegetical method, the linear study of the normativity relates to the First Inscription of Imperfect Writings issued by a Non-Legal Justice of the Peace. The results establish that the legal factors that hinder the Registration of rural properties are the inconsistency of regulations on the matter, in addition to the lack of Protocolization of the imperfect Deeds by the ODAJUD, concluding that there are antinomies that at the time of its application hinders the qualification and the lack of formalization of the Imperfect Deeds, generates a broader bureaucratic procedure

Controversial topics in the management of displaced supracondylar humerus fractures in children

The aim of our study was to review the literature looking for the up to date information regarding these controversial topics. An electronic literature search was performed using the Medline/PubMed database. A closed reduction attempt should always be done first. It is more important to engage both columns as well as divergence of the pins no matter whatever configuration is applied. Time to surgery seems to be not an important factor to increase the risk of complications as well as open reduction rate. Usually neurological injuries present a spontaneous recovery. If there is absent pulse, we should follow the algorithm associated with the perfusion of the hand

Dichotomous colorectal cancer behaviour.

Colorectal cancer (CRC) is the third most common malignant tumor and one of the deadliest cancers. At molecular level, CRC is a heterogeneous disease that could be divided in four Consensus Molecular Subtypes. Given the differences in the disease due to its anatomical location (proximal and distal colon), another classification should be considered. Here, we review the current knowledge on CRC dichotomic´s behaviour based on two different entities; right and left-sided tumors, their impact on clinical trial data, microbiota spatial composition and the interaction with the nervous system. We discuss recent advances in understanding how the spatial tumor heterogeneity influences the tumor growth, progression, and responses to current therapiespost-print3748 K

Aprendizaje basado en proyectos interuniversitarios y entre titulaciones para la adquisición de competencias transversales y específicas

La enseñanza universitaria, tal y como dicta el Espacio Europeo de Educación Superior, se ha centrado en la formación mediante competencias (Ibarra Sáiz & Rodríguez Gómez, 2010). Dichas competencias transversales o específicas están presentes a lo largo de la trayectoria universitaria del alumnado en las diferentes asignaturas que componen cada una de las titulaciones. En los últimos años, se ha observado un gran auge de diferentes metodologías que abordan la adquisición de competencias desde diversos ámbitos, como pueden ser la gamificación (Soto-Hidalgo, Martínez-Rojas, Alonso, & Gámez, 2019) o el aprendizaje basado en proyectos (ABP) (Naranjo S, Alice., & Correa Lemus, Freddy, 2020). Es en este contexto, se propone una metodología basado en el ABP, que se puede focalizar desde un punto de vista colaborativo (Jarauta Borrasca, B., 2014). Esta metodología pone en valor los conocimientos de los alumnos de diferentes titulaciones, incluso universidades, colaborando entre sí mediante equipos de trabajo interdisciplinares para generar proyectos y resolver un problema real. Así, los alumnos se encuentran ante la necesidad de aplicar los conocimientos adquiridos y ser capaces de entenderse con miembros de un equipo de trabajo sin ser expertos en la materia del otro.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Ulmus laevis in the Iberian Peninsula: a review of its ecology and conservation

European white elm (Ulmus laevis Pallas) populations are scarce, small and fragmented in the Iberian Peninsula. Due to these characteristics the indigenous status of the species in the region has been questioned, whilst the species? role in Iberian riparian forest ecology has been neglected. Herein we review past studies regarding this species? distribution and ecology in the Iberian Peninsula, with special emphasis on the establishment of conservation priorities. We first present a collection of palaeogeographic, historic and genetic data suggesting that the Iberian Peninsula was a glacial refuge for U. laevis. Secondly, we analyse U. laevis distribution in relation to soil physico- chemical properties and water availability in Spain. Following this, we focus on the reproductive biology of the species, and investigate the effect of masting and empty seed production on predation and regeneration establishment. Finally, based on this knowledge, we propose conservation policies for U. laevis in the Iberian Peninsula

Hemodynamic alterations in cirrhosis and portal hypertension

Portal hypertension (PHT) is associated with hemodynamic changes in intrahepatic, systemic, and portosystemic collateral circulation. Increased intrahepatic resistance and hyperdynamic circulatory alterations with expansion of collateral circulation play a central role in the pathogenesis of PHT. PHT is also characterized by changes in vascular structure, termed vascular remodeling, which is an adaptive response of the vessel wall that occurs in response to chronic changes in the environment such as shear stress. Angiogenesis, the formation of new blood vessels, also occurs with PHT related in particular to the expansion of portosystemic collateral circulation. The complementary processes of vasoreactivity, vascular remodeling, and angiogenesis represent important targets for the treatment of portal hypertension. Systemic and splanchnic vasodilatation can induce hyperdynamic circulation which is related with multi-organ failure such as hepatorenal syndrome and cirrhotic cadiomyopathy

Polynomial modeling for time-varying systems based on a particle swarm optimization algorithm

In this paper, an effective particle swarm optimization (PSO) is proposed for polynomial models for time varying systems. The basic operations of the proposed PSO are similar to those of the classical PSO except that elements of particles represent arithmetic operations and variables of time-varying models. The performance of the proposed PSO is evaluated by polynomial modeling based on various sets of time-invariant and time-varying data. Results of polynomial modeling in time-varying systems show that the proposed PSO outperforms commonly used modeling methods which have been developed for solving dynamic optimization problems including genetic programming (GP) and dynamic GP. An analysis of the diversity of individuals of populations in the proposed PSO and GP reveals why the proposed PSO obtains better results than those obtained by GP

Quercus pyrenaica coppices II : Degradation takes roots on its historical management

Physiological performance of Quercus pyrenaica in relation to clonal structure and traditional us

FACTORES ASOCIADOS A MORTALIDAD EN PACIENTES HOSPITALIZADOS CON COVID-19: COHORTE PROSPECTIVA EN EL HOSPITAL NACIONAL EDGARDO REBAGLIATI MARTINS. LIMA, PERÚ

Aim: To determine the associated factors with mortality of adult patients hospitalized with COVID-19. Methods: We conducted a prospective cohort study and included patients older than 18 years hospitalized with the diagnosis of SARS-CoV-2 infection. Those patients with a positive rapid serological test on admission, but no respiratory symptoms nor compatible images were excluded. We collected the data from clinical records. Results: A total of 813 adults were included, 544 (66.9%) with confirmed COVID-19. The mean age was 61.2 years (SD: 15.0) and 575 (70.5%) were male. The most frequent comorbidities were hypertension (34.1%) and obesity (25.9%). The most frequent symptoms on admission were dyspnea (82.2%) and cough (53.9%). A total of 114 (14.0%) patients who received mechanical ventilation, 38 (4.7%) were admitted to the Intensive Care Unit (ICU) and 377 (46.4%) died. The requirement for ventilatory support, greater lung involvement, comorbidities, and inflammatory markers were associated with mortality. It was found that for every 10 - year increase in age, the risk of dying increased by 32% (RR: 1.32 95% CI: 1.25 to 1.38). Those who required admission to the ICU and mechanical ventilation had 1.39 (95% CI: 1.13 to 1.69) and 1.97 (95% CI: 1.69 to 2.29) times the risk of dying compared to those who did not. Conclusion:  We found a high mortality rate in hospitalized patients associated with greater age, more elevated inflammatory markers, and more severe respiratory compromise.Objetivos. Determinar los factores asociados a mortalidad de los pacientes adultos hospitalizados con COVID-19 en un hospital de referencia de la seguridad social. Materiales y métodos. Se realizó un estudio de cohorte prospectivo. Se incluyó a pacientes mayores de 18 años hospitalizados con el diagnostico de infección por SARS-CoV-2 y se excluyó a quienes ingresaron asintomáticos respiratorios, con prueba rápida serológica positiva al ingreso y sin imágenes compatibles. Los datos se recolectaron a partir de la historia clínica. Resultados. Se incluyó un total de 813 adultos, 544 (66.9%) tuvieron COVID-19 confirmado. La media de la edad fue de 61.2 años (DE: 15.0) y 575 (70.5%) fueron de sexo masculino. Las comorbilidades más frecuentes fueron hipertensión arterial (34.1%) y obesidad (25.9%). Los síntomas más frecuentes al ingreso fueron disnea (82.2%) y tos (53.9%). Un total de 114 (14.0%) pacientes recibieron ventilación mecánica, 38 (4.7%) ingresaron a UCI y 377 (46.4%) fallecieron. El requerimiento de soporte ventilatorio, el mayor compromiso pulmonar, las comorbilidades y los marcadores inflamatorios se asociaron a la mortalidad. Se halló que por cada 10 años que aumenta la edad, el riesgo de morir se incrementa en 32% (RR: 1.32 IC95%: 1.25 a 1.38). Aquellos que requirieron ingreso a UCI y ventilación mecánica tuvieron 1.39 (IC95%: 1.13 a 1.69) y 1.97 (IC95%: 1.69 a 2.29) veces el riesgo de morir, respectivamente. Conclusión. La mortalidad encontrada en nuestro estudio fue alta y estuvo asociada a la edad,  marcadores inflamatorios y compromiso respiratorio.