Mini-UAV Based Sensory System for Measuring Environmental Variables in Greenhouses

This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV). The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps of these variables. These features could potentially allow for climate control, crop monitoring or failure detection (e.g., a break in a plastic cover). The sensors have been selected by considering the climate and plant growth models and the requirements for their integration onboard the quadrotor. The sensors layout and placement have been determined through a study of quadrotor aerodynamics and the influence of the airflows from its rotors. All components of the system have been developed, integrated and tested through a set of field experiments in a real greenhouse. The primary contributions of this paper are the validation of the quadrotor as a platform for measuring environmental variables and the determination of the optimal location of sensors on a quadrotor.This work has been supported by the Robotics and Cybernetics Research Group at Technical University of Madrid (Spain) and has been funded under the projects “ROTOS: Multi-robot system for outdoor infrastructures protection”, sponsored by the Spanish Ministry of Education, Culture and Sport (DPI2010-17998); the “ROBOCITY 2030 Project”, sponsored by the Autonomous Community of Madrid (S-0505/DPI/ 000235); and the SAVIER Project, sponsored by Airbus Defence & Space.Peer Reviewe

Synthesis and biological evaluation of simplified pironetin analogues with modifications in the side chain and the lactone ring

The preparation of several new analogues of the natural dihydropyrone pironetin is described. They differ from the natural product mainly in the nature of the side chain and the lactone ring. Their cytotoxic activity has been measured. In addition, their interaction with tubulin, their ability to inhibit the secretion of the vascular endothelial growth factor (VEGF) and the expression of angiogenesis and telomeraserelated genes have been determined. Unexpectedly, and unlike pironetin, the lactones studied in this work do not interact with tubulin. Two of the compounds have been found to downregulate the expression of the hTERT and VEGF genes. Furthermore, one of them causes an appreciably decrease in the secretion of the VEGF protein

Heterogeneous multi-robot system for mapping environmental variables of greenhouses

The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.The research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III; S2013/MIT-2748), funded by Programas de Actividades I+ D en la Comunidad de Madrid and co-funded by Structural Funds of the EU, and from the DPI2014-56985-Rproject (Protección robotizada de infraestructuras críticas) funded by the Ministerio de Economía y Competitividad of Gobierno de España. This work is framed on the SAVIER (Situational Awareness Virtual EnviRonment) Project, which is both supported and funded by Airbus Defence & Space. The experiments were performed in an educational greenhouse of the E.T.S.I.Agrónomos of Technical University of Madrid.Peer Reviewe

Practical applications using multi-UAV systems and aerial robotic swarms

A día de hoy, existen en el mercado una gran cantidad de aeronaves sin piloto que pueden ser comandadas con órdenes de alto nivel para realizar tareas complejas de forma casi automática, como por ejemplo el mapeo de explotaciones agrícolas. De forma natural, nos podemos preguntar si sería posible coordinar a un grupo de estos robots para realizar esas mismas tareas de forma más rápida, flexible y robusta. En este trabajo se repasan las tareas que se han planteado resolver con sistemas compuestos por grupos de aeronaves no tripuladas y los algoritmos empleados, así como los métodos y estrategias en los que están basados. Aunque el futuro de estos sistemas es prometedor, existen ciertos obstáculos legislativos y técnicos que frenan su implantación de forma generalizadaLas investigaciones que han dado como resultado este trabajo han sido financiadas por RoboCity2030-DIH-CM, 426 Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, financiadas por los Programas de Actividades I+D en la Comunidad Madrid, y por el proyecto TASAR (Team of AdvancedSearch And Rescue Robots), PID2019-105808RB-I00, financiado por el Ministerio de Ciencia e Innovación (Gobierno deEspaña

Historia de la RAMSA. 50º aniversario (1971-2021)

Libro conmemorativo de los 50 años de existencia de la Real Academia de Medicina de Salamanca, donde se recogen todas las actividades llevadas a cabo durante ese tiempo, los premios concedidos, los miembros elegidos, etc., así como se gestó su nacimiento en el contexto de la existencia de otras academias médicas.Universidad de Salamanc

Revelando la geometría en profundidad de las fallas activas que limitan el valle del Guadalentín mediante sísmica de reflexión de alta resolución: resultados preliminares

[EN]: To produce seismic hazard assessments to the current state-of-the-art, it is essential to characterize the active faults in terms of geometry, interrelation and seismotectonic status. The Guadalentin Depression is the main basin within the Eastern Betic Shear Zone, which corresponds to a NE-SW tectonic corridor bounded by the Carrascoy, Alhama de Murcia and Palomares faults, from north to south. Although a number of active tectonics and paleoseismological studies have been carried out in these faults, almost nothing is known about their geometry at depth. To unveil the deep structure, geometry and upper Neogene deformation history of these faults we have carried out a high-resolution seismic reflection survey. The acquired seismic profiles will allow to improve our understanding of the deep geometry of the known active faults (up to 2 km depth), as well as to identify potential buried branches and will help to reduce the uncertainties in seismic hazard assessment.[ES]: Para producir evaluaciones del peligro sísmico actualizadas al estado del arte actual, es esencial caracterizar las fallas activas de una región en términos de geometría, interrelación y estado sismotectónico. La depresión del Guadalentín es la principal cuenca cuaternaria dentro de la Zona de Cizalla de las Béticas Orientales, la cual corresponde a un corredor tectónico con dirección NE-SW delimitado por las fallas de Carrascoy, Alhama de Murcia y Palomares, de norte a sur. Aunque varios estudios de tectónica activa y paleosismología se han centrado en estas fallas, su geometría en profundidad es bastante incierta. Para revelar la estructura profunda, la geometría y el historial de deformación desde el Neógeno superior de estas fallas, hemos llevado a cabo un estudio de sísmica de reflexión de alta resolución. Los perfiles sísmicos adquiridos permitirán mejorar nuestra comprensión de la geometría profunda de las fallas activas conocidas (hasta 2 km de profundidad), así como identificar posibles ramas ciegas, y ayudarán a reducir las incertidumbres en los cálculos de peligrosidad sísmicaHector Perea es un investigador postdoctoral del programa "Atracción de Talento" en la Universidad Complutense de Madrid financiado por la Comunidad de Madrid (2018-T1/AMB-11039). Paula Herrero y Júlia Molins han estado contratadas por el proyecto UNrIDDLE (2018-T1/AMB-11039). Juan Alcalde ha recibido financiación de las ayudas IJC2018-036074-I financiadas por MCIN/AEI/10.13039/501100011033.Peer reviewe

UNICORSA: A single and multidisciplinary case-study method for ten subjects in the field of social and legal sciences

El proyecto de innovación docente “UNICORSA: un método del caso común y multidisciplinar para diez asignaturas de las ramas de ciencias sociales y jurídicas”, fue una iniciativa común de cuatro departamentos y seis áreas de conocimiento de la rama de ciencias sociales y jurídicas de la Universidad de Córdoba orientado a aplicar en la práctica los conocimientos teóricos transmitidos por cada una de estas áreas. A tal fin, se creó una empresa ficticia, UNICORSA, que actuó como protagonista de todas las actividades prácticas planteadas por el profesorado participante en sus respectivas asignaturas. Ello permitió un estudio multidisciplinar de las distintas vicisitudes por las que debía pasar dicha empresa en su vida económica, jurídica y social.The teaching innovation project “UNICORSA: a single and multidisciplinary case-study method for ten subjects in the field of social and legal sciences”, was a joint initiative of four departments and six areas in the field of social and legal sciences of the University of Córdoba aiming to implement the technical knowledge transmitted by each of these areas. To this end, UNICORSA, a fictitious company, was created in order to play the main role of all the practical activities proposed by the participating teachers in their respective courses. This led to a multidisciplinary study of the various events that UNICORSA had to go through in its economic, legal and social life. At the end of the term, a seminar entitled “Board of directors of the UNICORSA company” was held and the students involved in the project participated by presenting the solutions (reports) to the cases raised by the teachers in the different subjects. As in any shareholders' meeting, the approval of each of the reports was put to a vote. Among the main results achieved, it is worth highlighting the visibility of the practical application of the theoretical skills and knowledge acquired by the participants, the integration of multidisciplinary knowledge and the improvement of skills when interacting with other people from different training disciplines to achieve a common goal

Next Generation Flow for highly sensitive and standardized detection of minimal residual disease in multiple myeloma

[EN]Flow cytometry has become a highly valuable method to monitor minimal residual disease (MRD) and evaluate the depth of complete response (CR) in bone marrow (BM) of multiple myeloma (MM) after therapy. However, current flow-MRD has lower sensitivity than molecular methods and lacks standardization. Here we report on a novel next generation flow (NGF) approach for highly sensitive and standardized MRD detection in MM. An optimized 2-tube 8-color antibody panel was constructed in five cycles of design-evaluation-redesign. In addition, a bulk-lysis procedure was established for acquisition of ⩾107 cells/sample, and novel software tools were constructed for automatic plasma cell gating. Multicenter evaluation of 110 follow-up BM from MM patients in very good partial response (VGPR) or CR showed a higher sensitivity for NGF-MRD vs conventional 8-color flow-MRD -MRD-positive rate of 47 vs 34% (P=0.003)-. Thus, 25% of patients classified as MRD-negative by conventional 8-color flow were MRD-positive by NGF, translating into a significantly longer progression-free survival for MRD-negative vs MRD-positive CR patients by NGF (75% progression-free survival not reached vs 7 months; P=0.02). This study establishes EuroFlow-based NGF as a highly sensitive, fully standardized approach for MRD detection in MM which overcomes the major limitations of conventional flow-MRD methods and is ready for implementation in routine diagnostics.This work has been supported by the International Myeloma Foundation-Black Swan Research Initiative, the Red Temática de Investigación Cooperativa en Cáncer (RTICC); grant SA079U14 from the Consejería de Educación, Junta de Castilla y León, Valladolid, Spain and; grant DTS15/00119 from Instituto de Salud Carlos III, Ministerio de Economía y Competitividad, Madrid, Spain

In vivo cholinergic basal forebrain degeneration and cognition in Parkinson's disease: Imaging results from the COPPADIS study

COPPADIS Study Group.[Introduction] We aimed to assess associations between multimodal neuroimaging measures of cholinergic basal forebrain (CBF) integrity and cognition in Parkinson's disease (PD) without dementia.[Methods] The study included a total of 180 non-demented PD patients and 45 healthy controls, who underwent structural MRI acquisitions and standardized neurocognitive assessment through the PD-Cognitive Rating Scale (PD-CRS) within the multicentric COPPADIS-2015 study. A subset of 73 patients also had Diffusion Tensor Imaging (DTI) acquisitions. Volumetric and microstructural (mean diffusivity, MD) indices of CBF degeneration were automatically extracted using a stereotactic CBF atlas. For comparison, we also assessed multimodal indices of hippocampal degeneration. Associations between imaging measures and cognitive performance were assessed using linear models.[Results] Compared to controls, CBF volume was not significantly reduced in PD patients as a group. However, across PD patients lower CBF volume was significantly associated with lower global cognition (PD-CRStotal: r = 0.37, p < 0.001), and this association remained significant after controlling for several potential confounding variables (p = 0.004). Analysis of individual item scores showed that this association spanned executive and memory domains. No analogue cognition associations were observed for CBF MD. In covariate-controlled models, hippocampal volume was not associated with cognition in PD, but there was a significant association for hippocampal MD (p = 0.02).[Conclusions] Early cognitive deficits in PD without dementia are more closely related to structural MRI measures of CBF degeneration than hippocampal degeneration. In our multicentric imaging acquisitions, DTI-based diffusion measures in the CBF were inferior to standard volumetric assessments for capturing cognition-relevant changes in non-demented PD.This work was supported by the Alzheimer Forschung Initiative e.V. (AFI International Training Grant to MJG), the Instituto de Salud Carlos III-Fondo Europeo de Desarrollo Regional (ISCIII-FEDER) [PI14/01823, PI16/01575, PI18/01898, PI19/01576, PI20/00613], the Consejería de Economía, Innovación, Ciencia y Empleo de la Junta de Andalucía [CVI-02526, CTS-7685], the Consejería de Salud y Bienestar Social de la Junta de Andalucía [PI-0471-2013, PE-0210-2018, PI-0459-2018, PE-0186-2019], the Fundación Alicia Koplowitz and the Fundación “Curemos el Parkinson” (https://www.curemoselparkinson.org). MJG is supported by the “Miguel Servet” program [CP19/00031], MALE by the University of Seville [USE-20046-J], JFM by the “Sara Borrell” program [CD13/00229] and VI-PPIT-US from the University of Seville [USE-18817-A], SJ by the “Acción B-Clínicos-Investigadores” program [B-0007-2019], and DMG by the “Río Hortega” program [CM18/00142].Peer reviewe

In vivo cholinergic basal forebrain degeneration and cognition in Parkinson's disease: Imaging results from the COPPADIS study

Introduction: We aimed to assess associations between multimodal neuroimaging measures of cholinergic basal forebrain (CBF) integrity and cognition in Parkinson’s disease (PD) without dementia. Methods: The study included a total of 180 non-demented PD patients and 45 healthy controls, who underwent structural MRI acquisitions and standardized neurocognitive assessment through the PD-Cognitive Rating Scale (PD-CRS) within the multicentric COPPADIS-2015 study. A subset of 73 patients also had Diffusion Tensor Imaging (DTI) acquisitions. Volumetric and microstructural (mean diffusivity, MD) indices of CBF degeneration were automatically extracted using a stereotactic CBF atlas. For comparison, we also assessed multimodal indices of hippocampal degeneration. Associations between imaging measures and cognitive performance were assessed using linear models. Results: Compared to controls, CBF volume was not significantly reduced in PD patients as a group. However, across PD patients lower CBF volume was significantly associated with lower global cognition (PD-CRStotal: r =0.37, p <0.001), and this association remained significant after controlling for several potential confounding variables (p =0.004). Analysis of individual item scores showed that this association spanned executive and memory domains. No analogue cognition associations were observed for CBF MD. In covariate-controlled models, hippocampal volume was not associated with cognition in PD, but there was a significant association for hippocampal MD (p =0.02). Conclusions: Early cognitive deficits in PD without dementia are more closely related to structural MRI measures of CBF degeneration than hippocampal degeneration. In our multicentric imaging acquisitions, DTI-based diffusion measures in the CBF were inferior to standard volumetric assessments for capturing cognition- relevant changes in non-demented PD