Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization

Grid maps are a common environment representation in mobile robotics. Many Simultaneous Localization and Mapping (SLAM) solutions divide the global map into submaps, forming some kind of graph or tree to represent the structure of the environment, while the metric details are captured in the submaps. This work presents a novel algorithm that is able to compute a physically feasible relative pose between two overlapping grid maps. Our algorithm can be used for correspondence search (data association), but also for integrating negative information in a unified way. This paper proposes a discrepancy measure between two overlapping grid maps and its application in a quasi Newton optimization algorithm, with the hypothesis that minimizing such discrepancy could provide useful information for SLAM. Experimental evidence is provided showing the high potential of the algorithm

Fast processing of grid maps using graphical multiprocessors

Grid mapping is a very common technique used in mobile robotics to build a continuous 2D representation of the environment useful for navigation purposes. Although its computation is quite simple and fast, this algorithm uses the hypothesis of a known robot pose. In practice, this can require the re-computation of the map when the estimated robot poses change, as when a loop closure is detected. This paper presents a parallelization of a reference implementation of the grid mapping algorithm, which is suitable to be fully run on a graphics card showing huge processing speedups (up to 50×) while fully releasing the main processor, which can be very useful for many Simultaneous Localization and Mapping algorithms

Systemic analysis framework for the impact of economic and financial risks

Este documento presenta el marco de referencia del Banco de España para el análisis del impacto de la materialización de riesgos macroeconómicos y financieros sobre la actividad real y la estabilidad financiera. Este marco incluye un amplio conjunto de modelos y métodos, tanto empíricos como teóricos, con el fin de capturar la heterogeneidad de las diversas fuentes de riesgo y sus distintas características. En particular, se describe su aplicación para medir el impacto de riesgos, derivados tanto de fuentes endógenas (como la acumulación de desequilibrios macroeconómicos y financieros a lo largo del ciclo) como de fuentes exógenas. Respecto a estas últimas, se presenta la aplicación de estos modelos en el contexto de la irrupción de la pandemia de COVID-19 y de las medidas de política económica adoptadas en respuesta la crisis resultante, tanto en los ámbitos fiscal y monetario como en el prudencial. Igualmente, se presenta su aplicación en el contexto de la invasión rusa de Ucrania y de la intensificación de las tensiones inflacionarias y de incertidumbre económica.This paper presents the Banco de España’s reference framework for the analysis of macroeconomic and financial risk, and the impact of the materialisation of this risk on financial stability and the real economy. The framework encompasses a broad set of empirical and theoretical models and methods, with the aim of capturing heterogeneity in the characteristics of different sources of risk. In particular, the paper describes how these models are used to identify the impact of endogenous sources of risk, such as the build-up of macro-financial imbalances over the cycle, and of exogenous shocks. Regarding the latter, the paper presents an application of the models to the main exogenous events that have occurred recently: the COVID-19 pandemic, including the fiscal, monetary and prudential measures adopted as a response to this shock; the Russian invasion of Ukraine; and the subsequent high inflation and economic uncertainty environment

Electrochemical affinity biosensors for fast detection of gene-specific methylations with no need for bisulfite and amplification treatments

This paper describes two different electrochemical affinity biosensing approaches for the simple, fast and bisulfite and PCR-free quantification of 5-methylated cytosines (5-mC) in DNA using the anti-5-mC antibody as biorecognition element. One of the biosensing approaches used the anti-5-mC as capture bioreceptor and a sandwich type immunoassay, while the other one involved the use of a specific DNA probe and the anti-5-mC as a detector bioreceptor of the captured methylated DNA. Both strategies, named for simplicity in the text as immunosensor and DNA sensor, respectively, were implemented on the surface of magnetic microparticles and the transduction was accomplished by amperometry at screen-printed carbon electrodes by means of the hydrogen peroxide/hydroquinone system. The resulting amperometric biosensors demonstrated reproducibility throughout the entire protocol, sensitive determination with no need for using amplification strategies, and competitiveness with the conventional enzyme-linked immunosorbent assay methodology and the few electrochemical biosensors reported so far in terms of simplicity, sensitivity and assay time. The DNA sensor exhibited higher sensitivity and allowed the detection of the gene-specific methylations conversely to the immunosensor, which detected global DNA methylation. In addition, the DNA sensor demonstrated successful applicability for 1 h-analysis of specific methylation in two relevant tumor suppressor genes in spiked biological fluids and in genomic DNA extracted from human glioblastoma cells.The financial support of the Spanish Ministerio de Economía y Competitividad CTQ2015-64402-C2-1-R and SAF2014-53209-R Research Projects, the PI17CIII/00045 research project from AESI and the NANOAVANSENS Program from the Comunidad de Madrid (S2013/MT-3029) and predoctoral contracts from the Spanish Ministerio de Economía y Competitividad (R.M. Torrente-Rodríguez and E. Povedano) and Universidad Complutense de Madrid (V. Ruiz-Valdepeñas Montiel) are also gratefully acknowledged.S

Phenotypic identification of subclones in multiple myeloma with different chemoresistant, cytogenetic and clonogenic potential

Knowledge about clonal diversity and selection is critical to understand multiple myeloma (MM) pathogenesis, chemoresistance and progression. If targeted therapy becomes reality, identification and monitoring of intraclonal plasma cell (PC) heterogeneity would become increasingly demanded. Here we investigated the kinetics of intraclonal heterogeneity among 116 MM patients using 23-marker multidimensional flow cytometry (MFC) and principal component analysis, at diagnosis and during minimal residual disease (MRD) monitoring. Distinct phenotypic subclones were observed in 35116 (30%) newly diagnosed MM patients. In 1035 patients, persistent MRD was detected after 9 induction cycles, and longitudinal comparison of patient-paired diagnostic vs MRD samples unraveled phenotypic clonal tiding after therapy in half (510) of the patients. After demonstrating selection of distinct phenotypic subsets by therapeutic pressure, we investigated whether distinct fluorescence-activated cell-sorted PC subclones had different clonogenic and cytogenetic profiles. In half (510) of the patients analyzed, distinct phenotypic subclones showed different clonogenic potential when co-cultured with stromal cells, and in 611 cases distinct phenotypic subclones displayed unique cytogenetic profiles by interphase fluorescence in situ hybridization, including selective del(17p13). Collectively, we unravel potential therapeutic selection of preexisting diagnostic phenotypic subclones during MRD monitoring; because phenotypically distinct PCs may show different clonogenic and cytogenetic profiles, identification and follow-up of unique phenotypic-genetic myeloma PC subclones may become relevant for tailored therapy.Peer Reviewe

Detailed characterization of multiple myeloma circulating tumor cells shows unique phenotypic, cytogenetic, functional, and circadian distribution profile

[EN]Circulating myeloma tumor cells (CTCs) as defined by the presence of peripheral blood (PB) clonal plasma cells (PCs) are a powerful prognostic marker in multiple myeloma (MM). However, the biological features of CTCs and their pathophysiological role in MM remains unexplored. Here, we investigate the phenotypic, cytogenetic, and functional characteristics as well as the circadian distribution of CTCs vs paired bone marrow (BM) clonal PCs from MM patients. Our results show that CTCs typically represent a unique subpopulation of all BM clonal PCs, characterized by downregulation (P < .05) of integrins (CD11a/CD11c/CD29/CD49d/CD49e), adhesion (CD33/CD56/CD117/CD138), and activation molecules (CD28/CD38/CD81). Fluorescence in situ hybridization analysis of fluorescence-activated cell sorter-sorted CTCs also unraveled different cytogenetic profiles vs paired BM clonal PCs. Moreover, CTCs were mostly quiescent and associated with higher clonogenic potential when cocultured with BM stromal cells. Most interestingly, CTCs showed a circadian distribution which fluctuates in a similar pattern to that of CD34(+) cells, and opposite to stromal cell-derived factor 1 plasma levels and corresponding surface expression of CXC chemokine receptor 4 on clonal PCs, suggesting that in MM, CTCs may egress to PB to colonize/metastasize other sites in the BM during the patients' resting period

Marco de análisis sistémico del impacto de los riesgos económicos y financieros

This paper presents the Banco de España’s reference framework for the analysis of macroeconomic and financial risk, and the impact of the materialisation of this risk on financial stability and the real economy. The framework encompasses a broad set of empirical and theoretical models and methods, with the aim of capturing heterogeneity in the characteristics of different sources of risk. In particular, the paper describes how these models are used to identify the impact of endogenous sources of risk, such as the build-up of macro-financial imbalances over the cycle, and of exogenous shocks. Regarding the latter, the paper presents an application of the models to the main exogenous events that have occurred recently: the COVID-19 pandemic, including the fiscal, monetary and prudential measures adopted as a response to this shock; the Russian invasion of Ukraine; and the subsequent high inflation and economic uncertainty environment.Este documento presenta el marco de referencia del Banco de España para el análisis del impacto de la materialización de riesgos macroeconómicos y financieros sobre la actividad real y la estabilidad financiera. Este marco incluye un amplio conjunto de modelos y métodos, tanto empíricos como teóricos, con el fin de capturar la heterogeneidad de las diversas fuentes de riesgo y sus distintas características. En particular, se describe su aplicación para medir el impacto de riesgos, derivados tanto de fuentes endógenas (como la acumulación de desequilibrios macroeconómicos y financieros a lo largo del ciclo) como de fuentes exógenas. Respecto a estas últimas, se presenta la aplicación de estos modelos en el contexto de la irrupción de la pandemia de COVID-19 y de las medidas de política económica adoptadas en respuesta la crisis resultante, tanto en los ámbitos fiscal y monetario como en el prudencial. Igualmente, se presenta su aplicación en el contexto de la invasión rusa de Ucrania y de la intensificación de las tensiones inflacionarias y de incertidumbre económica

Project based service-learning experiences in engineering degrees in the Universitat Jaume I

In the present communication, a series of project-based service-learning (PBSL) experiences carried out in the Universitat Jaume I de Castelló will be presented. These experiences have been developed both within undergraduate courses and during bachelor thesis. The presentation will point out how these experiences can serve as a tool for teaching coordination at various levels: horizontal coordination within a year in one degree, coordination between different degrees (engineering or non-engineering) to carry out a project in several Bachelor Thesis, inter-university coordination... The potential of these experiences makes them a very powerful methodological tool that can help not, only the students and the extracurricular agents involved, but also the teaching itselfEl aprendizaje-servicio (SL, por sus siglas en inglés) es un método de aprendizaje basado en la experiencia y que responde a una demanda social. Con este método, el aprendizaje se produce a través de un ciclo de acción y reflexión gracias al cual el estudiantado trabaja con otros compañeros y compañeras en un proceso de aplicación de lo que han aprendido a los problemas de la comunidad y, al mismo tiempo, reflexionan sobre la experiencia de perseguir objetivos reales para la comunidad e incrementar su propia comprensión y destrezas, es decir, desarrollan de manera conexa las múltiples dimensiones humanas y cultivan la responsabilidad cívica y social (Eyler & Gilers, 1999)Postprint (published version

Análisis, diseño de procesos y definición y validación de rúbrica para la evaluación de los Trabajos de Fin de Máster (TFM) pertenecientes a las 19 especialidades del MUPES (Máster Universitario en Profesor de Educación Secundaria Obligatoria, Bachillerato, Formación Profesional y Enseñanzas de Idiomas)

Memoria ID-0051. Ayudas de la Universidad de Salamanca para la innovación docente, curso 2017-2018

Propuesta de coordinación horizontal y vertical en el Máster en Profesor de Secundaria

Memoria ID-0191. Ayudas de la Universidad de Salamanca para la innovación docente, curso 2015-2016