A flexible and dynamic mobile robot localization approach

[EN] The main goal of this paper is to provide an approach to solve the problem of localization in mobile robots using multi-agent systems. Usually, the robot localization problem is solved in static environments by the addition of the needed sensors in order to help the robot, but this is not useful in dynamic environments where the robot is moving through different rooms or areas. The novelty of this dynamic scenario is that each room is composed of external devices that can enter or exit the system in a dynamic way and report the position where the robot is. In this way, we propose a multi-agent system using the SPADE multi-agent technology platform to improve the location of mobile robots in dynamic scenarios. To do this, we are going to use some of the advantages offered by the SPADE platform such as presence notification and subscription protocols in order to design a friendship network between sensors/devices and the mobile robots.This work was supported by the project TIN2015-65515-C4-1-R of the Spanish government.Peñaranda-Cebrián, C.; Palanca Cámara, J.; Julian Inglada, VJ.; Botti, V. (2018). A flexible and dynamic mobile robot localization approach. Logic Journal of IGPL. https://doi.org/10.1093/jigpal/jzy045

EMiR 2.0: A cognitive assistant robot for elderly

This paper presents the EMiR robot, which is based on the RobElf robotic platform. EMiR has been developed as a cognitive assistant robot which is able to detect and to classify the emotional state of the human with whom it interacts. Moreover, EMiR integrates a powerful recommendation module that allows the robot to suggest activities to be done by the humans taking into account the emotional states among other aspects.- (undefined

Profibrotic role of inducible heat shock protein 90α isoform in systemic sclerosis

Systemic sclerosis (SSc) is an autoimmune disease that affects skin and multiple internal organs. TGF-β, a central trigger of cutaneous fibrosis, activates fibroblasts with the involvement of the stress-inducible chaperone heat shock protein 90 isoform α (Hsp90α). Available evidence supports overexpression and secretion of Hsp90α as a feature in profibrotic pathological conditions. The aim of this work is to investigate the expression and function of Hsp90α in experimental models of skin fibrosis such as human fibroblasts, C57BL/6 mice, and in human SSc. For this purpose, we generated a new experimental model based on doxorubicin administration with improved characteristics with respect to the bleomycin model. We visualized disease progression in vivo by fluorescence imaging. In this work, we obtained Hsp90α mRNA overexpression in human skin fibroblasts, in bleomycin- and doxorubicin-induced mouse fibrotic skin, and in lungs of bleomycin- and doxorubicin-treated mice. Hsp90α-deficient mice showed significantly decreased skin thickness compared with wild-type mice in both animal models. In SSc patients, serum Hsp90α levels were increased in patients with lung involvement and in patients with the diffuse form of SSc (dSSc) compared with patients with the limited form of SSc. The serum Hsp90α levels of patients dSSc were correlated with the Rodnan score and the forced vital capacity variable. These results provide new supportive evidence of the contribution of the Hsp90α isoform in the development of skin fibrosis. In SSc, these results indicated that higher serum levels were associated with dSSc and lung fibrosis.This work was supported by Spanish Ministerio de Economía, Industria y Competitividad, Gobierno de España Grant RTI2018-095214-B-I00, as well as by the Instituto de Formación e Investigación Marqués de Valdecilla IDIVAL (InnVal 17/22; InnVal 20/34), 2020UCI22-PUB-0003 Gobierno de Cantabria (to A.V.V.), SAF2016-75195-R (to J.M.), SAF2017-82905-R (to R.M.), and (NextVal 18/14) to A.P

Semillas en el tiempo : el latinoamericanismo filosófico contemporáneo

Los trabajos que conforman este Iibro giran en torno a un eje: los filósofos latinoamericanistas contemporáneos, desde 1950 en adelante. Todos ellos pensadores que han reflexionado desde adentro, desde el continente acerca de la identidad cultural y social de América Latina: ¿qué es América, qué es ser americano, cuál es su historia, cuáles son sus contribuciones, qué problemas se derivan de sus relaciones con el Occidente, qué problemas del pasado inciden en su presente, de qué modo debe asumir ese pasado, qué conflictos se desprenden de su estructura de clases? Éstas son algunas de las preguntas que vertebran el nuevo movimiento, que se cuestiona fuertemente la identidad latinoamericana. La relevancia especial de "Semillas en el tiempo" reside en que los autores de los estudios son destacados especialistas en la materia, tanto por sus conocimientos acerca de la Filosofía, como por su dedicación al estudio de la problemática latinoamericana

Reviving the Philippine Economy under a Responsible New Normal

After the reclassification of areas under enhanced community quarantine (ECQ) to general community quarantine (GCQ), the urgent task for the Philippine government is to provide an exit plan to revive the Philippine economy. Given the significant economic damage resulting from the shutdown of roughly 75 percent of the country’s total production in the National Capital Region (NCR) and in the CALABARZON and Central Luzon areas, a gradual reopening of the economy will be necessary to prevent further economic damage that could not only be difficult to repair, but also long to overcome. Indeed, based on recent directives from the government, a substantial number of industries and services have thus been allowed to operate in both the ECQ and GCQ areas. However, as the Philippine government begins to calibrate the opening of sectors, there remain concerns as to how this process will affect jobs and livelihoods now and beyond. In this context, an economic recovery plan that talks about short-term, a transition, and full recovery phases— encompassing a revision of the current Philippine Development Plan without losing sight of the long-term goals envisioned in Ambisyon Natin 2040— is still needed. Indeed, a key component of AmBisyon 2040 has been of building resiliency over the long-term, which includes resiliency in health and economic shocks apart from natural disasters. At the same time, this recovery plan should also be accompanied by structural reforms to enhance its implementation. The Department of Finance has crafted a four-pillar socio-economic strategy aimed at: (a) supporting the more vulnerable sectors of society; (b) increasing medical resources to contain the virus and offer safety to front-liners; (c) keeping the economy afloat through financial emergency initiatives; and (d) creating jobs and sustaining the economy. Yet while enumerating the costs of these plans, the said strategy lacked details on how the country could achieve some of the goals without the availability of widespread testing and adequate health facilities. Loan guarantees, cash transfers, and other forms of subsidies can revive disrupted supply chains but cannot restore productivity in the middle of a persisting health crisis, while the uncertainty of a possible outbreak can keep workers from supplying goods and services. It is crucial to have these programs and institutions in place since a number of cities, regions and provinces have started to reopen. A modified community quarantine without the necessary health system investments, protection measures, and economic recovery plan risks amounting to an unregulated herd immunity strategy. Opting for herd immunity allows governments to blame the failure of the health and economic system on the virus, rather than on bad governance. Under current GCQ protocols, the burden on containing the virus is mostly transferred to the public. Unless the government provides mass testing, the problem of information is aggravated, probably raising the transmission risks. Moreover, unregulated herd immunity will be differentially felt by the poor. As healthy workers may recover their earnings from the modified quarantine, the poor, who have limited access to the health services and are thus more susceptible to the virus, are unlikely to benefit from this system. In effect, this will only exacerbate the inequality that prevails in the country. Moving towards a responsible new normal requires a strategy that addresses both people’s wellbeing and the socio-economic weaknesses exposed by COVID-19. Thus, the strategy should have the following elements

Detection of the gravitational redshift in the orbit of the star S2 near the Galactic centre massive black hole

This is the author accepted manuscript. the final version is available from EDP Sciences via the DOI in this recordThe highly elliptical, 16-year-period orbit of the star S2 around the massive black hole candidate Sgr A∗ is a sensitive probe of the gravitational field in the Galactic centre. Near pericentre at 120 AU ≈ 1400 Schwarzschild radii, the star has an orbital speed of ≈ 7650 km s-1, such that the first-order effects of Special and General Relativity have now become detectable with current capabilities. Over the past 26 years, we have monitored the radial velocity and motion on the sky of S2, mainly with the SINFONI and NACO adaptive optics instruments on the ESO Very Large Telescope, and since 2016 and leading up to the pericentre approach in May 2018, with the four-telescope interferometric beam-combiner instrument GRAVITY. From data up to and including pericentre, we robustly detect the combined gravitational redshift and relativistic transverse Doppler effect for S2 of z = Δλ / λ ≈ 200 km s-1/c with different statistical analysis methods. When parameterising the post-Newtonian contribution from these effects by a factor f, with f = 0 and f = 1 corresponding to the Newtonian and general relativistic limits, respectively, we find from posterior fitting with different weighting schemes f = 0.90 ± 0.09|stat ± 0.15|sys. The S2 data are inconsistent with pure Newtonian dynamics

Accumulation of poly(A) RNA in nuclear granules enriched in Sam68 in motor neurons from the SMNA7 mouse model of SMA

Spinal muscular atrophy (SMA) is a severe motor neuron (MN) disease caused by the deletion or mutation of the survival motor neuron 1 (SMN1) gene, which results in reduced levels of the SMN protein and the selective degeneration of lower MNs. The best-known function of SMN is the biogenesis of spliceosomal snRNPs, the major components of the pre-mRNA splicing machinery. Therefore, SMN deficiency in SMA leads to widespread splicing abnormalities. We used the SMN?7 mouse model of SMA to investigate the cellular reorganization of polyadenylated mRNAs associated with the splicing dysfunction in MNs. We demonstrate that SMN deficiency induced the abnormal nuclear accumulation in euchromatin domains of poly(A) RNA granules (PARGs) enriched in the splicing regulator Sam68. However, these granules lacked other RNA-binding proteins, such as TDP43, PABPN1, hnRNPA12B, REF and Y14, which are essential for mRNA processing and nuclear export. These effects were accompanied by changes in the alternative splicing of the Sam68-dependent Bcl-x and Nrnx1 genes, as well as changes in the relative accumulation of the intron-containing Chat, Chodl, Myh9 and Myh14 mRNAs, which are all important for MN functions. PARG-containing MNs were observed at presymptomatic SMA stage, increasing their number during the symptomatic stage. Moreover, the massive accumulations of poly(A) RNA granules in MNs was accompanied by the cytoplasmic depletion of polyadenylated mRNAs for their translation. We suggest that the SMN-dependent abnormal accumulation of polyadenylated mRNAs and Sam68 in PARGs reflects a severe dysfunction of both mRNA processing and translation, which could contribute to SMA pathogenesis.This work was supported by grants from: “Dirección General de Investigación” of Spain (BFU2014-54754-P and SAF2015-70801-R, cofinanced by FEDER) and “Instituto de Investigación Marqués de Valdecilla-IDIVAL (NVAL17/22). Dr. Tapia is the recipient of a grant from SMA Europe and FundAME (Spain)

Incidence, clinical characteristics and management of inflammatory bowel disease in Spain: large-scale epidemiological study

(1) Aims: To assess the incidence of inflammatory bowel disease (IBD) in Spain, to describe the main epidemiological and clinical characteristics at diagnosis and the evolution of the disease, and to explore the use of drug treatments. (2) Methods: Prospective, population-based nationwide registry. Adult patients diagnosed with IBD—Crohn’s disease (CD), ulcerative colitis (UC) or IBD unclassified (IBD-U)—during 2017 in Spain were included and were followed-up for 1 year. (3) Results: We identified 3611 incident cases of IBD diagnosed during 2017 in 108 hospitals covering over 22 million inhabitants. The overall incidence (cases/100, 000 person-years) was 16 for IBD, 7.5 for CD, 8 for UC, and 0.5 for IBD-U; 53% of patients were male and median age was 43 years (interquartile range = 31–56 years). During a median 12-month follow-up, 34% of patients were treated with systemic steroids, 25% with immunomodulators, 15% with biologics and 5.6% underwent surgery. The percentage of patients under these treatments was significantly higher in CD than UC and IBD-U. Use of systemic steroids and biologics was significantly higher in hospitals with high resources. In total, 28% of patients were hospitalized (35% CD and 22% UC patients, p < 0.01). (4) Conclusion: The incidence of IBD in Spain is rather high and similar to that reported in Northern Europe. IBD patients require substantial therapeutic resources, which are greater in CD and in hospitals with high resources, and much higher than previously reported. One third of patients are hospitalized in the first year after diagnosis and a relevant proportion undergo surgery. © 2021 by the authors. Licensee MDPI, Basel, Switzerland

Tormenta arr\uedtmica inducida por descargas del desfibrilador autom\ue1tico implantable en una taquicardia ventricular polim\uf3rfica catecolamin\ue9rgica

Sr. Editor: La taquicardia ventricular polim\uf3rfica catecolamin\ue9rgica (TVPC) es una rara entidad, caracterizada en 1995 por Leenhardt et al1 , que cursa con s\uedncopes de repetici\uf3n y muerte s\ufabita por arritmias ventriculares polim\uf3rficas en la infancia, coincidiendo con esfuerzos f\uedsicos o emocionales. Los s\uedntomas se inician despu\ue9s de los 4 a\uf1os de edad, se llega al diagn\uf3stico en torno a los 10-15 a\uf1os y es raro diagnosticarla despu\ue9s de los 30. El car\ue1cter autolimitado de las arritmias en la mayor\ueda de episodios determina, por un lado, que muchos de estos pacientes sean diagnosticados de crisis comiciales y, por otro, que en caso de implantar un desfibrilador se deba programar adecuadamente a fin de evitar choques innecesarios y proarr\uedtmicos, como demuestra el caso presentado. ....

Wavelet Frequency Tensor applied to temporary environments in discrete spaces to obtain mobility patterns. Use case in the detection of routes in a territory

[EN] The use of frequency tensors for the representation of discrete time series information through wavelet transformations offers a methodology that allows the application of classification methods that result in the detection of mobility patterns in a geographical area. The use case focuses on a territory from which the geolocation of anonymized mobile device identifiers is extracted to aggregate its frequencies in order to ensure personal privacy. Furthermore, the kind of datasets we used in our study were treated with other methods to ensure that the identifiers for a same user change over time. Nowadays, this form of data treatment is implemented using a continuous process in smartcity platforms, first by anonymizing and second by changing the seed of the encryption method. Where the suggested technique is applied, a cluster analysis is performed, by which subsets or routes of the movements between the different points studied are obtained.Marchuet, D.; Palanca Cámara, J.; Botti, V. (2021). Wavelet Frequency Tensor applied to temporary environments in discrete spaces to obtain mobility patterns. Use case in the detection of routes in a territory. Engineering Applications of Artificial Intelligence. 106:1-16. https://doi.org/10.1016/j.engappai.2021.104507S11610