A Robust Localization System for Inspection Robots in Sewer Networks †

Sewers represent a very important infrastructure of cities whose state should be monitored periodically. However, the length of such infrastructure prevents sensor networks from being applicable. In this paper, we present a mobile platform (SIAR) designed to inspect the sewer network. It is capable of sensing gas concentrations and detecting failures in the network such as cracks and holes in the floor and walls or zones were the water is not flowing. These alarms should be precisely geo-localized to allow the operators performing the required correcting measures. To this end, this paper presents a robust localization system for global pose estimation on sewers. It makes use of prior information of the sewer network, including its topology, the different cross sections traversed and the position of some elements such as manholes. The system is based on a Monte Carlo Localization system that fuses wheel and RGB-D odometry for the prediction stage. The update step takes into account the sewer network topology for discarding wrong hypotheses. Additionally, the localization is further refined with novel updating steps proposed in this paper which are activated whenever a discrete element in the sewer network is detected or the relative orientation of the robot over the sewer gallery could be estimated. Each part of the system has been validated with real data obtained from the sewers of Barcelona. The whole system is able to obtain median localization errors in the order of one meter in all cases. Finally, the paper also includes comparisons with state-of-the-art Simultaneous Localization and Mapping (SLAM) systems that demonstrate the convenience of the approach.Unión Europea ECHORD ++ 601116Ministerio de Ciencia, Innovación y Universidades de España RTI2018-100847-B-C2

mTOR and cancer: many loops in one pathway

The mammalian target of rapamycin (mTOR) is a master regulator of cell growth and division that responds to a variety of stimuli, including nutrient, energy, and growth factors. In the last years, a significant number of pieces have been added to the puzzle of how mTOR coordinates and executes its functions. Extensive research on mTOR has also uncovered a complex network of regulatory loops that impact the therapeutic approaches aimed at targeting mTOR.Howard Hughes Medical InstituteNational Institutes of Health (U.S.)Human Frontier Science Program (Strasbourg, France

Bell inequalities from multilinear contractions

We provide a framework for Bell inequalities which is based on multilinear contractions. The derivation of the inequalities allows for an intuitive geometric depiction and their violation within quantum mechanics can be seen as a direct consequence of non-vanishing commutators. The approach is motivated by generalizing recent work on non-linear inequalities which was based on the moduli of complex numbers, quaternions and octonions. We extend results on Peres conjecture about the validity of Bell inequalities for quantum states with positive partial transposes. Moreover, we show the possibility of obtaining unbounded quantum violations albeit we also prove that quantum mechanics can only violate the derived inequalities if three or more parties are involved.Comment: Published versio

Recurrent mTORC1-activating RRAGC mutations in follicular lymphoma

Follicular lymphoma is an incurable B cell malignancy characterized by the t(14;18) translocation and mutations affecting the epigenome. Although frequent gene mutations in key signaling pathways, including JAK-STAT, NOTCH and NF-κB, have also been defined, the spectrum of these mutations typically overlaps with that in the closely related diffuse large B cell lymphoma (DLBCL). Using a combination of discovery exome and extended targeted sequencing, we identified recurrent somatic mutations in RRAGC uniquely enriched in patients with follicular lymphoma (17%). More than half of the mutations preferentially co-occurred with mutations in ATP6V1B2 and ATP6AP1, which encode components of the vacuolar H+-ATP ATPase (V-ATPase) known to be necessary for amino acid−induced activation of mTORC1. The RagC variants increased raptor binding while rendering mTORC1 signaling resistant to amino acid deprivation. The activating nature of the RRAGC mutations, their existence in the dominant clone and their stability during disease progression support their potential as an excellent candidate for therapeutic targeting.Experimental Cancer Medicine Centre

Nutrient-sensing mechanisms and pathways

The ability to sense and respond to fluctuations in environmental nutrient levels is a requisite for life. Nutrient scarcity is a selective pressure that has shaped the evolution of most cellular processes. Different pathways that detect intracellular and extracellular levels of sugars, amino acids, lipids and surrogate metabolites are integrated and coordinated at the organismal level through hormonal signals. During food abundance, nutrient-sensing pathways engage anabolism and storage, whereas scarcity triggers homeostatic mechanisms, such as the mobilization of internal stores through autophagy. Nutrient-sensing pathways are commonly deregulated in human metabolic diseases.National Institutes of Health (U.S.) (Grant R01 CA129105)National Institutes of Health (U.S.) (Grant R01 CA103866)National Institutes of Health (U.S.) (Grant R01 AI047389)National Institutes of Health (U.S.) (Grant R21 AG042876)American Federation for Aging ResearchStarr FoundationDavid H. Koch Institute for Integrative Cancer Research at MIT (Frontier Research Program)Ellison Medical FoundationCharles A. King TrustAmerican Cancer Society (Ellison Medical Foundation Postdoctoral Fellowship PF-13-356-01-TBE

Prevalence and characteristics of hepatitis C virus infection detected by extended screening of working-age adults in Madrid (Spain).

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Coordination on Systems of Multiple UAVs

Esta tesis trata acerca de métodos para coordinar las trayectorias de un sistema de Vehículos Aéreos no Tripulados y Autónomos (en adelante UAVs). El primer conjunto de técnicas desarrolladas durante la tesis se agrupan dentro de las técnicas de planificación de trayectorias. En este caso, el objetivo es generar planes de vuelo para un conjunto de vehículos coordinadamente de forma que no se produzcan colisiones entre ellos. Además, este tipo de técnicas puede usarse para modificar el plan de vuelo de un subconjunto de UAVs en tiempo real. Entre los algoritmos desarrollados en la tesis podemos destacar la adaptación de algoritmos evolutivos como los Algoritmos Genéticos y el Particle Swarm (Enjambre de Partículas), la incorporación de nuevas formas de muestreo del espacio para la aplicación del algoritmo Optimal Rapidly Exploring Random Trees (RRT*) en sistemas multi-UAV usando técnicas de muestreo novedosas. También se ha estudiado el comportamiento de parte de estos algoritmos en situaciones variables de incertidumbre del estado del sistema. En particular, se propone el uso del Filtro de Partículas para estimar la posición relativa entre varios UAVs. Además, se estudia la aplicación de métodos reactivos para la resolución de colisiones en tiempo real. Esta tesis propone un nuevo algoritmo para la resolución de colisiones entre múltiples UAVs en presencia de obstáculos fijos llamado G-ORCA. Este algoritmo soluciona varios problemas que han surgido al aplicar el algoritmo ORCA en su variante 3D en sistemas compuestos por vehículos reales. Su seguridad se ha demostrado tanto analíticamente, como empíricamente en pruebas con sistemas reales. De hecho, durante esta tesis numerosos experimentos en sistemas multi-UAV reales compuestos hasta por 4 UAVs han sido ejecutados. En dichos experimentos, se realiza una coordinación autónoma de UAVs en las que se asegura la ejecución de trayectorias libres de colisiones garantizando por tanto la seguridad del sistema. Una característica reseñable de esta tesis es que los algoritmos desarrollados han sido probados e integrados en sistemas más complejos que son usados en aplicaciones reales. En primer lugar, se presenta un sistema para aumentar la duración del vuelo de planeadores aprovechando las corrientes ascendentes de viento generadas por el calor (térmicas). En segundo lugar, un sistema de detección y resolución de colisiones coordinado para sistemas con múltiples UAVs reactivo ha sido diseñado, desarrollado y probado experimentalmente. Este sistema ha sido integrado dentro de un sistema automático de construcción de estructuras mediante múltiples UAVs.The aim of this thesis is to propose methods to coordinately generate trajectories for a system of Autonomous Unmanned Aerial Vehicles (UAVs). The first set of proposed techniques developed in this thesis can be defined as trajectory planning techniques. In this case, the objective is to generate coordinated flight plans for a system of UAVs in such a way that no collision are produced among each pair of UAVs. Besides, these techniques can be applied online in order to modify the original flight plan whenever a potential collision is detected. Amongst the developed algorithms in this thesis we can highlight the adaptation of evolutionary algorithms such as Genetic Algorithms and Particle Swarm, and the application of Optimal Rapidly Exploring Random Trees (RRT*) algorithm into a system of several UAVs with novel sampling techniques. In addition, many of these techniques have been adapted in order to be applicable when only uncertain knowledge of the state of the system is available. In particular, the use of the Particle Filter is proposed in order to estimate the relative position between UAVs. The estimation of the position as well as the uncertainty related to this estimation are then taken into account in the conflict resolution system. All techniques proposed in this thesis have been validated by performing several simulated and real tests. For this purpose, a method for randomly generating a huge test batch is presented in chapter 3. This will allow to test the behavior of the proposed methods in a great variety of situations. During the thesis, several real experimentations with fleets composed by up to four UAVs are presented. In these experiments, the UAVs in the system are automatically coordinated in order to ensure collision-free trajectories and thus guarantee the safety of the system. The other main topic of this thesis is the application of reactive methods for real-time conflict resolution. This thesis proposes a novel algorithm for collision resolution amongst multiple UAVs in the presence of static obstacles, which has been called Generalized-Optimal Reciprocal Collision Avoidance (G-ORCA). This algorithm overcomes several issues that have been detected into the algorithm 3D-ORCA in real applications. A remarkable characteristic of this thesis is that the developed algorithms have been applied as a part of more complex systems. First, a coordinated system for flight endurance extension of gliding aircrafts by profiting the ascending wind is presented. Second, a reactive collision avoidance block has been designed, developed and tested experimentally based in the aforementioned G-ORCA algorithm. This block has been integrated into a system for assembly construction with multiple UAVs

La naturaleza como aula

¿Vivimos rodeados de naturaleza?. La respuesta es sí. Pero… ¿Tenemos contacto con ella? O rehusamos a hacerlo. Estas preguntas anteriores podrían valer para cualquier persona pero, a través del siguiente proyecto, pretendo dirigirlas a los docentes. Espero con ello despertar en el docente la necesidad de promover y fomentar el contacto directo con la naturaleza desde el área de Educación Física. A través de los autores que menciono durante el proyecto vemos cómo la naturaleza de la que provenimos ha quedado relegada a un segundo plano, sustituida por aulas o gimnasios limitando de este modo el desarrollo cognitivo-motriz del alumnado así como sus habilidades sociales y empáticas hacia los demás y hacia el medio natural que les rodea. Para ello he creado una propuesta de actividades al aire libre para toda Educación Primaria desde un C.E.I.P. de la ciudad de Palencia y desde el área de Educación Física, vinculándola de forma transversal con las áreas de Ciencias Sociales y Ciencias Naturales así como la Educación Ambiental.Grado en Educación Primari

The Reef-fish Fauna of the Northern Patagonian Gulfs, Argentina, South-western Atlantic

A checklist containing 29 species of reef fishes recorded at the gulfs San José and Nuevo in Argentina (42°-43°S) is provided. The reef-fish assemblages of the San José and Nuevo gulfs are a mix of warm-temperate fauna from the South-western Atlantic Province, and cold-temperate species from the South-American Province; however, warm-temperate fishes dominated in both gulfs. The presence of the families Bovichtidae, Eleginopidae, Nototheniidae, Congiopodidae, Sebastidae and Moridae distinguished the Patagonian region from the rest of the Atlantic coast.Fil: Galvan, David Edgardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Centro Nacional Patagónico; ArgentinaFil: Venerus, Leonardo Ariel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Centro Nacional Patagónico; ArgentinaFil: Irigoyen, Alejo Joaquin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Centro Nacional Patagónico; Argentin