Impacto gravitatorio en la planificación y seguimiento de trayectorias en un robot cuadrúpedo

En este proyecto se ha investigado y analizado el impacto de diferentes gravedades en la planificación y seguimiento de trayectorias en un robot cuadrúpedo, en concreto, el robot Go1 de Unitree Robotics. Para ello se ha introducido el robot Go1 en el framework TOWR para planificar las trayectorias en tres distintas condiciones de gravedad: terrestre, marciana e intermedia. Una vez generadas, mediante los paquetes proporcionados por Unitree Robotics y los rosbag con las trayectorias generadas por TOWR, se ha realizado el seguimiento de dichas trayectorias en Gazebo. Tanto en la planificación como en el seguimiento se realiza una comparación entre las trayectorias y se observa cómo va afectando la reducción de la gravedad. Así mismo, también se comparan los resultados de la planificación con los del seguimiento. Además, se realizan diversas pruebas con el robot real en gravedad terrestre. Los pasos seguidos para realizar este proyecto son: 1. Estudio de TOWR e incluir el robot en dicho framework. 2. Estudio de la cinemática y dinámica del robot. 3. Generar las trayectorias. 4. Crear un archivo capaz de leer valores de un rosbag y realizar el seguimiento de la trayectoria. 5. Recopilar los datos tanto en simulación como en la realidad y comparar los resultando

The Proteasomal Deubiquitinating Enzyme PSMD14 Regulates Macroautophagy by Controlling Golgi-to-ER Retrograde Transport

Ubiquitination regulates several biological processes, however the role of specific members of the ubiquitinome on intracellular membrane trafficking is not yet fully understood. Here, we search for ubiquitin-related genes implicated in protein membrane trafficking performing a High-Content siRNA Screening including 1187 genes of the human “ubiquitinome” using amyloid precursor protein (APP) as a reporter. We identified the deubiquitinating enzyme PSMD14, a subunit of the 19S regulatory particle of the proteasome, specific for K63-Ub chains in cells, as a novel regulator of Golgi-to-endoplasmic reticulum (ER) retrograde transport. Silencing or pharmacological inhibition of PSMD14 with Capzimin (CZM) caused a robust increase in APP levels at the Golgi apparatus and the swelling of this organelle. We showed that this phenotype is the result of rapid inhibition of Golgi-to-ER retrograde transport, a pathway implicated in the early steps of the autophagosomal formation. Indeed, we observed that inhibition of PSMD14 with CZM acts as a potent blocker of macroautophagy by a mechanism related to the retention of Atg9A and Rab1A at the Golgi apparatus. As pharmacological inhibition of the proteolytic core of the 20S proteasome did not recapitulate these effects, we concluded that PSMD14, and the K63-Ub chains, act as a crucial regulatory factor for macroautophagy by controlling Golgi-to-ER retrograde transport

Water Supply Source Evaluation in Unmanaged Aquifer Recharge Zones: The Mezquital Valley (Mexico) Case Study

The Mezquital Valley (MV) hosts the largest unmanaged aquifer recharge scheme in the world. The metropolitan area of Mexico City discharges ~60 m3/s of raw wastewater into the valley, a substantial share of which infiltrates into the regional aquifer. In this work, we aim to develop a comprehensive approach, adapted from oil and gas reservoir modeling frameworks, to assess water supply sources located downgradient from unmanaged aquifer recharge zones. The methodology is demonstrated through its application to the Mezquital Valley region. Geological, geoelectrical, petrophysical and hydraulic information is combined into a 3D subsurface model and used to evaluate downgradient supply sources. Although hydrogeochemical variables are yet to be assessed, outcomes suggest that the newly-found groundwater sources may provide a long-term solution for water supply. Piezometric analyses based on 25-year records suggest that the MV is close to steady-state conditions. Thus, unmanaged recharge seems to have been regulating the groundwater balance for the last decades. The transition from unmanaged to managed recharge is expected to provide benefits to the MV inhabitants. It will also be likely to generate new uncertainties in relation to aquifer dynamics and downgradient systems

Oportunidades para la innovación de sistemas tradicionales de producción agropecuaria: un análisis socioantropológico retrospectivo

Se identifican los principales cambios históricos (1984-2015) en el manejo de los sistemas productivos de maíz (Zea mays L.), frijol (Phaseolus vulgaris L.) y ganadería bovina (Bos spp.) en la comunidad Francisco Villa I, aledaña a la Reserva de la Biosfera “La Sepultura” (REBISE), Chiapas, México, para encontrar puntos de entrada (oportunidades) a procesos de innovación local. Se utilizó el enfoque socioantropológico y de procesos de innovación social con la metodología de la investigación-acción. Mediante el análisis de discurso y los gráficos de tendencia de las variables estudiadas, se demostró que, con base en el análisis de cambios históricos, existen condiciones locales para emprender nuevos procesos de innovación social que pueden mejorar el desempeño de los sistemas de producción agropecuaria

Negative Modulation of Macroautophagy by Stabilized HERPUD1 is Counteracted by an Increased ER-Lysosomal Network With Impact in Drug-Induced Stress Cell Survival

Macroautophagy and the ubiquitin proteasome system work as an interconnected network in the maintenance of cellular homeostasis. Indeed, efficient activation of macroautophagy upon nutritional deprivation is sustained by degradation of preexisting proteins by the proteasome. However, the specific substrates that are degraded by the proteasome in order to activate macroautophagy are currently unknown. By quantitative proteomic analysis we identified several proteins downregulated in response to starvation independently of ATG5 expression. Among them, the most significant was HERPUD1, an ER membrane protein with low expression and known to be degraded by the proteasome under normal conditions. Contrary, under ER stress, levels of HERPUD1 increased rapidly due to a blockage in its proteasomal degradation. Thus, we explored whether HERPUD1 stability could work as a negative regulator of autophagy. In this work, we expressed a version of HERPUD1 with its ubiquitin-like domain (UBL) deleted, which is known to be crucial for its proteasome degradation. In comparison to HERPUD1-WT, we found the UBL-deleted version caused a negative role on basal and induced macroautophagy. Unexpectedly, we found stabilized HERPUD1 promotes ER remodeling independent of unfolded protein response activation observing an increase in stacked-tubular structures resembling previously described tubular ER rearrangements. Importantly, a phosphomimetic S59D mutation within the UBL mimics the phenotype observed with the UBL-deleted version including an increase in HERPUD1 stability and ER remodeling together with a negative role on autophagy. Moreover, we found UBL-deleted version and HERPUD1-S59D trigger an increase in cellular size, whereas HERPUD1-S59D also causes an increased in nuclear size. Interestingly, ER remodeling by the deletion of the UBL and the phosphomimetic S59D version led to an increase in the number and function of lysosomes. In addition, the UBL-deleted version and phosphomimetic S59D version established a tight ER-lysosomal network with the presence of extended patches of ER-lysosomal membrane-contact sites condition that reveals an increase of cell survival under stress conditions. Altogether, we propose stabilized HERPUD1 downregulates macroautophagy favoring instead a closed interplay between the ER and lysosomes with consequences in drug-cell stress survival

Magneto-mechanical system to reproduce and quantify complex strain patterns in biological materials

Biological cells and tissues are continuously subjected to mechanical stress and strain cues from their surrounding substrate. How these forces modulate cell and tissue behavior is a major question in mechanobiology. To conduct studies under controlled varying physiological strain scenarios, a new virtually-assisted experimental system is proposed allowing for non-invasive and real-time control of complex deformation modes within the substrates. This approach is based on the use of extremely soft magneto-active polymers, which mimic the stiffness of biological materials. Thus, the system enables the untethered control of biological substrates providing reversible mechanical changes and controlling heterogeneous patterns. Motivated on a deep magneto-mechanical characterization across scales, a multi-physics and multi-scale in silico framework was developed to guide the experimental stimulation setup. The versatility and viability of the system have been demonstrated through its ability to reproduce complex mechanical scenarios simulating local strain patterns in brain tissue during a head impact, and its capability to transmit physiologically relevant mechanical forces to dermal fibroblasts. The proposed framework opens the way to understanding the mechanobiological processes that occur during complex and dynamic deformation states, e.g., in traumatic brain injury, pathological skin scarring or fibrotic heart remodeling during myocardial infarction.The authors thank Denis Wirtz (Johns Hopkins University) and Jean-Christophe Olivo-Marin (Institute Pasteur) for relevant discussion. The authors acknowledge support from the European Research Council (ERC) under the European Union's Horizon 2020 Research and Innovation Program (Grant agreement No. 947723, project: 4D-BIOMAP), and from Programa de Apoyo a la Realizacion de Proyectos Interdiscisplinares de I+D para Jovenes Investigadores de la Universidad Carlos III de Madrid and Comunidad de Madrid (project: BIOMASKIN). MAMM and CGC acknowledges support from the Ministerio de Ciencia, Innovacion y Universidades, Spain (FPU19/03874 and FPU20/01459) and DGG acknowledges support from the Talent Attraction grant (CM 2018 - 2018-T2/IND-9992) from the Comunidad de Madrid

Yo-Yo intermittent recovery test level 2: Cardiorespiratory response and performance in professional soccer players, comparison between under 20 and over 20 years old players

Purpose: The aim of this study was to compare the older players (O20) and the younger ones (U20) of the Colombian Professional National League 2015 champion team in cardiopulmonary responses and performance, using the Yo-Yo Intermittent Recovery Test level 2 (YYIR2). Methods: Nine O20 and nineteen U20 were voluntarily evaluated. All subjects were monitored for heart rate, and a continuous breath-to-breath recording was carried out while they performed the YYIR2. The Student T test and the Pearson correlation were used for the statistical analysis. Results: A significant difference in distance covered and speed in the ventilatory threshold between U20 players (280 ± 85,3 m) (16,6 ± 0,3 km.h-1) and O20 players (373 ± 113,1 m) (17 ± 0,3 km.h-1) was observed. Only in the U20 group, a significant correlation between the variables oxygen uptake in the ventilatory threshold (V̇O2atVT) and performance in the test (Dmax), V̇O2 at VT and maximum speed (Smax), peak oxygen uptake (V̇O2peak) and Smax and V̇O2peak and Dmax was observed. Conclusion: The only variables that differentiated the performance in the population was the analysis of the distance and the speed at the time of the ventilatory threshold

Clinical and etiological characterization of a sam-ple of children and adults with dysphagia treated in two healthcare centers in Medellín/Colombia: a retrospective study

Introduction: Dysphagia is a frequent disorder throughout the life cycle, which has different etiolo-gies in relation to its clinical type in oropharyngeal or esophageal.Objective: Clinical and etiological characterization of a sample with dysphagia attended in two health care centers in the city of Medellín (Colombia), showing the etiology and clinical type of dysphagia according to age groups. Methods: Observational, descriptive, and retrospective study, through the review and analysis of and clinical records of patients with a diagnosis of dysphagia, treated between 2012 and 2018 in a university hospital and a speech therapy center in swallowing. Results: Sample of 527 patients. Distributed in tho-se under 18 years 45.4% (239/527); 18 to 59: 20.1% (106/527) and over 60: 34.5% (182/527). Clinical type, etiology, and most frequent health condition in the entire sample: oropharyngeal dysphagia, functional etiology, and neurological diseases. The most frequent conditions causing dysphagia in children under 18 years of age were childhood development disorders; group 18 to 59 years, cancer and, in those over 60 years of age, neurodegenerative processes. Conclusion: Oropharyngeal dysphagia due to functional etiology is common throughout the life cycle, and neurological diseases seem to largely explain its pathophysiology. In older adults it is associated with neurodegenerative disorders, and in those under 60 years of age (including children) the etiology is diverse. Its causes and clinical characteristics must be considered for promotion, diagnosis, treatment, and rehabilitation processes

Genetic and environmental factors related to the development of myopic maculopathy in Spanish patients

High myopia and the subsequent degenerative changes of the retina, choroid, and sclera, known as myopic maculopathy (MM), are a serious visual problem in many Asian countries, and are beginning to be so in the south of Europe, especially in the Mediterranean. It is therefore necessary to carry out genetic and environmental studies to determine the possible causes of this disease. This study aims to verify if the genetic factors that have been most related to Asian populations are also associated in two Spanish cohorts. Eight SNPs from six genes (PAX6,SCO2,CCDC102B,BLID,chromosome 15q14, andCOL8A1) along with demographic, ophthalmic and environmental factors were analysed in two cohorts from a total of 365 highly myopic subjects and 177 control subjects. The genetic analysis showed thatCOL8A1SNP rs13095226 was associated with the development of choroidal neovascularization (CNV) and also seems to play an important role in the increase of axial length. The SNP rs634990 ofchromosome 15q14also showed a significant association with MM, although this was lost after the Bonferroni correction. Additional demographic and environmental factors, namely age, sex, smoking status, and pregnancy history, were also found to be associated with MM and CNV in this population

Nitrogen and Phosphorous Retention in Tropical Eutrophic Reservoirs with Water Level Fluctuations: A Case Study Using Mass Balances on a Long-Term Series

Nitrogen and phosphorous loading drives eutrophication of aquatic systems. Lakes and reservoirs are often effective N and P sinks, but the variability of their biogeochemical dynamics is still poorly documented, particularly in tropical systems. To contribute to the extending of information on tropical reservoirs and to increase the insight on the factors affecting N and P cycling in aquatic ecosystems, we here report on a long-term N and P mass balance (2003–2018) in Valle de Bravo, Mexico, which showed that this tropical eutrophic reservoir lake acts as a net sink of N (−41.7 g N m y) and P (−2.7 g P m y), mainly occurring through net sedimentation, equivalent to 181% and 68% of their respective loading (23.0 g N m y and 4.2 g P m y). The N mass balance also showed that the Valle de Bravo reservoir has a high net N atmospheric influx (31.6 g N m y), which was 1.3 times the external load and likely dominated by N fixation. P flux was driven mainly by external load, while in the case of N, net fixation also contributed. During a period of high water level fluctuations, the net N atmospheric flux decreased by 50% compared to high level years. Our results outlining water regulation can be used as a useful management tool of water bodies, by decreasing anoxic conditions and net atmospheric fluxes, either through decreasing nitrogen fixation and/or promoting denitrification and other microbial processes that alleviate the N load. These findings also sustain the usefulness of long-term mass balances to assess biogeochemical dynamics and its variability.This research was funded by UNAM, PAPIIT-IN207702 and CONACYT-SEMARNAT, C01-1125 projects to M.M-