Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

Current trends in Robotics aim to close the gap that separates technology and humans, bringing novel robotic devices in order to improve human performance. Although robotic exoskeletons represent a breakthrough in mobility enhancement, there are design challenges related to the forces exerted to the users’ joints that result in severe injuries. This occurs due to the fact that most of the current developments consider the joints as noninvariant rotational axes. This paper proposes the use of commercial vision systems in order to perform biomimetic joint design for robotic exoskeletons. This work proposes a kinematic model based on irregular shaped cams as the joint mechanism that emulates the bone-to-bone joints in the human body. The paper follows a geometric approach for determining the location of the instantaneous center of rotation in order to design the cam contours. Furthermore, the use of a commercial vision system is proposed as the main measurement tool due to its noninvasive feature and for allowing subjects under measurement to move freely. The application of this method resulted in relevant information about the displacements of the instantaneous center of rotation at the human knee joint

Acciones Formativas para el Fomento del Emprendimiento de Base Tecnológica de los Alumnos de los Grados de Comercio y Turismo

Depto. de Organización de EmpresasFac. de Comercio y TurismoFac. de Ciencias Económicas y EmpresarialesFALSEsubmitte

The Extrusion Process as an Alternative for Improving the Biological Potential of Sorghum Bran: Phenolic Compounds and Antiradical and Anti-Inflammatory Capacity

Approximately 80% of sorghum phenolic compounds are linked to arabinoxylans by ester bonds, which are capable of resisting the digestion process in the upper gastrointestinal tract, compromising their bioaccessibility and biological potential. The aim of this study was to evaluate the effect of the extrusion process on the content of phenolic compounds in sorghum bran and its impact on phenolic compounds and antiradical and anti-inflammatory capacity. Results revealed that the extrusion process increased total phenol content in sorghum bran compared to nonextruded sorghum, particularly for extrusion at 180°C with 20% moisture content (2.0222±0.0157 versus 3.0729±0.0187 mg GAE/g +52%), which positively affected antiradical capacity measured by the DPPH and TEAC assays. The percentage of inhibition of nitric oxide (NO) production by RAW cells due to the presence of extruded sorghum bran extract was significantly higher than that of nonextruded sorghum bran extract (90.2±1.9% versus 76.2±1.3%). The results suggest that extruded sorghum bran could be used as a functional ingredient and provide advantages to consumers by reducing diseases related to oxidative stress and inflammation

La imagen y la narrativa como herramientas para el abordaje psicosocial en escenarios de violencia. Departamentos de La Guajira y Magdalena

Colombia, un país cargado de variabilidad de riquezas culturales y ambientales, merece tener una paz digna y completa, sin embargo, este derecho se ha visto opacado por hechos violentos que la envuelven, las masacres, secuestros, asesinatos, desplazamientos forzados, desapariciones, entre otros, hacen que este país sea la mayor fuente de preocupación para sus dirigentes políticos y sus habitantes. El presente análisis reflexivo permite evidenciar las particularidades de este flagelo, así como sus afectaciones y la percepción subjetivas de las personas frente las experiencias vividas reales, se puede evidenciar las similitudes de los hechos violentos y sus consecuencias, así como, los actores que intervinieron en ella, a pesar de las diferencias de los contextos y las características culturales de la población. Se muestra dos caras de una realidad que pareciera haber sido experimentada por todos, una, que representa al sujeto como víctima, la otra, que muestra, la fortaleza, la capacidad de superación y de lucha de las poblaciones por cambiar su realidad. Este análisis lleva al lector a la comprensión de circunstancias conocidas o desconocidas, en el marco de lo político, económico, cultural, educativo, entre otras, de las personas víctimas de violencia en Colombia, se pretende a través de este ejercicio realizar un bosquejo de la realidad de algunos departamentos como La Guajira y Magdalena, en los cuales se evidenciaron hechos violentos por conflicto armado y por territorialidad pero con una particularidad, sus consecuencias, como pobreza, desplazamientos, desarraigo cultural, daños físicos y psicológicos, muerte de líderes sociales, entre otros, que se proponían desde su condición, cambiar la realidad existente de su comunidad. 5 En estos momentos, Colombia tiene una alta cifra de víctimas por conflictos armado, según la Red Nacional de Información, RNI (2021) existe un estimado de 8.944.137 personas aproximadamente que han sido objeto de estos hechos violentos. De los cuales, 135.642 son de La Guajira y 326.905 del departamento del Magdalena (P.1) Estos datos reflejan la gran extensión de las afectaciones generadas por la violencia en Colombia y permite ver una imagen perturbadora de la condición que enfrenta este país y las victimas como consecuencia de ella.Colombia, a country loaded with the variability of cultural and environmental wealth, deserves to have dignified and complete peace, however, this right has been overshadowed by violent acts that surround it, massacres, kidnappings, murders, forced displacements, disappearances, among others make this country the greatest source of concern for its political leaders and its inhabitants. The reflective analysis allows to demonstrate the particularity of this scourge, as its effects and the subjective perception of people in the face of real lived experiences, the similarities of the violent events and consequences, as well as the actors intervened in her, despite the differences in the contexts and cultural characteristics of the population. It shows two sides of a reality that seems to have been experienced by everyone, one, which represents the subject as a victim, the other, the ability to overcome and struggle of the peoples to change their reality. This analysis leads the reader to understand known or unknown circumstances, within the framework of the political, economic, cultural, educational, others, of the victims of violence in this country, it is intended through this exercise made a sketch of the reality of some departments La Guajira and Magdalena, in which violent acts were evidenced due to armed conflict and territoriality but with a particularity, its consequences, such as poverty, displacement, cultural uprooting, physical and psychological, death of leaders, who proposed from their condition, to change the existing reality of their community. At the moment, Colombia has a high number of victims of armed conflicts, according to the National Information Network, RNI (2021) there is an estimated 8,944,137 people who have been the object of these violent acts. Of which 135,642 are from La Guajira and 326,905 from the 7department of Magdalena (P.1) These data reflect the great extent of the effects generated by the violence in Colombia and allow us to see a disturbing image of the condition that this country faces and the victims as a consequence of it

Etnozoología del pueblo mayo-yoreme en el norte de Sinaloa: uso de vertebrados silvestres

An ethnozoological study was performed in 11 indigenous communities of the municipality of El Fuerte, Sinaloa, México, to describe the use of wild vertebrates. Of the people who used this resource, 53 % belonged to the Mayo-Yoreme people, but only one third still speaks their native tongue. Hunting is carried out only by men, primarily day laborers, who took advantage of 34 wild species, distributed in 21 families and 12 orders, with mammals being the most widely used. Hunting is carried out during most of the year, on weekends and during the first hours of the morning, although also during the night, both on foot and with the help of a vehicle. The main uses were for food, handcrafts and medicinal. The hunt was done primarily in shrubs and agricultural areas. The most frequently used hunting means were sling-shot (fork with a handle with a rubber tied to its ends, to be stretched out and used to shoot small stones), and rifle caliber 022. Of the people, 43.2 % considered the species as regularly abundant, while 18.7 % perceived them as scarce as the result from furtive hunting, deforestation and people’s needs. More than 90 % recognized as actions necessary for conservation the following: vigilance, not hunting in abundance and respecting the closed season.Se realizó un estudio etnozoológico en 11 comunidades indígenas del municipio de El Fuerte, Sinaloa, México, para describir el aprovechamiento de vertebrados silvestres. El 53 % de los que hicieron uso de este recurso pertenecieron al pueblo Mayo-Yoreme, pero solo una tercera parte aún habla su lengua materna. La caza es realizada solo por hombres, repartidos en 21 familias y 12 órdenes, principalmente jornaleros, quienes aprovecharon 34 especies silvestres, siendo los mamíferos los más aprovechado. La caza se realiza la mayor parte del año durante los fines de semana y en las primeras horas de la mañana, aunque también durante la noche; tanto a pie como con apoyo de un vehículo. Los principales usos fueron el alimentario, artesanal y medicinal. La caza se realizó principalmente en matorrales y áreas agrícolas. La resortera (horquilla con mango a cuyos extremos se unen los de una goma para estirarla y disparar piedras pequeñas) y el rifle calibre 022 fueron los medios de caza más utilizados. El 43.2 % consideró las especies como regularmente abundantes, mientras que 18.7 % las percibió escasas como consecuencia de la caza furtiva, la deforestación y las necesidades de las personas. Más de 90 % reconoció como acciones necesarias para la conservación, la vigilancia, no cazar en abundancia, y respeto a la veda

Perfusion Decellularization of Extrahepatic Bile Duct Allows Tissue-Engineered Scaffold Generation by Preserving Matrix Architecture and Cytocompatibility

Reconstruction of bile ducts damaged remains a vexing medical problem. Surgeons have few options when it comes to a long segment reconstruction of the bile duct. Biological scaffolds of decellularized biliary origin may offer an approach to support the replace of bile ducts. Our objective was to obtain an extracellular matrix scaffold derived from porcine extrahepatic bile ducts (dECM-BD) and to analyze its biological and biochemical properties. The efficiency of the tailored perfusion decellularization process was assessed through histology stainings. Results from 4’-6-diamidino-2-phenylindole (DAPI), Hematoxylin and Eosin (H&E) stainings, and deoxyribonucleic acid (DNA) quantification showed proper extracellular matrix (ECM) decellularization with an effectiveness of 98%. Immunohistochemistry results indicate an effective decrease in immunogenic marker as human leukocyte antigens (HLA-A) and Cytokeratin 7 (CK7) proteins. The ECM of the bile duct was preserved according to Masson and Herovici stainings. Data derived from scanning electron microscopy (SEM) and thermogravimetric analysis (TGA) showed the preservation of the dECM-BD hierarchical structures. Cytotoxicity of dECM-BD was null, with cells able to infiltrate the scaffold. In this work, we standardized a decellularization method that allows one to obtain a natural bile duct scaffold with hierarchical ultrastructure preservation and adequate cytocompatibility

Primer consenso en leucemia linfocítica crónica de la agrupación mexicana para el estudio de la hematología: epidemiología, diagnóstico y tratamiento

La leucemia linfocítica crónica (LLC) es la leucemia crónica menos frecuente en México. En consideración a los avances recientes, a una mejor clasificación pronóstica y a la introducción de nuevas modalidades terapéuticas, la Agrupación Mexicana para el Estudio de la Hematología organizó el primer consenso mexicano en leucemia linfocítica crónica. Este consenso se llevó a cabo en Cancún, Quintana Roo, México, en Septiembre del 2007. Los objetivos de esta reunión fueron actualizar y compartir los conocimientos de la enfermedad entre los especialistas mexicanos, con el fin de mejorar el diagnóstico y el pronóstico de la LLC en México. En el artículo se discute los aspectos clínicos, diagnósticos y terapéuticos de la LLC

SEN1990 is a predicted winged helix-turn-helix protein involved in the pathogenicity of Salmonella enterica serovar Enteritidis and the expression of the gene oafB in the SPI-17

Excisable genomic islands (EGIs) are horizontally acquired genetic elements that harbor an array of genes with diverse functions. ROD21 is an EGI found integrated in the chromosome of Salmonella enterica serovar Enteritidis (Salmonella ser. Enteritidis). While this island is known to be involved in the capacity of Salmonella ser. Enteritidis to cross the epithelial barrier and colonize sterile organs, the role of most ROD21 genes remains unknown, and thus, the identification of their function is fundamental to understanding the impact of this EGI on bacterium pathogenicity. Therefore, in this study, we used a bioinformatical approach to evaluate the function of ROD21-encoded genes and delve into the characterization of SEN1990, a gene encoding a putative DNA-binding protein. We characterized the predicted structure of SEN1990, finding that this protein contains a three-stranded winged helix-turn-helix (wHTH) DNA-binding domain. Additionally, we identified homologs of SEN1990 among other members of the EARL EGIs. Furthermore, we deleted SEN1990 in Salmonella ser. Enteritidis, finding no differences in the replication or maintenance of the excised ROD21, contrary to what the previous Refseq annotation of the protein suggests. High-throughput RNA sequencing was carried out to evaluate the effect of the absence of SEN1990 on the bacterium’s global transcription. We found a downregulated expression of oafB, an SPI-17-encoded acetyltransferase involved in O-antigen modification, which was restored when the deletion mutant was complemented ectopically. Additionally, we found that strains lacking SEN1990 had a reduced capacity to colonize sterile organs in mice. Our findings suggest that SEN1990 encodes a wHTH domain-containing protein that modulates the transcription of oafB from the SPI-17, implying a crosstalk between these pathogenicity islands and a possible new role of ROD21 in the pathogenesis of Salmonella ser. Enteritidis

Zoología. Un modelo para la enseñanza no presencial

Memoria Proyecto de innovación nº 238 curso 2020/2