Implementación de localización geométrica para robots móviles bajo ROS

En este trabajo se exploran las posibilidades de que aporta Matlab al diseño, ejecución y visualización de programas de navegación autónomos en robots móviles tanto en ambiente simulados como sobre plataformas reales, a través de su nueva toolbox de robótica. Robotics System Toolbox se consolida como una herramienta de integración solida entre Matlab y robots que operan bajo entorno ROS. Se explorarán todas las herramientas disponibles en la toolbox que permiten la consecución de la conexión entre las dos plataformas además de la generación de algoritmos de localización, planificación, mapeo y navegación autónoma.In this paper the possibilities that Matlab provides to design, implementation and monitoring of programs of autonomous navigation robot mobile robots on both simulated and real platforms through its new toolbox robotic environment will be explored explored. Robotics System Toolbox has established itself as a solid tool of integration between Matlab and robot operating under ROS environment. It will be studie the tools available in this toolbox that allow achieving the connection between the two platforms, in addition to the generation of algorithms of location, path planning, mapping and autonomous navigation.Ingeniería en Tecnologías Industriale

Role of Mitochondria in Tributyltin-Induced Interleukin-1α Production in Murine Keratinocytes

Tributyltin (TBT) salts are well known skin irritants in rodents and humans. TBT induced both the intracellular production of Interleukin-1α (IL-1α) and its release into culture medium in a murine keratinocyte cell line (HEL30). Here, we report that mitochondria are important for TBT-induced IL-1α production.Confluent cells were treated with increasing concentrations of TBT (0–2.5 μM) or dimethylsulfoxide as vehicle control. At different times thereafter (0–24 h), nuclear extracts were analyzed for nuclear factor-κB (NF-κB) binding activity by electrophoretic mobility shift assay, and the released and cell-associated IL-1α was measured by enzyme-linked immunosorbent assay. TBT induced a direct and concentration-related activation of NF-κB, which peaked at 2h and was blocked by pyrrolidinedithiocarbamate, a potent NF-κB inhibitor, and rotenone, an inhibitor of the electron entry from complex I to ubiquinone. Rotenone also induced a concentration-related inhibition of IL-1α synthesis induced by TBT, but rotenone did not completely abrogate TBT-induced IL-1α production, which suggests that other transcription factors may be involved in IL-1α production.Prolongod treatment with ethidium bromide, an inhibitor of mitochondrial DNA and RNA synthesis, was used to partially deplete cells of functional mitochondria. After 5 d of treatment, mitochondria conversion of tetrazolium bromide to formazan was reduced by 50%, and IL-1α release was decreased by 65%, whereas no induction of intracellular IL-1α was observed. This effect was not due to inhibition prot in synthesis because identical incorporation of [3H]leucine into protein in control and ethidium bromide–treated cells was identical. This impairment of mitochondrial metabolism inhibited NF-κB activation by TBT. These findings indicate that mitochondria may be the source of second messenger molecules important for TBT-induced IL-1α production

A non-lethal SPME-LC/MS method for the analysis of plastic-associated contaminants in coral reef invertebrates

Current approaches to evaluate microplastic contamination of the marine environment include the use of marine organisms as bioindicators and the detection of plastic-associated contaminants in their tissues. Liquid/liquid extraction and/or solid-phase extraction are the usual methods of choice for sample preparation. However, these methods suffer from background contamination, due to the large volume of solvents used and the ubiquity of plasticizers in laboratory environments. Moreover, organisms used in the study may belong to species that are rare or endangered and these should preferably not be sacrificed as a consequence of the relatively sizeable biological material required for exhaustive sample extractions and the destructive nature of mass spectrometry analysis. In this study, we evaluated, as a non-lethal alternative, a procedure involving solid phase microextraction (SPME) coupled with liquid chromatography mass spectrometry (LC/MS) analysis. Two coral reef invertebrates that may be sensitive to microplastic contamination were used for the tests, i.e., the scleractinian Danafungia scruposa and the bivalve mollusk Tridacna maxima. The results showed that the method was effective in quantifying phthalate esters within ten minutes of exposure, offering at the same time an improved control of the background contamination compared to the classical extraction procedure

Mobile Robot Navigation in Indoor Environments: Geometric, Topological, and Semantic Navigation

The objective of the chapter is to show current trends in robot navigation systems related to indoor environments. Navigation systems depend on the level of abstraction of the environment representation. The three main techniques for representing the environment will be described: geometric, topological, and semantic. The geometric representation of the environment is closer to the sensor and actuator world and it is the best one to perform local navigation. Topological representation of the environment uses graphs to model the environment and it is used in large navigation tasks. The semantic representation is the most abstract representation model and adds concepts such as utilities or meanings of the environment elements in the map representation. In addition, regardless of the representation used for navigation, perception plays a significant role in terms of understanding and moving through the environment

Role of SP-1 in SDS-Induced Adipose Differentiation Related Protein Synthesis in Human Keratinocytes

Skin irritation is a complex phenomenon, and keratinocytes play an important role in it. We have recently characterized the expression and protective role of adipose differentiation related protein (ADRP) in skin irritation. In particular, ADRP expression is induced to recover functional cell membrane following the cell damage caused by skin irritants

Sports grass : behaviour of AZ-1 cultivar of Pennisetum clandestinum Hochst. ex Chiov. (kikuyo). Paraná, Entre Ríos, Argentina

A fines de 2001 se incorporó al mercado argentino el cultivar AZ-1 de Pennisetum clandestinum Hochst. ex Chiov. (kikuyo) para ser utilizado en campos deportivos o con fines ornamentales. Con el propósito de caracterizar esta variedad comercial en el departamento Paraná (provincia de Entre Ríos, Argentina) se evaluó su comportamiento y aptitud para césped ornamental y/o deportivo en condiciones de mantenimiento para césped de calidad, bajo dos condiciones de drenaje. Se evaluaron cobertura, color, textura, distancia de entrenudos, grosor de estolones y período de dormición. El ensayo se realizó en Oro Verde, departamento Paraná, en un suelo Molisol y consistió en 2 tratamientos: con y sin drenaje, con 4 repeticiones cada uno. El tamaño de la parcela fue de 2,5 por 5,0 m. El diseño experimental utilizado fue parcelas apareadas y las mediciones se realizaron desde junio hasta noviembre de 2005. Las características climáticas locales son: temperatura media anual de 18,1°C y un régimen isohigro de 947,6 mm de precipitación anual. El cultivar se comportó como apto para césped en las características y condiciones de manejo evaluadas, sin diferencias entre los tratamientos con y sin drenaje. Presentó rápida implantación, niveles altos de cobertura, color claro y uniforme, textura media y estolones gruesos a medianos a través del tiempo. En invierno no perdió cobertura ni color. Se caracterizó como un césped no apto para campos deportivos de alta exigencia, pero recomendable para clubes de bajo presupuesto y mantenimiento.At the end of 2001, the AZ-1 cultivar of Pennisetum clandestinum Hochst. ex Chiov. (kikuyugrass) was incorporated into the Argentinean market to be used in sports fields or for ornamental purposes. In order to characterize such commercial variety in the geographic department of Paraná (Entre Ríos, Argentina), its behavior and aptitude were assessed as ornamental grass and/or sports grass both under high quality grass maintenance conditions and under two drainage conditions. Cover, colour, texture, internodes distance, stolon thickness, and dormancy period were evaluated. The trial was carried out in Oro Verde, department of Paraná in the province of Entre Ríos in a Molisol soil and it consisted of two treatments: with and without drainage and each treatment being repeated four times. The plot size was 2.5 x 5.0 m. The experimental design used was the paired - plot design and measurements were taken from June to November 2005. The area weather conditions are the following: average annual temperature of 18.1°C and an isohydro regimen of 947.6 mm of annual rainfall. The cultivar behaved as suitable for grass under the evaluated management conditions and characteristics, not showing differences as regards the treatments with or without drainage. It presented quick implantation, high cover levels, light and uniform colour, medium texture and thick stolons through time. In winter, cover and colour kept invariable. It was characterized as a grass not suitable for sports fields with high requirements, but advisable for low budget and maintenance condition clubs.Fil: Galli, Martín.Fil: Carponi, María S..Fil: Reinoso, Patricia D..Fil: Laurencena, María I..Fil: Butus, Marina.Fil: Scorciapino, Claudia

Gaia-DR2 confirms VLBA parallaxes in Ophiuchus, Serpens and Aquila

We present Gaia-DR2 astrometry of a sample of YSO candidates in Ophiuchus, Serpens Main and Serpens South/W40 in the Aquila Rift, which had been mainly identified by their infrared excess with Spitzer. We compare the Gaia-DR2 parallaxes against published and new parallaxes obtained from our Very Long Baseline Array (VLBA) program GOBELINS. We obtain consistent results between Gaia and the VLBA for the mean parallaxes in each of the regions analyzed here. We see small offsets, when comparing mean values, of a few tens of micro-arcseconds in the parallaxes, which are either introduced by the Gaia zero-point error or due to a selection effect by Gaia toward the brightest, less obscured stars. Gaia-DR2 data alone conclusively places Serpens Main and Serpens South at the same distance, as we first inferred from VLBA data alone in a previous publication. Thus, Serpens Main, Serpens South and W40 are all part of the same complex of molecular clouds, located at a mean distance of 436+/-9 pc. In Ophiuchus, both Gaia and VLBA suggest a small parallax gradient across the cloud, and the distance changes from 144.2+/-1.3 pc to 138.4+/-2.6 pc when going from L1689 to L1688.Comment: Accepted for publication in ApJ

The Gould's Belt Distances Survey (GOBELINS). V. Distances and Kinematics of the Perseus molecular cloud

We derive the distance and structure of the Perseus molecular cloud by combining trigonometric parallaxes from Very Long Baseline Array (VLBA) observations, taken as part of the GOBELINS survey, and Gaia Data Release 2. Based on our VLBA astrometry, we obtain a distance of 321+/-10 pc for IC 348. This is fully consistent with the mean distance of 320+/-26 measured by Gaia. The VLBA observations toward NGC 1333 are insufficient to claim a successful distance measurement to this cluster. Gaia parallaxes, on the other hand, yield a mean distance of 293+/-22 pc. Hence, the distance along the line of sight between the eastern and western edges of the cloud is ~30 pc, which is significantly smaller than previously inferred. We use Gaia proper motions and published radial velocities to derive the spatial velocities of a selected sample of stars. The average velocity vectors with respect to the LSR are (u,v,w) = (-6.1+/-1.6, 6.8+/-1.1, -0.9+/-1.2) and (-6.4+/-1.0, 2.1+/-1.4, -2.4+/-1.0) km/s for IC 348 and NGC 1333, respectively. Finally, our analysis of the kinematics of the stars has shown that there is no clear evidence of expansion, contraction, or rotational motions within the clusters.Comment: Accepted for publication in Ap