Desarrollo de aplicaciones industriales con robots colaborativos utilizando el middleware de control de robots Robot Operating System

[ES] Este proyecto consiste en la realización de una aplicación para un robot colaborativo mediante la utilización del software de control Robot Operating System (ROS). El presente documento cuenta con diversas partes: en primer lugar, se hace una introducción teórica en la que se explica en qué consiste la robótica colaborativa. Posteriormente, se comentan los distintos métodos de programación para el robot UR3 que se va a utilizar con el fin de realizar una comparativa y justificar la utilización de ROS. A continuación, se entra en detalles sobre MoveIt!, el complemento de ROS en concreto que se utilizará para la creación de las aplicaciones que forman este proyecto, su funcionamiento y los elementos que lo conforman. Después, se explican a nivel teórico cómo funcionan los modelos en ROS y, por último, se explican brevemente los conceptos de visión artificial utilizados dentro de las aplicaciones creadas. En segundo lugar, se realiza el desarrollo práctico del proyecto. Éste empieza con un desglose del material que se ha utilizado, y los distintos paquetes de ROS que ya existían y que se han utilizado. Posteriormente se entra a explicar las modificaciones que se tuvieron que llevar a cabo en el modelo para que se correspondiera con el robot real, y ya se entra en lo que son las aplicaciones realizadas: la primera sería la que define el entorno, después se entra en los programas de manejo de la cámara y la definición del objeto en movimiento, y, por último, los programas para configurar el movimiento del robot que permiten la evasión de los obstáculos definidos. También se añaden unas conclusiones para cerrar el documento y se adjunta una bibliografía con las fuentes de la información utilizadas. Por último, se incorpora un manual de instalación y recomendaciones de uso de las distintas aplicaciones creadas.[CA] Aquest projecte consisteix en la realització d’una aplicació per a un robot col·laboratiu mitjançant la utilització del software de control Robot Operating System (ROS). El present document consisteix de diverses parts: primerament, es fa una introducció teórica en la que s’explica en què consisteix la robòtica col·laborativa. Posteriorment, es comenten els distints mètodes de programació per al robot UR3 que es va a utilizar amb el fi de realitzar una comparativa i justificar la utilizació de ROS. A continuació, se entra en detalls sobre MoveIt!, el complement de ROS que es va a utilizar per al desenvolupament de les aplicacions que formen aquest projecte, el seu funcionament i els elements que el conformen. Després, s’expliquen a nivell teòric com funcionen els models dins de ROS, i, per acabar, s’expliquen breument els conceptes de visió artificial utilitzats dins de les aplicacions creades. En segon lloc, es realitza el desenvolupament pràctic del projecte. Comença en un desglossament del material emprat, i els distints paquets de ROS que existien previament i que s’han utilitzat. Posteriorment s’entra a explicar les modificacions que s’hagueren de fer al model per adaptar-ho al robot real, i ja s’entra en les aplicacions creades: la primer d’elles seria la que definix l’entorn, després es parla dels programes de utilització de la càmera i la definició del objecte que es mou, i, per últim, els programes per a configurar el moviment del robot que permeten l’evació dels obstacles definits. També s’afegixen unes conclusions per a tancar el document i s’adjunta una bibliografía en les fonts d’informació utilitzades. Per últim, s’incorpora un manual d’instal·lació i recomendacións d’us de les distintes aplicacions creades.[EN] This project consists of the completion of an application for a collaborative robot using the control software Robot Operating System (ROS). The present document consists of different parts: firstly, a theoretical introduction is made. This explains what collaborative robots are and what can be done with them. After this, there is an explanation of the different programming methods that can be used on the robot UR3 that is used for this project. This is done so the methods can be compared and the utilization of ROS is justified. Then, MoveIt!, the ROS complement that is used for the applications created for this project, is explained alongside its elements and how it works. Afterwards, there is a theoretical explanation on how ROS models work, and finally, the artificial vision concepts used for the created applications are discussed. Secondly, a practical report of the project is given. This begins with a list of the materials used and the different ROS packages that already existed and were used. Then, the modifications made to the original model, in order for it to look like the real model, are discussed, and after that, the different programs that were created are explained. These are; the program that allows you to define the robot’s environment, the camera programs, and the app that creates the moving object in the environment, and lastly, the programs that allow the configuration of the movement of the robot and allow for obstacle avoidance. Also, conclusions to close the document and a bibliography that contains all the sources used are added. To finish with this document, there is an installation manual and some recommendations in order to use the different created programs.González Moreno, CA. (2018). Desarrollo de aplicaciones industriales con robots colaborativos utilizando el middleware de control de robots Robot Operating System. http://hdl.handle.net/10251/110124TFG

Common variants in Alzheimer’s disease and risk stratification by polygenic risk scores

Funder: Funder: Fundación bancaria ‘La Caixa’ Number: LCF/PR/PR16/51110003 Funder: Grifols SA Number: LCF/PR/PR16/51110003 Funder: European Union/EFPIA Innovative Medicines Initiative Joint Number: 115975 Funder: JPco-fuND FP-829-029 Number: 733051061Genetic discoveries of Alzheimer's disease are the drivers of our understanding, and together with polygenetic risk stratification can contribute towards planning of feasible and efficient preventive and curative clinical trials. We first perform a large genetic association study by merging all available case-control datasets and by-proxy study results (discovery n = 409,435 and validation size n = 58,190). Here, we add six variants associated with Alzheimer's disease risk (near APP, CHRNE, PRKD3/NDUFAF7, PLCG2 and two exonic variants in the SHARPIN gene). Assessment of the polygenic risk score and stratifying by APOE reveal a 4 to 5.5 years difference in median age at onset of Alzheimer's disease patients in APOE ɛ4 carriers. Because of this study, the underlying mechanisms of APP can be studied to refine the amyloid cascade and the polygenic risk score provides a tool to select individuals at high risk of Alzheimer's disease

New insights into the genetic etiology of Alzheimer's disease and related dementias

Characterization of the genetic landscape of Alzheimer's disease (AD) and related dementias (ADD) provides a unique opportunity for a better understanding of the associated pathophysiological processes. We performed a two-stage genome-wide association study totaling 111,326 clinically diagnosed/'proxy' AD cases and 677,663 controls. We found 75 risk loci, of which 42 were new at the time of analysis. Pathway enrichment analyses confirmed the involvement of amyloid/tau pathways and highlighted microglia implication. Gene prioritization in the new loci identified 31 genes that were suggestive of new genetically associated processes, including the tumor necrosis factor alpha pathway through the linear ubiquitin chain assembly complex. We also built a new genetic risk score associated with the risk of future AD/dementia or progression from mild cognitive impairment to AD/dementia. The improvement in prediction led to a 1.6- to 1.9-fold increase in AD risk from the lowest to the highest decile, in addition to effects of age and the APOE ε4 allele

Multiancestry analysis of the HLA locus in Alzheimer’s and Parkinson’s diseases uncovers a shared adaptive immune response mediated by HLA-DRB1*04 subtypes

Across multiancestry groups, we analyzed Human Leukocyte Antigen (HLA) associations in over 176,000 individuals with Parkinson’s disease (PD) and Alzheimer’s disease (AD) versus controls. We demonstrate that the two diseases share the same protective association at the HLA locus. HLA-specific fine-mapping showed that hierarchical protective effects of HLA-DRB1*04 subtypes best accounted for the association, strongest with HLA-DRB1*04:04 and HLA-DRB1*04:07, and intermediary with HLA-DRB1*04:01 and HLA-DRB1*04:03. The same signal was associated with decreased neurofibrillary tangles in postmortem brains and was associated with reduced tau levels in cerebrospinal fluid and to a lower extent with increased Aβ42. Protective HLA-DRB1*04 subtypes strongly bound the aggregation-prone tau PHF6 sequence, however only when acetylated at a lysine (K311), a common posttranslational modification central to tau aggregation. An HLA-DRB1*04-mediated adaptive immune response decreases PD and AD risks, potentially by acting against tau, offering the possibility of therapeutic avenues

Desarrollo de una aplicación para el guiado automático de un vehículo eléctrico

[ES] En este proyecto se ha realizado la implementación de un algoritmo de generación de trayectoria enfocado a maniobras de estacionamiento de vehículos de tipo coche. En primer lugar se hace una breve introducción teórica a la robótica, las diferentes configuraciones de robots y se entra a explicar con más detalle el software utilizado para la realización del mismo. Primero se hará un repaso de los elementos más generales de ROS, para ya entrar, posteriormente a los paquetes y funciones más específicos que nos permiten implementar la aplicación. También, en esta parte del documento se adjunta una descripción de los modelos matemáticos que se han utilizado para la generación de las trayectorias.[CA] En aquest projecte s’ha realitzat la implementació d’un algoritme de generació de trajectories enfocat a maniobres d’estacionament de vehicles de tipus cotxe. En primer lloc es fa una breu introducció a la robòtica, les diferents configuracions de robots i s’entra a explicar en més detall el software utilitzat per a la realització d’aquest treball. Primerament, es farà un repàs dels elements més generals de ROS, per a entrar, posteriorment als paquets i funcions més específics que ens permeten implementar l’aplicació. També, en aquesta part del docment s’adjunta una descripció dels models matemàtics que s’han utilitzat per a la generació de les trajectories.[EN] In this project we have carried out the implementation of a trajectory generation algorithm which is focused on parking manoeuvres of a car like vehicle. First, we make a short theoretical introduction about robotics, the different robot types we can find, and then we focus on explaining in more detail the software that has been used for this project’s development. First of all we review the most general elements of ROS, to, after that, talk about it’s most important packages and features which are used to perform the functionality we look for. Also, in this part of the document it is attached a description of the mathematical models that have been used for the trajectory generation.González Moreno, CA. (2016). Desarrollo de una aplicación para el guiado automático de un vehículo eléctrico. http://hdl.handle.net/10251/69123.TFG

Nat Commun

Genetic discoveries of Alzheimer's disease are the drivers of our understanding, and together with polygenetic risk stratification can contribute towards planning of feasible and efficient preventive and curative clinical trials. We first perform a large genetic association study by merging all available case-control datasets and by-proxy study results (discovery n = 409,435 and validation size n = 58,190). Here, we add six variants associated with Alzheimer's disease risk (near APP, CHRNE, PRKD3/NDUFAF7, PLCG2 and two exonic variants in the SHARPIN gene). Assessment of the polygenic risk score and stratifying by APOE reveal a 4 to 5.5 years difference in median age at onset of Alzheimer's disease patients in APOE ɛ4 carriers. Because of this study, the underlying mechanisms of APP can be studied to refine the amyloid cascade and the polygenic risk score provides a tool to select individuals at high risk of Alzheimer's disease

Common variants in Alzheimer’s disease and risk stratification by polygenic risk scores

Genetic discoveries of Alzheimer’s disease are the drivers of our understanding, and together with polygenetic risk stratification can contribute towards planning of feasible and efficient preventive and curative clinical trials. We first perform a large genetic association study by merging all available case-control datasets and by-proxy study results (discovery n = 409,435 and validation size n = 58,190). Here, we add six variants associated with Alzheimer’s disease risk (near APP, CHRNE, PRKD3/NDUFAF7, PLCG2 and two exonic variants in the SHARPIN gene). Assessment of the polygenic risk score and stratifying by APOE reveal a 4 to 5.5 years difference in median age at onset of Alzheimer’s disease patients in APOE ɛ4 carriers. Because of this study, the underlying mechanisms of APP can be studied to refine the amyloid cascade and the polygenic risk score provides a tool to select individuals at high risk of Alzheimer’s disease

New insights into the genetic etiology of Alzheimer's disease and related dementias

Characterization of the genetic landscape of Alzheimer’s disease (AD) and related dementias (ADD) provides a unique opportunity for a better understanding of the associated pathophysiological processes. We performed a two-stage genome-wide association study totaling 111,326 clinically diagnosed/‘proxy’ AD cases and 677,663 controls. We found 75 risk loci, of which 42 were new at the time of analysis. Pathway enrichment analyses confirmed the involvement of amyloid/tau pathways and highlighted microglia implication. Gene prioritization in the new loci identified 31 genes that were suggestive of new genetically associated processes, including the tumor necrosis factor alpha pathway through the linear ubiquitin chain assembly complex. We also built a new genetic risk score associated with the risk of future AD/dementia or progression from mild cognitive impairment to AD/dementia. The improvement in prediction led to a 1.6- to 1.9-fold increase in AD risk from the lowest to the highest decile, in addition to effects of age and the APOE ε4 allele

New insights into the genetic etiology of Alzheimer's disease and related dementias.

Characterization of the genetic landscape of Alzheimer's disease (AD) and related dementias (ADD) provides a unique opportunity for a better understanding of the associated pathophysiological processes. We performed a two-stage genome-wide association study totaling 111,326 clinically diagnosed/'proxy' AD cases and 677,663 controls. We found 75 risk loci, of which 42 were new at the time of analysis. Pathway enrichment analyses confirmed the involvement of amyloid/tau pathways and highlighted microglia implication. Gene prioritization in the new loci identified 31 genes that were suggestive of new genetically associated processes, including the tumor necrosis factor alpha pathway through the linear ubiquitin chain assembly complex. We also built a new genetic risk score associated with the risk of future AD/dementia or progression from mild cognitive impairment to AD/dementia. The improvement in prediction led to a 1.6- to 1.9-fold increase in AD risk from the lowest to the highest decile, in addition to effects of age and the APOE ε4 allele

New insights into the genetic etiology of Alzheimer's disease and related dementias

Characterization of the genetic landscape of Alzheimer’s disease (AD) and related dementias (ADD) provides a unique opportunity for a better understanding of the associated pathophysiological processes. We performed a two-stage genome-wide association study totaling 111,326 clinically diagnosed/‘proxy’ AD cases and 677,663 controls. We found 75 risk loci, of which 42 were new at the time of analysis. Pathway enrichment analyses confirmed the involvement of amyloid/tau pathways and highlighted microglia implication. Gene prioritization in the new loci identified 31 genes that were suggestive of new genetically associated processes, including the tumor necrosis factor alpha pathway through the linear ubiquitin chain assembly complex. We also built a new genetic risk score associated with the risk of future AD/dementia or progression from mild cognitive impairment to AD/dementia. The improvement in prediction led to a 1.6- to 1.9-fold increase in AD risk from the lowest to the highest decile, in addition to effects of age and the APOE ε4 allele