Methodology for Task Development in Humanoid Robots Using ArmarX Framework

In this bachelor thesis, a guide on how to take the first steps in the ArmarX framework. This software provides a complete robot development environment. In particular, how to use the humanoid robot TEO of the investigation group RoboticsLab from University Carlos III in this software. In order to complete this objective, the several stages were followed. First, a initial research about the software ArmarX was performed, learning its main features and how to use this tool. Then, the 3D model of TEO was adapted to be used in this environment. When it was complete, a task was created and adapted to the robot. Finally, it was exported to the real-world TEO and the results were compared. During this process, an extensive documentation was performed, in order to pursue the objective previously mentioned, the formulation a guide for future researchers interested in ArmarX.Ingeniería en Tecnologías Industriale

Analysis of the Interferon Gamma (rs2430561, +874T/A) Functional Gene Variant in Relation to the Presence of Cardiovascular Events in Rheumatoid Arthritis

OBJECTIVE: Rheumatoid arthritis (RA) is a chronic inflammatory disease associated with increased cardiovascular (CV) morbidity and mortality. Since interferon-gamma (IFN-γ) has a direct effect on inflammation, in this study we assessed the potential association of the IFNG functional gene variant rs2430561 with CV disease in patients with RA. METHODS: One thousand six hundred and thirty-five patients fulfilling the 1987 American College of Rheumatology classification criteria for RA were genotyped for the IFNG (rs2430561, +874T/A) gene polymorphism using TaqMan genotyping assay. Patients were stratified according to the presence of CV events or not. Logistic regression models to explain the presence of CV disease according to the IFNG rs2430561 allele distribution were performed. The potential influence of this variant in the development of subclinical atherosclerosis was also analyzed in a subgroup of patients with no history of CV events to determine carotid artery intima-media thickness (IMT) (n = 286) and presence of carotid plaques. Levels of the cytokine were determined in a subgroup of patients by ELISA. RESULTS: Adjusted logistic regression model disclosed that presence of the minor allele A was not associated with increased risk of suffering CV events in RA patients. Besides, differences did not achieve statistical significance regarding carotid IMT and presence of carotid plaques in RA patients carrying IFNG rs2430561 variant allele. Levels of IFN-γ were higher in patients who had suffered CV events compared to patients who did not. CONCLUSION: Our results do not support a role of IFNG rs2430561 (+874T/A) functional gene variant in the development of CV disease in RA patients

Philosophy, science, and cinema: Feminist perspectives

A lo largo del curso académico 2021-2022, el proyecto “Filosofía, Ciencia y Cine: perspectivas feministas” ha logrado coordinar el trabajo de un elevado número de personal docente y estudiantado que ha participado activamente en la organización de eventos académicos, algunos de ellos previstos en la propuesta original y otros muchos ideados a lo largo del curso. En total, se han llevado a cabo 11 actividades, incluyendo la grabación de dos podcasts, la realización de 8 cinefórums y la celebración de un simposio. Las actividades han obtenido un gran éxito de asistencia y participación y se han difundido ampliamente tanto en la Facultad de Filosofía como en las redes sociales de la Facultad y del proyecto.Depto. de Lógica y Filosofía TeóricaFac. de FilosofíaFALSEsubmitte

Rhizobium Promotes Non-Legumes Growth and Quality in Several Production Steps: Towards a Biofertilization of Edible Raw Vegetables Healthy for Humans

The biofertilization of crops with plant-growth-promoting microorganisms is currently considered as a healthy alternative to chemical fertilization. However, only microorganisms safe for humans can be used as biofertilizers, particularly in vegetables that are raw consumed, in order to avoid sanitary problems derived from the presence of pathogenic bacteria in the final products. In the present work we showed that Rhizobium strains colonize the roots of tomato and pepper plants promoting their growth in different production stages increasing yield and quality of seedlings and fruits. Our results confirmed those obtained in cereals and alimentary oil producing plants extending the number of non-legumes susceptible to be biofertilized with rhizobia to those whose fruits are raw consumed. This is a relevant conclusion since safety of rhizobia for human health has been demonstrated after several decades of legume inoculation ensuring that they are optimal bacteria for biofertilization

Fruit and Vegetable Consumption is Inversely Associated with Plasma Saturated Fatty Acids at Baseline in Predimed Plus Trial

I.D.-L. is supported by the [FI_B 00256] from the FI-AGAUR Research Fellowship Program, Generalitat de Catalunya and M.M.-M is supported by the FPU17/00513 grant. a.-H. is supported by the [CD17/00122] grant and S.K.N. is supported by a Canadian Institutes of Health Research (CIHR) Fellowship. We also thank all the volunteers for their participation in and the personnel for their contribution to the PREDIMED-Plus trial. This research was funded by CiCYT [AGL2016-75329-R] and CIBEROBN from the Instituto de Salud Carlos III, ISCIII from the Ministerio de Ciencia, Innovacion y Universidades, (AEI/FEDER, UE), Generalitat de Catalunya (GC) [2017SGR196]. The PREDIMED-Plus trial was supported by the official Spanish Institutions for funding scientific biomedical research, CIBER Fisiopatologia de la Obesidad y Nutricion (CIBERobn) and Instituto de Salud Carlos III (ISCIII), through the Fondo de Investigacion para la Salud (FIS), which is co-funded by the European Regional Development Fund (four coordinated Fondo de Investigaciones Sanitarias projects lead by J.S.-S. and J.V., including the following projects: PI13/00673, PI13/00492, PI13/00272, PI13/01123, PI13/00462, PI13/00233, PI13/02184, PI13/00728, PI13/01090, PI13/01056, PI14/01722, PI14/00636, PI14/00618, PI14/00696, PI14/01206, PI14/01919, PI14/00853, PI14/01374, PI14/00972, PI14/00728, PI14/01471, PI16/00473, PI16/00662, PI16/01873, PI16/01094, PI16/00501, PI16/00533, PI16/00381, PI16/00366, PI16/01522, PI16/01120, PI17/00764, PI17/01183, PI17/00855, PI17/01347, PI17/00525, PI17/01827, PI17/00532, PI17/00215, PI17/01441, PI17/00508, PI17/01732, PI17/00926 and PI19/00781), the Especial Action Project entitled Implementacion y evaluacion de una intervencion intensiva sobre la actividad fisica Cohorte PREDIMED-Plus grant to J.S.-S., European Research Council (Advanced Research Grant 2014-2019, 340918) to M.a.M.-G., the Recercaixa grant to J.S.-S. (2013ACUP00194), grants from the Consejeria de Salud de la Junta de Andalucia (PI0458/2013, PS0358/2016, and PI0137/2018), a grant from the Generalitat Valenciana (PROMETEO/2017/017), a SEMERGEN grant, Fundacio la Marato de TV3 (PI044003), 2017 SGR 1717 from Generalitat de Catalunya, a CICYT grant provided by the Ministerio de Ciencia, Innovacion y Universidades (AGL2016-75329-R), and funds from the European Regional Development Fund (CB06/03 and CB12/03). Food companies Hojiblanca (Lucena, Spain) and Patrimonio Comunal Olivarero (Madrid, Spain) donated extra virgin olive oil, and the Almond Board of California (Modesto, CA, USA), American Pistachio Growers (Fresno, CA, USA), and Paramount Farms (Wonderful Company, LLC, Los Angeles, CA, USA) donated nuts. J.K. was supported by the "FOLIUM" program within the FUTURMed project entitled Talent for the medicine within the future from the Fundacio Institut d'Investigacio Sanitaria Illes Balears. This call was co-financed at 50% with charge to the Operational Program FSE 2014-2020 of the Balearic Islands. This work is partially supported by ICREA under the ICREA Academia programme to J.S.-S.Scope: Plasma fatty acids (FAs) are associated with the development of cardiovascular diseases and metabolic syndrome. The aim of our study is to assess the relationship between fruit and vegetable (F&V) consumption and plasma FAs and their subtypes. Methods and Results: Plasma FAs are assessed in a cross-sectional analysis of a subsample of 240 subjects from the PREDIMED-Plus study. Participants are categorized into four groups of fruit, vegetable, and fat intake according to the food frequency questionnaire. Plasma FA analysis is performed using gas chromatography. Associations between FAs and F&V consumption are adjusted for age, sex, physical activity, bodymass index (BMI), total energy intake, and alcohol consumption. Plasma saturated FAs are lower in groups with high F&V consumption (-1.20 mg cL−1 [95% CI: [-2.22, - 0.18], p-value = 0.021), especially when fat intake is high (-1.74 mg cL−1 [95% CI: [-3.41, -0.06], p-value = 0.042). Total FAs and n-6 polyunsaturated FAs tend to be lower in high consumers of F&V only in the high-fat intake groups. Conclusions: F&V consumption is associated with lower plasma saturated FAs when fat intake is high. These findings suggest that F&V consumption may have different associations with plasma FAs depending on their subtype and on the extent of fat intake.Generalitat de Catalunya FI_B 00256Canadian Institutes of Health Research (CIHR)Consejo Interinstitucional de Ciencia y Tecnologia (CICYT)European Commission AGL2016-75329-RCIBEROBN from the Instituto de Salud Carlos III ISCIII from the Ministerio de Ciencia, Innovacion y Universidades, (AEI/FEDER, UE)Generalitat de Catalunya 2017SGR196CIBER Fisiopatologia de la Obesidad y Nutricion (CIBERobn)Instituto de Salud Carlos III (ISCIII), through the Fondo de Investigacion para la Salud (FIS)European Commission PI13/00673 PI13/00492 PI13/00272 PI13/01123 PI13/00462 PI13/00233 PI13/02184 PI13/00728 PI13/01090 PI13/01056 PI14/01722 PI14/00636 PI14/00618 PI14/00696 PI14/01206 PI14/01919 PI14/00853 PI14/01374Especial Action Project entitled Implementacion y evaluacion de una intervencion intensiva sobre la actividad fisica Cohorte PREDIMED-Plus grantEuropean Research Council (ERC) European Commission 340918Recercaixa grant 2013ACUP00194Junta de Andalucia PI0458/2013 PS0358/2016 PI0137/2018Generalitat Valenciana European Commission PROMETEO/2017/017SEMERGEN grant, Fundacio la Marato de TV3 PI044003Generalitat de Catalunya 2017 SGR 1717Ministerio de Ciencia, Innovacion y Universidades AGL2016-75329-R"FOLIUM" program within the FUTURMed project within Fundacio Institut d'Investigacio Sanitaria Illes BalearsICREA under the ICREA Academia programmeThe European Regional Development Fund PI17/01347 PI17/00525 PI17/01827 PI17/00532 PI17/00215 PI17/01441 PI17/00508 PI17/01732 PI17/00926 PI19/00781 CB06/03 CB12/03European Commission PI14/00972 PI14/00728 PI14/01471 PI16/00473 PI16/00662 PI16/01873 PI16/01094 PI16/00501 PI16/00533 PI16/00381 PI16/00366 PI16/01522 PI16/01120 PI17/00764 PI17/01183 PI17/00855 FPU17/00513 CD17/0012

Correction : Chaparro et al. Incidence, Clinical Characteristics and Management of Inflammatory Bowel Disease in Spain: Large-Scale Epidemiological Study. J. Clin. Med. 2021, 10, 2885

The authors wish to make the following corrections to this paper [...]

Incidence, Clinical Characteristics and Management of Inflammatory Bowel Disease in Spain : Large-Scale Epidemiological Study

(1) Aims: To assess the incidence of inflammatory bowel disease (IBD) in Spain, to describe the main epidemiological and clinical characteristics at diagnosis and the evolution of the disease, and to explore the use of drug treatments. (2) Methods: Prospective, population-based nationwide registry. Adult patients diagnosed with IBD-Crohn's disease (CD), ulcerative colitis (UC) or IBD unclassified (IBD-U)-during 2017 in Spain were included and were followed-up for 1 year. (3) Results: We identified 3611 incident cases of IBD diagnosed during 2017 in 108 hospitals covering over 22 million inhabitants. The overall incidence (cases/100,000 person-years) was 16 for IBD, 7.5 for CD, 8 for UC, and 0.5 for IBD-U; 53% of patients were male and median age was 43 years (interquartile range = 31-56 years). During a median 12-month follow-up, 34% of patients were treated with systemic steroids, 25% with immunomodulators, 15% with biologics and 5.6% underwent surgery. The percentage of patients under these treatments was significantly higher in CD than UC and IBD-U. Use of systemic steroids and biologics was significantly higher in hospitals with high resources. In total, 28% of patients were hospitalized (35% CD and 22% UC patients, p < 0.01). (4) Conclusion: The incidence of IBD in Spain is rather high and similar to that reported in Northern Europe. IBD patients require substantial therapeutic resources, which are greater in CD and in hospitals with high resources, and much higher than previously reported. One third of patients are hospitalized in the first year after diagnosis and a relevant proportion undergo surgery

Espacio y territorios: razón, pasión e imaginarios

En este caleidoscopio de acercamientos hacia lo espacial y territorial, las visiones se mueven desde aquellas románticas y existencialistas, pasando por aquellas objetivistas y positivistas, hasta las estructuralistas y postestructuralistas. Por el espacio y el territorio se interesan con enfoques diversos numerosas disciplinas, desde la psicología, la etología o la literatura, y las ciencias naturales como la biología o la ecología, hasta las ciencias sociales y políticas, como la geografía, la antropología, la economía y la sociología. Este interés multidisciplinario demuestra la importancia y la complejidad del tema espacial y territorial, y reclama la necesidad de su estudio y comprensión interdisciplinarios, como se intenta con esta publicación

Direct determination of monosaccharides in honey by coupling a sensitive new Schiff base Ni complex electrochemical sensor and chemometric tools

The determination and quantification of saccharides is of considerable importance in the food industry among other fields. In this work, we describe for the first time the preparation of the Schiff base Ni complex, NiII-(N,N’-bis(2,3-dihydroxybenzylidene)-1,2-diaminobenzene) (Ni(II)-2,3dhS) obtained by reaction of the tetradentate Schiff base ligand containing ortho quinone functional groups (N,N’-bis(2,3-dihydroxybenzylidene)-1,2-diaminobenzene) and Ni2+, as well as its application in the development of an electrochemical sensor. Coupled to chemometric tools, the sensor allowed the direct determination of glucose and fructose in honey, without the need of previous separation steps or chromatographic techniques. For this purpose, the new Schiff base Ni complex has been electropolymerized onto screen-printed electrodes modified with carbon nanotubes. The electropolymerization process has been exhaustively characterized by operando spectroelectrochemical techniques to confirm the generation of the desired polymer. The resulting modified electrodes present a strong electrocatalytic activity towards the oxidation of glucose and fructose in alkaline solution and have been employed in combination with partial least squares regression (PLSR) to resolve mixtures of glucose and fructose in a complex matrix, as honey. The multivariate model was based on PLSR analysis and showed good predictive capability for the two analytes in sample standard honey with an average error of 8% and relative standard deviations below 9%.Ministerio de Ciencia, Innovación y Universidades of Spain (CTQ2017-84309-C2-1-R; RED2018-102412-T), Comunidad Autónoma de Madrid (TRANSNANOAVANSENS Program), Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET) and Secretaría de Ciencia y Técnica (SECyT) from Universidad Nacional de Río Cuarto. Authors also acknowledge the financial support from the Spanish Ministerio de Economía y Competitividad (Grants CTQ2017-83935-R-AEI/FEDERUE) and Junta de Castilla y León (Grant BU297P18)

Efecto del envejecimiento sobre la capacidad reproductiva de Quercus suber en bosques maduros de espacios protegidos

Seed availability and viability are key processes for the persistence of mature forests. There are evidences that tree senescence does not decrease seed fecundity. However, the effect of senescence on the viability of the progeny in mature forests has not been assessed. This study analyses the influence of tree age on biometric traits of the acorn, germination and emergence in mature forests of Quercus suberin Cabañeros and Monfragüe National Parks. We selected 45 to 48 trees in each National Park (NP), covering from young to old trees along the range of diameter at breast height (DBH) found (from 24 to 100 cm in Cabañeros NP, and from 24 to 176 cm in Monfragüe NP). Measurements included coordinates, DBH, height and two perpendicular crown diameters. Tree age was estimated at 1.3 m by extracting cores. In December 2018 seeds were collected from the selected trees. The yield was not abundant due to the marked masting year. After numbering the acorns individually, different biometric traits were measured (fresh weight, diameter, volume and length), and the effect of tree age was analysed, considering DBH as a proxy of tree age. Acorns were seeded to monitor germination and emergence. The results show the effect of site, tree age and acorn size on seed production, biometric traits, germination and emergence. Acorn size varied with parental trees and within a tree. The low yield in 2018 could in part mask the results.La disponibilidad de semilla y su viabilidad son procesos clave para la persistencia de los bosques maduros. Existen evidencias de que la senescencia en los árboles no disminuye la fecundidad en edades avanzadas, pero se desconoce si tiene efectos sobre la viabilidad de la progenie. Este trabajo analiza la influencia de la edad del árbol sobre los atributos biométricos de la semilla, la germinación y la emergencia en los bosques maduros de Quercus suber en los Parques Nacionales de Cabañeros y Monfragüe. En cada uno de los PPNN se seleccionaron 45-48 individuos de Quercus suber, entre jóvenes y senescentes, cubriéndose el rango de diámetros encontrados (24 a 100 cm en el PN de Cabañeros y 24 a 176 cm en el PN de Monfragüe). Se tomaron sus coordenadas y se midió su tamaño (diámetro, altura y diámetros de copa). Además, se estimó la edad a 1,30 m de altura (dbh) mediante la extracción de testigos de madera. En diciembre de 2018 se recogió toda la semilla presente en los individuos seleccionados, que no fue muy abundante debido a la marcada vecería en 2018. Se determinaron los caracteres biométricos de cada bellota (peso fresco, diámetro y longitud), analizándose el efecto de la edad del árbol, a través del dbh. Los resultados muestran el efecto del sitio, la edad del árbol y el tamaño de la bellota, tanto en la producción de semilla, como en su caracterización biométrica, germinación y emergencia, aunque la baja cosecha registrada en 2018 enmascara las diferencias esperadas