Dynamic and heterogeneous wireless sensor network for virtual instrumentation services

En el presente Trabajo Fin de Master se ha llevado a cabo el desarrollo de un sistema orientado a la adquisición de información sensorial, a través del uso de redes de sensores inalámbricas (WSN, del inglés Wireless Sensor Networks), de un sistema dinámico cuyo comportamiento se desea caracterizar. Para la gestión de la información de los sensores heterogéneos presentes en la red se han aplicado los conceptos de SOA (Service Oriented Architecture) a dicha red inalámbrica, de manera que cada uno de los sensores presentes en la red se trata como un servicio de medida. La arquitectura propuesta incorpora un mecanismo de "Plug & Play" para la reconfiguración dinámica de la red así como un proceso de composición de servicios que permite la creación de los denominados instrumentos virtuales a través de la asociación de diferentes sensores. Estos instrumentos virtuales agrupan las capacidades de varios sensores heterogeneos de forma que pueden ofrecer al usuario final información de alto nivel complementada con indicios de calidad de dicha información. Para la obtención de este sistema, las tareas que se han llevado a cabo en este trabajo han sido: se han realizado estudios previos de la utilizacion actual de las redes de sensores inalámbricas y de las arquitecturas SOA aplicadas a WSN. Se ha diseñado la arquitectura de la WSN más adecuada para esta sistema así como el mecanismo "Plug & Play" necesario para el descubrimiento de dispositivos y servicios. Se han estudiado y evaluado los criterios más adecuados para la agrupación de sensores para formar el instrumento virtual de forma automática y transparente. Por último, se ha evaluado la validez de la arquitectura propuesta por medio de su aplicación en un caso concreto en el campo de la logística, en particular, en la supervisión de artículos perecederos. Para ello, ha sido necesario diseñar y definir previamente los módulos de sofware necesarios para la implementación del sistema

Robot Localization in Tunnel-like Environments.

Los entornos confinados como tuberías, túneles o minas constituyen infraestructuras clave para el desarrollo de las economías de los diferentes países. La existencia de estas infraestructuras conlleva la necesidad de llevar a cabo una serie de tareas de mantenimiento mediante inspecciones regulares para asegurar la integridad estructural de las mismas. Así mismo, existen otras tareas que se tienen que realizar en estos entornos como pueden ser misiones de rescate en caso de accidentes e incluso las propias tareas derivadas de la construcción de los mismos. La duras condiciones de este tipo de entornos, ausencia de luz, polvo, presencia de fluidos e incluso de sustancias tóxicas, hace que la ejecución de las mismas suponga un trabajo tedioso e incluso peligroso para las personas. Todo esto, unido a los continuos avances en las tecnologías robóticas, hacen que los robots sean los dispositivos más adecuados para la realización de estas tareas.Para que un robot pueda desempeñar su cometido de manera autónoma, es fundamental que pueda localizarse de manera precisa, no sólo para poder decidir las acciones a llevar a cabo sino también para poder ubicar de manera inequívoca los posibles daños que se puedan detectar durante las labores de inspección. El problema de la localización ha sido ampliamente estudiado en el mundo de la robótica, existiendo multitud de soluciones tanto para interiores como para exteriores mediante el uso de diferentes sensores y tecnologías. Sin embargo, los entornos tipo túnel presentan una serie de características específicas que hacen que la tarea de localización se convierta en todo un reto. La ausencia de iluminación y de características distinguibles tanto visuales como estructurales, hacen que los métodos tradicionales de localización basados en sensores láser y cámaras no funcionen correctamente. Además, al tratarse de entornos confinados, no es posible utilizar sensores típicos de exteriores como es el caso del GPS. La presencia de fluidos e incluso de superficies irregulares hacen poco fiables los métodos basados en odometría utilizando encoders en las ruedas del robot.Por otra parte, estos entornos presentan un comportamiento peculiar en lo que a la propagación de la señal de radiofrecuencia se refiere. Por un lado, a determinadas frecuencias, se comportan como guías de onda extendiendo el alcance de la comunicación, pero por otro, la señal radio sufre fuertes desvanecimientos o fadings. Trabajos previos han demostrado que es posible obtener fadings periódicos bajo una configuración determinada.Partiendo de estos estudios, en esta tesis se aborda el problema de la localización en tuberías y túneles reaprovechando esta naturaleza periódica de la señal radio. Inicialmente, se propone un método de localización para tuberías metálicas basado en técnicas probabilísticas, utilizando el modelo de propagación de la señal como un mapa de radiofrecuencia. Posteriormente, se aborda la localización en túneles siguiendo una estrategia similar de reaprovechar la naturaleza periódica de la señal y se presenta un método de localización discreta. Yendo un paso más allá, y con el objetivo de mejorar la localización a lo largo del túnel incluyendo otras fuentes de información, se desarrolla un método inspirado en el paradigma del graph-SLAM donde se incorporan los resultados obtenidos de la detección de características discretas proporcionadas por el propio túnel.Para ello, se implementa un sistema de detección que proporciona la posición absoluta de características relevantes de la señal periódica radio. Del mismo modo, se desarrolla un método de detección de características estructurales del túnel (galerías) que devuelve la posición conocida de las mismas. Todos estos resultados se incorporan al grafo como fuentes de información.Los métodos de localización desarrollados a lo largo de la tesis han sido validados con datos recolectados durante experimentos llevados a cabo con plataformas robóticas en escenarios reales: la tubería de Santa Ana en Castillonroy y el túnel ferroviario de Somport.<br /

Psychometric characteristics of the Spanish version of instruments to measure neck pain disability

Background: The NDI, COM and NPQ are evaluation instruments for disability due to NP. There was no Spanish version of NDI or COM for which psychometric characteristics were known. The objectives of this study were to translate and culturally adapt the Spanish version of the Neck Disability Index Questionnaire (NDI), and the Core Outcome Measure (COM), to validate its use in Spanish speaking patients with non-specific neck pain (NP), and to compare their psychometric characteristics with those of the Spanish version of the Northwick Pain Questionnaire (NPQ). Methods: Translation/re-translation of the English versions of the NDI and the COM was done blindly and independently by a multidisciplinary team. The study was done in 9 primary care Centers and 12 specialty services from 9 regions in Spain, with 221 acute, subacute and chronic patients who visited their physician for NP: 54 in the pilot phase and 167 in the validation phase. Neck pain (VAS), referred pain (VAS), disability (NDI, COM and NPQ), catastrophizing (CSQ) and quality of life (SF-12) were measured on their first visit and 14 days later. Patients' self-assessment was used as the external criterion for pain and disability. In the pilot phase, patients' understanding of each item in the NDI and COM was assessed, and on day 1 test-retest reliability was estimated by giving a second NDI and COM in which the name of the questionnaires and the order of the items had been changed. Results: Comprehensibility of NDI and COM were good. Minutes needed to fill out the questionnaires [median, (P25, P75)]: NDI. 4 (2.2, 10.0), COM: 2.1 (1.0, 4.9). Reliability: [ICC, (95%CI)]: NDI: 0.88 (0.80, 0.93). COM: 0.85 (0.75,0.91). Sensitivity to change: Effect size for patients having worsened, not changed and improved between days 1 and 15, according to the external criterion for disability: NDI: -0.24, 0.15, 0.66; NPQ: -0.14, 0.06, 0.67; COM: 0.05, 0.19, 0.92. Validity: Results of NDI, NPQ and COM were consistent with the external criterion for disability, whereas only those from NDI were consistent with the one for pain. Correlations with VAS, CSQ and SF-12 were similar for NDI and NPQ (absolute values between 0.36 and 0.50 on day 1, between 0.38 and 0.70 on day 15), and slightly lower for COM (between 0.36 and 0.48 on day 1, and between 0.33 and 0.61 on day 15). Correlation between NDI and NPQ: r = 0.84 on day 1, r = 0.91 on day 15. Correlation between COM and NPQ: r = 0.63 on day 1, r = 0.71 on day 15. Conclusion: Although most psychometric characteristics of NDI, NPQ and COM are similar, those from the latter one are worse and its use may lead to patients' evolution seeming more positive than it actually is. NDI seems to be the best instrument for measuring NP-related disability, since its results are the most consistent with patient's assessment of their own clinical status and evolution. It takes two more minutes to answer the NDI than to answer the COM, but it can be reliably filled out by the patient without assistance

Epigenetics in spine curvature disorders

Scoliosis is a three-dimensional (3D) structural deformity of the spine with a radiological lateral Cobb angle of ≥ 10°. Several classification systems exist, dividing different types regarding the age of onset or the type of etiology. The minority of cases are secondary to congenital, syndromic of neuromosucular diseases. Most of the cases are classified “idiopathic” due to unknown etiology. These were formally divided by the age of onset into “Infantile Idiopathic Scoliosis” (0–3 years), “Juvenile Idiopathic Scoliosis” (JIS—4–10 years), and “Adolescent Idiopathic Scoliosis” (AIS → 10 years). Since the initiative of the Scoliosis Research Society in 2014 all kind of scoliosis with the onset before the age of 10 years are classified as “Early-Onset-Scoliosis” (EOS) regardless of the etiology. Further types of scoliosis can occur in the adulthood, which are known as “Adolescent Scoliosis in the Adult” and “Degenerative De-novo Scoliosis” (DS) in the adulthood secondary to degenerative disc diseases and/or in combination with osteoporosis and minor compression fractures. The precise molecular mechanisms underlying idiopathic and de-novo scoliosis are mainly unknown, but recent evidence demonstrate the role of epigenetics in the etiology of these conditions. Importantly, early diagnosis and the accurate prediction of curve progression are of special relevance in clinical settings. Therefore, identifying potential progression-relevant biomarkers can substantially improve the clinical management of these patients. This chapter presents the most relevant epigenetic mechanisms and epigenetic biomarkers, which may favor the implementation of precision medicine in scoliosis treatment

Psychometric characteristics of the Spanish version of instruments to measure neck pain disability

Background: The NDI, COM and NPQ are evaluation instruments for disability due to NP. There was no Spanish version of NDI or COM for which psychometric characteristics were known. The objectives of this study were to translate and culturally adapt the Spanish version of the Neck Disability Index Questionnaire (NDI), and the Core Outcome Measure (COM), to validate its use in Spanish speaking patients with non-specific neck pain (NP), and to compare their psychometric characteristics with those of the Spanish version of the Northwick Pain Questionnaire (NPQ). Methods: Translation/re-translation of the English versions of the NDI and the COM was done blindly and independently by a multidisciplinary team. The study was done in 9 primary care Centers and 12 specialty services from 9 regions in Spain, with 221 acute, subacute and chronic patients who visited their physician for NP: 54 in the pilot phase and 167 in the validation phase. Neck pain (VAS), referred pain (VAS), disability (NDI, COM and NPQ), catastrophizing (CSQ) and quality of life (SF-12) were measured on their first visit and 14 days later. Patients' self-assessment was used as the external criterion for pain and disability. In the pilot phase, patients' understanding of each item in the NDI and COM was assessed, and on day 1 test-retest reliability was estimated by giving a second NDI and COM in which the name of the questionnaires and the order of the items had been changed. Results: Comprehensibility of NDI and COM were good. Minutes needed to fill out the questionnaires [median, (P25, P75)]: NDI. 4 (2.2, 10.0), COM: 2.1 (1.0, 4.9). Reliability: [ICC, (95%CI)]: NDI: 0.88 (0.80, 0.93). COM: 0.85 (0.75,0.91). Sensitivity to change: Effect size for patients having worsened, not changed and improved between days 1 and 15, according to the external criterion for disability: NDI: -0.24, 0.15, 0.66; NPQ: -0.14, 0.06, 0.67; COM: 0.05, 0.19, 0.92. Validity: Results of NDI, NPQ and COM were consistent with the external criterion for disability, whereas only those from NDI were consistent with the one for pain. Correlations with VAS, CSQ and SF-12 were similar for NDI and NPQ (absolute values between 0.36 and 0.50 on day 1, between 0.38 and 0.70 on day 15), and slightly lower for COM (between 0.36 and 0.48 on day 1, and between 0.33 and 0.61 on day 15). Correlation between NDI and NPQ: r = 0.84 on day 1, r = 0.91 on day 15. Correlation between COM and NPQ: r = 0.63 on day 1, r = 0.71 on day 15. Conclusion: Although most psychometric characteristics of NDI, NPQ and COM are similar, those from the latter one are worse and its use may lead to patients' evolution seeming more positive than it actually is. NDI seems to be the best instrument for measuring NP-related disability, since its results are the most consistent with patient's assessment of their own clinical status and evolution. It takes two more minutes to answer the NDI than to answer the COM, but it can be reliably filled out by the patient without assistance

Innovar en la enseñanza universitaria

Se recogen experiencias docentes innovadoras desarrolladas en la Universidad de Alcalá con el objetivo de indagar en las posibilidades y obstáculos surgidos en los procesos de cambio e innovación. En dichas experiencias docentes se han implementado nuevas metodologías, experiencias piloto y Proyectos de Innovación, que han contribuido a clarificar el proceso y a indagar en propuestas de acción contextualizadas. Las experiencias de dividen en cuatro bloques: estrategias de aprendizaje activo; estrategias de integración curricular; innovación en la educación; y uso de las nuevas tecnologías.MadridBiblioteca de Educación del Ministerio de Educación, Cultura y Deporte; Calle San Agustín 5 -3 Planta; 28014 Madrid; Tel. +34917748000; [email protected]

Contemporary use of cefazolin for MSSA infective endocarditis: analysis of a national prospective cohort

Objectives: This study aimed to assess the real use of cefazolin for methicillin-susceptible Staphylococcus aureus (MSSA) infective endocarditis (IE) in the Spanish National Endocarditis Database (GAMES) and to compare it with antistaphylococcal penicillin (ASP). Methods: Prospective cohort study with retrospective analysis of a cohort of MSSA IE treated with cloxacillin and/or cefazolin. Outcomes assessed were relapse; intra-hospital, overall, and endocarditis-related mortality; and adverse events. Risk of renal toxicity with each treatment was evaluated separately. Results: We included 631 IE episodes caused by MSSA treated with cloxacillin and/or cefazolin. Antibiotic treatment was cloxacillin, cefazolin, or both in 537 (85%), 57 (9%), and 37 (6%) episodes, respectively. Patients treated with cefazolin had significantly higher rates of comorbidities (median Charlson Index 7, P <0.01) and previous renal failure (57.9%, P <0.01). Patients treated with cloxacillin presented higher rates of septic shock (25%, P = 0.033) and new-onset or worsening renal failure (47.3%, P = 0.024) with significantly higher rates of in-hospital mortality (38.5%, P = 0.017). One-year IE-related mortality and rate of relapses were similar between treatment groups. None of the treatments were identified as risk or protective factors. Conclusion: Our results suggest that cefazolin is a valuable option for the treatment of MSSA IE, without differences in 1-year mortality or relapses compared with cloxacillin, and might be considered equally effective