Use of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks

Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constrains and forces that aid him in the completion of a virtual task. Also haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sense by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperatio

Haptic guidance based on harmonic functions for the execution of teleoperated assembly tasks

Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constraints and forces that aid him in the completion of a virtual task. Also, haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sensed by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperation.Preprin

C-space decomposition using deterministic sampling and distances

Hierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper proposes an efficient method to obtain a hierarchical cell decomposition of C-space that is based on: a) the use of a deterministic sampling sequence that allows an uniform and incremental exploration of the space, and b) the use of distance measurements to handle as much information as possible from each sample in order to make the procedure more efficient. The proposed cell decomposition procedure is applied to different path planning methods.Peer Reviewe

A novel path planning proposal based on the combination of deterministic sampling and harmonic functions

The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant on the generation of samples. To obtain a good set of samples, this paper proposes a new sampling paradigm based on deterministic sampling paradigm based on a deterministic sampling sequence guided by an harmonic potential function computed on a hierarchical cell decomposition of C-space. In the proposed method, known as Kautham sampler, samples are not isolated configurations but parts of a whole. As samples are generated they are dynamically grouped into cells that capture the C-space structure. This allows the use of harmonic functions to share information and guide further sampling towards more promising regions of C-space. Finally, using the samples obtained, a roadmap is easily built taking advantage of the known neighbourhood relationships

Toward a definition of Grassroots Economies for historical research: family, mutual help networks, labor market, microcredit and livelihood strategies

En este artículo se propone una definición de las grassroots economies (economías de base) para aproximarse a las estrategias que permiten comprender cómo sobreviven las personas pobres en diferentes períodos históricos. Más allá de la participación en el merca-do, estas estrategias (re)producen desigualdades. En ese contexto, las redes de ayuda mutua en donde el papel desempeñado por las mujeres ha sido clave, han sido vitales para lograr la sobrevivencia.This essay postulates a definition of “grassroots economies” as an attempt to understand how poor survive in differente historical moments. Beyond their role in the market, these strategies reproduce inequalities in order to livelihood. Mutual helps networks and specifically women actions have playes an important historical role to keep home economies and livelihood strategies.Universidad de Costa Rica/[806-B6-188]/UCR/Costa RicaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ciencias Sociales::Centro de Investigaciones Históricas de América Central (CIHAC

Role of NOD1 in heart failure progression via regulation of Ca2+ handling

Instituto de Salud Carlos III; CP11/00080Instituto de Salud Carlos III; PI14/01078Ministerio de Economía y competitividad; SAF2014-52492RMinisterio de Economía y competitividad; SAF2014-57190RMinisterio de Economía y competitividad; RTC2015-374

Specialized proresolving mediators protect against experimental autoimmune myocarditis by modulating Ca2+ handling and NRF2 activation

Specialized proresolving mediators and, in particular, 5(S), (6)R, 7-trihydroxyheptanoic acid methyl ester (BML-111) emerge as new therapeutic tools to prevent cardiac dysfunction and deleterious cardiac damage associated with myocarditis progression. The cardioprotective role of BML-111 is mainly caused by the prevention of increased oxidative stress and nuclear factor erythroid-derived 2-like 2 (NRF2) down-regulation induced by myocarditis. At the molecular level, BML-111 activates NRF2 signaling, which prevents sarcoplasmic reticulum–adenosine triphosphatase 2A down-regulation and Ca2+ mishandling, and attenuates the cardiac dysfunction and tissue damage induced by myocarditis.This work was supported by the Spanish Ministry of Economy and Competitiveness and the European Regional Development Fund (SAF-2017-84777R), Instituto de Salud Carlos III (ISCIII) (PI17/01093, PI17/01344, and PI20/01482), Sociedad Española de Cardiología, Proyecto Traslacional 2019 and Asociación del Ritmo Cardiaco (SEC, España), Proyecto Asociación Insuficiencia Cardiaca (Trasplante Cardiaco) 2020, Fondo Europeo de Desarrollo Regional, Fondo Social Europeo, and CIBERCV, a network funded by ISCIII, Spanish Ministry of Science, Innovation and Universities (PGC2018-097019-B-I00), Ministerio de Economía, Industria y Competitividad/Agencia Estatal de Investigación 10.13039/501100011033 PID2020-113238RB-I00, PID2019-105600RB-I00, the Instituto de Salud Carlos III (Fondo de Investigación Sanitaria grant PRB3 [PT17/0019/0003-ISCIII-SGEFI/ERDF, ProteoRed]), and “la Caixa” Foundation (project code HR17-00247). The Centro Nacional de Investigaciones Cardiovasculares is supported by the ISCIII, the Ministerio de Ciencia, Innovación y Universidades. Dr Ruiz-Hurtado is Miguel Servet I researcher of ISCIII (CP15/00129 Carlos III Health Institute). Dr Tamayo and R.I. Jaén, and M. Gil-Fernández were or currently are PhD students funded by the Formación de Profesorado Universitario program of the Spanish Ministry of Science, Innovation and Universities (FPU17/06135; FPU16/00827, FPU1901973)

Specialized proresolving mediators protect against experimental autoimmune myocarditis by modulating Ca2+ handling and NRF2 activation

Preclinical research[Abstract] Specialized proresolving mediators and, in particular, 5(S), (6)R, 7-trihydroxyheptanoic acid methyl ester (BML-111) emerge as new therapeutic tools to prevent cardiac dysfunction and deleterious cardiac damage associated with myocarditis progression. The cardioprotective role of BML-111 is mainly caused by the prevention of increased oxidative stress and nuclear factor erythroid-derived 2-like 2 (NRF2) down-regulation induced by myocarditis. At the molecular level, BML-111 activates NRF2 signaling, which prevents sarcoplasmic reticulum–adenosine triphosphatase 2A down-regulation and Ca2+ mishandling, and attenuates the cardiac dysfunction and tissue damage induced by myocarditis.Ministerio de Economía y Competitividad (España); SAF-2017-84777RInstituto de Salud Carlos III; PI17/01093Instituto de Salud Carlos III; PI17/01344Instituto de Salud Carlos III; PI20/01482Ministerio de Ciencia, Innovación y Universidades (España); PGC2018-097019-B-I00Ministerio de Economía, Industria y Competitividad (España); 10.13039/501100011033Ministerio de Industria, Economía y Competitividad; PID2020-113238RB-I00Ministerio de Industria, Economía y Competitividad (España); PID2019-105600RB-I00Fundación La Caixa; HR17-0024

Development and validation of a population-based prediction scale for osteoporotic fracture in the region of Valencia, Spain: the ESOSVAL-R study

<p>Abstract</p> <p>Background</p> <p>Today, while there are effective drugs that reduce the risk of osteoporotic fracture, yet there are no broadly accepted criteria that can be used to estimate risks and decide who should receive treatment. One of the actual priorities of clinical research is to develop a set of simple and readily-available clinical data that can be used in routine clinical practice to identify patients at high risk of bone fracture, and to establish thresholds for therapeutic interventions. Such a tool would have high impact on healthcare policies. The main objective of the ESOSVAL-R is to develop a risk prediction scale of osteoporotic fracture in adult population using data from the Region of Valencia, Spain.</p> <p>Methods/Design</p> <p><it>Study design</it>: An observational, longitudinal, prospective cohort study, undertaken in the Region of Valencia, with an initial follow-up period of five years; <it>Subjects</it>: 14,500 men and women over the age of 50, residing in the Region and receiving healthcare from centers where the ABUCASIS electronic clinical records system is implanted; <it>Sources of data</it>: The ABUCASIS electronic clinical record system, complemented with hospital morbidity registers, hospital Accidents & Emergency records and the Regional Ministry of Health's mortality register; <it>Measurement of results</it>: Incident osteoporotic fracture (in the hip and/or major osteoporotic fracture) during the study's follow-up period. Independent variables include clinical data and complementary examinations; <it>Analysis</it>: 1) Descriptive analysis of the cohorts' baseline data; 2) Upon completion of the follow-up period, analysis of the strength of association between the risk factors and the incidence of osteoporotic fracture using Cox's proportional hazards model; 3) Development and validation of a model to predict risk of osteoporotic fracture; the validated model will serve to develop a simplified scale that can be used during routine clinical visits.</p> <p>Discussion</p> <p>The ESOSVAL-R study will establish a prediction scale for osteoporotic fracture in Spanish adult population. This scale not only will constitute a useful prognostic tool, but also it will allow identifying intervention thresholds to support treatment decision-making in the Valencia setting, based mainly on the information registered in the electronic clinical records.</p

Phylogeography of Supralittoral Rocky Intertidal Ligia Isopods in the Pacific Region from Central California to Central Mexico

Ligia isopods are widely distributed in the Pacific rocky intertidal shores from central California to central Mexico, including the Gulf of California. Yet, their biological characteristics restrict them to complete their life cycles in a very narrow range of the rocky intertidal supralittoral. Herein, we examine phylogeographic patterns of Ligia isopods from 122 localities between central California and central Mexico. We expect to find high levels of allopatric diversity. In addition, we expect the phylogeographic patterns to show signatures of past vicariant events that occurred in this geologically dynamic region.We sequenced two mitochondrial genes (Cytochrome Oxidase I and 16S ribosomal DNA). We conducted Maximum Likelihood and Bayesian phylogenetic analyses. We found many divergent clades that, in general, group according to geography. Some of the most striking features of the Ligia phylogeographic pattern include: (1) deep mid-peninsular phylogeographic breaks on the Pacific and Gulf sides of Baja peninsula; (2) within the Gulf lineages, the northern peninsula is most closely related to the northern mainland, while the southern peninsula is most closely related to the central-southern mainland; and, (3) the southernmost portion of the peninsula (Cape Region) is most closely related to the southernmost portion of mainland.Our results shed light on the phylogenetic relationships of Ligia populations in the study area. This study probably represents the finest-scale phylogeographic examination for any organism to date in this region. Presence of highly divergent lineages suggests multiple Ligia species exist in this region. The phylogeographic patterns of Ligia in the Gulf of California and Baja peninsula are incongruent with a widely accepted vicariant scenario among phylogeographers, but consistent with aspects of alternative geological hypotheses and phylo- and biogeographic patterns of several other taxa. Our findings contribute to the ongoing debate regarding the geological origin of this important biogeographic region