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Duchenne muscular dystrophy (DMD) is a severe congenital disease associated with mutation of the dystrophin gene. Supplementation of dystrophin using recombinant adeno-associated virus (rAAV) has promise as a treatment for DMD, although vector-related general toxicities, such as liver injury, neurotoxicity, and germline transmission, have been suggested in association with the systemic delivery of high doses of rAAV. Here, we treated normal or dystrophic dogs with rAAV9 transduction in conjunction with multipotent mesenchymal stromal cell (MSC) injection to investigate the therapeutic effects of an rAAV expressing microdystrophin (μDys) under conditions of immune modulation. Bone-marrow-derived MSCs, rAAV-CMV-μDys, and a rAAV-CAG-luciferase (Luc) were injected into the jugular vein of a young dystrophic dog to induce systemic expression of μDys. One week after the first injection, the dog received a second intravenous injection of MSCs, and on the following day, rAAV was intravenously injected into the same dog. Systemic injection of rAAV9 with MSCs pretreatment improves gene transfer into normal and dystrophic dogs. Dystrophic phenotypes significantly improved in the rAAV-μDys-injected dystrophic dog, suggesting that an improved rAAV-μDys treatment including immune modulation induces successful long-term transgene expression to improve dystrophic phenotypes., Graphical Abstract, We treated normal or dystrophic dogs with rAAV9 transduction with MSCs to investigate the therapeutic effects of an rAAV-μDys under immune modulation. Systemic injection of rAAV9 with MSCs pretreatment improves gene transfer into dogs. An improved rAAV-μDys treatment including immune modulation induces successful long-term transgene expression to improve dystrophic phenotypes.

Background Acute tubulointerstitial nephritis (ATIN) is a very rare paraneoplastic manifestation in patients with multiple myeloma (MM). It is an uncommon pattern of renal disease in such patients. Case presentation We report a case of an 82-year-old male who was admitted with acute kidney injury. Renal biopsy showed typical findings of light chain-associated ATIN with scattered inflammatory cells in the interstitium and associated active tubulitis. No other common manifestations of MM were present at the time of presentation, including hypercalcemia, hyperuricemia, proteinuria, bone pain or lytic bone lesions. Subsequent immunoassays revealed significant serum lambda light chain burden and Bence Jones protein in urine. Immunofluorescence demonstrated linear tubular basement membranes with positive staining for lambda light chain (3+). Electron microscopy (EM) further showed interstitial edema and inflammation. All the aforementioned findings are consistent with ATIN and supported the diagnosis of MM. Conclusions In conclusion, light chain-associated ATIN should be considered in the differential diagnosis of acute interstitial nephritis. Henceforth, serum free light chains as well as serum and urine protein electrophoresis should be included in the workup of such patients.

In this evaluation, the coagulants ferric chloride and SuperFloc SD 2080 were studied, with the aim of comparing their effectiveness in water clarification processes. The study was carried out with different doses of coagulant: 3 ml, 5 ml, 6 ml, 7 ml, 8 ml, and 10 ml, subjecting them to flocculation, coagulation, and sedimentation processes. Jar tests, Imhoff cone settling tests, and settling column tests were also performed. To determine the efficiency of the coagulants studied for the jar test, the doses used were: 5 ml per two liters for ferric chloride and 6 ml per two liters for the SuperFloc SD2080. With the sedimentation column test, the results were determined by the isoremoval percentage curve. The sedimentation column test was carried out in two-time intervals, where the first two intervals were five minutes and the other intervals consequently were every ten minutes until reaching 120 minutes. By the time of 57 minutes, the percentage removal results of the coagulants were 83% for ferric chloride and 37% for the SuperFloc SD 2080, which indicates that the ferric chloride was more efficient for the removal of suspended solids in water., En esta evaluación se estudió los coagulantes cloruro férrico y SuperFloc SD 2080, con el objetivo de comparar su efectividad en los procesos de clarificación de agua. Se realizó el estudio con diferentes dosis de coagulante: 3 ml, 5 ml, 6 ml, 7 ml, 8 ml y 10 ml, sometiéndolas a los procesos de floculación, coagulación y sedimentación. También se realizaron pruebas de jarras, prueba de sedimentación con Cono Imhoff y la prueba de columna de sedimentación. Para determinar la eficiencia de los coagulantes estudiados para la prueba de jarras, las dosis utilizadas fueron: 5 ml por cada dos litros para el cloruro férrico y 6 ml por cada dos litros para el SuperFloc SD2080. Con la prueba de columna de sedimentación, los resultados fueron determinados mediante la curva de porcentaje de isoremoción. La prueba de columna de sedimentación se realizó en dos intervalos de tiempo, en donde los dos primeros intervalos, fueron de cinco minutos y los demás intervalos consiguientes fueron de cada diez minutos hasta llegar a los 120 minutos. Para un tiempo calculado de 57 minutos, los resultados de porcentaje de remoción para el cloruro férrico fueron de 83 % y 37% para el SuperFloc SD 2080, lo que indica que el coagulante de cloruro férrico fue más eficiente para la remoción de sólidos suspendidos en el agua.

Background: Duchenne muscular dystrophy (DMD) is an inherited progressive disorder that causes skeletal and cardiac muscle deterioration with chronic inflammation. Dental pulp stromal cells (DPSCs) are attractive candidates for cell-based strategies for DMD because of their immunosuppressive properties. Therefore, we hypothesized that systemic treatment with DPSCs might show therapeutic benefits as an anti-inflammatory therapy.Methods: To investigate the potential benefits of DPSC transplantation for DMD, we examined the disease progression in DMD animal model, mdx mice, by comparing them with different systemic treatment conditions. The DPSC-treated model, a canine X-linked muscular dystrophy model in Japan (CXMDJ), which has a severe phenotype similar to that of DMD patients, also underwent comprehensive analysis, including histopathological findings, muscle function, and locomotor activity.Results: We demonstrated a therapeutic strategy for the long-term functional recovery in DMD using repeated DPSC administration. DPSC-treated mdx mice and CXMDJ showed no serious adverse events. MRI findings and muscle histology suggested that DPSC treatment downregulated severe inflammation in DMD muscles and demonstrated a milder phenotype after DPSC treatment. DPSC-treated models showed an increased recovery in grip-hand strength and improved tetanic force and home-cage activity. Interestingly, maintenance of long-term running capability and stabilized cardiac function was also observed in 1-year-old DPSC-treated CXMDJ.Conclusions: We developed a novel strategy for the safe and effective transplantation of DPSCs for DMD recovery, including repeated systemic injection to regulate inflammation at a young age. This is the first report on the efficacy 58 of systemic DPSC treatment, from which we can propose that DPSCs may play an important role in delaying the DMD disease phenotype.

Background Duchenne muscular dystrophy (DMD) is an inherited progressive disorder that causes skeletal and cardiac muscle deterioration with chronic inflammation. Dental pulp stem cells (DPSCs) are attractive candidates for cell-based strategies for DMD because of their immunosuppressive properties. Therefore, we hypothesized that systemic treatment with DPSCs might show therapeutic benefits as an anti-inflammatory therapy. Methods To investigate the potential benefits of DPSC transplantation for DMD, we examined disease progression in a DMD animal model, mdx mice, by comparing them with different systemic treatment conditions. The DPSC-treated model, a canine X-linked muscular dystrophy model in Japan (CXMDJ), which has a severe phenotype similar to that of DMD patients, also underwent comprehensive analysis, including histopathological findings, muscle function, and locomotor activity. Results We demonstrated a therapeutic strategy for long-term functional recovery in DMD using repeated DPSC administration. DPSC-treated mdx mice and CXMDJ showed no serious adverse events. MRI findings and muscle histology suggested that DPSC treatment downregulated severe inflammation in DMD muscles and demonstrated a milder phenotype after DPSC treatment. DPSC-treated models showed increased recovery in grip-hand strength and improved tetanic force and home cage activity. Interestingly, maintenance of long-term running capability and stabilized cardiac function was also observed in 1-year-old DPSC-treated CXMDJ. Conclusions We developed a novel strategy for the safe and effective transplantation of DPSCs for DMD recovery, which included repeated systemic injection to regulate inflammation at a young age. This is the first report on the efficacy of a systemic DPSC treatment, from which we can propose that DPSCs may play an important role in delaying the DMD disease phenotype.

Thyroid-like low-grade nasopharyngeal papillary adenocarcinoma (TL-LGNPPA) is a rare primary adenocarcinoma of nasopharynx. The immunohistochemical pattern of this tumor is similar to that of papillary thyroid carcinoma making this neoplasm a challenging diagnosis. A case of TL-LGNPPA with biphasic morphology is presented. The removed tumor from the nasopharynx exhibited a polypoid appearance. Microscopically, it was composed of papillary structures admixed with a few solid areas of spindle cells. The papillae were lined by columnar epithelium. Both the epithelium and the spindle cells were strongly positive for TTF-1 and CK19 and negative for CK5/6, S-100, and thyroglobulin. Cellular atypia, necrosis, and high mitotic rate were absent. Ki67 was less than 2% in the neoplastic cells. No local recurrence or distant metastasis was reported after 12 months of follow-up. Caution should be taken to differentiate TL-LGPPA from other TTF-1-positive neoplasms, especially papillary thyroid carcinoma, as the prognosis for these two tumors is entirely different.

Castro Herrera, G. (2017). El Capital de que se trata. Revista de Ciencias Sociales, segunda época 9 (32) 161-164. Bernal, Argentina : Universidad Nacional de Quilmes. Hemos llegado a las vísperas del 150º aniversario de la publicación del primer tomo de El capital. Se trata, sin duda, de la más rica y compleja de las obras de Karl Marx. En el esquema de organización del conocimiento creado por el liberalismo ascendente, pasa por ser una obra de economía. Desde el pensamiento del autor, quizás sea en realidad un libro de historia que aborda la formación, las características, las contradicciones internas y las perspectivas de desarrollo de una relación social a la que llamamos capital. Entre ambas visiones hay un conflicto insalvable: la liberal considera El capital una interpretación –entre otras– de la economía moderna; la otra, una herramienta para la transformación de la realidad creada por y para esa relación social. We have arrived on the eve of the 150th anniversary of the publication of the first volume of Capital. It is, without doubt, the richest and most complex of Karl Marx's works. In the knowledge organization scheme created by ascending liberalism, it happens to be a work of economy. From the author's thinking, perhaps it is actually a history book that deals with the formation, characteristics, internal contradictions and perspectives of development of a social relationship we call capital. Between both visions there is an insurmountable conflict: the liberal considers Capital an interpretation - among others - of the modern economy; the other, a tool for the transformation of reality created by and for that social relationship

El presente trabajo se realizó para fines institucionales de la Universidad del Rosario. Se trata de un plan de estrategias digitales desarrollado para una empresa ficticia encabezada por el ciclista Nairo Quintana, quien desea lanzar un nuevo producto al mercado. El plan incluye un análisis del contexto actual del mercado, la descripción del producto nuevo -una línea de uniformes-, los objetivos deseados, el mercado objetivo, el flow de medios -que incluye calendarización y presupuestos- y, por último, los indicadores de desempeño en relación a los objetivos planteados.

The finding of a late flexion cetomimid specimen of 24.6 mm body length (BL), plus a caudal streamer of 5.7 mm, collected in the southeastern Pacific near the Juan Fernandez seamounts (33.565°S; 77.710°W), is reported. The specimen was in good condition, almost fully pigmented, covered by small melanophores from the head to the caudal streamer, where the pigmentation is denser. It possesses an upturned mouth, developing pelvic fins with a high insertion, 14 dorsal and 15 anal fin rays, 7+7 principal caudal fin rays, ca. 54 myomeres, and a preanal distance of 75% BL. Based on the available information, the specimen can be tentatively ascribed to a species of Gyrinomimus or Cetomimus.

El presente trabajo de desarrollo tiene como objetivo principal diseñar e implementar un prototipo de un dispositivo que ayude a monitorear los factores físicos y ambientales que provocan fallos en los equipos ubicados en un centro de cómputo, lo cual se deriva en la indisponibilidad de las tecnologías de la información y comunicación, las cuales son indispensables para la operación de las empresas hoy en día, generando la existencia de un riesgo de interrupción en la continuidad del negocio, lo cual causaría perjuicios económicos importantes y una mala imagen de la empresa frente a sus clientes y proveedores. Debido al desconocimiento de las normas y buenas prácticas para la instalación de un centro de cómputo, la falta de implementación de sistemas de monitoreo ambiental debido a su elevado costo, la falta de personal calificado y la poca existencia de este tipo de soluciones en el mercado local para las pequeñas y medianas empresas del Ecuador, el resultado del presente proyecto es un prototipo para un dispositivo de monitoreo ambiental de centro de cómputo de bajo costo basado en tecnología ARM y software de código abierto, lo cual representa una alternativa económica y fiable frente a otro tipo de sistemas similares en el mercado cuyos costos y requerimientos de instalación son más elevados. This development work has as main objective to design and implement a prototype of a device that helps monitor physical and environmental factors that cause equipment failure located in a data center, which is derived in the unavailability of information technology and communication, which are indispensable for the businesses operation today, generating a risk of disruption in business continuity, which could cause significant economic damage and a bad image of the company towards its customers and suppliers. Due to the lack of standards and best practices for installing a data center, lack of implementation of environmental monitoring systems due to its high cost, lack of qualified staff and poor existence of such solutions on the local market for small and medium enterprises in Ecuador, the result of this project is a device prototype for environmental monitoring of data centers based on ARM technology and open source software, which is an economical and reliable alternative to other similar systems on the market whose costs and installation requirements are higher.

Monoclonal gammopathy of renal significance (MGRS) regroups all renal disorders caused by a monoclonal immunoglobulin (MIg) secreted by a nonmalignant B-cell clone. By definition, patients with MGRS do not meet the criteria for overt multiple myeloma/B-cell proliferation, and the hematologic disorder is generally consistent with monoclonal gammopathy of undetermined significance (MGUS). However, MGRS is associated with high morbidity due to the severity of renal and sometimes systemic lesions induced by the MIg. Early recognition is crucial, as suppression of Mlg secretion by chemotherapy often improves outcomes. The spectrum of renal diseases in MGRS is wide, including old entities such as AL amyloidosis and newly described lesions, particularly proliferative glomerulonephritis with monoclonal Ig deposits and C3 glomerulopathy with monoclonal gammopathy. Kidney biopsy is indicated in most cases to determine the exact lesion associated with MGRS and evaluate its severity. Diagnosis requires integration of morphologic alterations by light microscopy, immunofluorescence (IF), electron microscopy, and in some cases by IF staining for Ig isotypes, immunoelectron microscopy, and proteomic analysis. Complete hematologic workup with serum and urine protein electrophoresis, immunofixation, and serum-free light-chain assay is required. This review addresses the pathologic and clinical features of MGRS lesions, indications of renal biopsy, and a proposed algorithm for the hematologic workup.

Neuromast morphology and distribution are characterized during early ontogeny of anchoveta (Engraulis ringens) and common sardine (Strangomera bentincki). Although both species share morphological features, they show several differences during their early ontogeny, such as size at hatching and yolk absorption. Larvae were obtained from incubation of planktonic eggs (at 12°C), collected during the spawning season 2001 (August-September) at Coliumo Bay. The neuromasts were observed from hatching to 25 days, and the pattern of neuromast appearance, in newly hatched larva, until yolk absorption, was determined using Janus Green staining and scanning electronic microscope. Results showed a similar pattern of neuromast development in both species. At hatching, two pairs of neuromasts were observed in the cephalic area and 8-9 in the rest of the body, which increased to 19 pairs and to 30-39 pairs at a larval size of 11 mm, respectively. On the average, 12 hair cells per neuromast were counted, with little variation among neuromasts. The polarity of these hair cells was closest to multiple polarity. Neuromast positioning for both species, anchoveta and common sardine larvae, are similar to those of Engraulis mordax and Clupea harengus, respectively. The similar development pattern of these species seems to be related to similar functional constraints and close taxonomic affinity. Se caracteriza la distribución y morfología de los neuromastos en la ontogenia temprana de la anchoveta (Engraulis ringens) y sardina común (Strangomera bentincki). Aunque ambas especies comparten varias características morfológicas, muestran diferencias durante la ontogenia temprana, tales como tamaño a la eclosión y absorción de vitelo. Las larvas fueron obtenidas desde la incubación de huevos planctónicos a 12°C, recolectados en la bahía Coliumo durante la estación reproductiva 2001 (agosto-septiembre). Los neuromastos fueron observados desde la eclosión hasta los 25 días posteriores, usando la tinción vital de verde de Jano y microscopía electrónica de barrido. Los resultados muestran un patrón similar de desarrollo en ambas especies. A la eclosión se observaron 2 pares de neuromastos en la región cefálica y entre 8 y 9 en el resto del cuerpo, que a la longitud de 11 mm aumentan a 19 y entre 30 y 39 pares respectivamente. En promedio, se contabilizaron 12 células ciliadas por neuromasto con escasa variación entre neuromastos, con una polaridad cercana a la polaridad múltiple. La posición de los neuromastos de ambas especies, anchoveta y sardina, fueron similares a las descritas para Engraulis mordax y Clupea harengus, respectivamente. El patrón similar de desarrollo de estas especies parece relacionado con sus restricciones funcionales y estrecha afinidad taxonómica.

Herrera, G. (2014). “Gente y cuentos...”: el desafío de integrar lectores. Sociales y virtuales, (1). El presente ensayo tiene como propósito reflexionar en torno a la cuestión del acceso a la cultura en general y a la literatura en particular en el ámbito de la educación. Para ello, el autor retoma el libro Gente y cuentos ¿A quién pertenece la literatura?, escrito por Sarah Hirschman, y lo analiza en tanto opción metodológica válida para pensar la enseñanza de la literatura hoy.

El autor nos plantea las ideas sobre la naturaleza que desarrolló Martí, las que forman parte del universo más amplio de preocupaciones, intereses y lecturas que compartió con un número de jóvenes intelectuales de la región que se percibían como modernos, por una combinación de liberales en lo ideológico, demócratas en lo político, y patriotas en lo cultural. Afirma que Martí ofrece tres aportes de especial interés para una historia de lo ambiental como problema en nuestra cultura: sus observaciones acerca de las interacciones entre la historia humana y la historia natural; su lectura de autores de la moderna cultura ambiental anglosajona y finalmente su incorporación de lo natural al campo de lo político. L’auteur traite des réflexions sur la nature formulées par Marti, issues de l’univers plus ample des préoccupations, intérêts et lectures qu’il a partagé avec un certain nombre de jeunes intellectuels de la région qui se présentaient comme modernes, constituant une association de libéraux sur le plan idéologique, de démocrates sur le plan politique, et de patriotes sur le plan culturel. Il affirme que Marti offre trois contributions qui présentent un intérêt particulier pour une histoire de l’environnement en tant que problème dans notre culture : ses observations sur les interactions entre l’histoire humaine et l’histoire naturelle; sa lecture d’auteurs de la culture environnementale anglo-saxonne moderne et enfin l’incorporation de la dimension naturelle au champ politique. The author presents the ideas of Martí about nature, which are part of the broader universe of concerns, interests and readings he shared with a number of young intellectuals of the region that perceived themselves as modern, by a combination of liberals in their ideology, democrats in the political, and patriotic culturallywise. He claims that Martí offers three contributions of special interest to a history of the environment as a problem in our culture: observations on the interactions between human history and natural history, his reading of authors of modern Anglo-Saxon cultural environment, and finally his incorporation of the natural realm to the field of politics.

La presente memoria constituye el Trabajo Fin de Máster del Máster en Recursos Geológicos e Ingeniería Geológica de la Universidad de Oviedo, que aborda el estudio geológico-geotécnico del subsuelo urbano de la ciudad de Santander.

El autor define primeramente que lo ambiental como objeto de estudio histórico– constituye un campo en formación, que se ocupa de las interacciones entre las sociedades humanas y el mundo natural, y de las consecuencias de esas interacciones para ambas partes a lo largo del tiempo. Para precisar la definición, explora la estructura interna del campo y el proceso que conduce a su formación. Postula luego que una historia ambiental latinoamericana enfrenta nuevos desafíos si aspira a ser universal, y que ello es lo que le permitirá trabajar con aquellos que, en el marco de la cultura ecológica del Norte, comparten las mismas preocupaciones respecto al impacto de la civilización sobre el mundo natural. Sostiene finalmente que lo que está en juego es la necesidad de una historia planetaria. Pour commencer, l’auteur définit que l’environnement comme objet d’étude historique – constitue un champ en formation, qui s’occupe des interactions entre les sociétés humaines et le monde naturel. Pour préciser la définition, il explore la structure interne du champ et le processus qui conduit à sa formation. Il affirme par la suite qu’une histoire environnementale latino-américaine affronte de nouveaux défis si elle aspire à être universelle, et que cela lui permettra de travailler avec ceux qui, dans le cadre de la culture écologique du Nord, partagent les mêmes préoccupations concernant l’impact de la civilisation sur le monde naturel. Il soutient enfin que ce qui est en jeu est la nécessité d’une histoire planétaire. The author defines primarily that the environmental realm, as an object of historical study ,is a field at construction, which deals with the interactions between human societies and the natural world, and the consequences of these interactions for both sides along time. To clarify the definition, explores the internal structure of the field and the process leading to its formation. He proposes hen that a Latin American environmental history faces new challenges if it aspires to be universal, and that this is what will allow to work with those who, in the framework of the North's ecological culture, share the same concerns about the impact of civilization on the natural world. Finally argues that what is at stake is the need for a planetary history.

En este proyecto se adapta un sistema libre de gestión empresarial a una empresa cuya actividad principal es realizar ensayos a materiales industriales y pinturas. Este sistema permitirá incrementar la productividad de la empresa, al sustituir las herramientas ofimáticas por herramientas específicas de gestión empresarial, entre las que destaca TNTConcept. Además, en este proyecto se combinan las siguientes tecnologías: J2EE, JSF, JasperReports, Hibernate y MySQL.

International audience; Renal failure remains a principal cause of morbidity for patients with multiple myeloma. Once reversible factors such as hypercalcemia have been corrected, the most common cause of severe renal failure in these patients is a tubulointerstitial pathology that results from the very high circulating concentrations of monoclonal immunoglobulin free light chains. These endogenous proteins can result in isolated proximal tubule cell cytotoxicity, tubulointerstitial nephritis and cast nephropathy (myeloma kidney). Less frequently, high levels of free light chains can lead to immunoglobulin light chain amyloidosis and light chain deposition disease, although these conditions are usually associated with insidious progression of renal failure rather than acute kidney injury. Unless there is rapid intervention, progressive and irreversible damage occurs, particularly interstitial fibrosis and tubular atrophy. Despite advances in our understanding of the pathogenesis of these processes there has been a gap in translating these achievements into improved patient outcomes. The International Kidney and Monoclonal Gammopathy Research Group was formed to address this need. In this Review, we discuss the mechanisms of disease and diagnostic approaches to patients with acute kidney injury complicating multiple myeloma.

長崎大学学位論文 [学位記番号]博(医歯薬)甲第397号 [学位授与年月日]平成23年2月23日

The feeding behaviour of larvae of four Clupeiform fish species (Sardinops sagax, Strangomera bentincki, Ethmidium maculatum and Engraulis ringens) was studied using specimens collected from September to November 1987 in Concepcion Bay, Chile. The indices of food preference (α) of Chesson, of diet overlap (D) of Schoener and (L) of Hurlbert, were used. Similar feeding patterns were found in the larvae of the four species. The diet included several developmental stages of copepods: eggs, nauplii and copepodites. The larvae of Engraulis ringens showed an early euriphagy. There were no significant differences in food preference between the species, except for Ethmidium maculatum, which showed a high preference for eggs, even at larger larval sizes. A general trend for preference for larger prey as larvae grow is displayed by the other species. No significant difference was found between sampling periods. A high level of diet overlap was found, regardless of the index used to estimate it.

Sin resumen

Los procedimientos de selección para la compra de alimentos llevados a cabo por las unidades de Lima Metropolitana presentan diferentes precios y calidades de alimentos, trayendo consigo a que se esfuercen varias dependencias en un trabajo similar, duplicando documentación, con personal a veces no capacitado y sin experiencia, adquiriendo finalmente los alimentos a minoristas no haciendo uso de la economía de escala, por lo que con este trabajo de investigación se pretendió determinar el efecto resultante de una reingeniería dentro de los procedimientos de adquisición de alimentos dentro de la guarnición de Lima. El tipo de investigación empleado ha sido cuantitativo correlacional, para una población de 2500 personas y una muestra de 258 oficiales que laboran en las diferentes unidades de la guarnición de Lima, se aplicó un cuestionario de 20 preguntas cerradas que han permitido establecer cuatro hipótesis específicas, concluyendo que la implementación de la reingeniería sí optimiza los procesos de adquisiciones de alimentos en las grandes unidades del Ejército de la guarnición de Lima Metropolitana, con un nivel de significancia de =5 %. Se arribó finalmente a la necesidad de implementar una dependencia que se encargue de los procedimientos de selección de alimentos en forma centralizada a nivel Lima Metropolitana para las grandes unidades de la guarnición de Lima, con autonomía y empleando Sistemas de Información Gerencial (SIG) con el apoyo de tecnologías de información (TI), que rediseñe la función de los órganos de abastecimiento de las grandes unidades, específicamente en lo concerniente a las oficinas de adquisiciones. Tesis

El presente documento describe el proceso de implementación de un algoritmo capaz de guiar a un robot móvil de tipo diferencial a través de un entorno desconocido, en el que se enfrentará a obstáculos dinámicos, mientras genera un mapa de su propio entorno y se ubica dentro de él. Para el desarrollo de este proyecto se utilizó ROS como sistema operativo, tanto para el control de la plataforma móvil Pioneer 3DX, como para la recepción de información de sensores laser, sonares, IMU y GPS, y para el procesamiento de esta información y su posterior traducción en un mapa. El algoritmo de SLAM (Simultaneous Location and Mapping) se fundamenta en filtros de partículas, siendo cada partícula un mapa. Mientras que el algoritmo de navegación se basa en la aproximación de ventana dinámica, la cual consiste en simular por periodos cortos de tiempo distintas combinaciones de velocidades (lineales y angulares) y establecer con cuales el robot es capaz de desplazarse por su entorno sin chocarse con los obstáculos. El proyecto pretende ser la base de funcionamiento para un robot agrícola capaz de navegar autónomamente mientras desarrolla actividades como plantación, riego, fertilización y control de plagas Grupo de investigación GIDAM Índice general Índice de Figuras 1 Introducción 1.1 Estado del arte 1.2 Planteamiento del problema 1.3 Objetivos 1.4 Justificación 2 Marco Teórico 2.1 Robótica Móvil 2.2 Fusión Sensórica 2.2.1 Filtro de Kalman (KF) 2.2.2 Filtros de Partículas 2.3 SLAM 2.3.1 Tipos de Slam 2.4 Guiado 3 Hardware y Software Utilizados 3.1 Software 3.1.1 ROS 3.1.2 EKF 3.1.3 SLAM 3.1.4 Localización 3.1.5 Navegación 3.2 Hardware 3.2.1 Pioneer 3DX 3.2.2 Hokuyo 04LX-UG01 3.2.3 ZED 3.2.4 Spatial Advanced Navigation (IMU/GPS) 3.2.5 Pc Dell Inspiron 15-7559 4 Simulación 5 Puesta en Marcha, Pruebas y Resultados 6 Conclusiones y Trabajos Futuros Bibliografía Anexos A. Código de Slam_Gmapping B. Código Move_base The present document describes the implementation process of an algorithm that can guide a differential mobile robot through an unknown environment, in which it must deal dynamic obstacles, while is generating a map of its own environment and is locate it self in it. For the development of this project was used ROS as operative system, so much for the control of the mobile platform Pioneer 3DX, as for the reception of the information that comes from laser, sonar, IMU and GPS sensors, and as for the processing of this information and its subsequent translation in a map. The SLAM (simultaneous Location and Mapping) algorithm it based on particles filters, where ich particle is a map. While the navigation algorithm is based on Dynamic Window Approach, which consist in the simulation of some combinations of velocities (linear and angular) for short periods of time and establish which are those with the robot can move by its environment without crash with the obstacles. This project pretends to be the operating base for an agricultural robot, that can navigate autonomously, while develop activities as plantation, irrigation, fertilization and pest control. Pregrado O presente documento descreve o processo de implementação de um algoritmo capaz de guiar um robô móvel de tipo diferencial através de um ambiente desconhecido no qual ele irá enfrentar obstáculos dinâmicos enquanto gera um mapa de seu próprio ambiente e se localiza dentro dele . Para o desenvolvimento deste projecto ROS foi usado como o sistema operacional, tanto para controlar a plataforma móvel Pioneer 3DX, e receber informações a partir de sensores laser, sonares, IMU e GPS e processamento desta informação e sua posterior conversão em um mapa. O algoritmo de SLAM (Localização e Mapeamento Simultâneos) é baseado em filtros de partículas, sendo cada partícula um mapa. Embora o algoritmo de navegação baseia-se na abordagem de janela dinâmica, a qual consiste em simular, por curtos períodos de tempo diferentes combinações de velocidade (lineares e angulares) e estabelece quais dessas ajustam se com o robô para que este seja capaz de se mover através do seu ambiente sem acertar nos obstáculos. O projeto pretende ser a base de operação de um robô agrícola capaz de navegar de forma autônoma, desenvolvendo atividades como plantação, irrigação, adubação e controle de pragas.

Se analiza el estado de situación en cuanto al ejercicio de los derechos de los pueblos afrodescendientes a una educación de calidad con pertinencia y equidad en la Costa Caribe Nicaragüense, conforme lo consigna el Sistema Educativo Autonómico Regional SEAR. Para un mejor entendimiento de la investigación se hace un abordaje del contexto y caracterización de la población afrodescendiente en Nicaragua, al igual que las leyes que los amparan de manera directa como habitantes de las Regiones Autónomas de la Costa Atlántica de Nicaragua. Capítulo I. Marco Teórico Conceptual. -- Capítulo II. Poblaciones Indígenas y Afrodescendientes de la Costa Caribe Nicaragüense. -- Capítulo III. Leyes, tratados y decretos que fundamentan el derecho a una educación de calidad, con pertinencia y equidad. -- Capítulo IV. Resultados