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This paper describes the dynamic mosaic planning method developed in the context of the PICKPLACE European project. The dynamic planner has allowed the development of a robotic system capable of packing a wide variety of objects without having to adjust to each reference. The mosaic planning system consists of three modules: First, the picked item monitoring module monitors the grabbed item to find out how the robot has picked it. At the same time, the destination container is monitored online to obtain the actual status of the packaging. To this end, we present a novel heuristic algorithm that, based on the point cloud of the scene, estimates the empty volume inside the container as empty maximal spaces (EMS). Finally, we present the development of the dynamic IK-PAL mosaic planner that allows us to dynamically estimate the optimal packing pose considering both the status of the picked part and the estimated EMSs. The developed method has been successfully integrated in a real robotic picking and packing system and validated with 7 tests of increasing complexity. In these tests, we demonstrate the flexibility of the presented system in handling a wide range of objects in a real dynamic packaging environment. To our knowledge, this is the first time that a complete online picking and packing system is deployed in a real robotic scenario allowing to create mosaics with arbitrary objects and to consider the dynamics of a real robotic packing system. This article has been funded by the European Union's Horizon 2020 research and Innovation Programme under grant agreement No. 780488, and the project "5R-Red Cervera de Tecnologias roboticas en fabricacion inteligente", contract number CER-20211007, under "Centros Tecnologicos de Excelencia Cervera" programme funded by "The Centre for the Development of Industrial Technology (CDTI)".

En México, se han identificado en el tiempo y espacio diferentes épocas de acumulación de materia orgánica, que han dado origen a distintas cuencas carboníferas como en el Triásico la Cuenca de Barrancas en la Región Carbonífera de San Marcial en Sonora; en el Jurásico Medio y Tardío la Cuenca de Tlaxiaco en Oaxaca; y en el Cretácico superior las cuencas de Chihuahua y Sabinas, estas últimas objeto de este estudio en este trabajo. En el Terciario se tienen varias manifestaciones de carbón, las más importantes son las de la región carbonífera de Colombia-San Ignacio, Estados de Tamaulipas, Coahuila y Nuevo León. La región carbonífera de Sabinas aporta más del 90 % de la producción nacional de carbón. La Cuenca de Sabinas posee un área de 37000 km2, y su origen está relacionado con la apertura del Proto-Golfo de México y su “cierre tectónico” con la Orogenia Larámide, estando delimitada por altos estructurales como son la Península de Coahuila, la plataforma Burro-Peyotes y el arco de Tamaulipas y las fallas como La Babia y San Marcos. En esta cuenca está la Formación Olmos, también conocida como “Formación del Carbón”, cuyo origen pasa por dos períodos de formación: 1) un ambiente palustre donde la flora fue abundante y permitió el depósito de turba con espesores y calidad variables; 2) un ambiente continental y transicional: intermarea superior, laguna marginal, pantano y planicies aluviales. Los estudios paleobotánicos, de polen y esporas, la han definido como un sistema deltaico del Cretácico Superior en un ambiente climático subtropical. Por su posición estratigráfica, estructural y distribución espacial, además de producir carbón, es un play favorable para gas. Los mantos de carbón en la cuenca de Sabinas presentan un horizonte “guía” de toba que nos ha permitido en este trabajo datar la época de acumulación del carbón por el método de U–Pb en zircones, dado que estos son refractarios para la temperatura de diagénesis a la que fueron sometidas las diferentes plantas originales que conforman los mantos de carbón de la cuenca. Su edad determinada por el método U–Pb en zircones en este trabajo fue de 76.1 ± 1.2 Ma, este dato es congruente con la actividad magmática regional, dado que la subducción al Occidente de área de estudio ha estado activa durante todo el Cretácico hasta el Terciario con la generación de magmas intrusivos y efusivos en lo que se conoce como el Arco Magmático Laramídico Mexicano, conformado en gran parte por la Sierra Madre Occidental, es así que rocas volcanoclásticas has sido reportadas para el Cretácico Superior, tanto relacionadas a mantos de carbón como eventos distales provenientes del Occidente de México, una de las provincias volcanoclásticas más grandes del mundo, en donde se reportan numerosos datos que concuerdan con la edad determinada en este trabajo. En este sentido la cuenca de Sabinas, y sus mantos de carbón, son un buen referente para la combinación de métodos de investigación geocronológica como los paleobotánicos y geocronológicos de decaimiento radioactivo.

En este trabajo se pretende observar los cambios en los patrones de sedimentación y fauna de las Formaciones Eagle Ford e Indidura que afloran en el estado de Coahuila. Estas sucesiones sedimentarias se depositaron dentro del rango Cenomaniano-Turoniano en el interior de la cuenca de Sabinas y se componen de facies arcillosas, carbonatadas, bioclásticas y arenosas. Fueron descritas nueve microfacies (Mf), la Mf-1 mudstone; la Mf-2 lutita y wackestone con foraminíferos oportunistas; la Mf-3 wackestone de foraminíferos especialistas, la Mf-4 wackestone y packstone de radiolarios; la Mf-5 wackestone y packstone con filamentos; la Mf-6 grainstone peloidal; la Mf-7 grainstone bioclástico; la Mf-8 calcarenitas; y la Mf-9 tobas volcánicas intercaladas en la sucesión. La ocurrencia del evento oceánico anóxico OAE-2 (OAE del inglés: Oceanic Anoxic Event) está presente dentro de la sucesión sedimentaria, indicado por los depósitos de lutitas negras ricas en materia orgánica, la muerte masiva de foraminíferos planctónicos, abundantes filamentos, cristales de pirita y las concentraciones elevadas de elementos redox como el V, Mo y Mn. Sin embargo, las condiciones de depósito presentan una variación en la concentración de oxígeno, micronutrientes y materia orgánica a lo largo de la paleogeografía. Elementos como Ni y Zn en las microfacies 1, 2, 3 y 4 evidencian una alta productividad, la cual está asociada a la presencia de organismos planctónicos y/o radiolarios. Otros elementos químicos como el Al, K y Zr muestran un incremento en el aporte de material detrítico dentro de la cuenca asociado a las microfacies arcillosas y arenosas. El contenido de materia orgánica es más elevado de la microfacies 2 a la 5 y además se considera de origen autóctono. La variación en las condiciones óxico-anóxicas es notoria gracias a la relación de foraminíferos planctónicos-bentónicos y las relaciones geoquímicas entre los elementos de Mo, Va, Ni y S. En la Formación Indidura las edades de U–Pb en granos de circón procedentes de capas de tobas restringen el depósito entre 98.2 ± 0.9 Ma a los 91.7 ± 0.8 Ma, es decir Cenomaniano- Turoniano, aunque la presencia de Praeglobotruncana a la base restringe el depósito al Cenomaniano tardío- Turoniano. Mientras que la edad de la Formación Eagle Ford está indicada por los géneros Rotalipora cushmani, Hedbergella y Helveglobotruncana helvética del Cenomaniano y Turoniano.

In the present framework of global warming, it is unclear whether evolutionary adaptation can happen quick enough to preserve the persistence of many species. Specifically, we lack knowledge about the adaptive potential of the different populations in relation to the various constraints that may hamper particular adaptations. There is evidence indicating that early flowering often provides an adaptive advantage to plants in temperate zones in response to global warming. Thus, the objective of this study was to assess the adaptive potential for advancing flowering onset in Lupinus angustifolius L. (Fabaceae). Seeds from four populations from two contrasting latitudes in Spain were collected and sown in a common garden environment. Selecting the 25% of the individuals that flowered earlier in the first generation, over three generations, three different early flowering selection lines were established, involving both self-crosses and outcrosses. All artificial selection lines advanced their flowering significantly with respect to the control line in the northernmost populations, but not in the southern ones. Selection lines obtained from outcrossing had a greater advancement in flowering than those from self-crossing. No differences were found in the number or weight of the seeds produced between control and artificial selection lines, probably because plants in the common garden were drip irrigated. These results suggest that northern populations may have a greater adaptive potential and that southern populations may be more vulnerable in the context of climate warming. However, earlier flowering was also associated with changes in other traits (height, biomass, shoot growth, specific leaflet area, and leaflet dry matter content), and the effects of these changes varied greatly depending on the latitude of the population and selection line. Assessments of the ability of populations to cope with climate change through this and other approaches are essential to manage species and populations in a more efficient way., We thank Cristina Poyatos for the help with the experiments. We also thank Carlos Díaz, José Margalet, and Victoria Calvo for the technical support in the CULTIVE facility laboratory greenhouse. We are in debt with Alastair Plant for language editing. This work has been carried out thanks to the financial support of the EVA project (CGL2016-77377-R) of the Spanish Ministry of Science and Innovation. Carlos Lara-Romero was supported by a Juan de la Cierva Incorporación postdoctoral fellowship (Ministerio de Ciencia, Innovación y Universidades: IJC2019-041342-I). This work was also partially funded by the Horizon 2020 Framework Programme of the European Union under grant agreement number: 774271 (Farmer's Pride project).

The aim of this study was to explore differential psychological profiles among patients with chronic pain with and without fibromyalgia, and to determine the results of the cognitive behavioral therapy (CBT) for pain. Thirty patients with chronic pain and 60 patients with fibromyalgia were referred to 10 weekly sessions of CBT in a general hospital and were evaluated in pain-related variables, psychopathological symptoms, coping strategies, resilience, and quality of life. The program was implemented in specific groups for patients with fibromyalgia and nonfibromyalgia chronic pain. After the intervention, patients with fibromyalgia showed higher levels of psychopathology, rated their health status as poorer, and presented larger amplification of symptoms, higher levels of somatization, a more ruminating style of thinking and greater distress. Patients without fibromyalgia achieved better therapeutic results in both pain intensity (d = 0.39 vs. d = 0.12) and psychopathological distress (d = 0.77 vs. d = 0.11) compared to patients with fibromyalgia. Therefore, differential profiles and limited therapeutic results in fibromyalgia patients suggest the need to outline differentiated treatments and include other therapeutic strategies.

Este artículo aborda el posible conflicto entre la inviolabilidad regia y los principios que caracterizan a un Estado social y democrático de Derecho como el Reino de España, y tiene por objetivo explorar los límites de la inviolabilidad del Monarca tanto desde una perspectiva de interpretación de la legislación vigente como desde la propuesta de reforma. Se asume la hipótesis de que “inviolabilidad” no equivale a “impunidad” —o al menos no debería— en un Estado social y democrático de Derecho que propugna la igualdad y la justicia, entre otros, como valores superiores de su ordenamiento jurídico. Tras aclarar los conceptos de inviolabilidad, irresponsabilidad y refrendo, se aborda las diferentes posiciones doctrinales respecto a delimitación de esta prerrogativa regia en términos temporales, materiales y en relación al poder legislativo. Finalmente, se esboza una modesta propuesta de reforma.

The 2021-updated guidelines of the Spanish Society of Neonatology Guidelines have moved the zone of parental discretion to 23 + 0-23 + 6 weeks. The objective of this study was to describe the changes in perinatal management at this gestational age along the last decade and to determine if a more active perinatal management has contributed to improved outcomes.Retrospective analysis of prospectively collected data from the 23-week infants included in the Spanish SEN 1500 neonatal network during the period 2010-2019. The main study outcomes were survival at discharge and survival without major morbidity of actively managed infants. Two periods were compared: 2010-2014 (Period 1) and 2015-2019 (Period 2). NICUs were classified into low activity NICUs (less than 50 admissions of very low birth weight infants per year) and high activity NICUs (50 or more admissions).A total of 381 infants were included, 182 in Period 1 and 199 in Period 2. In Period 2 an increase in the use of intrapartum magnesium sulfate (21.5% vs 39.9%,A change to a more active intention to treat infants born at 23 weeks is taking place in Spain. But the survival rate of the actively-managed infants has remained stable around 25-30% during the study period. A multidisciplinary effort is needed to improve outcomes in this population.

Introduction The efficacy and safety of the rapid intravenous rehydration (RIR) guidelines in children affected by dehydration secondary to acute gastroenteritis is supported by current scientific evidence, but there is also great variability in its use in clinical practice. Objective To prepare a document with evidence-based recommendations about RIR in paediatric population. Methods The project was developed based on GRADE methodology, according to the following work schedule: Working Group training; creation of a catalogue of questions about research and definition of «relevant outcomes»; score and selection criteria for each item; bibliographic review; scientific evidence evaluation and synthesis (GRADE); review, discussion and creation of recommendations. 10 clinical questions and 15 relevant outcomes were created (7 about efficacy and 8 about security). Results Sixteen recommendations were set up, from which we can highlight as the main ones: (1) RIR is safe for children affected by mild-moderate dehydration secondary to acute gastroenteritis, unless expressly contraindicated or acute severe comorbidity (strong recommendation and moderate evidence). (2) Its use is recommended in this situation when oral rehydration has failed or due to contraindication (strong and high). (3) Isotonic fluids are recommended (strong and high), suggesting saline fluid as the first option (light and low), supplemented by glucose (2.5%) in those patients showing normoglycemia and ketosis (strong and moderate). (4) A rhythm of 20 cc/kg/h is recommended (strong and high) during 1-4 h (strong and moderate). Conclusions This document establishes consensus recommendations, based on the available scientific evidence, which could contribute to the standardisation of the use of RIR in our setting.

13 Pág. Instituto de Ciencias Forestales (ICIFOR), Landraces are key plant genetic resources because of their adaptation to the local environment, which makes them likely to contain alleles or gene complexes that confer local adaptation. After massive loss of landraces in the past century, the diversity that persists in farms is currently threatened and, thus, it must be safeguarded with the highest priority. On-farm conservation is an important management approach that allows landraces to evolve according to environmental changes. A methodological approach to systematic identification of the most appropriate areas (MAPAs) for on-farm conservation of landraces is presented, using Spanish tomato (Solanum lycopersicum L.) landraces as a case study. Among a set of potential factors that might condition the selection of the MAPAs, a panel of experts determined that the most important criteria in the assessment of the MAPAs were related to agrobiodiversity and to ecogeographical parameters. For each important criterion, a specific 5- by 5-km resolution GIS layer was created, and six different prioritization strategies were applied on the area of study to obtain a final priority value per cell and then an average priority value per county. The MAPAs were assigned to the counties with the highest average priority values according to the selected strategy. They were widely distributed in rural areas across the Iberian Peninsula mainly in the autonomous communities of Valencia, the Basque Country, Extremadura, northern Andalusia, Catalonia, northern Aragon, and western Castilla-La Mancha. The methodological approach and priority counties identified could be used by governmental agencies to allocate in situ conservation projects., We are also very grateful to the following organizations involved in the conservation of agrobiodiversity, for their kind assistance: Associació de Varietats Locals de les Illes Balears, Asociación de Agricultura ecológica Tierra Fértil, Centro Zahoz, CERES Castilla y León, Ecollavors, Grupo de Semillas de APAEM, La Troje, Llavors d'Ací, Red Andaluza de Semillas, Red Asturiana de Semillas, Red Canaria de Semillas, Red de Hortelanos del Sobrarbe, Red de Semillas de Cantabria, Red de Semillas de la Palma, and Xarxa Catalana de Graners.

Kombucha is a functional beverage obtained through fermentation of sweetened Camellia sinensis infusion by a symbiotic culture of bacteria and yeasts that exerts many beneficial biological effects, mostly related to its antioxidant and anti-inflammatory effects. Alternative raw materials have been used to create new kombucha or kombucha-like products. Coffee is the most important food commodity worldwide and generates large amounts of by-products during harvest and post-harvest processing. The main coffee by-product is the dried fruit skin and pulp, popularly known as cascara. To date, no studies have evaluated the potential bioactivity of coffee cascara kombucha. In this study, we aimed to measure and compare the effects of infusions and kombuchas made with arabica coffee cascaras (n = 2) and black tea leaves (n = 1), fermented for 0, 3, 6, and 9 days on the intracellular production of Reactive Oxygen Species (ROS) and Nitric Oxide (NO) in model cells. Oxidative stress was induced in HK-2 cells with indoxyl sulfate (IS) and high glucose (G). Inflammation was induced with lipopolysaccharide (LPS) in RAW 264.7 macrophage. The contents of phenolic compounds, caffeine, and other physicochemical parameters were evaluated. To the best of our knowledge, this is the first study providing information on the bioactive profile and on the potential biological effects of coffee cascara kombucha. Fermentation caused the release of bound phenolic compounds from the infusions, especially total chlorogenic acids, with an average increase from 5.4 to 10.7 mg/100 mL (98%) and 2.6–3.4 mg/100 mL (30%) in coffee cascara and black tea kombucha, respectively, up to day 9. All evaluated beverages reduced (p < 0.0001) similarly the intracellular ROS (41% reduction, on average) and uric acid (10–55%) concentrations in HK-2 model cells, reversing the induced oxidative stress. All beverages also reduced (p < 0.0001, 81–90%) NO formation in LPS-induced macrophages, exhibiting an anti-inflammatory effect. These potential health benefits may be mostly attributed to polyphenols and caffeine, whose contents were comparable in all beverages. Coffee cascara showed similar potential to C. sinensis to produce healthy beverages and support sustainable coffee production.

IntroductionThe use of peripheral blood progenitor cells (PBPCs) as a source for hematopoietic stem cell transplantation (HSCT) in pediatric healthy donors is still under debate. The risk of a central venous catheter (CVC) placement and catheter-related complications continue to be the main arguments to discourage its use.Methodswe present a retrospective analysis of 140 PBPC collections in pediatric patients and donors, describing adverse events (AE) related to CVCs as well as the influence of catheterrelated variables on the efficiency of the leukapheresis.Results14 CVC-related AEs were recorded (10%). The most common was fever in 5 patients, 4 of which had a catheter-related bacteriemia. Thrombotic events were only observed in 3 patients with active malignancy. A healthy donor presented a moderate bleeding after catheter withdrawal that resolved with local measures, and none of the rest presented any AE. Regarding variables related to the development of AEs, the subject group (patient or donor) was the only one significantly associated (p p p DiscussionPlacing a CVC for PBPC collection in pediatric subjects is overall safe; CVC-related complications in pediatric healthy donors are very rare. Furthermore, we should try to place catheters of the largest caliber possible, since the efficiency of the collection is related to this variable.

[EU]Master Amaierako Lan honetan, euskarazko ikus-entzunezkoen egungo produkzioa aztertu da. Horretarako, lehenik, aurretik burututako zenbait ikerketa lan, txosten eta analisi aztertu eta landu dira. Bigarrenik, EHUko Gizarte eta Komunikazio Zientzien Fakultateko ikasleen artean inkesta zabaldu da horien ikus-entzunezkoen kontsumo interes, nahi eta beharrak ezagutzeko. Hirugarrenik, focus groupa egin da sektorean lan egiten duten profesional nahiz ikerlarien ikuspegi eta iritzi desberdinak kontrastatzeko. Laugarrenik, hainbat elkarrizketa egin dira sektoreko aditu eta profesionalei, modu sakonagoan euren iritzia jasotzeko. Azkenik, ikerketa lana sektorearen inguruan maila politikoan erabakiak hartu dituen profesional batek aztertu du lanetik aipagarriak diren eta etorkizunera begira landu behar diren alorrak azpimarratzeko. Lehen hurbilketa honek zenbait konklusio baliagarri eskaini dizkigu, eta ikertzen jarraitzeko lan-lerro interesgarriak ere zabaldu dizkigu. [ES]En este Trabajo Fin de Máster se ha analizado la producción actual de audiovisuales en euskera. Para ello, en primer lugar, se han analizado diversos trabajos de investigación, informes y análisis realizados con anterioridad. En segundo lugar, se ha difundido una encuesta entre el alumnado de la Facultad de Ciencias Sociales y de la Comunicación de la UPV/EHU para conocer sus intereses, deseos y necesidades de consumo audiovisual. En tercer lugar, se ha realizado un focus group para contrastar las diferentes visiones y opiniones de los profesionales e investigadores que trabajan en el sector. En cuarto lugar, se han realizado varias entrevistas a expertos y profesionales del sector para recabar su opinión de forma más profunda. Por último, el trabajo de investigación ha sido analizado por un profesional que ha tomado decisiones a nivel político en torno al sector para incidir en las áreas que son destacables del trabajo y que hay que desarrollar de cara al futuro. Esta primera aproximación nos ha proporcionado algunas conclusiones útiles y nos ha abierto también líneas de trabajo interesantes para seguir investigando [EN]In this Master's Final Dissertation, the current production of audiovisuals in Basque has been analysed. In order to do this, first of all, various research works, reports and analysis´ carried out previously have been scrutinized. Secondly, a survey has been disseminated among the students of the Faculty of Social Sciences and Communication of the UPV/EHU to find out their interests, desires and needs for audiovisual consumption. Thirdly, a focus group has been held to contrast the different views and opinions of professionals and researchers working in the sector. Fourth, several interviews have been conducted with experts and professionals in the sector to gather their opinion in greater depth. Finally, the research work has been analysed by a professional who has taken decisions at the political level in the sector to highlight areas of the work that are noteworthy and need to be developed for the future. This first approach has provided us with some useful conclusions and has also opened up interesting lines of work for further investigation.

Includes supplementary tables S1, S2, S5, S6, S7 and S9

File includes supplementary figures S1 to S5

List of upregulated genes in CTC-derived brain metastases compare to other metastases (lung, bone and ovary)

List of differentially expressed genes in brain stromal cells after tumor formation

Hematogenous metastasis is initiated by a subset of circulating tumor cells (CTC) shed from primary or metastatic tumors into the blood circulation. Thus, CTCs provide a unique patient biopsy resource to decipher the cellular subpopulations that initiate metastasis and their molecular properties. However, one crucial question is whether CTCs derived and expanded ex vivo from patients recapitulate human metastatic disease in an animal model. Here, we show that CTC lines established from patients with breast cancer are capable of generating metastases in mice with a pattern recapitulating most major organs from corresponding patients. Genome-wide sequencing analyses of metastatic variants identified semaphorin 4D as a regulator of tumor cell transmigration through the blood–brain barrier and MYC as a crucial regulator for the adaptation of disseminated tumor cells to the activated brain microenvironment. These data provide the direct experimental evidence of the promising role of CTCs as a prognostic factor for site-specific metastasis.Significance:Interests abound in gaining new knowledge of the physiopathology of brain metastasis. In a direct metastatic tropism analysis, we demonstrated that ex vivo–cultured CTCs from 4 patients with breast cancer showed organotropism, revealing molecular features that allow a subset of CTCs to enter and grow in the brain.This article is highlighted in the In This Issue feature, p. 1

List of upregulated genes associated with brain tropism in CTCs

List of unique genes upregulated in CTC-derived brain metastases

Estas notas recuperan la perspectiva de los estudios feministas y las experiencias de luchas territoriales de las mujeres para el reconocimiento y la protección de los comunes, aportes escasamente difundidos en el campo jurídico. En el primer apartado, se esquematizan las críticas de algunas corrientes feministas a la noción de propiedad liberal. A continuación, se presentan los ejes principales del pensamiento y los movimientos ecofeministas y cómo se articula con su definición y defensa de los comunes. En tercer lugar, se delinean seis experiencias concretas de lucha por los comunes, situadas en diferentes escalas territoriales. Por último, se recuperan de estas anotaciones algunas reflexiones sobre los aportes de los ecofeminismos para repensar las categorías de bienes comunes en Derecho. &nbsp

282 p. Objektuak hartu eta uztea oinarrizko bi eragiketa dira ia edozein aplikazio robotikotan. Gaur egun, "pick and place" aplikazioetarako erabiltzen diren robot industrialek zeregin sinpleak eta errepikakorrak egiteko duten eraginkortasuna dute ezaugarri. Hala ere, sistema horiek oso zurrunak dira, erabat kontrolatutako inguruneetan lan egiten dute, eta oso kostu handia dakarte beste zeregin batzuk egiteko birprogramatzeak. Gaur egun, industria-ingurune desberdinetako zereginak daude (adibidez, logistika-ingurune batean eskaerak prestatzea), zeinak objektuak malgutasunez manipulatzea eskatzen duten, eta oraindik ezin izan dira automatizatu beren izaera dela-eta. Automatizazioa zailtzen duten botila-lepo nagusiak manipulatu beharreko objektuen aniztasuna, roboten trebetasun falta eta kontrolatu gabeko ingurune dinamikoen ziurgabetasuna dira.Adimen artifizialak (AA) gero eta paper garrantzitsuagoa betetzen du robotikaren barruan, robotei zeregin konplexuak betetzeko beharrezko adimena ematen baitie. Gainera, AAk benetako esperientzia erabiliz portaera konplexuak ikasteko aukera ematen du, programazioaren kostua nabarmen murriztuz. Objektuak manipulatzeko egungo sistema robotikoen mugak ikusita, lan honen helburu nagusia manipulazio-sistemen malgutasuna handitzea da AAn oinarritutako algoritmoak erabiliz, birprogramatu beharrik gabe ingurune dinamikoetara egokitzeko beharrezko gaitasunak emanez.

This work focuses on the operation of picking an object on a table with a mobile manipulator. We use deep reinforcement learning (DRL) to learn a positioning policy for the robot’s base by considering the reachability constraints of the arm. This work extends our first proof-of-concept with the ultimate goal of validating the method on a real robot. Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm is used to model the base controller, and is optimised using the feedback from the MoveIt! based arm planner. The idea is to encourage the base controller to position itself in areas where the arm reaches the object. Following a simulation-to-reality approach, first we create a realistic simulation of the robotic environment in Unity, and integrate it in Robot Operating System (ROS). The drivers for both the base and the arm are also implemented. The DRL-based agent is trained in simulation and, both the robot and target poses are randomised to make the learnt base controller robust to uncertainties. We propose a task-specific setup for TD3, which includes state/action spaces, reward function and neural architectures. We compare the proposed method with the baseline work and show that the combination of TD3 and the proposed setup leads to a $$11\%$$ 11 % higher success rate than with the baseline, with an overall success rate of $$97\%$$ 97 % . Finally, the learnt agent is deployed and validated in the real robotic system where we obtain a promising success rate of $$75\%$$ 75 % .

Cardiolipin (CL) is a key lipid for damaged mitochondrial recognition by the LC3/GABARAP human autophagy proteins. The role of ceramide (Cer) in this process is unclear, but CL and Cer have been proposed to coexist in mitochondria under certain conditions. Varela et al. showed that in model membranes composed of egg sphingomyelin (eSM), dioleoyl phosphatidylethanolamine (DOPE), and CL, the addition of Cer enhanced the binding of LC3/GABARAP proteins to bilayers. Cer gave rise to lateral phase separation of Cer-rich rigid domains but protein binding took place mainly in the fluid continuous phase. In the present study, a biophysical analysis of bilayers composed of eSM, DOPE, CL, and/or Cer was attempted to understand the relevance of this lipid coexistence. Bilayers were studied by differential scanning calorimetry, confocal fluorescence microscopy, and atomic force microscopy. Upon the addition of CL and Cer, one continuous phase and two segregated ones were formed. In bilayers with egg phosphatidylcholine instead of eSM, in which the binding of LC3/GABARAP proteins hardly increased with Cer in the former study, a single segregated phase was formed. Assuming that phase separation at the nanoscale is ruled by the same principles acting at the micrometer scale, it is proposed that Cer-enriched rigid nanodomains, stabilized by eSM:Cer interactions formed within the DOPE- and CL-enriched fluid phase, result in structural defects at the rigid/fluid nanointerfaces, thus hypothetically facilitatingLC3/GABARAP protein interaction. This work was funded in part by the Spanish Ministry of Science, Innovation, and Universities (MCIU), Agencia Estatal de Investigación (AEI), Fondo Europeo de Desarrollo Regional (FEDER) (grant No. PID2021-124461NB-I00), the Basque Government (grant No. IT1625-22), Fundación Ramón Areces (CIVP20A6619), Fundación Biofísica Bizkaia, and the Basque Excellence Research Centre (BERC) program of the Basque Government. E.J.G.-R. was supported by Fundación Ramón Areces. M.N.I. and Y.R.V. were recipients of pre-doctoral FPU fellowships from the Spanish Ministry of Science, Innovation, and Universities (FPU16/05873, FPU18/00799). U.B. thanks the University of the Basque Country for a pre-doctoral contract.

Most effective anticancer drugs normally generate considerable cytotoxicity in normal cells; therefore, the preferential activation of apoptosis in cancer cells and the reduction of toxicity in normal cells is a great challenge in cancer research. Natural products with selective anticancer properties used as complementary medicine can help to achieve this goal. The aim of the present study was to analyze the effect of the addition of bee products [propolis (PR) or royal jelly (RJ) or propolis and royal jelly (PR+RJ), 2–10%] to thyme (TH) and chestnut honeys (CH) on the differential anticancer properties, mainly the cytotoxic and pro-apoptotic effects, in normal and cancer hepatic cells. The cytotoxic effects of samples were analyzed using the MTT (3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide) assay (0–250 mg/mL) and the effects on apoptosis were analyzed using cell cycle analysis, TdT-dUTP terminal nick-end labeling (TUNEL) assay, DR5 (Death Receptor 5) and BAX (BCL-2-Associated X) activation, and caspases 8, 9, and 3 activities. Both honey samples alone and honey mixtures had no or very little apoptotic effect on normal cells. Antioxidant honey mixtures enhanced the apoptotic capacity of the corresponding honey alone via both extrinsic and intrinsic pathways. Of all the samples, chestnut honey enriched with 10% royal jelly and 10% propolis (sample 14, CH+10RJ+10PR) showed the highest apoptotic effect on tumor liver cells. The enrichment of monofloral honey with bee products could be used together with conventional anticancer treatments as a dietary supplement without side effects. On the other hand, it could be included in the diet as a natural sweetener with high added value.

Nounats; Planificació; Cartera de serveis; Centres hospitalaris; SISCAT Recién nacidos; Planificación; Cartera de servicios; Centros hospitalarios; SISCAT Newborns; Planning; Portfolio of services; Hospital centers; SISCAT El CatSalut proposa com a objectiu principal actualitzar els criteris operatius de planificació i cartera de serveis establerts en relació amb l’atenció dels nounats als centres hospitalaris del SISCAT de Catalunya prenent com a referència principal el Pla estratègic d'ordenació de l’atenció maternoinfantil de l’any 2008. Per tal d’aconseguir aquest propòsit, es defineixen els objectius específics següents: Actualitzar els nivells d’atenció neonatal i la prestació de serveis associada a cada nivell. Actualitzar els indicadors i criteris d’activitat associat a cada nivell. Valorar els criteris d’organització i recursos en relació amb les cures intensives i intermèdies.

El objetivo de este trabajo es analizar el papel de las políticas de estratificación en la determinación del gap educativo de la población inmigrante. Se propone un análisis comparado a partir de la explotación de los datos de PISA 2018 en matemáticas. En el trabajo empírico se estudian tres políticas básicas de estratificación (tracking, agrupación por capacidad y repetición de curso) junto con el efecto de la segregación escolar. Entre otros resultados se ha encontrado que el tracking explica una parte importante del efecto de la segregación escolar en Alemania, Francia e Italia. Con relación a España, la repetición de curso afecta especialmente a los estudiantes inmigrantes y explica una parte sustancial de su brecha educativa. Además, una vez introducidos los efectos fijos de los programas de estudio, la segregación escolar de estudiantes aventajados y desaventajados muestra efectos estadísticamente significativos que sugieren la existencia de peer effects.

A unidade de análise dessa pesquisa é uma agência bancária localizada na região Sul, do Rio Grande do Sul. As agências bancárias oferecem serviços como crédito, investimento, poupança, consórcio, seguro, entre outros. Tais serviços estão-se tornando cada vez mais competitivos, e exigem que os sistemas de informação (SI) forneçam soluções para a administração do fluxo de pessoas. O trabalho teve como o objetivo alinhar operacionalmente o SI Sistema de Gerenciamento de Atendimento SAT aos processos organizacionais de uma agência bancária. O trabalho consiste em um estudo de caso, de natureza exploratória, e abordagem qualitativa com caráter descritivo. Para coleta de dados, foram utilizadas três técnicas, entrevistas semiestruturadas, observação participante, e a análise documental. Analisando o uso das funções disponíveis no SAT, foi possível verificar que, por vezes, o sistema é subutilizado. Para contornar tal problema, foram sugeridas onze mudanças no sistema de informação, de forma tal a adequar ao cliente o software adotado pela à organização.

En este trabajo se analiza el impacto de tres indicadores alternativos del desajuste educativo (horizontal, vertical y de habilidades) sobre los salarios de una muestra de titulados universitarios que recientemente finalizaron sus estudios en España. En la literatura se han propuesto dos enfoques alternativos para explicar el desajuste educativo: la teoría de la asignación, que plantea que la productividad de los trabajadores está limitada por las características de los empleos, de forma que los trabajadores sobreeducados infrautilizan su capacidad y por tanto ganan unos salarios inferiores, y la teoría de la heterogeneidad en las habilidades, que mantiene que el desajuste educativo es aparente en la medida en que los trabajadores sobreeducados tienen una menor dotación de habilidades y conocimientos. Con el ánimo de tratar de ofrecer alguna luz al debate teórico se han analizado los datos de 2019 de la Encuesta de Inserción Laboral de Titulados Universitarios, elaborada por el INE. En el análisis empírico se estima el impacto en los salarios de los tres tipos de desajuste educativo. Además se utiliza el estimador de efectos fijos al objeto de controlar la heterogeneidad individual en la evaluación del impacto del desajuste educativo en los salarios. Los resultados del trabajo indican que los graduados sobreeducados sufren una penalización sustancial y estadísticamente significativa en sus retribuciones tanto en la estimación por mínimos cuadrados ordinarios como en el modelo de efectos fijos. Por tanto, desde el punto de vista económico el desajuste educativo vertical representa un despilfarro de recursos. Los poderes públicos deberían crear las condiciones para fortalecer la demanda de trabajo cualificado de forma que el mercado pueda absorber la oferta creciente de titulados que ha producido el sistema universitario español en las últimas décadas.

Fastening is a recurrent assembly operation at the aerospace industry. Among the many different types of fasteners being used blind ones offer particular advantages but there is yet a lack of reliable installation monitoring methods for their massive adoption. The present paper proposes an installation evaluation solution for blind fasteners that integrates the effect of the previous drilling operation and allows the visualization of the relationships between hole quality parameters, installation variables and installation quality. The results show high precision values of 0.95 and accuracy of 0.9.

The majority of university curricula for health professionals does not incorporate courses on human nutrition and its links with human and planetary health. This primarily applies to medical and pharmacy students, who have important counselling roles and are at the forefront of public health. To address this important issue, EIT Food recently launched an online course on nutrition, health, and sustainability. Learners were able to provide feedback on the course through an end-of-course survey and social interaction on the FutureLearn platform. The course was very well attended worldwide and received positive feedback from learners. A total of 3,858 students enrolled in the program, from >20 countries. Learners reported inadequate training on nutrition in their own curriculum and indicated they would use key insights from the course to inform their own practice. This report provides insights from the course, which could be used as guidance for future initiatives., This EIT Food activity has received funding from the European Institute of Innovation and Technology (EIT), a body of the European Union, under Horizon Europe, the EU Framework Programme for Research and Innovation.

Considered extinct in the Iberian Peninsula for seven decades, Pipistrellus nathusii was proven in the 1980s to dwell the Cantabrian and Mediterranean coasts as well as various parts of the Northern Iberian Peninsula during winter. Currently, it is considered a resident of the Peninsula after discovering a summer only-male population in the Ebro Delta (Catalonia). From January to October 2018, we surveyed the species‘ distribution in Cantabria using ultrasound detectors and, where appropriate, the capture of specimens in mist nets. The species identification on sound recordings was confirmed by social calls, following widely accepted scientific criteria. DNA analysis of wing tissue samples from captured individuals was used for taxonomic identification. We confirm the presence in Cantabria of Pipistrellus nathusii throughout the year, both in winter and in summer, the latter settled in several river basins on the northern and southern slopes. This population marks the extreme southwest locality of the range of the species during the summer period. The specimens found on the southern slope represent the highest altitude of a summer colony so far.

Atzerritarren askatasun-gabetzea, bereziki, haien barneratzea, nazionalitatea dutenei aplikagarri ez zaizkien arrazoi zehatzen ondorio da. Lan honek, atzerritarren barneratzera eraman dezaketen kasuak azaldu ondoren, askatasunerako-eskubidearekin lotura duten prozedura-kontu garrantzitsuenak aztertzen ditu. Habeas corpus baliabideari ere egiten zaio aipu, nazionalitatea dutenek legez kontrakoak jotzen dituzten askatasun-gabetzeei aurre egiteko baliabide gisa. Edonola ere, atzerritarren egoera beste bat dela azpimarratu behar da, horien barneratzea, hala badagokio, epaileak erabaki behar baitu, modu horretan, erabakiak askatasun-gabetzearen kontrol judiziala berea eginez. Aurrera eramandako analisiaren xedea ez da aipatutako alderdiak sakontasunez jorratzea, baizik eta atzerritarren askatasunerako-eskubidearen zabaltzea azpimarratzea.

In macroautophagy, the autophagosome (AP) engulfs portions of cytoplasm to allow their lysosomal degradation. AP formation in humans requires the concerted action of the ATG12 and LC3/GABARAP conjugation systems. The ATG12–ATG5-ATG16L1 or E3-like complex (E3 for short) acts as a ubiquitin-like E3 enzyme, promoting LC3/GABARAP proteins anchoring to the AP membrane. Their role in the AP expansion process is still unclear, in part because there are no studies comparing six LC3/GABARAP family member roles under the same conditions, and also because the full human E3 was only recently available. In the present study, the lipidation of six members of the LC3/GABARAP family has been reconstituted in the presence and absence of E3, and the mechanisms by which E3 and LC3/GABARAP proteins participate in vesicle tethering and fusion have been investigated. In the absence of E3, GABARAP and GABARAPL1 showed the highest activities. Differences found within LC3/GABARAP proteins suggest the existence of a lipidation threshold, lower for the GABARAP subfamily, as a requisite for tethering and inter-vesicular lipid mixing. E3 increases and speeds up lipidation and LC3/GABARAP-promoted tethering. However, E3 hampers LC3/GABARAP capacity to induce inter-vesicular lipid mixing or subsequent fusion, presumably through the formation of a rigid scaffold on the vesicle surface. Our results suggest a model of AP expansion in which the growing regions would be areas where the LC3/GABARAP proteins involved should be susceptible to lipidation in the absence of E3, or else a regulatory mechanism would allow vesicle incorporation and phagophore growth when E3 is present. This work was supported in part by the Spanish Ministerio de Ciencia e Innovación (MCI), Agencia Estatal de Investigación (AEI) and Fondo Europeo de Desarrollo Regional (FEDER) (grants No. PGC2018-099857-B-I00 and PID2021-124461NB-I00), by the Basque Government (grants No. IT1625-22 and IT1270-19), by Fundación Biofísica Bizkaia, by Fundación Ramón Areces (grant No. CIVP20A6619), and by the Basque Excellence Research Centre (BERC) program of the Basque Government. MI and YV were recipients of predoctoral FPU fellowships from the Spanish Ministry of Science, Innovation and Universities (FPU16/05873, FPU18/00799), UB thanks the University of the Basque Country for a predoctoral contract. This work was supported by Human Frontiers Science Program RGP0026/2017 (S.M.).

Hereditary cancer syndromes (HCS) are genetic diseases with an increased risk of developing cancer. This research describes the implementation of a cancer prevention model, genetic counseling, and germline variants testing in an oncologic center in Mexico. A total of 315 patients received genetic counseling, genetic testing was offered, and 205 individuals were tested for HCS. In 6 years, 131 (63.90%) probands and 74 (36.09%) relatives were tested. Among the probands, we found that 85 (63.9%) had at least one germline variant. We identified founder mutations in BRCA1 and a novel variant in APC that led to the creation of an in-house detection process for the whole family. The most frequent syndrome was hereditary breast and ovarian cancer syndrome (HBOC) (41 cases with BRCA1 germline variants in most of the cases), followed by eight cases of hereditary non-polyposic cancer syndrome (HNPCC or Lynch syndrome) (with MLH1 as the primarily responsible gene), and other high cancer risk syndromes. Genetic counseling in HCS is still a global challenge. Multigene panels are an essential tool to detect the variants frequency. Our program has a high detection rate of probands with HCS and pathogenic variants (40%), compared with other reports that detect 10% in other populations.

Current climate change may impede species to evolutionary adapt quickly enough to environmental changes, threatening their survival. In keystone populations, it may be necessary to consider the introduction of adaptive alleles through assisted gene flow. Considering that flowering time is a crucial trait in plant response to global warming, the objective of our study was to test the potential benefits and limitations of assisted gene flow for enhancing the evolutionary potential ofLupinus angustifoliusL. (Fabaceae) populations through the advancement of flowering time in the context of global warming. Previous studies have shown that southern populations ofL. angustifoliusflower earlier than northern populations. We collected seeds from four populations in Spain from two different latitudes, and we established them in a common garden environment. To advance the flowering onset of northern populations, we used pollen from southern individuals to pollinate plants from northern populations, creating an F1 gene flow line. In the following season, the F1 gene flow line was self-pollinated to create an F2 self-pollination line. In parallel, individuals from the F1 gene flow line were pollinated again with pollen from northern plants, thus creating a backcross line. We also included a control line resulting from a random selection of individuals in each population in the first generation and their descendants from self-crosses in the second generation. We measured flowering onset, reproductive success and other plant traits in all individuals resulting from these lines. To characterize the effects of the assisted gene flow line at the genomic level, we carried out a gene capture analysis to sequence genes related to reproduction, growth, stress, nitrogen, and alkaloids in individuals from the F1 gene flow line and the control line in the first generation. All gene flow-derived lines flowered significantly earlier than the control line. Furthermore, plants from the F1 gene flow line produced heavier seeds and had a lower shoot growth than the control line. Genomic analyses identified 36 SNPs outliers that were associated to flowering onset, seed weight, and shoot growth. These results highlight that assisted gene flow can increase the evolutionary potential of populations by modifying the values of a specific trait. However, the modification of one trait may affect the values of other plant traits. The characteristics of the populations will have a fundamental effect on the results of assisted gene flow. Therefore, the selection of the donor population is a critical step in this process.

Nutrition security is a challenge of the XXI century for achieving a sustainable health. Hemp cultivation contributes to the European Green Deal objectives and is a potential solution for producing a more sustainable food chain and contributing to the nutrition security of the global population. Hemp, Cannabis sativa cultivars containing less than 0.2% of Δ9-tetrahydrocannabinol (THC), is a multipurpose crop which can be used to produce feed, food and supplements among other products (biodegradable plastics, paper, paint). Hemp seeds are the hemp component most used in the food context, and the products derived from them (oil, cake, flour and proteins) are gaining popularity in human nutrition. In the European Union (EU), only marketing of hemp seeds and their derivatives, such as hemp seed oil, hemp seed flour, defatted hemp seed, and germinated hemp seed is authorized. Other parts of the plant are considered as novel foods. Nutrition claims “high dietary fiber, high protein, low saturated fat, high omega-3 fatty acids, high polyunsaturated fat, high unsaturated fat” can be attributed to those hemp products. In addition, hemp is a source of bioactive compounds, cannabinoids and others, with great impact in health including that of the brain-gut axis which is essential for achieving optimal physical and emotional conditions. The present chapter represents an updated revision of the state of the art on the potential of hemp in nutrition security., The authors are grateful to the projects 201970E117 and PID2019-111510RB-I00 funded by Consejo Superior de Investigaciones Científicas (CSIC) and the Ministerio de Ciencia e Innovación, that funded this work. The authors are also grateful to ALIMNOVA-UCM research group 951505 GRFN17-21. J.I. Alonso-Esteban thanks the Spanish ‘Ministerio de Universidades’ and European Union-NextGeneration EU Funds(Call for Grants for the Requalification of the Spanish University System for the period 2021–2023, Margarita Salas modality) for the financial support.

Surface defect identification based on computer vision algorithms often leads to inadequate generalization ability due to large intraclass variation. Diversity in lighting conditions, noise components, defect size, shape, and position make the problem challenging. To solve the problem, this paper develops a pixel-level image augmentation method that is based on image-to-image translation with generative adversarial neural networks (GANs) conditioned on fine-grained labels. The GAN model proposed in this work, referred to as Magna-Defect-GAN, is capable of taking control of the image generation process and producing image samples that are highly realistic in terms of variations. Firstly, the surface defect dataset based on the magnetic particle inspection (MPI) method is acquired in a controlled environment. Then, the Magna-Defect-GAN model is trained, and new synthetic image samples with large intraclass variations are generated. These synthetic image samples artificially inflate the training dataset size in terms of intraclass diversity. Finally, the enlarged dataset is used to train a defect identification model. Experimental results demonstrate that the Magna-Defect-GAN model can generate realistic and high-resolution surface defect images up to the resolution of 512 × 512 in a controlled manner. We also show that this augmentation method can boost accuracy and be easily adapted to any other surface defect identification models.