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TML:a language to specify aerial robotic missions for the framework Aerostack

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International Journal of Intelligent Computing and Cybernetics 2017年第4期10卷 491-512页

作者： Martin molina Ramon A.Suarez-Fernandez Carlos Sampedro jose Luis Sanchez-Lopez pascual Campoy Department of Artificial Intelligence Technical University of Madrid(UPM)MadridSpain Centre for Automation and Robotics Technical University of MadridMadridSpain

Purpose–The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial ***/methodology/approach–The TML language combines a task-based hierarchical approach together with a more flexible representation,rule-based reactive planning,to facilitate *** approach includes additional notions that abstract programming *** authors built an interpreter integrated in the software framework *** interpreter was validated with flight experiments for multi-robot missions in dynamic ***–The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic *** experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different *** TML interpreter is able to verify the mission plan before its execution,which increases robustness and safety,avoiding the execution of certain plans that are not ***/value–One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans,integrated in an active open-source project with periodic *** the best knowledge of the authors,there are not solutions similar to this in other active open-source *** additional contributions,TML uses an original combination of representations for adaptive mission plans(*** trees with original abstract notions and rule-based reactive planning)together with the demonstration of its adequacy for aerial robotics.

关键词： Adaptive mission plans Aerial robotic systems Autonomous aerial systems Mission plan specification

An execution control method for the Aerostack aerial robotics framework

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 60-75页

作者： Martin molina Alberto CAMPORREDONDO Hriday BAVLE AlejANDro RODRIGUEZ-RAMOS pascual CAMPOY Department of Artificial Intelligence Universidad Politécnica de Madrid Centre for Automation and Robotics Universidad Politécnica de Madrid

Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors(such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system(ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.

关键词： Aerial robotics Control architecture Behavior-based control Executive system

Estrium Whey induced hepatitis in a patient with metastatic breast cancer:Case report

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World Journal of Hepatology 2012年第12期4卷 399-401页

作者： Maria jose Velasco Julian molina Department of Internal Medicine and Department of Oncology Luis Vernaza HospitalGuayaquilEcuador and Mayo Clinic College of MedicineRochesterMN 55905United States Department of Oncology Luis Vernaza HospitalGuayaquilEcuador and Mayo Clinic College of MedicineRochesterMN EC090112United States

Estrium Whey is an alternative nutritional support therapy for ***’s enhanced with specific nutrients including phytoestrogens,folate,antioxidants and fiber to support healthy estrogen detoxification and hormone *** describe the first case of hepatotoxicity due to Estrium Whey in a 51-year old female with metastatic breast cancer with clinical,laboratory and histopathological changes.

关键词： Estrium Whey Hepatotoxicity Metastatic disease

Molecular Determinants of Antibiotic Resistance in the Costa Rican Pseudomonas aeruginosa AG1 by a Multi-omics Approach:A Review of 10 Years of Study

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Phenomics 2021年第3期1卷 129-142页

作者： jose Arturo molina-Mora Fernando García Centro de Investigación en Enfermedades Tropicales(CIET)&Facultad de Microbiología Universidad de Costa RicaSan JoséCosta Rica

Pseudomonas aeruginosa AG1(PaeAG1)is a Costa Rican strain that was isolated in 2010 in a major *** strain has resistance to multiple antibiotics such asβ-lactams(including carbapenems),aminoglycosides,and ***1 is considered critical(Priority 1)due to its resistance to carbapenems,and it was the first report of a *** isolate carrying both VIM-2 and IMP-18 genes encoding for metallo-β-lactamases(MBL)enzymes(both with carbapenemase activity).Owing to these traits,we have studied this model for 10 years using diverse approaches including *** this review,we summarize the main points of the different steps that we have studied in PaeAG1:preliminary analyses of this strain at the genomic and phenomic levels revealed that this microorganism has particular features of antibiotic *** the multi-omics approach,the genome assembly was the initial step to identify the genomic determinants of this strain,includ-ing virulence factors,antibiotic resistance genes,as well as a complex accessory ***,a comparative genomic approach was implemented to define and update the phylogenetic relationship among complete *** genomes,the genomic island content in other strains,and the architecture of the two MBL-carrying ***,the proteomic profile of PaeAG1 was studied after exposure to antibiotics using 2-dimensional gel electrophoresis(2D-GE).Fourth,to study the central response to multiple perturbations in ***,i.e.,the core perturbome,a machine learning approach was *** analysis revealed biological functions and determinants that are shared by different ***,to evaluate the effects of ciprofloxacin(CIP)on PaeAG1,a growth curve comparison,differential expression analysis(RNA-Seq),and network analysis were *** the results of the core perturbome(pathways that also were found in this perturbation with CIP),it was possible to identify the“exclusive”response and determina

关键词： Pseudomonas aeruginosa PaeAG1 Antibiotic resistance Multi-omics High risk

Meso-Archean to Mid-Paleozoic Granitoids in Oulad Dlim Massif(the Pericratonic Terrane of the Reguibat Shield,West African Craton,Morocco):Petrology,Geochemistry,Geochronology and Geological Implications

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Journal of Earth Science 2022年第5期33卷 1152-1165页

作者： Haissen Faouziya Montero Pilar molina jose Francisco Lodeiro Francisco Mouttaqi Abdellah Chaib Mustapha Bea Fernando LGAGE Département de GéologieFacultédes Sciences Ben M’sikHassan II University of CasablancaB.P.5366MaarifCasablancaMaroc Department of Mineralogy and Petrology University of GranadaCampus FuentenuevaGranada18002Spain Office National des Hydrocarbures et des Mines 5 Avenue Moulay HassanRabatMaroc

The Oulad Dlim Massif,adjacent to the Reguibat Shield in South Morocco was considered up to now as part of the Variscan belt(Mauritanides)with a polyphase geologic history and a complex geodynamic evolution implicating oceans closures and accretion of exotic terranes(Avalonian and Meguman)during the Variscan-Alleghanian *** use of modern technology to characterize the petrology,the geochemistry and the geochronology of the lithological units forming this region,combined to field surveys has led to an updated geological architecture and different geological *** Oulad Dlim Massif is mainly a deformed Archean terrane,as recorded by its eastern and western sectors,dominated in its central part by a bimodal felsic-mafic magmatism forming the Ediacaran *** study of these magmatic complexes supports strongly the intracontinental origin of this bimodal magmatism *** oceanic origin published before in *** exploration of this massif conducted also to the identification of a Silurian-Devonian sector in the western ***,up to date,different magmatic events lasting from the Meso-Archean to the Cretaceous are recorded in the Oulad Dlim Massif rocks,among them different generations of granitoids are *** data on granitoids from the Ediacaran sector are presented in this *** recent data demonstrates that Oulad Dlim Massif has been affected by the main Ediacaran–Cambrian extensional event widely documented in other structural domains of Morocco and other parts of North ***,the study of the Silurian-Devonian sector rocks highlighted the presence of a Caledonian tectonic event challenging the ideas about the paleogeography of this part of northwestern Africa and its geological evolution during the ***,despite the significant contribution of this extensive survey and the abundance of data on the Oulad Dlim Massif,more studies are required to reconstruct the puzzle at plate tectonic scale.

关键词： Archean Ediacaran bimodal magmatism extension intracontinental rifting Caledonian tectonic event petrology geochemistry

Intelligent collision risk detection in medium-sized cities of developing countries,using naturalistic driving:A review

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Journal of Traffic and Transportation Engineering(English Edition) 2022年第6期9卷 912-929页

作者： Juan jose Paredes Santiago Felipe Yepes Ricardo Salazar-Cabrera Alvaro Pachon dela Cruz Juan Manuel Madrid molina Telematics Engineering Research Group(GIT) Telematics DepartmentUniversidad Del CaucaPopayanColombia Information Technology and Telecommunications Research Group(12T) Universidad IcesiCaliColombia

Traffic accidents are one of the most serious problems worldwide,being one of the leading causes of death and economic loss in the ***-and middle-income countries,mainly their medium-sized cities,are among the most affected by this problem.93%of traffic accidents occur in low and middle-income countries,even though these countries have approximately 60%of the world’s *** occurs mainly because in these types of countries,especially in medium-sized cities(target context),there are no ideal conditions for driving,such as adequate road infrastructure,good condition of vehicles,and rigorous safety *** data analysis techniques including machine learning(ML)have increasingly been used to solve this *** driving(ND)can be applied as a data collection method that provides information on traffic *** commonly uses a vehicle’s kinematic data to detect high-risk driving behaviors that could cause an *** objectives of this document are to present a review of different alternatives that help in data collection and creation of intelligent solutions related to detection of possible traffic accidents,principally using ND;and to propose an intelligent collision risk detection system(ICRDS)for identification of areas with a high probability of TA in the target *** the review,it was possible to analyze and evaluate the devices,variables and algorithms that help characterize a risk event in driving,considering the target *** development of a prototype of an ICRDS for a medium-sized city in a developing country is considered viable,considering the identified components,with the aim of identifying risk events in driving,and areas of high probability of accidents in the city.

关键词： Naturalistic driving Near-crash Traffic accident Vehicle data collection

Development and test verification of air temperature model for Chinese solar and Spainish Almeria-type greenhouses

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International Journal of Agricultural and Biological Engineering 2017年第4期10卷 66-76页

作者： Jorge Antonio Sanchez-molina Li Ming Francisco Rodriguez jose Luis Guzman Wang Hui Yang Xinting The Automatic Control Robotics and Mechatronics Research GroupDepartment of InformaticsceiA3CIESOLUniversity of AlmeriaAlmeria 04120Spain Beijing Research Center for Information Technology in Agriculture/National Engineering Research Center for Information Technology in Agriculture/National Engineering Laboratory for Agri-product Quality Traceability/Key Laboratory for Information Technologies in Agriculture Ministry of AgricultureBeijing 100097China

Growth can be defined as an increment in biomass or an increment in weight or height of the organs of the plant influenced by physiological *** of these processes have their limits genetically determined,but climate and irrigation play an important *** of its importance,microclimate has been extensively studied in the modeling as a surrounding condition which is imposed by the exterior *** main objective of this work was to develop a temperature model based on the energy balance dynamics at two different greenhouse locations-South-eastern Spain and Northern China,and the traditional structures of Chinese solar greenhouse and Almería-type multi-span greenhouse were taken into *** final model was developed by combining the external conditions,the actuator influence and the crop growth,where the temperature is influenced by soil,crop,cover,actuators,back wall and greenhouse *** model took into account the energy lost by convective and conductive fluxes,as well as the energy supplied by solar radiation and heating *** soil and the back wall are the main media for energy *** temperature dynamic was determined by a physical model,which considered the energy balance from a holistic point of view-as a sub-model for a customizable interface among the external climate,the plant and the greenhouse *** influences of different subsystems included in the temperature model were analyzed and *** results showed a high R^(2)value of 0.94 for Beijing and 0.95 for Almeria,and the average error was low,of which the MAE and RMSE were 0.71 and 1.365 for Almeria and 0.62 and 1.102 for Beijing,***,the model can be considered as a powerful tool for control design purposes in microclimate systems.

关键词： air temperature model Chinese solar greenhouse Spanish Almería-type greenhouse energy balance dynamics microclimate

In Silico Pipeline to Identify Tumor‑Specific Antigens for Cancer Immunotherapy Using Exome Sequencing Data

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Phenomics 2023年第2期3卷 130-137页

作者： Diego Morazán‑Fernández Javier Mora jose Arturo molina‑Mora Caja Costarricense de Seguro Social San José10104Costa Rica Centro de Investigación de Enfermedades Tropicales Centro de Investigación en Cirugía y Cáncerand Facultad de MicrobiologíaUniversidad de Costa RicaSan José2060Costa Rica

Tumor-specific antigens or neoantigens are peptides that are expressed only in cancer cells and not in healthy *** of these molecules can induce an immune response,and therefore,their use in immunotherapeutic strategies based on cancer vaccines has been extensively *** based on these approaches have been triggered by the current high-throughput DNA sequencing ***,there is no universal nor straightforward bioinformatic protocol to discover neoan-tigens using DNA sequencing ***,we propose a bioinformatic protocol to detect tumor-specific antigens associated with single nucleotide variants(SNVs)or“mutations”in tumoral *** this purpose,we used publicly available data to build our model,including exome sequencing data from colorectal cancer and healthy cells obtained from a single case,as well as frequent human leukocyte antigen(HLA)class I alleles in a specific *** data from Costa Rican Central Valley population was selected as an *** strategy included three main steps:(1)pre-processing of sequencing data;(2)variant calling analysis to detect tumor-specific SNVs in comparison with healthy tissue;and(3)prediction and characterization of peptides(protein fragments,the tumor-specific antigens)derived from the variants,in the context of their affinity with frequent alleles of the selected *** our model data,we found 28 non-silent SNVs,present in 17 genes in chromosome *** protocol yielded 23 strong binders peptides derived from the SNVs for frequent HLA class I alleles for the Costa Rican *** the analyses were performed as an example to implement the pipeline,to our knowledge,this is the first study of an in silico cancer vaccine using DNA sequencing data in the context of the HLA *** is concluded that the standardized protocol was not only able to identify neoantigens in a specific but also provides a complete pipeline for the eventual design of cancer vaccines using

关键词： Neopeptide Colorectal cancer Cancer vaccine Neoantigens Human leukocyte antigen Costa Rica

Anchoring of 10-phenylphenothiazine to mesoporous silica materials:A water compatible organic photocatalyst for the degradation of pollutants

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Journal of Materials Science & Technology 2022年第8期103卷 134-143页

作者： Daniel González-Muñoz Almudena Gómez-Avilés Carmen B.molina Jorge Bedia Carolina Belver jose Alemán Silvia Cabrera Organic Chemistry Department Science FacultyUniversidad Autónoma de Madrid28049 MadridSpain Chemical Engineering Department Science FacultyUniversidad Autónoma de Madrid28049 MadridSpain Institute for Advanced Research in Chemical Sciences(IAdChem) Universidad Autónoma de Madrid28049 MadridSpain Inorganic Chemistry Department Science FacultyUniversidad Autónoma de Madrid28049 MadridSpain

The application of organic photocatalysts towards the oxidation of pollutants in water is hampered by different limitations such as their insolubility in the ***,we report that the grafting of a photoorganocatalyst into mesoporous silica materials is an ideal approach to obtain effective ***,the photocatalyst 10-phenylphenothiazine(PTH)was easily anchored into three different mesoporous silica-based materials(MSN,MSU-2 and SBA-15)with different particle sizes and pore sizes through an amide bond *** materials were characterized using IR analysis,solid-state X-ray diffraction,porosity and microscopy(SEM and TEM)techniques,showing that PTH is immobilized inside the pores of the materials and its optical properties are maintained after the *** homogeneous PTH was inactive in water media,the three photocatalytic materials were active for the degradation of ***-15-AP-PTH exhibited the highest catalytic performance towards the degradation of acetaminophen and diclofenac under solar irradiation,finding in this manner a new strategy for the decontamination of pollutants.

关键词： Organic semiconductors Silica support Solar photocatalysis Water treatment Pharmaceuticals