UN PLAN PARA RECUPERAR LOS RÍOS Y ACUÍFEROS DEL VALLE CENTRAL

El mayor consumo de agua en Costa Rica ocurre en el Valle Central, pues ahíestá asentada cerca del 60% de la población del país. Sin embargo, la disponibilidad de agua está disminuyendo debido al crecimiento demográfico y al decreciente volumen de los ríos y aguas subterráneas.El Valle Central posee cerca de 57 ríos que podrían utilizarse como fuente de agua potable. pero sólo 10 de ellos tienen sus nacientes ubicadas en bosques primarios y son adecuadas para este fin. Las nacientes de la mayoría de los otros ríos se encuentran en tierras económicamente improductivas, tales como pastizales y áreas de bosques muy alterados, que pierden su volumen de agua durante la estación seca.Las proyecciones de crecimiento demográfico hasta el año 2100 permiten visualizar un marcado incremento en la demanda de agua, el cual se mantendrá durante los próximos 50 años. Consecuentemente, para proporcionar un adecuado suministro de agua para esta creciente población. es fundamental detener la contaminación de las aguas subterráneas y recobrar el volumen de agua de los ríos.En este trabajo se propone un plan sencillo para aumentar el volumen de agua de los ríos del Valle Central y para proteger nuestros acuíferos. Se mencionan también otros beneficios económicos y sociales que tendría la aplicación de esta propuesta.Abstract: About 60% of the popuiation of Costa Rica lives in the Central Valley where consequcntly occurs the highest water consumption. As a contrast water shortness is increasing in this country due to population growth and diminishing volume of river and subterranean water.There are about 57 rivers in the Central Valley that could be used as a source of water but only 10 of them have their headwaters inside primary forest and are appropriate for this purpose. The headwaters of mosi of the nvers lay in underproductive lands such as grass fields and very disturbed forest and bose their water volume during dry season.Population growth estimates until year 2100 allow foreseeing a high rate of increase in water demand for the next 50 years. In order to have an adequate supply of water for ihis expanding population it is mandatory to stop subterranean water pollution and to recovcr nver water volume.In this paper 1 propose a simple plan to augment the water volume of the headwaters of the rivers of the Central Valley and to protect our subterranean water sources. Other social and economic benefits that stem from this plan are also analyzed.

SENSORES REMOTOS FOTOGRÁFICOS: ZONIFICACIÓN POR INUNDACIONES EN LAS CUENCAS BAJAS DE LOS RÍOS PARRITA Y LIMONCITO: UNA CARACTERIZACIÓN SOCIOESPACIAL MEDIANTE FOTOS AEREAS Y MAPAS

Usando procedimientos de trabajo con fotos aéreas de diferentes años, se analiza en el caso de la ciudad de Limón el avance del poblamiento hacia áreas costeras sujetas a inundaciones. Una vez diseñado el mapa que muestra para cuatro períodos la información extraída de las fotos aéreas, se realiza-un análisis físico –social de las condiciones  que dan origen a la vulnerabilidad al riesgo por inundación. En el caso del poblado de Parrita, se reconstruyen con ayuda de fotos aéreas, los distintos cursos fluviales que el río Parrita ha formado en un período de toma fotográfica aérea para cuatro años diferentes. Una vez dibujado este documento, se efectúa un análisis sobre las áreas de mayor riesgo por inundaciones, evaluando los aspectos sociales y económicos de la población afectada.  SUMMARY Using aerial photographs of different years, we analyze in the case of the Limon city, the growth population in coastal areas affected by flooding. A map showing four periods of aerial photointerpretation, fieldwork and another sources, gives information about the physical and social conditions of some areas with vulnerability by flooding. In the case of Parrita town, the use of aerial photographs of four periods, make it possible to know the geomorphological dynamic of Parrita river. With this map, we evaluate the risk by flooding, taking into account the social and economical aspects of the affected population.

EL IMPACTO HUMANO SOBRE LAS POBLACIONES DE TRUCHAS EN LOS RÍOS DE VARA BLANCA DE HEREDIA

Este estudio es el proyecto de una investigación sobre el impacto del uso y manejo de la tierra en la región de Vara Blanca referente a las poblaciones de truchas en los ríos. Fue cumplido a través de entrevistas con 54 habitantes de la región y cuestionarios de 31 pescadores del área de San José, las cuales muestran su actitud y sus conocimientos sobre las leyes. Como una parte del estudio se analizaron las políticas relacionadas con el Ministerio de Agricultura y Ganadería en los departamentos de Acuacultura, de Vida Silvestre y de Reservas Forestales, estos dos últimos de la Dirección General Forestal. La situación actual del manejo sobre los ríos que tienen truchas, muestra una deficiencia en ciertos aspectos; sobre la divulgación de leyes hacia la gente del campo, información técnica para promulgar leyes, y educación de la guardia rural encargada de hacer cumplir las leyes de pesca. Un análisis de las aguas en relación con la temperatura, oxígeno disuelto, dióxido de carbono y acidez muestra que las aguas en los ríos tenían una calidad adecuada durante marzo y abril de 1984. Además, una observación de la condición de la tierra a lo largo de los ríos fue cumplida y los resultados demostraron una carencia de un uso apropiado de la tierra, que se debe a la falta de conocimiento o desinterés por parte de los pobladores del área para mantener la producción de truchas en los ríos

Hoja Tres Ríos: Uso de la Tierra

Proyecto de Actualización Cartográfica de usos de la Tierra a escala 1:10.000 GAM de Costa Rica. Elaboración de Cartografía digital y Ortofotos.

A ROS-based software architecture for a versatile collaborative dual-armed autonomous mobile robot for the manufacturing industry

The industrial context is changing rapidly due to advancements in technology fueled by the Internet and Information Technology. The fourth industrial revolution counts integration, flexibility, and optimization as its fundamental pillars, and, in this context, Human-Robot Collaboration has become a crucial factor for manufacturing sustainability in Europe. Collaborative robots are appealing to many companies due to their low installation and running costs and high degree of flexibility, making them ideal for reshoring production facilities with a short return on investment. The ROSSINI European project aims to implement a true Human-Robot Collaboration by designing, developing, and demonstrating a modular and scalable platform for integrating human-centred robotic technologies in industrial production environments. The project focuses on safety concerns related to introducing a cobot in a shared working area and aims to lay the groundwork for a new working paradigm at the industrial level. The need for a software architecture suitable to the robotic platform employed in one of three use cases selected to deploy and test the new technology was the main trigger of this Thesis. The chosen application consists of the automatic loading and unloading of raw-material reels to an automatic packaging machine through an Autonomous Mobile Robot composed of an Autonomous Guided Vehicle, two collaborative manipulators, and an eye-on-hand vision system for performing tasks in a partially unstructured environment. The results obtained during the ROSSINI use case development were later used in the SENECA project, which addresses the need for robot-driven automatic cleaning of pharmaceutical bins in a very specific industrial context. The inherent versatility of mobile collaborative robots is evident from their deployment in the two projects with few hardware and software adjustments. The positive impact of Human-Robot Collaboration on diverse production lines is a motivation for future investments in research on this increasingly popular field by the industry.

Integration of the computer controlled screwdriver for Robotic manufacturing in the ROS environment

The computer controlled screwdriver is a modern technique to perform automatic screwing/unscrewing operations.The main focus is to study the integration of the computer controlled screwdriver for Robotic manufacturing in the ROS environment.This thesis describes a concept of automatic screwing mechanism composed by universal robots, in which one arm of the robot is for inserting cables and the other is for screwing the cables on the control panel switch gear box. So far this mechanism is carried out by human operators and is a fairly complex one to perform, due to the multiple cables and connections involved. It's for this reason that an automatic cabling and screwing process would be highly preferred within automotive/automation industries. A study is carried out to analyze the difficulties currently faced and a controller based algorithm is developed to replace the manual human efforts using universal robots, thereby allowing robot arms to insert the cables and screw them onto the control panel switch gear box. Experiments were conducted to evaluate the insertion and screwing strategy, which shows the result of inserting and screwing cables on the control panel switch gearbox precisely.

Dynamic Human Robot Interaction Framework Using Deep Learning and Robot Operating System (ROS): a practical approach

Trying to explain to a robot what to do is a difficult undertaking, and only specific types of people have been able to do so far, such as programmers or operators who have learned how to use controllers to communicate with a robot. My internship's goal was to create and develop a framework that would make that easier. The system uses deep learning techniques to recognize a set of hand gestures, both static and dynamic. Then, based on the gesture, it sends a command to a robot. To be as generic as feasible, the communication is implemented using Robot Operating System (ROS). Furthermore, users can add new recognizable gestures and link them to new robot actions; a finite state automaton enforces the users' input verification and correct action sequence. Finally, the users can create and utilize a macro to describe a sequence of actions performable by a robot.

Integration of ROS for the control of industrial robotic systems in a proprietary environment

The paper deals with the integration of ROS, in the proprietary environment of the Marchesini Group company, for the control of industrial robotic systems. The basic tools of this open-source software are deeply studied to model a full proprietary Pick and Place manipulator inside it, and to develop custom ROS nodes to calculate trajectories; speaking of which, the URDF format is the standard to represent robots in ROS and the motion planning framework MoveIt offers user-friendly high-level methods. The communication between ROS and the Marchesini control architecture is established using the OPC UA standard; the tasks computed are transmitted offline to the PLC, supervisor controller of the physical robot, because the performances of the protocol don’t allow any kind of active control by ROS. Once the data are completely stored at the Marchesini side, the industrial PC makes the real robot execute a trajectory computed by MoveIt, so that it replicates the behaviour of the simulated manipulator in Rviz. Multiple experiments are performed to evaluate in detail the potential of ROS in the planning of movements for the company proprietary robots. The project ends with a small study regarding the use of ROS as a simulation platform. First, it is necessary to understand how a robotic application of the company can be reproduced in the Gazebo real world simulator. Then, a ROS node extracts information and examines the simulated robot behaviour, through the subscription to specific topics.

Sviluppo di un pacchetto ROS per il controllo di un cobot addetto alla movimentazione di un pannello di protezione di una macchina automatica

L’Industria 4.0 richiede sempre più tecnologie con un notevole grado di flessibilità, in modo da garantire il più alto livello di integrazione uomo-macchina e macchina- macchina. In quest’ottica, l’avvento della robotica collaborativa, ha agevolato il pro- cesso. I robot collaborativi (cobot) possono essere facilmente installati all’interno del- le linee di assemblaggio/produzione, senza necessità di barriere che vietino l’accesso agli operatori. Tra i tanti compiti a cui possono asservire i cobot, ci sono quelli dedica- ti all’ispezione delle varie macchine (e.g. microfermate di emergenza), in cui di solito, l’apertura del pannello di protezione è affidata ad un cobot montato a bordo di un AGV. È in questo contesto che si inserisce l’elaborato di tesi, volto al controllo in forza di un robot collaborativo per la movimentazione di un pannello di protezione di una mac- china automatica. In particolare, per ragioni logistiche e di ingombro, un simulacro del pannello di protezione è stato realizzato in scala, mentre il controllo real-time del cobot è stato implementato utilizzando ROS (Robot Operating System), piattaforma disponibile in modalità open-source.

Applicazione ROS 2 di un robot antropomorfo in esecuzione su container VxWorks in architettura IMA

L’elaborato di tesi discute del progetto di integrazione tra ROS 2, framework open-source per lo sviluppo di applicazioni robotiche, e VxWorks, sistema operativo in tempo reale (RTOS), attraverso l’utilizzo di container OCI compliant su VxWorks. L’integrazione è stata svolta all’interno dello stack software di IMA (Industria Macchine Automatiche). Il progetto ha dunque integrato ROS 2 Humble e VxWorks 7 permettendo l’utilizzo di costrutti software di ROS 2 su dei container in esecuzione a livello User su VxWorks. Successivamente è stata creata una applicazione di pick and place con un robot antropomorfo (Universal Robots Ur5e) avvalendosi di ROS 2 Control, framework per l’introduzione e gestione di hardware e controllori, e MoveIt 2, framework per incorporare algoritmi di motion-planning, cinematica, controllo e navigazione. Una volta progettata l’applicazione, il sistema è stato integrato all’interno dell’architettura di controllo di IMA. L’architettura a container VxWorks di IMA è stata estesa per il caso ROS 2, la comunicazione tra campo e applicazione ROS 2 è passata tramite il master EtherCAT e il modulo WebServer presenti nell’architettura IMA. Una volta eseguito il container ROS 2 posizione e velocità dei servo motori sono stati inviati tramite al WebServer di IMA sfruttando la comunicazione VLAN interna. Una volta ricevuto il messaggio, il WebServer si è occupato di trasferirlo al master EtherCAT che in aggiunta si è occupato anche di ottenere le informazioni sullo stato attuale del robot. L’intero progetto è stato sviluppato in prima battuta in ambiente di simulazione per validarne l’architettura. Successivamente si è passati all’installazione in ambiente embedded grazie all’ausilio di IPC sui quali è stato testato l’effettivo funzionamento dell’integrazione all’interno dell’architettura IMA.

The Cratylia Mollis Seed Lectin Induces Membrane Permeability Transition In Isolated Rat Liver Mitochondria And A Cyclosporine A-insensitive Permeability Transition In Trypanosoma Cruzi Mitochondria.

Previous results provided evidence that Cratylia mollis seed lectin (Cramoll 1,4) promotes Trypanosoma cruzi epimastigotes death by necrosis via a mechanism involving plasma membrane permeabilization to Ca(2+) and mitochondrial dysfunction due to matrix Ca(2+) overload. In order to investigate the mechanism of Ca(2+) -induced mitochondrial impairment, experiments were performed analyzing the effects of this lectin on T. cruzi mitochondrial fraction and in isolated rat liver mitochondria (RLM), as a control. Confocal microscopy of T. cruzi whole cell revealed that Cramoll 1,4 binding to the plasma membrane glycoconjugates is followed by its internalization and binding to the mitochondrion. Electrical membrane potential (∆Ψm ) of T. cruzi mitochondrial fraction suspended in a reaction medium containing 10 μM Ca(2+) was significantly decreased by 50 μg/ml Cramoll 1,4 via a mechanism insensitive to cyclosporine A (CsA, membrane permeability transition (MPT) inhibitor), but sensitive to catalase or 125 mM glucose. In RLM suspended in a medium containing 10 μM Ca(2+) this lectin, at 50 μg/ml, induced increase in the rate of hydrogen peroxide release, mitochondrial swelling, and ∆Ψm disruption. All these mitochondrial alterations were sensitive to CsA, catalase, and EGTA. These results indicate that Cramoll 1, 4 leads to inner mitochondrial membrane permeabilization through Ca(2+) dependent mechanisms in both mitochondria. The sensitivity to CsA in RLM characterizes this lectin as a MPT inducer and the lack of CsA effect identifies a CsA-insensitive MPT in T. cruzi mitochondria.

Antioxidant And Antiproliferative Activities Of Methanolic Extract From A Neglected Agricultural Product: Corn Cobs.

Neglected agricultural products (NAPs) are defined as discarded material in agricultural production. Corn cobs are a major waste of agriculture maize. Here, a methanolic extract from corn cobs (MEC) was obtained. MEC contains phenolic compounds, protein, carbohydrates (1.4:0.001:0.001). We evaluated the in vitro and in vivo antioxidant potential of MEC. Furthermore, its antiproliferative property against tumor cells was assessed through MTT assays and proteins related to apoptosis in tumor cells were examined by western blot. MEC showed no hydroxyl radical scavenger capacity, but it showed antioxidant activity in Total Antioxidant Capacity and DPPH scavenger ability assays. MEC showed higher Reducing Power than ascorbic acid and exhibited high Superoxide Scavenging activity. In tumor cell culture, MEC increased catalase, metallothionein and superoxide dismutase expression in accordance with the antioxidant tests. In vivo antioxidant test, MEC restored SOD and CAT, decreased malondialdehyde activities and showed high Trolox Equivalent Antioxidant Capacity in animals treated with CCl4. Furthermore, MEC decreased HeLa cells viability by apoptosis due an increase of Bax/Bcl-2 ratio, caspase 3 active. Protein kinase C expression increased was also detected in treated tumor cells. Thus, our findings pointed out the biotechnological potential of corn cobs as a source of molecules with pharmacological activity.

Overexpression Of Ucp1 In Tobacco Induces Mitochondrial Biogenesis And Amplifies A Broad Stress Response.

Uncoupling protein one (UCP1) is a mitochondrial inner membrane protein capable of uncoupling the electrochemical gradient from adenosine-5'-triphosphate (ATP) synthesis, dissipating energy as heat. UCP1 plays a central role in nonshivering thermogenesis in the brown adipose tissue (BAT) of hibernating animals and small rodents. A UCP1 ortholog also occurs in plants, and aside from its role in uncoupling respiration from ATP synthesis, thereby wasting energy, it plays a beneficial role in the plant response to several abiotic stresses, possibly by decreasing the production of reactive oxygen species (ROS) and regulating cellular redox homeostasis. However, the molecular mechanisms by which UCP1 is associated with stress tolerance remain unknown. Here, we report that the overexpression of UCP1 increases mitochondrial biogenesis, increases the uncoupled respiration of isolated mitochondria, and decreases cellular ATP concentration. We observed that the overexpression of UCP1 alters mitochondrial bioenergetics and modulates mitochondrial-nuclear communication, inducing the upregulation of hundreds of nuclear- and mitochondrial-encoded mitochondrial proteins. Electron microscopy analysis showed that these metabolic changes were associated with alterations in mitochondrial number, area and morphology. Surprisingly, UCP1 overexpression also induces the upregulation of hundreds of stress-responsive genes, including some involved in the antioxidant defense system, such as superoxide dismutase (SOD), glutathione peroxidase (GPX) and glutathione-S-transferase (GST). As a consequence of the increased UCP1 activity and increased expression of oxidative stress-responsive genes, the UCP1-overexpressing plants showed reduced ROS accumulation. These beneficial metabolic effects may be responsible for the better performance of UCP1-overexpressing lines in low pH, high salt, high osmolarity, low temperature, and oxidative stress conditions. Overexpression of UCP1 in the mitochondrial inner membrane induced increased uncoupling respiration, decreased ROS accumulation under abiotic stresses, and diminished cellular ATP content. These events may have triggered the expression of mitochondrial and stress-responsive genes in a coordinated manner. Because these metabolic alterations did not impair plant growth and development, UCP1 overexpression can potentially be used to create crops better adapted to abiotic stress conditions.

Fatty Acid Synthase Inhibitors Induce Apoptosis In Non-tumorigenic Melan-a Cells Associated With Inhibition Of Mitochondrial Respiration.

The metabolic enzyme fatty acid synthase (FASN) is responsible for the endogenous synthesis of palmitate, a saturated long-chain fatty acid. In contrast to most normal tissues, a variety of human cancers overexpress FASN. One such cancer is cutaneous melanoma, in which the level of FASN expression is associated with tumor invasion and poor prognosis. We previously reported that two FASN inhibitors, cerulenin and orlistat, induce apoptosis in B16-F10 mouse melanoma cells via the intrinsic apoptosis pathway. Here, we investigated the effects of these inhibitors on non-tumorigenic melan-a cells. Cerulenin and orlistat treatments were found to induce apoptosis and decrease cell proliferation, in addition to inducing the release of mitochondrial cytochrome c and activating caspases-9 and -3. Transfection with FASN siRNA did not result in apoptosis. Mass spectrometry analysis demonstrated that treatment with the FASN inhibitors did not alter either the mitochondrial free fatty acid content or composition. This result suggests that cerulenin- and orlistat-induced apoptosis events are independent of FASN inhibition. Analysis of the energy-linked functions of melan-a mitochondria demonstrated the inhibition of respiration, followed by a significant decrease in mitochondrial membrane potential (ΔΨm) and the stimulation of superoxide anion generation. The inhibition of NADH-linked substrate oxidation was approximately 40% and 61% for cerulenin and orlistat treatments, respectively, and the inhibition of succinate oxidation was approximately 46% and 52%, respectively. In contrast, no significant inhibition occurred when respiration was supported by the complex IV substrate N,N,N',N'-tetramethyl-p-phenylenediamine (TMPD). The protection conferred by the free radical scavenger N-acetyl-cysteine indicates that the FASN inhibitors induced apoptosis through an oxidative stress-associated mechanism. In combination, the present results demonstrate that cerulenin and orlistat induce apoptosis in non-tumorigenic cells via mitochondrial dysfunction, independent of FASN inhibition.

Taurine Supplementation Reduces Blood Pressure And Prevents Endothelial Dysfunction And Oxidative Stress In Post-weaning Protein-restricted Rats.

Taurine is a sulfur-containing amino acid that exerts protective effects on vascular function and structure in several models of cardiovascular diseases through its antioxidant and anti-inflammatory properties. Early protein malnutrition reprograms the cardiovascular system and is linked to hypertension in adulthood. This study assessed the effects of taurine supplementation in vascular alterations induced by protein restriction in post-weaning rats. Weaned male Wistar rats were fed normal- (12%, NP) or low-protein (6%, LP) diets for 90 days. Half of the NP and LP rats concomitantly received 2.5% taurine supplementation in the drinking water (NPT and LPT, respectively). LP rats showed elevated systolic, diastolic and mean arterial blood pressure versus NP rats; taurine supplementation partially prevented this increase. There was a reduced relaxation response to acetylcholine in isolated thoracic aortic rings from the LP group that was reversed by superoxide dismutase (SOD) or apocynin incubation. Protein expression of p47phox NADPH oxidase subunit was enhanced, whereas extracellular (EC)-SOD and endothelial nitric oxide synthase phosphorylation at Ser 1177 (p-eNOS) were reduced in aortas from LP rats. Furthermore, ROS production was enhanced while acetylcholine-induced NO release was reduced in aortas from the LP group. Taurine supplementation improved the relaxation response to acetylcholine and eNOS-derived NO production, increased EC-SOD and p-eNOS protein expression, as well as reduced ROS generation and p47phox expression in the aortas from LPT rats. LP rats showed an increased aortic wall/lumen ratio and taurine prevented this remodeling through a reduction in wall media thickness. Our data indicate a protective role of taurine supplementation on the high blood pressure, endothelial dysfunction and vascular remodeling induced by post-weaning protein restriction. The beneficial vascular effect of taurine was associated with restoration of vascular redox homeostasis and improvement of NO bioavailability.