Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data

The collaboration between humans and machines, where humans can share the same work environment without safety equipment due to the collision avoidance characteristic is one of the research topics for the Industry 4.0. This work proposes a system that acquires the space of the environment through an RGB-Depth sensor, verifies the free spaces in the created Point Cloud and executes the trajectory of the collaborative manipulator avoiding collisions. It is demonstrated a simulated environment before the system in real situations, in which the movements of pick-and-place tasks are defined, diverting from virtual obstacles with the RGB-Depth sensor. It is possible to apply this system in real situations with obstacles and humans, due to the results obtained in the simulation. The basic structure of the system is supported by the ROS software, in particular, the Movelt! and Rviz. These tools serve both for simulations and for real applications. The obtained results allow to validate the system using the algorithms PRM and RRT, chosen for being commonly used in the field of robot path planning.This work has been partially funded by Junta de Castilla y León and FEDER funds, under Research Grant No. LE028P17 and by "Ministerio de Ciencia, Innovación y Universidades" of the Kingdom of Spain through grant RTI2018-100683- B-I00.info:eu-repo/semantics/publishedVersio

Evaluation of antibacterial, antifungal and modulatory activity of methanol and ethanol extracts of Padina sanctae-crucis

Background: Multi-resistant microorganisms such as Escherichia coli, Staphylococcus aureus, Pseudomonas aeruginosa, Candida tropicalis e Candida krusei are the main causes of microbial infections. Padina sanctae-crucis is a seaweed often used to check the contamination of ecosystems by materials such as heavy metals, but studies of the antimicrobial activity of the same seaweed were not found.Methods: The tests for the minimum inhibitory concentration and   modulation of microbial resistance, with the use of ethanolic and  methanolic extracts of Padina Sanctae-cruces combined with drugs of the class of aminoglycosides and antifungal were used to evaluate the activity against the cited microorganisms.Results: Was observed a modulation of antibiotic activity between the natural products and the E. coli and S. aureus strains, indicating a synergism and antagonism respectively.Conclusions: The results showed a moderate modulatory effect against some microorganisms studied.Keywords: multi-resistant microorganisms, modulation, Padina Sanctae-crucis, antimicrobial activity

Tendências e perspectivas da administração em enfermagem: Um estudo na Santa Casa de Belo Horizonte-MG Tendencias y perspectivas de la administración en enfermería un estudio en la Santa Casa de Belo Horizonte<FONT FACE=Symbol>-</FONT>MG Trends and perspectives of nursing administration: a study in the "Santa Casa" Hospital of Belo Horizonte-MG, Brazil

A Santa Casa de Belo Horizonte implantou um novo Sistema de Gestão que a caracterizou como uma organização flexível. Partindo desse contexto, delineamos como objetivos deste estudo: analisar a forma da administração em enfermagem, considerando a implantação do SIGESC; descrever como a equipe de enfermagem percebe a comunicação, o processo decisório e as relações interpessoais; identificar possíveis tendências e perspectivas presentes na prática administrativa desenvolvida. Evidenciamos um momento de transição da administração em enfermagem que apresenta traços da gerência clássica e da gerência contemporânea. Entretanto, sinalizamos tendências e perspectivas que poderão contribuir para a reorganização do processo de trabalho da enfermagem na área hospitalar.<br>La Santa Casa de Belo Horizonte, implantó un nuevo Sistema de Gestión, caracterizándose como una organización flexible. Partiendo de este contexto, delimitamos como objetivos: analizar la forma de administración en enfermería, considerando la implementación del SIGESC; describir como el equipo de enfermería percibe la comunicación, el proceso de toma de decisiones y las relaciones interpersonales; identificar posibles tendencias y perspectivas presentes en la práctica administrativa desarrollada. Evidenciamos un momento de transición de la administración en enfermería que presenta trazos de la gerencia clásica y de la gerencia contemporánea. Por ahora, señalamos tendencias y perspectivas que podrán contribuir para la reorganización del proceso de trabajo de enfermería en el área hospitalaria.<br>The "Santa Casa" Hospital of Belo Horizonte has implemented a new management system that has characterized it as a flexible organization. Based on this context, the authors of this research defined the following objectives: to analyze nursing administration by considering the implementation of the Management System (SIGESC), to describe how the nursing team perceives communication, the decision-making process and interpersonal relationships, to identify possible trends and perspectives present in the administrative practice developed. A time of transition in nursing administration that presents characteristics of classical management and contemporaneous management was shown as well as trends and perspectives that will contribute to the reorganization of nursing work in hospitals