Virtual environment for local and remote control of a robot arm for support in engineering teaching

En este artículo se presenta el diseño e implementación de una plataforma virtual, que permite la simulación y mando local y remoto del brazo robot tipo SCARA llamado UV-CERMA, presente en el Laboratorio de Robótica de la Escuela de Ingeniería Eléctrica y Electrónica de la Facultad de Ingeniería de la Universidad del Valle, el robot UV-CERMA ha estado subutilizado desde hace algunos años debido a lo obsoleto de su sistema de control. La plataforma, enfocada con los lineamientos de educación en ingeniería está compuesta por dos aplicaciones que permiten la simulación y el mando y control locales y remotos para el robot, una de las aplicaciones se programó haciendo uso del paquete de National Instruments LabVIEW y la otra aplicación se realizó por medio de software libre, por medio del lenguaje de código abierto Java, ambos desarrollos implementan los modelos cinemático directo y cinemático inverso, un módulo para la planificación y ejecución de trayectorias, otro módulo para el monitoreo de variables y un modelo 3D del robot. Para la manipulación del robot se tiene una interfaz con un joystick, que lo hace más versátil. Las aplicaciones se comunican al robot real mediante una tarjeta de adquisición de datos de National Instruments NI USB-6211, y para el mando remoto la plataforma cuenta con una arquitectura cliente/servidor usando sockets TCP/IP.This paper presents the design and implementation of a virtual platform that allows simulation and local and remote command and control of the SCARA robot arm called UV-CERMA, which is installed at the Robotics Laboratory of the Escuela de Ingeniería Eléctrica y Electrónica, Facultad de Ingeniería, Universidad del Valle. The robot has been underutilized for some years due to the obsolete control system. The platform, focused on the engineering education methodology, consists of two applications which simulate the robot and permit its remote and local command and control. One of the applications was implemented on LabVIEW software of National Instruments and the other application was programmed on free software using the open source language Java. Both applications implement forward kinematics and inverse kinematics, have a module for trajectories planning and operation, a module for monitoring the values of the variables and a three dimensional model of the robot. To manipulate the robot, an interface with a joystick was developed, enhancing the versatility of the platform. The applications communicate with the real robot using the National Instruments data acquisition card NI USB-6211, and for the remote connection they have a client-server architecture using TCP/IP sockets

The Caldera. No. 16

Cuando hablamos de paz, generalmente asociamos el vocablo con adjetivos, momentos, experiencias que nos produzcan un estado de relajación, de calma, de quietud; es decir, la zozobra, la inquietud e incluso, el debate, serían antónimos de paz: Este año nuestra querida Institución Educativa se ha propuesto marcar la pauta en este tema; por tal razón, se ha implementado, dentro de los diferentes espacios pedagógicos que disfrutan nuestros educandos, la “CÁTEDRA DE LA PAZ”, como una alternativa viable, que les permita a nuestros estudiantes, desde los primeros años de preescolar, hasta los últimos de bachillerato, lograr acercamientos a distintas situaciones cotidianas, que hacen parte de nuestra condición humana y permanente de seres comunicativos y sociales; por tanto, las aulas de clase, los distintos escenarios en los que nos movemos deben convertirse en espacios en los que se deben llegar a establecer acuerdos que nos permitan ambientes, de estudio, de trabajo, de recreación, aún más agradables y cordiales.Biografías: Steve Jobs, John Lennon; Por: Javier Felipe Molina Salazar e Isabella Polo García…04 II Concurso Intercolegiado de Oratoria “Literatura y paz” “El arte de leer”; Por: Mariana Alejandra Galvis M. …08 Deporte en el Instituto Caldas Instituto Caldas: Subcampeón Departamental de Baloncesto…10 El pequeño gran ajedrecista; Por: Sebastián Felipe Blanco…11 Escritores memorables, Kafka; Por: Daniel José Galvis Jaimes…12 Proyectos Pedagógicos (Preescolar); Por: Slendy Pinzón González…15 Talentos caldistas…16 Reloj Solar 2014…20 Expresiones caldistas…22 Galería de Imágenes…29When we speak of peace, we generally associate the word with adjectives, moments, experiences that produce us a state of relaxation, calm, and stillness; that is to say, anxiety, concern and even debate, would be antonyms for peace: This year our beloved Educational Institution has proposed to set the standard on this issue; For this reason, the "CHAIR OF PEACE" has been implemented within the different pedagogical spaces that our students enjoy, as a viable alternative that allows our students, from the first years of preschool, to the last years of high school, achieve approaches to different daily situations, which are part of our human and permanent condition of communicative and social beings; therefore, the classrooms, the different settings in which we move, must become spaces in which agreements must be reached that allow us environments, study, work, recreation, even more pleasant and cordial

Control de un péndulo de furuta. Una revisión del estado del arte.

Se realiza una descripcion de algunos trabajos reportados en la comunidad de control a nivel internacional y nacional sobre PENDULOS INVERTIDOS. Este trabajo abarca desde la creacion del pendulo de Furuta hasta la actualidad

Plataforma virtual para el mando local y remoto de un brazo robótico de apoyo para la educación en ingeniería

This paper presents the design and implementation of a virtual platform that allows simulation and local and remote command and control of the SCARA robot arm called UV-CERMA, which is installed at the Robotics Laboratory of the Escuela de Ingeniería Eléctrica y Electrónica, Facultad de Ingeniería, Universidad del Valle. The robot has been underutilized for some years due to the obsolete control system. The platform, focused on the engineering education methodology, consists of two applications which simulate the robot and permit its remote and local command and control. One of the applications was implemented on LabVIEW software of National Instruments and the other application was programmed on free software using the open source language Java. Both applications implement forward kinematics and inverse kinematics, have a module for trajectories planning and operation, a module for monitoring the values of the variables and a three dimensional model of the robot. To manipulate the robot, an interface with a joystick was developed, enhancing the versatility of the platform. The applications communicate with the real robot using the National Instruments data acquisition card NI USB-6211, and for the remote connection they have a client-server architecture using TCP/IP sockets.En este artículo se presenta el diseño e implementación de una plataforma virtual, que permite la simulación y mando local y remoto del brazo robot tipo SCARA llamado UV-CERMA, presente en el Laboratorio de Robótica de la Escuela de Ingeniería Eléctrica y Electrónica de la Facultad de Ingeniería de la Universidad del Valle, el robot UV-CERMA ha estado subutilizado desde hace algunos años debido a lo obsoleto de su sistema de control. La plataforma, enfocada con los lineamientos de educación en ingeniería está compuesta por dos aplicaciones que permiten la simulación y el mando y control locales y remotos para el robot, una de las aplicaciones se programó haciendo uso del paquete de National Instruments LabVIEW y la otra aplicación se realizó por medio de software libre, por medio del lenguaje de código abierto Java, ambos desarrollos implementan los modelos cinemático directo y cinemático inverso, un módulo para la planificación y ejecución de trayectorias, otro módulo para el monitoreo de variables y un modelo 3D del robot. Para la manipulación del robot se tiene una interfaz con un joystick, que lo hace más versátil. Las aplicaciones se comunican al robot real mediante una tarjeta de adquisición de datos de National Instruments NI USB-6211, y para el mando remoto la plataforma cuenta con una arquitectura cliente/servidor usando sockets TCP/IP

Detection of “Legbreaker” Antipersonnel Landmines by Analysis of Aerial Thermographic Images of the Soil

An automatic detection methodology for “legbreaker” Antipersonnel Landmines (APL) was developed based on digital image processing techniques and pattern recognition, applied to thermal images acquired by means of an Unmanned Aerial Vehicle (UAV) equipped with a thermal camera. The images were acquired from the inspection of a natural terrain with sparse vegetation and under uncontrolled conditions, in which prototypes of “legbreaker” APL were buried at different depths. Remarkable results were obtained using a Multilayer Perceptron (MLP) classifier, reaching a 97.1% success rate in detecting areas with the presence of these artifacts

Bacterial etiology of community-acquired pneumonia in immunocompetent hospitalized patients and appropriateness of empirical treatment recommendations: an international point-prevalence study

An accurate knowledge of the epidemiology of community-acquired pneumonia (CAP) is key for selecting appropriate antimicrobial treatments. Very few etiological studies assessed the appropriateness of empiric guideline recommendations at a multinational level. This study aims at the following: (i) describing the bacterial etiologic distribution of CAP and (ii) assessing the appropriateness of the empirical treatment recommendations by clinical practice guidelines (CPGs) for CAP in light of the bacterial pathogens diagnosed as causative agents of CAP. Secondary analysis of the GLIMP, a point-prevalence international study which enrolled adults hospitalized with CAP in 2015. The analysis was limited to immunocompetent patients tested for bacterial CAP agents within 24 h of admission. The CAP CPGs evaluated included the following: the 2007 and 2019 American Thoracic Society/Infectious Diseases Society of America (ATS/IDSA), the European Respiratory Society (ERS), and selected country-specific CPGs. Among 2564 patients enrolled, 35.3% had an identifiable pathogen. Streptococcus pneumoniae (8.2%) was the most frequently identified pathogen, followed by Pseudomonas aeruginosa (4.1%) and Klebsiella pneumoniae (3.4%). CPGs appropriately recommend covering more than 90% of all the potential pathogens causing CAP, with the exception of patients enrolled from Germany, Pakistan, and Croatia. The 2019 ATS/IDSA CPGs appropriately recommend covering 93.6% of the cases compared with 90.3% of the ERS CPGs (p < 0.01). S. pneumoniae remains the most common pathogen in patients hospitalized with CAP. Multinational CPG recommendations for patients with CAP seem to appropriately cover the most common pathogens and should be strongly encouraged for the management of CAP patients.info:eu-repo/semantics/publishedVersio

Prevalence and risk factors for Enterobacteriaceae in patients hospitalized with community-acquired pneumonia

Background and objective Enterobacteriaceae (EB) spp. family is known to include potentially multidrug-resistant (MDR) microorganisms, and remains as an important cause of community-acquired pneumonia (CAP) associated with high mortality. The aim of this study was to determine the prevalence and specific risk factors associated with EB and MDR-EB in a cohort of hospitalized adults with CAP. Methods We performed a multinational, point-prevalence study of adult patients hospitalized with CAP. MDR-EB was defined when >= 3 antimicrobial classes were identified as non-susceptible. Risk factors assessment was also performed for patients with EB and MDR-EB infection. Results Of the 3193 patients enrolled with CAP, 197 (6%) had a positive culture with EB. Fifty-one percent (n = 100) of EB were resistant to at least one antibiotic and 19% (n = 38) had MDR-EB. The most commonly EB identified were Klebsiella pneumoniae (n = 111, 56%) and Escherichia coli (n = 56, 28%). The risk factors that were independently associated with EB CAP were male gender, severe CAP, underweight (body mass index (BMI) < 18.5) and prior extended-spectrum beta-lactamase (ESBL) infection. Additionally, prior ESBL infection, being underweight, cardiovascular diseases and hospitalization in the last 12 months were independently associated with MDR-EB CAP. Conclusion This study of adults hospitalized with CAP found a prevalence of EB of 6% and MDR-EB of 1.2%, respectively. The presence of specific risk factors, such as prior ESBL infection and being underweight, should raise the clinical suspicion for EB and MDR-EB in patients hospitalized with CAP

Microbiological testing of adults hospitalised with community-acquired pneumonia: an international study

This study aimed to describe real-life microbiological testing of adults hospitalised with community-acquired pneumonia (CAP) and to assess concordance with the 2007 Infectious Diseases Society of America (IDSA)/American Thoracic Society (ATS) and 2011 European Respiratory Society (ERS) CAP guidelines. This was a cohort study based on the Global Initiative for Methicillin-resistant Staphylococcus aureus Pneumonia (GLIMP) database, which contains point-prevalence data on adults hospitalised with CAP across 54 countries during 2015. In total, 3702 patients were included. Testing was performed in 3217 patients, and included blood culture (71.1%), sputum culture (61.8%), Legionella urinary antigen test (30.1%), pneumococcal urinary antigen test (30.0%), viral testing (14.9%), acute-phase serology (8.8%), bronchoalveolar lavage culture (8.4%) and pleural fluid culture (3.2%). A pathogen was detected in 1173 (36.5%) patients. Testing attitudes varied significantly according to geography and disease severity. Testing was concordant with IDSA/ATS and ERS guidelines in 16.7% and 23.9% of patients, respectively. IDSA/ATS concordance was higher in Europe than in North America (21.5% versus 9.8%; p<0.01), while ERS concordance was higher in North America than in Europe (33.5% versus 19.5%; p<0.01). Testing practices of adults hospitalised with CAP varied significantly by geography and disease severity. There was a wide discordance between real-life testing practices and IDSA/ATS/ERS guideline recommendations

Prevalence and Etiology of Community-acquired Pneumonia in Immunocompromised Patients

BACKGROUND: The correct management of immunocompromised patients with pneumonia is debated. We evaluated the prevalence, risk factors, and characteristics of immunocompromised patients coming from the community with pneumonia. METHODS: We conducted a secondary analysis of an international, multicenter study enrolling adult patients coming from the community with pneumonia and hospitalized in 222 hospitals in 54 countries worldwide. Risk factors for immunocompromise included AIDS, aplastic anemia, asplenia, hematological cancer, chemotherapy, neutropenia, biological drug use, lung transplantation, chronic steroid use, and solid tumor. RESULTS: At least 1 risk factor for immunocompromise was recorded in 18% of the 3702 patients enrolled. The prevalences of risk factors significantly differed across continents and countries, with chronic steroid use (45%), hematological cancer (25%), and chemotherapy (22%) the most common. Among immunocompromised patients, community-acquired pneumonia (CAP) pathogens were the most frequently identified, and prevalences did not differ from those in immunocompetent patients. Risk factors for immunocompromise were independently associated with neither Pseudomonas aeruginosa nor non-community-acquired bacteria. Specific risk factors were independently associated with fungal infections (odds ratio for AIDS and hematological cancer, 15.10 and 4.65, respectively; both P = .001), mycobacterial infections (AIDS; P = .006), and viral infections other than influenza (hematological cancer, 5.49; P &lt; .001). CONCLUSIONS: Our findings could be considered by clinicians in prescribing empiric antibiotic therapy for CAP in immunocompromised patients. Patients with AIDS and hematological cancer admitted with CAP may have higher prevalences of fungi, mycobacteria, and noninfluenza viruses