Sampling-based Model Predictive Control Leveraging Parallelizable Physics Simulations

We present a method for sampling-based model predictive control that makes use of a generic physics simulator as the dynamical model. In particular, we propose a Model Predictive Path Integral controller (MPPI), that uses the GPU-parallelizable IsaacGym simulator to compute the forward dynamics of a problem. By doing so, we eliminate the need for manual encoding of robot dynamics and interactions among objects and allow one to effortlessly solve complex navigation and contact-rich tasks. Since no explicit dynamic modeling is required, the method is easily extendable to different objects and robots. We demonstrate the effectiveness of this method in several simulated and real-world settings, among which mobile navigation with collision avoidance, non-prehensile manipulation, and whole-body control for high-dimensional configuration spaces. This method is a powerful and accessible tool to solve a large variety of contact-rich motion planning tasks.Comment: Submitted to RA-L. Code available at https://github.com/tud-airlab/mppi-isaac and video of the experiments at https://youtu.be/RSkJ670uoK

A report of disseminated adenocarcinoma presenting as thrombotic thrombocytopenic purpura

Thrombotic microangiopathies (TMAs) represent a heterogeneous group of diseases characterized by a microangiopathic hemolytic anemia, peripheral thrombocytopenia, and organ failure of variable severity. TMAs encompass thrombotic thrombocytopenic purpura (TTP), typically characterized by fever, central nervous system manifestations and hemolytic uremic syndrome (HUS), in which renal failure is the prominent abnormality. In patients with cancer TMAs may be related to various antineoplastic drugs or to the malignant disease itself. The reported series of patients with TMAs directly related to cancer are usually heterogeneous, retrospective, and encompass patients with hematologic malignancies with solid tumors or receiving chemotherapy, each of which may have distinct presentations and pathophysiological mechanisms. Patients with disseminated malignancy who present with microangiopathic hemolytic anemia and thrombocytopenia may be misdiagnosed as thrombotic thrombocytopenic purpura (TTP) Only a few cases of TTP secondary to metastatic adenocarcinoma are known in the literature. We present a case of a 34-year-old man with TTP syndrome secondary to metastatic small-bowel adenocarcinoma. Patients with disseminated malignancy had a longer duration of symptoms, more frequent presence of respiratory symptoms, higher lactate dehydrogenase levels, and more often failed to respond to plasma exchange treatment. A search for systemic malignancy, including a bone marrow biopsy, is appropriate when patients with TTP have atypical clinical features or fail to respond to plasma exchange

Supercritical extraction of lyophilized strawberry anthocyanins with pulsed electric fields pretreatment

Anthocyanins from LSB and with a PEF pretreatment were extracted with ethanol + SCCO2. The extraction at 200 bar, 333.15, 3.3% wt. of ethanol as cosolvent and using LSB with a PEF pretreatment of 1 kV/cm, produced an extraction yield of 0.284 % and a TAC of 0.231 (g/100 g of ethanol + SCCO2). The individual effect of 1.0 kV/cm of PEF pretreatment increases the %EY by 25 % and the TAC by 29 %. The individual effect of the cosolvent increases the %EY by 32% and that of TAC by 36.4%. However, the combined effect of 1.0 kV cm-1 and 3.3 % ethanol, produced an increase of 78.2 % and 85.3% in the %EY and TAC, respectively. Therefore, these results suggest that there is a synergistic effect, which means that both the electroporation caused by PEF in the LSB and the increase in polarity due to the addition of ethanol produce a substantial improvement over %ET and TAC. Furthermore, the process of extracting anthocyanins from LSB using a mixture of ethanol + supercritical carbon dioxide can be satisfactorily described by a solubility-based model such as the Kumar and Johnston model.The lyophilized strawberry anthocyanins were extracted using a supercritical extraction (SE) process. The effect of pulsed electric fields (PEF) as pretreatment and the influence of the addition of ethanol as a cosolvent on the percentage of extraction yield (EY) and the total anthocyanin concentration (TAC) were analyzed. The effect of PEF was evaluated at 0.5 and 1.0 kV/cm, while the effect of the cosolvent was studied in mixtures of supercritical carbon dioxide - ethanol (SCCO2 + ethanol) at 1.6 and 3.3% by weight. The best results (% EY = 0.506, TAC = 0.428 g /100 g of lyophilized strawberry) were obtained with a PEF pretreatment of 1.0 kV cm-1, 3.3%wt. ethanol at 200 bar and 333.15 K. The experimental results of solubility were suitably adjusted with the Kumar and Johnston model. The maximum solubility (0.114 g/100 g of solvent mixture) was obtained at 300 bar and 313.15 K.The authors would like to thank the National Council of Science and Technology of Mexico (CONACyT) for the scholarship granted to the master’s student in chemical sciences Marco A. Ávila-Hernández

Valorización de Corporación Lindley S.A.

El presente trabajo de investigación se enfoca en la valoración de la Corporación Lindley a diciembre del 2021. Los resultados obtenidos fueron los siguientes: el valor estimado de las acciones de la compañía, a la fecha mencionada, se encuentra en un rango de entre S/ 6.04 y S/11.39. El escenario conservador le otorga un valor de S/ 8.70 a cada acción, lo que significa un incremento del 16% en relación con el precio registrado en la última transacción de mercado en el año 2018, siendo 4% la tasa de crecimiento anual compuesta proyectada entre el año 2021 y 2026

Prevalence of metabolic syndrome in HIV patients under antiretroviral treatment in CAPASITS from Reynosa, Tamaulipas

Introduction: Highly effective antiretroviral therapy has been demonstrated a decrease in morbidity, mortality, life expectancy and quality of life of HIV-infected patients. However, HIV-infected persons, over time of receiving antiretroviral treatment, may develop different metabolic disorders, such as adipose tissue, lipid metabolism and the development of arterial hypertension, increase in BMI, decrease in HDL cholesterol and insulin resistance which can with lead to the development of metabolic syndrome. Methodology: A cross-sectional observational study was carried out, the sample consisted of 122 HIV patients on ART. All patients signed an informed consent form. Sociodemographic data and clinical history were collected. Subsequently, anthropometric data (height, weight and waist circumference) and vital signs (blood pressure) were measured. Results: A total population of n=122 participated in this study, of which the majority was male with 62.3% (n=76) and 37.7% (n=46) female. The mean age of the patients was 37.54 (±11.48) years, with a range of 19 to 60 years. The frequency of Metabolic Syndrome of HIV seropositive patients under antiretroviral treatment is observed, where 41%(n=50) have metabolic syndrome, while 59% (n=72) do not present metabolic syndrome. In women, the metabolic syndrome is present in 64% (n=32) while in men it is present in 36% (n=18) with statistical significance (value of p= .000). Conclusion: There is a high prevalence of metabolic syndrome in our study population 41% in which the female gender predominated in patients receiving antiretroviral treatment in the CAPASITS of the city of Reynosa, Tamaulipas

Effect of live weight pre and post-lambing on milk production of East Friesian sheep

The study was conducted to analyse the effect of sheep body weight (BW) at mating, mid-preg- nancy, lambing, early lactation, mid-lactation and late lactation on milk yield and patterns of milk production. Also, the effects of environmental factors such as number of lambing (NL) and type of lambing (TL) on BW and milk production were analysed. A total of 52 multiparous East Friesian ewes from an experimental flock were used. Ewes were assigned to three different groups accord- ing to their BW at each productive stage: low (LBW), moderate (MBW) and high BW (HBW). Lactations were fitted using the mechanistic model described by Pollott. Total milk yield (TMY), peak yield (PY) and time at peak yield (TPY) were also calculated. HBW ewes had consistently higher TMY (p<.001) and PY (p<.05) values, than LBW and MBW in most of productive stage measured. There was a positive linear relationship (p < .05) between TMY and BW in all-productive stage, except at mid-gestation where the relationship was quadratic. HBW ewes weighted at mid- pregnancy showed the highest values of maximum secretion parameter (p 1⁄4 .04) of Pollott model, which could partially explain the better milk yield of HBW ewes. A significant effect of NL on BW (p1⁄4.007) and TMY (p1⁄4.007) was observed. The BW ewe’s in pregnancy and early lactation is a useful indicator at farm level to improve the milk yield performance in dairy sheep.Mr. Angeles Hernandez thank the National Council for Science and Technology (CONACyT, Mexico) for the scholar- ship for their studies in the Universidad Nacional Autonoma de Mexico, Dr. Gonzalez Ronquillo was granted with a Beca Alianza del Pacifico 2014 fellowship

ANÁLISIS DE INGENIERÍA DEREQUERIMIENTOS: ALTA DE UNIDADES DE APRENDIZAJE EN LA UAI-UAGRO, MÉXICO

En la actualidad, para la aplicación de ingeniería de software, son varios los procesos de desarrollo de software que existen. En esta investigación, una de las etapas importantes del proceso de desarrollo es la ingeniería de requerimientos, etapa en donde se definen inicialmente las características y restricciones con las que debe contar el sistema, parte fundamental, ya que determina qué funcionalidad debe contener el software. En el caso de uso se aplicará al Sistema de Alta de Unidades de Aprendizaje (SAUA), que permitirá a los alumnos de la Unidad Académica de Ingeniería (UAI) de la Universidad Autónoma de Guerrero (UAGro) dar de alta la unidad de aprendizaje ofertada (cursos) de manera remota mediante el uso de Internet

IMPLEMENTACIÓN DEL SERVICIO WI-FI, PARA ENFRENTAR LOS DESAFÍOS DEL APRENDIZAJE EN LA COMUNIDAD EL OTATE, GUERRERO, MÉXICO

En esta investigación se implementa el servicio de una red Wi-Fi la cual parte de una distancia de 15 km., del punto de acceso infinitum, de la montaña de Guerrero, México. Este proyecto surge de la necesidad que están tomando la educación con respecto a las comunicaciones inalámbricas la cual tiene más auge en la vida de los diferentes usuarios, por ello la necesidad llega para enfrentar los desafíos de una educación de calidad de los estudiantes; de una comunidad de la montaña de Guerrero, El Otate, la cual desde hace 25 años se encontraba incomunicada, el objetivo es lograr la cobertura del servicio en dicha comunidad

Ensiling on chemical composition and in vitro fermentation in rabbits of different forages

The effect of chemical composition of silages on in vitro gas fermentation profiles in rabbits was examined. The study was performed using 7 silages: beans (Phaseolus vulgaris), faba bean (FB, Vicia faba), common vetch (CV, Vicia sativa), ryegrass (Lolium perenne), barley (B, Hordeum vulgare), barley with common vetch (BCV) and barley with faba bean (BFB). We used 3 New Zealand White (NZW) rabbits as donors of caecal content in each incubation run (n=3). Data were analyzed in a completely randomized experimental design. The CV silage showed higher values of crude protein (CP), followed by FB and bean silages (P<0.001). Barley silage had the lowest CP content (96g kg -1 DM) (P=0.001). The NDF and ADF content were lower (P<0.001) for beans and CV compared with the rest of the forage silages. Ryegrass silage had higher values of dry matter degradation, organic matter degradation, relative GP and SCFA (P<0.001). The highest values of digestible energy were for CV and bean silages (P<0.001). Ryegrass and CV silages showed higher levels in GP parameters, which could be associated with their better chemical composition characteristics, mainly pr otein and fiber content

Cardiopatía Chagásica en Perros: reporte de caso clínico

Articulo derivado de Tesis de Cuauhtémoc Gutiérrez EspinosaEl objetivo de este artículo es dar a conocer los avances en el diagnóstico y evaluación de la cardiomiopatía dilatada secundaria a enfermedad de Chagas en perros, a través de una experiencia clínica. Se presentó un perro macho de 1 año de edad, entero, de raza mestizo, que fue referido para la evaluación cardiológica por sospecha de enfermedad cardíaca congénita, con pronóstico desfavorable. La ecocardiografía confirmó cardiomiopatía dilatada y presencia de efusión abdominal, pero se descartó displasia de la válvula tricúspide y por lo tanto el diagnóstico presuntivo inicial. La anamnesis nos permitió sospechar de infección por Trypanosoma cruzi, por lo que se utilizaron métodos diagnósticos dirigidos a la confirmación de esa afección, que incluyeron; ensayo inmunoenzimático (ELISA) en busca de anticuerpos anti-T. cruzi en suero, PCR punto final y PCR anidado a partir de muestra sanguínea y de la efusión abdominal en busca de parásitos, biometría hemática, química sanguínea, troponina I y NTpro-BNP, que pudieran dar pistas diagnósticas complementarias para realizar un pronóstico más confiable. Se confirmó la infección por T. cruzi y se procedió a dar tratamiento antiparasitario y de soporte cardiovascular. Después de una recuperación inicial de ganancia de peso y estado de animo significativas, el animal murió súbitamente después de un episodio de estrés; condición frecuentemente observada en perros infectados por T. cruzi.UAEMEX 4518/2018/CI Correlacion de las consentraciones séricas de troponina I con los cambios clínicos cardivasculares en perros infectados con Trypanosoma cruzi en fase crónic