Design of non-anthropomorphic robotic hands for anthropomorphic tasks

In this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the five fingertips, we de- velop a method to perform dimensional synthesis for a kinema tic chain with a tree structure, with five branches that share thr ee common joints. We state the forward kinematics equations of relative dis- placements for each serial chain expressed as dual quaterni ons, and solve for up to five chains simultaneously to reach a numbe r of positions along the hand trajectory. This is done using a h y- brid global numerical solver that integrates a genetic algo rithm and a Levenberg-Marquardt local optimizer. Although the number of candidate solutions in this problem is very high, the use of the genetic algorithm allows us to per form an exhaustive exploration of the solution space to obtain a s et of solutions. We can then choose some of the solutions based on t he specific task to perform. Note that these designs match the ta sk exactly while generally having a finger design radically dif ferent from that of the human hand.Peer ReviewedPostprint (author’s final draft

Anchorage of small cluster of manganese oxide, zinc oxide and silver on nitrogen doped and functionalized carbon nanotubes

Tesis (Maestría en Nanociencias y Nanotecnología)"Los nanotubos de carbono de pared múltiple (MWCNTs) exhiben excelentes propiedades mecánicas y electrónicas. Debido a su estructura y tamaño, los MWCNTs podrían ser utilizados como sustratos para la deposición de nanopartículas metálicas u óxidos metálicos que permitan el desarrollo de novedosos materiales compuestos. Estos materiales podrían ser utilizados como catalizadores, adsorbedores de gases, intercambiadores de iones, sensores químicos, bio-marcadores, etc. En este trabajo se presentan los resultados obtenidos al utilizar los MWCNTs como sustratos para el crecimiento de nanopartículas de óxido de zinc (ZnO), óxido de manganeso (III) (-Mn2O3) y plata (Ag). Nanopartículas de ZnO han sido eficiente y homogéneamente ancladas en dos tipos de nanotubos de carbono. Hemos utilizado como sustrato a nanotubos de carbono dopados con nitrógeno (CNx-MWNTs) y nanotubos de carbono funcionalizados con grupos carbonilo e hidroxilo (COx-MWNTs). El tamaño de partícula más pequeño fue obtenido utilizando los COx-MWNTs con un diámetro medio de partícula de 4.1 nm. Posteriormente, se desarrolló una novedosa metodología que nos permitió recubrir eficientemente a los MWCNTs con -Mn2O3 (tamaño de partícula desde 6 a 10 nm), sin emplear reactivos costosos y/o peligrosos. Finalmente, se diseñó un proceso sencillo para el anclaje de partículas de plata en diferentes tipos de nanotubos de carbono. Este método permite depositar nanopartículas de Ag (con un tamaño de partícula de 3 a 7 nm) sin el uso de agentes reductores externos, en este caso los MWCNTs podrían actuar como agentes reductores.""Multi-walled carbon nanotubes (MWCNTs) exhibit outstanding mechanical and electronic properties. Due to their structure, the MWCNTs could also play an important role as substrates for the deposition of metal and metal oxide nanoparticles that allow the development of novel composite materials. These materials could be used as catalysts, gas sensors, ion-exchange materials, gas adsorbers, biomarkers, drugs delivery systems, etc. The results obtained from the use of the MWCNTs as substrates for metal and metal oxide (e.g. ZnO, -Mn2O3 and Ag) nanoparticles are presented in this work. ZnO nanoparticles have been efficiently and homogeneously anchored on the surfaces of two types of carbon nanotubes. We use nitrogen-doped (CNx-MWNTs) and functionalized carbon nanotubes with oxygen groups (COx-MWNTs) as substrate. The smallest particles were deposited on the COx-MWNTs with a mean size of 4.1 nm. Furthermore, we developed a novel methodology that allows us to coat efficiently carbon nanotubes with -Mn2O3 nanoparticles (particle size from 6 to 10 nm) without employing expensive and hazardous chemicals. Finally, we developed a simple process able to anchor efficiently small Ag nanoparticles on different carbon nanotubes. This method is able to attach Ag particles (ranging from 3 to 7 nm in size) without any external reducing agent. In this case, the CNTs could act as reducing agents for the silver ions.

VitaPet Nutrición Natural

131 páginas.El proyecto presenta la elaboración e implementación de Un plan de negocios en el cual se muestra la planeación estratégica del funcionamiento de la organización proyectado en un escenario a cinco años. Se elaboró la empresa VitaPet, la cual vende calidad de vida para las mascotas en la ciudad de Bogotá a través un alimento natural. Se tuvo en cuenta la naturaleza de la empresa. con el cual se planteó analizó la idea del negocio, el sector V subsector que rige. Adicional se encuentra lo relativo al mercadeo, donde se realizó una investigación de mercados en la cual se encuesto a 87 dueños de mascotas en la ciudad de Bogotá entre los estratos 3 al 6 para determinar el análisis de la demanda la competencia, el precio, estudios de comercialización y estudios de insumos. Se desarrolló un estudio técnico, donde se describió el tamaño de la empresa con su capacidad máxima de producción, estudio de localización y tecnología para poder responder ante la demanda calculada. El proyecto estudió y evaluó la organización, financiera, económica, social y ambiental, con las cuales se garantizó el óptimo funcionamiento dentro del escenario planteado cumpliendo con todas las disposiciones legales en el territorio colombiano.The project consist in the elaboration of a business, this business plan describes the strategic planeation and functioning of the company for the next five years. We created the company VitaPet which sells quality of life for pets in the city of Bogota thuough a natural food. We had considerated the business model and his subsectors. We implemented all the marketing strategv where we did an intensive mark.et investigation including a research with 87 pet owners in the city of Bogota in between social clases 3 and 6 in order to determine the dernand, competiton, price, commercialization plans and inputs. We ellaborated a tecnical plan which described the size of the company with its maximun production capacity as well as a localization study and technology in order to quickly react facing the calculated demand. The project involved the stud and financial evaluation of the organization as well as the social economic and environmental which guaranteed the optimal functioning inside of the planned scenario following all the legal obligations in the colombian territory.Magíster en MercadeoMaestrí

Ecuación de recurrencia de los números de Mersenne

Los números de Mersenne M = - 1 han generado una serie de resultados importantes pero existen algunos, que aún no han sido demostrados formalmente, como es el caso de ¿Cuántos números primos hay en la sucesión de Mersenne? Con base en lo anterior se examinan los siguientes problemas. La relación de recurrencia de la sucesión de Mersenne y la solución algebraica de la misma. Analizar cuantos números primos dentro de la sucesión de Mersenne y su importancia en la actualidad. También veremos las raíces primas primitivos de los números de Mersenne. Y utilizamos el álgebra computacional con el Software: Mathematica, para mostrar aspectos relevantes de la sucesión de Mersenne

Gas injection laboratory experiments on Opalinus clay.

Understanding gas transport processes is one of the key issues in the assessment of radioactive waste repository performance and is the focus of this research. To this aim, this research programme was started with the following specific objectives. 1) To develop and calibrate an experimental set-up to perform controlled flow-rate gas injection experiments using a high-pressure triaxial cell to apply isotropic/anisotropic stress states. 2) To carry out a series of tests on Opalinus clay OPA samples to study the conditions under which gas breakthrough processes occur, to analyse the influence of the gas injection rate, the stress state, the orientation of rock discontinuities and other relevant hydro-mechanical variables (porosity, degree of saturation, …), as well as the observation of the induced desaturation (pore water displacement by gas), ingoing and outgoing gas fluxes, aperture and preferential paths created, and so on.Peer ReviewedPostprint (author’s final draft

Valorització de residus amb deep learning i càmeres multiespectrals

Actualment tots els residus que es generen en les ciutats són enviats a plantes de processament on se separen i seleccionen aquells que poden ser reutilitzats en un futur. Aquesta és una tasca complexa degut a la creixent quantitat de material que ha de ser analitzat i a la gran varietat d'elements que hi podem trobar. En aquest projecte buscarem oferir solucions a alguns dels problemes de visió presents en una planta de reciclatge, on es busca automatitzar aquest procés. S'estudiarà l'ús de diferents tecnologies i xarxes neuronals per ajudar a detectar i classificar cada tipus de residu.Actualmente todos los residuos que se generan en las ciudades son enviados a plantas de procesamiento donde se separan y seleccionan aquellos que pueden ser reutilizados en un futuro. Esta es una tarea compleja debido a la creciente cantidad de material que debe ser analizado y la gran variedad de elementos que podemos encontrar. En este proyecto buscaremos ofrecer soluciones a algunos de los problemas de visión presentes en una planta de reciclaje, donde se busca automatizar este proceso. Se estudiará el uso de diferentes tecnologías y redes neuronales para ayudar a detectar y clasificar cada tipo de residuo.Nowadays, garbage generated in cities are sent to processing plants, where different materials are separated and those that can be reused in the future are selected. This is a complex task due to the increasing amount of material that must be analysed and the variety of elements that we may encounter. In this project, we will look to provide some solutions to different computer vision problems of a recycling plant, where this process is being automated. We will study the usage of different technologies and neural network models to detect and classify several types of wastes

Loop formation in graphitic nanoribbon edges using furnace heating or Joule heating

"Here the authors report the use of either furnace heating or Joule heating to pacify the exposed graphene edges by loop formation in a novel graphitic nanoribbon material, grown by chemical vapor deposition. The edge energy minimization process involves the formation of loops between adjacent graphene layers within the nanoribbons. A comparison is made of the similarities and differences between the loop structures formed using these two methods. An estimation of the temperature of these graphitic nanoribbons during Joule heating is also reported based on the melting and evaporation of Pt nanoparticles.

Propuesta de metodología Lean Seis Sigma en empresas PyMEs: un enfoque participativo con la academia

Este trabajo surge de la necesidad de aportar nuevas alternativas para que las empresas PyMEs mexicanas sean más competitivas. Metodologías como Lean y Seis Sigma han otorgado importantes beneficios a grandes empresas, la primera a través de una reducción gradual de actividades y elementos que no aportan valor a la organización y la segunda como una forma de hacer proyectos que mejoren la calidad y reduzcan costos. Para integrar y adaptar Lean y Seis sigma al entorno de las PyMEs se ha recurrido a una revisión de las mejores prácticas de empresas en otras regiones, logrando con esto una propuesta de aplicación que se da solo con la colaboración de instituciones académicas que aportan los ingredientes del conocimiento y su visión externa para mejorar lo que se hace cotidianamente en las PyMEs. La aplicación inicial de Lean y Seis sigma se hizo en 4 PyMEs del estado Mexicano de Tamaulipas, con ello se presentan resultados cuantitativos y cualitativos que dejan ver la experiencia positiva que se tiene en la vinculación entre las empresas y la universidad

Type 1 diabetes, COVID-19 vaccines and short-term safety: Subgroup analysis from the global COVAD study

AIMS/INTRODUCTION Coronavirus disease 2019 (COVID-19) vaccinations have been proven to be generally safe in healthy populations. However, the data on vaccine safety in patients with type 1 diabetes are scarce. This study aimed to evaluate the frequency and severity of short-term (<7-day) adverse vaccination events (AEs) and their risk factors among type 1 diabetes patients. MATERIALS AND METHODS This study analyzed data from the COVID-19 vaccination in Autoimmune Diseases (COVAD) survey database (May to December 2021; 110 collaborators, 94 countries), comparing <7-day COVID-19 vaccine AE among type 1 diabetes patients and healthy controls (HCs). Descriptive statistics; propensity score matching (1:4) using the variables age, sex and ethnicity; and multivariate analyses were carried out. RESULTS This study analyzed 5,480 completed survey responses. Of all responses, 5,408 were HCs, 72 were type 1 diabetes patients (43 females, 48.0% white European ancestry) and Pfizer was the most administered vaccine (39%). A total of 4,052 (73.9%) respondents had received two vaccine doses. Patients with type 1 diabetes had a comparable risk of injection site pain, minor and major vaccine AEs, as well as associated hospitalizations to HCs. However, type 1 diabetes patients had a higher risk of severe rashes (3% vs 0.4%, OR 8.0, 95% confidence interval 1.7-36), P = 0.007), although reassuringly, these were rare (n = 2 among type 1 diabetes patients). CONCLUSIONS COVID-19 vaccination was safe and well tolerated in patients with type 1 diabetes with similar AE profiles compared with HCs, although severe rashes were more common in type 1 diabetes patients

COVID-19 breakthrough infections in type 1 diabetes mellitus: a cross-sectional study by the COVID-19 Vaccination in Autoimmune Diseases (COVAD) Group

To investigate the frequency, profile, and severity of COVID-19 breakthrough infections (BI) in patients with type I diabetes mellitus (T1DM) compared to healthy controls (HC) after vaccination. The second COVID-19 Vaccination in Autoimmune Diseases (COVAD-2) survey is a multinational cross-sectional electronic survey which has collected data on patients suffering from various autoimmune diseases including T1DM. We performed a subgroup analysis on this cohort to investigate COVID-19 BI characteristics in patients with T1DM. Logistic regression with propensity score matching analysis was performed. A total of 9595 individuals were included in the analysis, with 100 patients having T1DM. Among the fully vaccinated cohort, 16 (16%) T1DM patients had one BI and 2 (2%) had two BIs. No morbidities or deaths were reported, except for one patient who required hospitalization with oxygen without admission to intensive care. The frequency, clinical features, and severity of BIs were not significantly different between T1DM patients and HCs after adjustment for confounding factors. Our study did not show any statistically significant differences in the frequency, symptoms, duration, or critical care requirements between T1DM and HCs after COVID-19 vaccination. Further research is needed to identify factors associated with inadequate vaccine response in patients with BIs, especially in patients with autoimmune diseases