Eksplicitna regulacija sile robotskog manipulatora aktivnim prigušenjem brzine

This paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force sensor located at the end-effector. Also, the structure includes a generalized active velocity damping term in order to have a control of the energy dissipation, and a term used to compensate the gravity forces of the links. The stability analysis is performed in Lyapunov sense. An experimental comparison of two new explicit force regulators and the linear proportional structure, on a three degree-of-freedom, direct-drive robot, is presented. Also, proofs of the most important properties of the Cartesian dynamic model, are presented.Ovaj rad predstavlja novu interakcijsku kontrolnu strukturu koja predstavlja skupinu exsplicitnih regulatora sile za robotske manipulatore. Predložena struktura uključuje član klase funkcija proporcionalnog tipa u smilsu pogreške sile; pogreška sile se definira kao razlika između željene sile i stvarne sile koju mjere senzori postavljeni na kraju manipulatora. Također, struktura uključuje član za generalizirano aktvino prigušenje brzine kako bi se omogućila kontrola disipacije energije i član kojim se kompenzira utjecaj sile gravitacije na članke manipulatora. Analiza stabilnosti je napravljena u smislu Lyapunova. Prikazana je eksperimentalna usporedba dva nova eksplicitna regulatora sile i linearno-proporcionalne strukture na robotu s direktnim pogonom i tri stupnja slobode. Također su prikazani dokazi najvažnijih svojstava kartezijskog dinamičnog modela

Neograničeni regulatori s promijenjivim pojačanjem za upravljanje robotskim manipulatorima s direktnim pogonom

This paper addresses the position-control problem with variable gains for robot manipulators. We present a new regulator based on a hyperbolic-sine structure with tuning rules for control gains. It is demonstrated that the equilibrium point of the closed-loop system is globally, asymptotically stable according to Lyapunov theory. By using a similar methodology, this concept can be extended to other unbounded controllers such as PD and PID. In order to show the usefulness of the proposed scheme and with the purpose of validating its asymptotical stability property, an experimental comparison involving constant gains controllers, for example: simple PD, PID and hyperbolic-tangent schemes vs variable-gains hyperbolic-sine and PD control schemes, was performed by using a three degree-of-freedom, direct-drive robot manipulator.Ovaj rad se bavi problemom kontrole pozicije s promjenjivim pojačanjem robotskog manipulatora. U radu je predstavljen novi regulator baziran na hiperbolično-sinusnoj stukturi s pravilima ugađanja upravljačkih pojačanja. Pokazano je da je točka ravnoteže sustava u zatvorenoj petlji globalno i asimptotski stabilna prema Lzapunovljevoj teoriji stabilnosti. Korištenjem slilčne metodologije, predstavljeni koncept se može primijeniti na ostale neograničene kontrolere, npr. PD i PID. Kako bi pokazali korisnost predložene sheme i s ciljem provjere asimptotske stabilnosti, provedena je eksperimentalna usporedba između kontolera s konstantnim pojačanjem (npr. jednostavni PD, PID i hiperbolični-tangencijalna shema) i hiperbolično-sinusnih i PD upravljačkih shema s promjenjivim pojačanjem korištenjem robotskog manipulatora s direktnim pogonom i tri stupnja slobode

La metodología cualitativa en el área de la salud mental pública: programa, temas y retos

Gegenstand des vorliegenden Beitrags ist die Beschreibung qualitativer Methodologien im öffentlichen Gesundheitswesen, genauer: im Bereich seelischer Gesundheit, wie sie in der medizinischen Fakultät der Universidad Nacional Autónoma de México zum Einsatz kommen. Wir skizzieren hierzu zunächst unsere Lehrerfahrungen (Master- und Doktorarbeiten), um hiervon ausgehend zum einen die Schwierigkeiten zu diskutieren, die Lehrende und Studierende erfahren, wenn sie qualitative Ansätze praktisch im Bereich des Gesundheitswesens einsetzen wollen, und zum anderen die Präferenzen für spezifische Themen auf Seiten der Studierenden näher darzustellen. Vor dem Hintergrund dieser Erfahrungen kommen wir zu dem Schluss, dass die wesentlichste Herausforderung darin besteht, qualitative Forschung niveauvoll und methodisch elaboriert zu betreiben, um sie als akzeptierten Forschungsansatz in diesem Themenfeld etablieren zu können. URN: urn:nbn:de:0114-fqs0801394The primary objective of the present paper is to describe the use of qualitative methodologies in public mental health as practiced by the Faculty of Medicine at the National University Autonomous of Mexico. Starting from describing our teaching experiences with qualitative methodologies at the masters and doctoral levels, this paper also includes a series of reflections and concerns in relation to the difficulties instructors and students have when proposing qualitative approaches to the practice of public mental health and the topics students choose to study. From these reflections we conclude that one of the most important challenges is to develop high quality and rigorous qualitative research in order to establish it as a respected methodological approach in the study of public mental health. URN: urn:nbn:de:0114-fqs0801394Este trabajo tiene por objetivo describir el programa de la materia que sobre metodología cualitativa en el área de salud mental pública se imparte en la Facultad de Medicina de la Universidad Nacional Autónoma de México. Partiendo de la experiencia como docentes, a nivel maestría y doctorado de esta materia, en este documento se incluye también una serie de reflexiones y preocupaciones en torno a las dificultades enfrentadas por maestros y estudiantes al proponer una aproximación diferente, así como los temas que los estudiantes adscritos a este programa abordaron. Finalmente, producto de estas reflexiones, se concluye que uno de los principales desafíos es generar investigación de calidad para que sea una tradición respetada por investigadores e instituciones. URN: urn:nbn:de:0114-fqs080139

Current model systems for the study of preeclampsia

Preeclampsia (PE) is a pregnancy complex disease, distinguished by high blood pressure and proteinuria, diagnosed after the 20th gestation week. Depending on the values of blood pressure, urine protein concentrations, symptomatology, and onset of disease there is a wide range of phenotypes, from mild forms developing predominantly at the end of pregnancy to severe forms developing in the early stage of pregnancy. In the worst cases severe forms of PE could lead to systemic endothelial dysfunction, eclampsia, and maternal and/or fetal death. Worldwide the fetal morbidity and mortality related to PE is calculated to be around 8% of the total pregnancies. PE still being an enigma regarding its etiology and pathophysiology, in general a deficient trophoblast invasion during placentation at first stage of pregnancy, in combination with maternal conditions are accepted as a cause of endothelial dysfunction, inflammatory alterations and appearance of symptoms. Depending on the PE multifactorial origin, several in vitro, in vivo,andin silico models have been used to evaluate the PE pathophysiology as well as to identify or test biomarkers predicting, diagnosing or prognosing the syndrome. This review focuses on the most common models used for the study of PE, including those related to placental development, abnormal trophoblast invasion, uteroplacental ischemia, angiogenesis, oxygen deregulation, and immune response to maternal–fetal interactions. The advances in mathematical and computational modeling of metabolic network behavior, gene prioritization, the protein–protein interaction network, the genetics of PE, and the PE prediction/classification are discussed. Finally, the potential of these models to enable understanding of PE pathogenesis and to evaluate new preventative and therapeutic approaches in the management of PE are also highlighted

Persistence of COVID-19 Symptoms after Recovery in Mexican Population

The severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) is responsible for the coronavirus disease (COVID-19), a highly contagious infectious disease that has caused many deaths worldwide. Despite global efforts, it continues to cause great losses, and leaving multiple unknowns that we must resolve in order to face the pandemic more effectively. One of the questions that has arisen recently is what happens, after recovering from COVID-19. For this reason, the objective of this study is to identify the risk of presenting persistent symptoms in recovered from COVID-19. This case-control study was conducted in one state of Mexico. Initially the data were obtained from the participants, through a questionnaire about symptoms that they had at the moment of the interview. Initially were captured the collected data, to make a dataset. After the pre-processed using the R project tool to eliminate outliers or missing data. Obtained finally a total of 219 participants, 141 recovered and 78 controls. It was used confidence level of 90% and a margin of error of 7%. From results it was obtained that all symptoms have an associated risk in those recovered. The relative risk of the selected symptoms in the recovered patients goes from 3 to 22 times, being infinite for the case of dyspnea, due to the fact that there is no control that presents this symptom at the moment of the interview, followed by the nausea and the anosmia with a RR of 8.5. Therefore, public health strategies must be rethought, to treat or rehabilitate, avoiding chronic problems in patients recovered from COVID-19

Brain atrophy and the risk of futile endovascular reperfusion in acute ischemic stroke

[Background and Purpose]: We aimed to evaluate the impact of brain atrophy on long-term clinical outcome in patients with acute ischemic stroke treated with endovascular therapy, and more specifically, to test whether there are interactions between the degree of atrophy and infarct volume, and between atrophy and age, in determining the risk of futile reperfusion.[Methods]: We studied consecutive patients with acute ischemic stroke with proximal anterior circulation intracranial arterial occlusions treated with endovascular therapy achieving successful arterial recanalization. Brain atrophy was evaluated on baseline computed tomography with the global cortical atrophy scale, and Evans index was calculated to assess subcortical atrophy. Infarct volume was assessed on control computed tomography at 24 hours using the formula for irregular volumes (A×B×C/2). Main outcome variable was futile recanalization, defined by functional dependence (modified Rankin Scale score >2) at 3 months. The predefined interactions of atrophy with age and infarct volume were studied in regression models.[Results]: From 361 consecutive patients with anterior circulation acute ischemic stroke treated with endovascular therapy, 295 met all inclusion criteria. Futile reperfusion was observed in 144 out of 295 (48.8%) patients. Cortical atrophy affecting parieto-occipital and temporal regions was associated with futile recanalization. Total global cortical atrophy score and Evans index were independently associated with futile recanalization in an adjusted logistic regression. Multivariable adjusted regression models disclosed significant interactions between global cortical atrophy score and infarct volume (odds ratio, 1.003 [95%CI, 1.002–1.004], P<0.001) and between global cortical atrophy score and age (odds ratio, 1.001 [95% CI, 1.001–1.002], P<0.001) in determining the risk of futile reperfusion.[Conclusions]: A higher degree of cortical and subcortical brain atrophy is associated with futile endovascular reperfusion in anterior circulation acute ischemic stroke. The impact of brain atrophy on insufficient clinical recovery after endovascular reperfusion appears to be independently amplified by age and by infarct volume.This study has been partially funded by the Spanish Ministry of Science, via FIS projects PI13/02544 and PI16/01396, and through the INVICTUS PLUS research network RD16/0019.Peer reviewe

IL-6 serum levels predict severity and response to tocilizumab in COVID-19: An observational study

Background: Patients with coronavirus disaese 2019 (COVID-19) can develop a cytokine release syndrome that eventually leads to acute respiratory distress syndrome requiring invasive mechanical ventilation (IMV). Because IL-6 is a relevant cytokine in acute respiratory distress syndrome, the blockade of its receptor with tocilizumab (TCZ) could reduce mortality and/or morbidity in severe COVID-19. Objective: We sought to determine whether baseline IL-6 serum levels can predict the need for IMV and the response to TCZ. Methods: A retrospective observational study was performed in hospitalized patients diagnosed with COVID-19. Clinical information and laboratory findings, including IL-6 levels, were collected approximately 3 and 9 days after admission to be matched with preadministration and postadministration of TCZ. Multivariable logistic and linear regressions and survival analysis were performed depending on outcomes: need for IMV, evolution of arterial oxygen tension/fraction of inspired oxygen ratio, or mortality. Results: One hundred forty-six patients were studied, predominantly males (66%); median age was 63 years. Forty-four patients (30%) required IMV, and 58 patients (40%) received treatment with TCZ. IL-6 levels greater than 30 pg/mL was the best predictor for IMV (odds ratio, 7.1; P < .001). Early administration of TCZ was associated with improvement in oxygenation (arterial oxygen tension/fraction of inspired oxygen ratio) in patients with high IL-6 (P = .048). Patients with high IL-6 not treated with TCZ showed high mortality (hazard ratio, 4.6; P = .003), as well as those with low IL-6 treated with TCZ (hazard ratio, 3.6; P = .016). No relevant serious adverse events were observed in TCZ-treated patients. Conclusions: Baseline IL-6 greater than 30 pg/mL predicts IMV requirement in patients with COVID-19 and contributes to establish an adequate indication for TCZ administrationThis study was funded by Spanish Ministry of Economy, Industry and Competitiveness (MINECO) and Instituto de Salud Carlos III (grant nos. RD16/0011/0012 and PI18/ 0371 to I.G.A., grant no. PI19/00549 to A.A., and grant no. SAF2017-82886-R to F.S.-M.) and co-funded by the European Regional Development Fund. The study was also funded by ‘‘La Caixa Banking Foundation’’ (grant no. HR17-00016 to F.S.-M.) and ‘‘Fondos Supera COVID19’’ by Banco de Santander and CRUE. None of these sponsors have had any role in study design; in the collection, analysis, and interpretation of data; in the writing of the report; and in the decision to submit the article for publicatio

Vocabulario de la sociedad civil, la ruralidad y los movimientos sociales en América Latina

El Vocabulario de la Sociedad Civil, la Ruralidad y los Movimientos Sociales en América Latina tiene como objetivo desarrollar vocablos relacionados con temas de gran trascendencia para la vida colectiva de la población Latinoamericana; pretende introducir a estudiantes, personas del ámbito académico y activistas en la comprensión de estas categorías de análisis. A través de la mirada de 70 especialistas que participaron en este vocabulario, es posible comprender muchos de los términos que se utilizan dentro de la investigación social y áreas relacionadas con las ciencias políticas, ambientales y rurales, a partir de una mayor explicación y detalle. Es por ello que se inserta este trabajo desde una mirada colectiva y amplia de los conceptos que se exponen. En este libro podrá encontrar las ideas de varios autores y autoras de distintas universidades, con una visión multi, inter y transdisciplinaria. El esfuerzo que se realizó para conjuntar varios términos y analizar su compleja red de interpretaciones, permitirá que este manuscrito pueda ser consultado por estudiantes, personas del ámbito científico-académico, y ciudadanía; porque contiene el estado del arte, la historia del paulatino avance de múltiples conceptos y su vigencia en el contexto actual

Mis casos clínicos de especialidades odontológicas

Libro que muestra la atención de casos clínicos particulares referente a las diferentes especialidades odontológicasLibro que muestra la atención de casos clínicos particulares referente a las diferentes especialidades odontológicasUniversidad Autónoma de Campeche Universidad Autónoma del Estado de Hidalgo Universidad Autónoma del Estado de Méxic