Test bed for applications of heterogeneous unmanned vehicles

Abstract This article addresses the development and implementation of a test bed for applications of heterogeneous unmanned vehicle systems. The test bed consists of unmanned aerial vehicles (Parrot AR.Drones versions 1 or 2, Parrot SA, Paris, France, and Bebop Drones 1.0 and 2.0, Parrot SA, Paris, France), ground vehicles (WowWee Rovio, WowWee Group Limited, Hong Kong, China), and the motion capture systems VICON and OptiTrack. Such test bed allows the user to choose between two different options of development environments, to perform aerial and ground vehicles applications. On the one hand, it is possible to select an environment based on the VICON system and LabVIEW (National Instruments) or robotics operating system platforms, which make use the Parrot AR.Drone software development kit or the Bebop_autonomy Driver to communicate with the unmanned vehicles. On the other hand, it is possible to employ a platform that uses the OptiTrack system and that allows users to develop their own applications, replacing AR.Drone’s original firmware with original code. We have developed four experimental setups to illustrate the use of the Parrot software development kit, the Bebop Driver (AutonomyLab, Simon Fraser University, British Columbia, Canada), and the original firmware replacement for performing a strategy that involves both ground and aerial vehicle tracking. Finally, in order to illustrate the effectiveness of the developed test bed for the implementation of advanced controllers, we present experimental results of the implementation of three consensus algorithms: static, adaptive, and neural network, in order to accomplish that a team of multiagents systems move together to track a target. Keywords Test bed, heterogeneous vehicles, laboratory environment

Impact of COVID-19 pandemic in surgical training of Junior Residents in general surgery

Background: The pandemic caused by SARS-CoV2 has had a huge impact on our health system. Due to both cancellation of elective surgery and restructuring in departments at most medical centers, surgical residents face a potential training deficit in their specialty. This study aims to objectively analyze and quantify the impact of the pandemic on the surgical activity of residents, in the setting of emergency and elective surgery, to assess whether this period has really supposed a training deficit. Material and methods: A descriptive analysis is proposed, comparing the number of procedures performed by residents of our department during the year prior to the pandemic and during the pandemic, clustering them into different subgroups. Results: The results give an optimistic outlook. In the first place, in elective surgery, despite the lower procedures performed in absolute numbers, the proportional participation of residents in the scheduled surgeries increased in all the subgroups analyzed, finding statistically significant differences and finally approaching the total number of procedures in both periods, without relevant differences in the comparison. As for emergency surgery, residents also increased their proportional participation in most subgroups, in this case reaching more total procedures, even in absolute numbers. Conclusion: Therefore, the results seem to indicate that the teaching effort made by staff surgeons of the department has managed to palliate, in most of the subgroups analyzed, the decrease in surgical activity that the pandemic has produced, so, at least in the area of surgical practice, the impact of the pandemic has probably been reduced comparing to previous expectations

Mariposas de otras tierras – El arte como vehículo

Taken as a starting point and axis of reflection some input from teachers Manuel F Garcia, Mateo Salazar Uribe and Cristian Pulido Melo. Analyzed the problem of inclusion to people with disabilities in university programs through the arts. We first present the need for ambitious projects on social inclusion and the rights to equality, and then we propose art (in this case the theater), as a vehicle to do it, and finally we conclude with the university without condition and the contribution that we as teachers make from it: in shaping person, citizen and world.Tomando como punto de partida y eje de la reflexión algunos aportes de los maestros Manuel F García García, Cristian Pulido Melo y Mateo Salazar Uribe, se analiza la problemática de ¨la inclusión¨ de personas en situación de discapacidad dentro de los programas universitarios, a través de las artes. Primero, presentamos la necesidad de realizar proyectos ambiciosos sobre la inclusión social y los derechos a la igualdad, luego planteamos el arte (en este caso el teatro) como vehículo para llegar a ello y finalmente concluimos con el tema de la universidad sin condición y el aporte que hacemos como docentes en la conformación de persona, ciudadano y mundo

CARACTERIZACIÓN OLFATOMÉTRICA Y SENSORIAL DE LOS COMPUESTOS RESPONSABLES DE AROMA EN EL LICOR DE MANZANA DE TENANGO DEL VALLE, ESTADO DE MÉXICO

En contraste, otros licores son menos conocidos al exterior, pero al interior de las comunidades donde se producen, son parte importante no sólo de la actividad económica, sino también de la identificación social y cultural de los habitantes por su comunidad. Además, son elaborados de manera artesanal, lo que hace que tengan un valor agregado al ser diferentes a aquéllos que se encuentran disponibles en el mercado, siendo así un atractivo para los visitantes. El mismo trabajo, evidenció que, específicamente en el municipio de Tenango del Valle, se produce un licor de manzana desde 1907 siguiendo una receta familiar. Se trata de una labor familiar pero que también genera empleo en la comunidad donde se elaboran. Los involucrados se encargan desde reunir las manzanas de los cerros locales hasta que el producto final se deposita para ser añejado dentro de barricas de roble blanco. Con respecto a este punto, algunas de las barricas usadas en este proceso provienen del estado de Zacatecas y otras, según reportó la familia productora, de la antigua fábrica del refresco de manzana que existió en la ciudad de Toluca. Las barricas que se usaron en 1907 son las mismas que se utilizan actualmente. Las barricas se reparan con un mes de anticipación al inicio de la producción: se llenan de agua para que la madera se hinche, se lavan con agua y asiento del vinagre de manzana al que llaman “madre”. Para finalizar con la reparación, se utiliza martillo y un cincel especial para ajustarlas y las posibles fisuras se tapan con brea o cera de cebo.En el trabajo de campo del proyecto de investigación “Estudio sobre la aceptación y preferencia de licores de naranja artesanales producidos en el Valle de Toluca” – PROMEP FE19/2009(103.5/09/4195), se detectó que entre los licores de fruta, aquél de naranja del municipio de Toluca se produce de manera semi-industrial y es uno de los más conocidos dentro y fuera del mismo vall

Effect of lactic acid bacteria on the textural properties of an edible film based on whey, inulin and gelatin

This study was aimed to evaluate the effects of different components and the addition of probiotic bacteria of lactic acid bacteria (LAB, Lactobacillus casei) on the physicochemical and textural characteristics of edible films using a response surface Box-Behnken design. The edible films were made of the following components: Whey (8%), glycerol (6%), inulin (0 to 4%), gelatin (2 to 5%) and probiotics (0 to 2%). The addition of LAB significantly affected the pH, viscosity, luminosity, hardness and Young's modulus of the films. However, all formulations presented physicochemical and textural characteristics suitable for the survival of lactic acid bacteria during storage. Formulas 10 and 3 with a composition of 2% inulin, 3.5% gelatin and 1% probiotic, demonstrated higher responses to pH, viscosity, luminosity, hardness and Young's modulus, whereas formulas 14 and 12 exhibited lower responses to the above-mentioned features but proved the most resilient. Therefore, edible films with added probiotic bacteria could be applied to a variety of foods and to increase consumer choice.Keywords: Edible film, lactic acid bacteria, inulin, gelatin, wheyAfrican Journal of Biotechnology Vol. 12(19), pp. 2659-266

Fundamental Analysis of the Perturbation Rejection Characteristics of Single-Input-Multiple-Output Systems Subject to Multiple Perturbations

Single-Input-Multiple-Output (SIMO) systems are found in several applications. Some of the main concerns are (1) the possibility of stabilizing all the outputs and (2) the possibility of attaining independent tracking control of all the outputs. Whereas the first issue can be easily be elucidated, the second has proven to be impossible in all but a few systems. In many cases one practical option is to use the input to drive a main output, taking care that the behavior of the remaining secondary outputs is acceptable. In this configuration, in addition to the features of the main control loop, the perturbation rejection properties of the secondary outputs become important. This article analyzes the structural properties, stability, and perturbation rejection characteristics of SIMO systems. The article presents fundamental conclusions regarding the relationship of the main control loop and the perturbation rejection characteristics of the secondary outputs. A simple and intuitive example is used to show how the theoretical findings can be used to improve the design of the main control loop through its frequency domain characteristics. The results are developed using simple frequency domain theoretical elements, making the findings relevant for both engineering applications and deriving further theoretical developments

Detection, counting, and classification of visual ganglia columns of drosophila pupae

Many neurobiologists use the fruit fly (Drosophila) as a model to study neuron interaction and neuron organization and then extrapolate this knowledge to the nature of human neurological disorders. Recently, the fluorescence microscopy images of fruit-fly neurons are commonly used, because of the high contrast. However, the detection of the neurons or cells is compromised by background signals, generating fuzzy boundaries. As a result, it is still common that in many laboratories, the detection, counting, and analysis of this microscope imagery is still a manual task. An automated detection, counting, and morphological analysis of these images can provide faster data processing and easier access to new information. The main objective of this work is to present a semi-automatic detection-counting system and give the main characteristics of images of the visual ganglia columns in Drosophila. We present the semi-automatic detection, count, segmentation and we concluded that it is possible to obtain an accuracy of 75% (with a Kappa statistic of 0.50) in the shape classification. Additionally, we develop python GUI CC Analyzer which can be used by neurobiology laboratories whose research interests are focused on this topic.Peer ReviewedPostprint (published version

The Interpretation and application of the law with a gender perspective in Spain: challenges and outstanding issues

This work, situated within the Spanish legal context, presents a reflection upon the need to apply and interpret the law bearing in mind the mandate of the gender perspective contained in national and international legislation. In spite of the significant advances, in questions of gender equality, evidenced by the Spanish legal system in recent decades, these have not led to real, effective equality. In the spheres of both private and public law, this task should be prioritised and undertaken in transversal fashion by all legal operators, judges in particular. Without this commitment, the guarantee of women’s human rights will continue to be hindered by the shortcomings of an androcentric legal culture that perpetuates structural discrimination against women

Evaluation of physicochemical, functional and textural properties of rainbow trout (Oncorhynchus mykiss) stored at low temperatures

The physicochemical and functional behaviour of rainbow trout stored at 4 and -20°C for nine days and six months, respectively, were investigated. The combined effect of proteolytic activity and physicochemical changes in the muscle (pH, solubility and proteolytic activity) altered the molecular structure of the proteins. SDS-PAGE showed the degradation of myosin and the formation of peptides of low molecular weight, causing an increase in solubility, which is correlated with changes in the functional properties of meat (water retention, capacity of emulsification and ability of gelling). In a gel obtained from the stored samples, the solubility had an effect on the distribution of the water gel, and significant differences (P<0.05) in colour and texture parameters were observed during storage. Regarding correlation analysis, during cooling, all variables studied were dependent on each other, however, in freezing, the correlation diminished in variables such as hardness, solubility and CRA. Surplus meat of trout according to the time of cold storage, can be incorporated into technological processes up to two days at a storage temperature of 4°C and three months at - 20°C, thus could contribute to the functional and textural properties of commercial meat products, generating a value liked trout producers. After this time of storage, the trout flesh can be consumed in the conventional way.Keywords: Rainbow trout, refrigeration, freezing, texture.African Journal of Biotechnology Vol. 12(32), pp. 5087-509

Partial typification of artisanal sausages in Toluca City: Green chorizo

Chorizo verde is a traditional sausage that forms part of the culinary heritage from the Valle de Toluca, however its morphologic and physicochemical basic characteristics are unknown. The aim of this study was to analyze some morphological (caliber and length) and physicochemical (pH, aw, L * a * b *) parameters of this traditional sausage, through samples obtained from 14 establishments, including: traditional markets (n=8), establishments specializing in the sale of traditional meat products (n =3) and supermarkets (n=3) in Toluca city. It was found that caliber, aw, and L * and b * not showed significant difference among the sausages analyzed (P>0.05). However, the length, pH and a* showed a significant difference (P<0.05) with respect to the type of establishment where it was offered. The green chorizo that is sold in the city of Toluca has features well-defined: length (9.81 cm), caliber (35.6 mm), aw (0.94), pH (4.7), besides L * (46.12), a * (- 8.32) and b * (16.24) that makes of this traditional meat product a food that should be characterized integrally