Workspace Optimization of a Deltoid Robot

[EN] Studies conducted on the Delta robot have reported drawbacks regarding its limited workspace. In this paper, it is proposed a modification in the placement of its actuators, thus becoming what is called the Deltoide robot. With this change, the workspace can greatly increase or decrease. This way, an optimization using genetic algorithms is proposed to find the largest workspace that the robot can have depending on the design variables. Additionally, the general analysis of the forward and inverse kinematics of the Deltoide robot, is explained and implemented in a software specially created for this application.[ES] Los estudios realizados en el robot Delta han reportado inconveniencias con respecto a su limitado espacio de trabajo. Este artículo propone una modificación en la colocación de sus actuadores, convirtiéndose así en lo que se denomina robot Deltoide. Con este cambio, el espacio de trabajo puede aumentar o disminuir considerablemente. De esta manera, se propone una optimización usando algoritmos genéticos para encontrar el mayor espacio de trabajo que el robot puede tener dependiendo de las variables de diseño. Además, se explica e implementa el análisis general de la cinemática directa e inversa del robot Deltoide, en un software creado especialmente para esta aplicación.Gutiérrez-Preciado, A.; González-Palacios, MA.; Aguilera-Cortés, LA.; Mendoza-Patiño, FJ. (2019). Optimización del Espacio de Trabajo de un Robot Deltoide. Revista Iberoamericana de Automática e Informática. 16(2):159-170. https://doi.org/10.4995/riai.2018.8747SWORD15917016

Analytical Modeling for the Bending Resonant Frequency of Multilayered Microresonators with Variable Cross-Section

Multilayered microresonators commonly use sensitive coating or piezoelectric layers for detection of mass and gas. Most of these microresonators have a variable cross-section that complicates the prediction of their fundamental resonant frequency (generally of the bending mode) through conventional analytical models. In this paper, we present an analytical model to estimate the first resonant frequency and deflection curve of single-clamped multilayered microresonators with variable cross-section. The analytical model is obtained using the Rayleigh and Macaulay methods, as well as the Euler-Bernoulli beam theory. Our model is applied to two multilayered microresonators with piezoelectric excitation reported in the literature. Both microresonators are composed by layers of seven different materials. The results of our analytical model agree very well with those obtained from finite element models (FEMs) and experimental data. Our analytical model can be used to determine the suitable dimensions of the microresonator’s layers in order to obtain a microresonator that operates at a resonant frequency necessary for a particular application

Resonant Magnetic Field Sensors Based On MEMS Technology

Microelectromechanical systems (MEMS) technology allows the integration of magnetic field sensors with electronic components, which presents important advantages such as small size, light weight, minimum power consumption, low cost, better sensitivity and high resolution. We present a discussion and review of resonant magnetic field sensors based on MEMS technology. In practice, these sensors exploit the Lorentz force in order to detect external magnetic fields through the displacement of resonant structures, which are measured with optical, capacitive, and piezoresistive sensing techniques. From these, the optical sensing presents immunity to electromagnetic interference (EMI) and reduces the read-out electronic complexity. Moreover, piezoresistive sensing requires an easy fabrication process as well as a standard packaging. A description of the operation mechanisms, advantages and drawbacks of each sensor is considered. MEMS magnetic field sensors are a potential alternative for numerous applications, including the automotive industry, military, medical, telecommunications, oceanographic, spatial, and environment science. In addition, future markets will need the development of several sensors on a single chip for measuring different parameters such as the magnetic field, pressure, temperature and acceleration

CIBERER : Spanish national network for research on rare diseases: A highly productive collaborative initiative

Altres ajuts: Instituto de Salud Carlos III (ISCIII); Ministerio de Ciencia e Innovación.CIBER (Center for Biomedical Network Research; Centro de Investigación Biomédica En Red) is a public national consortium created in 2006 under the umbrella of the Spanish National Institute of Health Carlos III (ISCIII). This innovative research structure comprises 11 different specific areas dedicated to the main public health priorities in the National Health System. CIBERER, the thematic area of CIBER focused on rare diseases (RDs) currently consists of 75 research groups belonging to universities, research centers, and hospitals of the entire country. CIBERER's mission is to be a center prioritizing and favoring collaboration and cooperation between biomedical and clinical research groups, with special emphasis on the aspects of genetic, molecular, biochemical, and cellular research of RDs. This research is the basis for providing new tools for the diagnosis and therapy of low-prevalence diseases, in line with the International Rare Diseases Research Consortium (IRDiRC) objectives, thus favoring translational research between the scientific environment of the laboratory and the clinical setting of health centers. In this article, we intend to review CIBERER's 15-year journey and summarize the main results obtained in terms of internationalization, scientific production, contributions toward the discovery of new therapies and novel genes associated to diseases, cooperation with patients' associations and many other topics related to RD research

Clonal chromosomal mosaicism and loss of chromosome Y in elderly men increase vulnerability for SARS-CoV-2

The pandemic caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2, COVID-19) had an estimated overall case fatality ratio of 1.38% (pre-vaccination), being 53% higher in males and increasing exponentially with age. Among 9578 individuals diagnosed with COVID-19 in the SCOURGE study, we found 133 cases (1.42%) with detectable clonal mosaicism for chromosome alterations (mCA) and 226 males (5.08%) with acquired loss of chromosome Y (LOY). Individuals with clonal mosaic events (mCA and/or LOY) showed a 54% increase in the risk of COVID-19 lethality. LOY is associated with transcriptomic biomarkers of immune dysfunction, pro-coagulation activity and cardiovascular risk. Interferon-induced genes involved in the initial immune response to SARS-CoV-2 are also down-regulated in LOY. Thus, mCA and LOY underlie at least part of the sex-biased severity and mortality of COVID-19 in aging patients. Given its potential therapeutic and prognostic relevance, evaluation of clonal mosaicism should be implemented as biomarker of COVID-19 severity in elderly people. Among 9578 individuals diagnosed with COVID-19 in the SCOURGE study, individuals with clonal mosaic events (clonal mosaicism for chromosome alterations and/or loss of chromosome Y) showed an increased risk of COVID-19 lethality

Evidence of spatial clustering of childhood acute lymphoblastic leukemia cases in Greater Mexico City: report from the Mexican Inter-Institutional Group for the identification of the causes of childhood leukemia

BackgroundA heterogeneous geographic distribution of childhood acute lymphoblastic leukemia (ALL) cases has been described, possibly, related to the presence of different environmental factors. The aim of the present study was to explore the geographical distribution of childhood ALL cases in Greater Mexico City (GMC).MethodsA population-based case-control study was conducted. Children <18 years old, newly diagnosed with ALL and residents of GMC were included. Controls were patients without leukemia recruited from second-level public hospitals, frequency-matched by sex, age, and health institution with the cases. The residence address where the patients lived during the last year before diagnosis (cases) or the interview (controls) was used for geolocation. Kulldorff’s spatial scan statistic was used to detect spatial clusters (SCs). Relative risks (RR), associated p-value and number of cases included for each cluster were obtained.ResultsA total of 1054 cases with ALL were analyzed. Of these, 408 (38.7%) were distributed across eight SCs detected. A relative risk of 1.61 (p<0.0001) was observed for the main cluster. Similar results were noted for the remaining seven ones. Additionally, a proximity between SCs, electrical installations and petrochemical facilities was observed.ConclusionsThe identification of SCs in certain regions of GMC suggest the possible role of environmental factors in the etiology of childhood ALL

Spatiotemporal Characteristics of the Largest HIV-1 CRF02_AG Outbreak in Spain: Evidence for Onward Transmissions

Background and Aim: The circulating recombinant form 02_AG (CRF02_AG) is the predominant clade among the human immunodeficiency virus type-1 (HIV-1) non-Bs with a prevalence of 5.97% (95% Confidence Interval-CI: 5.41–6.57%) across Spain. Our aim was to estimate the levels of regional clustering for CRF02_AG and the spatiotemporal characteristics of the largest CRF02_AG subepidemic in Spain.Methods: We studied 396 CRF02_AG sequences obtained from HIV-1 diagnosed patients during 2000–2014 from 10 autonomous communities of Spain. Phylogenetic analysis was performed on the 391 CRF02_AG sequences along with all globally sampled CRF02_AG sequences (N = 3,302) as references. Phylodynamic and phylogeographic analysis was performed to the largest CRF02_AG monophyletic cluster by a Bayesian method in BEAST v1.8.0 and by reconstructing ancestral states using the criterion of parsimony in Mesquite v3.4, respectively.Results: The HIV-1 CRF02_AG prevalence differed across Spanish autonomous communities we sampled from (p < 0.001). Phylogenetic analysis revealed that 52.7% of the CRF02_AG sequences formed 56 monophyletic clusters, with a range of 2–79 sequences. The CRF02_AG regional dispersal differed across Spain (p = 0.003), as suggested by monophyletic clustering. For the largest monophyletic cluster (subepidemic) (N = 79), 49.4% of the clustered sequences originated from Madrid, while most sequences (51.9%) had been obtained from men having sex with men (MSM). Molecular clock analysis suggested that the origin (tMRCA) of the CRF02_AG subepidemic was in 2002 (median estimate; 95% Highest Posterior Density-HPD interval: 1999–2004). Additionally, we found significant clustering within the CRF02_AG subepidemic according to the ethnic origin.Conclusion: CRF02_AG has been introduced as a result of multiple introductions in Spain, following regional dispersal in several cases. We showed that CRF02_AG transmissions were mostly due to regional dispersal in Spain. The hot-spot for the largest CRF02_AG regional subepidemic in Spain was in Madrid associated with MSM transmission risk group. The existence of subepidemics suggest that several spillovers occurred from Madrid to other areas. CRF02_AG sequences from Hispanics were clustered in a separate subclade suggesting no linkage between the local and Hispanic subepidemics

Los Microacelerómetros en la Actualidad Los Microacelerómetros en la Actualidad

<span style="font-family: Times New Roman; font-size: small;"> </span><p class="MsoNormal" style="margin: 0cm 0cm 0pt; line-height: normal; mso-layout-grid-align: none;"><span style="color: #231f20; font-family: "BookmanOldStyle","serif"; font-size: 7.5pt; mso-bidi-font-family: BookmanOldStyle;">En este trabajo se presenta el estado del arte de las diversas clases de acelerómetros fabricados en la tecnología MEMS (Sistemas Microelectromecánicos). Ésta tecnología permite la existencia de acelerómetros de menor costo, tamaño pequeño, alta sensibilidad y mínimo consumo de potencia con importantes aplicaciones en la industria automotriz, militar y de consumo.</span></p><span style="font-family: Times New Roman; font-size: small;"> </span><br>This paper presents the state of the art of the diverse classes of accelerometers fabricated inMEMS technology (Microelectromechanical Systems). This technology allows the existence of accelerometers at smaller cost and size, high sensitivity and minimum power consumption, with important applications in the automotive, military and of consumer sectors

Base de Datos Antropométricos y Maniquí Parametrizado Base de Datos Antropométricos y Maniquí Parametrizado. Herramientas para Diseño con Criterios Ergonómicos

Today, Mexico faces a serious shortage of well-validated anthropometrics information; this has a strong bearing on the way labor elements are designed. The lack of reliable information impedes an adequate man-machine dimensional match, a factor that favors excessive fatigue, which in turn might result in serious damage to workers’ health. An initial logical step towards solving this problem is the gathering of anthropometrics information directly obtained from the Mexican working population. This report stems from a functional, anthropometrics study, that involved a sample of 509 male subjects, drawn from the working population in the shoemaking industry, at the city of Leon, Guanajuato. Thirty-seven anthropometrics, sociological and demographic features were measured or as sessed. The information so gathered was built into a database, which was in turn used as a base for the construction of a computerized mannequin. In generating this tool, a parametric method was applied using the standing height as the basic parameter. Both database and mannequin are meant as sources of guidance and help for designers. Relevant and properly validated information will be presented in a way that facilitates its consulting and handling. This, in turn will allow designers to create machines, tools and workspaces that incorporate ergonomic criteria.<br>En México es notoria la escasez de información antropométrica adecuadamente validada. Esta carencia repercute de forma directa en el diseño de los elementos de trabajo. El no contar con la información que permita establecer una adecuada relación dimensional hombre-máquina, favorece una situación en la cual el trabajador tiendea presentar fatiga excesiva, que puede finalmente desembocar en problemas de salud serios. El primer paso en la solución de este problema, es el contar con información sobre la antropometría de la población trabajadora de México. Este reporte tiene como base un estudio antropométrico-funcional, en el que se consideró a la población de trabajadores de la industria del calzado de la ciudad de León, Guanajuato. De esta población se obtuvo una muestra representativa de 509 sujetos del sexo masculino, en quienes se evaluaron un total de 37 características antropométricas y socio-demográficas. La información dimensional recabada se organizó en una base de datos, que se utilizó subsecuentemente para el desarrollo de un maniquí parametrizado. Con el propósito de presentar un modelo del cuerpo humano en el que se puedan variar las dimensiones y alcances con respecto a un parámetro deentrada, el maniquí se diseñó tomando la estatura en posición de pie como valor base. La base de datos antropométricos y el maniquí parametrizado son contribuciones importantes para la labor de los diseñadores. Estos elementos proporcionarán información relevante y validada, presentada visualmente en un formato que facilite su consulta. Esto permitirá diseñar, aplicando criterios ergonómicos, la maquinaria, equipos y espacios de trabajo. Los códigos de los programas desarrollados tanto para la base de datos como para el maniquí pueden obtenerse mediante comunicación con los autores