Entorno virtual para tareas de manipulación y agarre con un brazo robótico asistencial

En la actualidad se han desarrollado multitud de tecnologías asistenciales que permiten a las personas que poseen algún tipo de discapacidad realizar actividades que no pueden realizar de manera autónoma. Este trabajo se centrará en las tecnologías relacionadas con la robótica asistencial. Con este proyecto se pretende dar asistencia en actividades de la vida diaria, tales como el agarre y manipulación de objetos, para su uso por parte de personas con amputación de miembro superior, ya que es una tarea que se realiza de manera continuada para ejecutar múltiples cometidos. El control utilizado para dirigir los movimientos del robot será un control mediante señales mioeléctricas. Este método está basado en acciones de control gobernadas por contracciones musculares. Este tipo de control requiere de un entrenamiento para dominar el sistema de manera óptima. Para este entrenamiento se ha diseñado un entorno virtual. Este entorno virtual será ambientado como un entorno doméstico con el objetivo de aumentar la sensación de inmersión por parte del usuario. En dicho entorno se dispone de un brazo robótico asistencial el cuál posee cuatro grados de libertad, debido al movimiento de tres articulaciones prismáticas y al agarre de la pinza que se encuentra en su efector final. En este entorno encontraremos distintos objetos los cuales el usuario tendrá la posibilidad de manipular. Además, se han implementado distintos modos con el objetivo de obtener diferentes maneras de control del robot, cada una de las cuales poseen un grado de autonomía diferente por parte del robot. Finalmente, con el objetivo de evaluar el funcionamiento del sistema de control mioeléctrico en el entorno virtual, se han realizado ensayos con distintos usuarios en los que se han analizado distintos parámetros, así como las experiencias de los sujetos. A partir de estos datos se han obtenido varias conclusiones que nos permiten valorar el sistema

Gestión de compras y toma de decisiones en la Cooperativa Agraria Perú, Chupaca, Junín, 2022

La presente investigación tuvo por objetivo, determinar la relación entre la gestión de compras y la toma de decisiones en la Cooperativa Agraria Perú, Chupaca, Junín, 2022. La metodología utilizada fue de enfoque cuantitativo, de tipo básica orientada, de diseño no experimental de corte transversal y de nivel correlacional. La población estuvo conformada los 25 socios que conforman la Asamblea General de la Cooperativa. Los resultados obtenidos demostraron que el 60.0% de los encuestados manifestaron que la gestión de compra se encuentra en un nivel regular; mientras que, el 52.0% percibieron que la toma de decisiones se encuentra en un nivel regular. En tanto, el coeficiente de correlación de Spearman fue de 0,947 con una sig. bilateral de 0,000. Se concluye que existe relación positiva alta entre la gestión de compras y la toma de decisiones en la Cooperativa Agraria Perú, Chupaca, Junín, 2022; obteniendo una correlación positiva muy alta

A Comparison of Myoelectric Control Modes for an Assistive Robotic Virtual Platform

In this paper, we propose a daily living situation where objects in a kitchen can be grasped and stored in specific containers using a virtual robot arm operated by different myoelectric control modes. The main goal of this study is to prove the feasibility of providing virtual environments controlled through surface electromyography that can be used for the future training of people using prosthetics or with upper limb motor impairments. We propose that simple control algorithms can be a more natural and robust way to interact with prostheses and assistive robotics in general than complex multipurpose machine learning approaches. Additionally, we discuss the advantages and disadvantages of adding intelligence to the setup to automatically assist grasping activities. The results show very good performance across all participants who share similar opinions regarding the execution of each of the proposed control modes

Uma reflexão sobre o currículo em espaços formais e não formais de ensino nas trilhas do multiculturalismo presente no Ciclo do Marabaixo

O artigo promove uma reflexão a respeito do currículo e as relações dos saberes multiculturais presentes no Ciclo do Marabaixo, e a prática desses conhecimentos em espaços formais e não formais de ensino. Os estudos são pautados em Candau (2010, 2012), Munanga (2005), Jacobucci (2008), Hall (2014, 2015), Silva (1999, 2014), Moreira (1999) Lopes e Macedo (2011), e entre outros. A pesquisa enquadra-se como etnográfica e tem caráter qualitativo, descritivo e documental. Considerou-se a análise descritiva, como suporte teórico para a análise dos dados. Usa-se como técnicas de coleta de dados: observação participante, entrevista semiestruturada e diário de campo. Os participantes foram: alunos do ensino médio integrado dos Cursos Técnico do Instituto Federal do Amapá- Campus Santana; professores de história, artes, sociologia; e membros da Associação Cultural Berço das Tradições Amapaenses- Marabaixo da Favela: Barracão Tia Gertrudes. Os estudos apontaram que o currículo é um dispositivo de poder, onde saberes, identidades e culturas são incluídas ou excluídas do processo educacional em espaços formais de ensino. Outro aspecto revelado, foi a potência e a importância dos espaços não formais de ensino como as associações culturais, no que diz respeito à conscientização e à valorização dos saberes multiculturais presentes na cultura popular; em especial o Ciclo do Marabaixo que acontece no estado do Amapá

Measurement and PC-SAFT modeling of solid-liquid equilibrium of deep eutectic solvents of quaternary ammonium chlorides and carboxylic acids

In this study the solid-liquid equilibria (SLE) of 15 binary mixtures composed of one of three different symmetrical quaternary ammonium chlorides and one of five different fatty acids were measured. The experimental data obtained showed extreme negative deviations to ideality causing large melting-temperature depressions (up to 300 K) that are characteristic for deep eutectic systems. The experimental data revealed that cross-interactions between quaternary ammonium salt and fatty acid increase with increasing alkyl chain length of the quaternary ammonium chloride and with increasing chain length of the carboxylic acid. The pronounced decrease of melting temperatures in these deep eutectic systems is mainly caused by strong hydrogen-bonding interactions, and thermodynamic modeling required an approach that takes hydrogen bonding into account. Thus, the measured phase diagrams were modeled with perturbed-chain statistical associating fluid theory based on the classical molecular homonuclear approach. The model showed very good agreement with the experimental data using a semi-predictive modeling approach, in which binary interaction parameters between quaternary ammonium chloride and carboxylic acid correlated with chain length of the components. This supports the experimental findings on the phase behavior and interactions present in these systems and it allows estimating eutectic points of such highly non-ideal mixtures.This work was developed in the scope of the project CICECO e Aveiro Institute of Materials, POCI-01-0145-FEDER-007679 (Ref. FCT UID/CTM/50011/2013) and LSRE-LCM, POCI-01-0145- FEDER-006984jUID/EQU/50020/2013, financed by national funds through the FCT/MEC and when appropriate co-financed by FEDER under the PT2020 Partnership Agreement. M.A.R.M acknowledges FCT for her PhD grant (SFRH/BD/87084/2012). FCT is also acknowledged for funding the project DeepBiorefinery (PTDC/AGRTEC/ 1191/2014). P.V.A.P., G.J.M., M.D.H. and E.A.C.B thank the national funding agencies CNPq (National Council for Scientific and Technological Development) (305870/2014-9, 309780/2014, 406856/2013-3), FAPESP (Research Support Foundation of the State of S~ao Paulo) (2014/21252-0, 2016/08566-1), FAEPEX/UNICAMP (Fund for Research, Teaching, and Extension) (0125/16) and CAPES (Coordination of Improvement of Higher Level Personnel) for financial support and scholarships. E.A.C thanks Erasmusþ program of the European Union for co-funding.info:eu-repo/semantics/publishedVersio

Les droits disciplinaires des fonctions publiques : « unification », « harmonisation » ou « distanciation ». A propos de la loi du 26 avril 2016 relative à la déontologie et aux droits et obligations des fonctionnaires

The production of tt‾ , W+bb‾ and W+cc‾ is studied in the forward region of proton–proton collisions collected at a centre-of-mass energy of 8 TeV by the LHCb experiment, corresponding to an integrated luminosity of 1.98±0.02 fb−1 . The W bosons are reconstructed in the decays W→ℓν , where ℓ denotes muon or electron, while the b and c quarks are reconstructed as jets. All measured cross-sections are in agreement with next-to-leading-order Standard Model predictions.The production of $t\overline{t}$, $W+b\overline{b}$ and $W+c\overline{c}$ is studied in the forward region of proton-proton collisions collected at a centre-of-mass energy of 8 TeV by the LHCb experiment, corresponding to an integrated luminosity of 1.98 $\pm$ 0.02 \mbox{fb}^{-1}. The $W$ bosons are reconstructed in the decays $W\rightarrow\ell\nu$, where $\ell$ denotes muon or electron, while the $b$ and $c$ quarks are reconstructed as jets. All measured cross-sections are in agreement with next-to-leading-order Standard Model predictions

Multidifferential study of identified charged hadron distributions in ZZ-tagged jets in proton-proton collisions at s=\sqrt{s}=13 TeV

Jet fragmentation functions are measured for the first time in proton-proton collisions for charged pions, kaons, and protons within jets recoiling against a $Z$ boson. The charged-hadron distributions are studied longitudinally and transversely to the jet direction for jets with transverse momentum 20 $< p_{\textrm{T}} < 100$ GeV and in the pseudorapidity range $2.5 < \eta < 4$. The data sample was collected with the LHCb experiment at a center-of-mass energy of 13 TeV, corresponding to an integrated luminosity of 1.64 fb$^{-1}$. Triple differential distributions as a function of the hadron longitudinal momentum fraction, hadron transverse momentum, and jet transverse momentum are also measured for the first time. This helps constrain transverse-momentum-dependent fragmentation functions. Differences in the shapes and magnitudes of the measured distributions for the different hadron species provide insights into the hadronization process for jets predominantly initiated by light quarks.Comment: All figures and tables, along with machine-readable versions and any supplementary material and additional information, are available at https://cern.ch/lhcbproject/Publications/p/LHCb-PAPER-2022-013.html (LHCb public pages

Study of the B−→Λc+Λˉc−K−B^{-} \to \Lambda_{c}^{+} \bar{\Lambda}_{c}^{-} K^{-} decay

The decay $B^{-} \to \Lambda_{c}^{+} \bar{\Lambda}_{c}^{-} K^{-}$ is studied in proton-proton collisions at a center-of-mass energy of $\sqrt{s}=13$ TeV using data corresponding to an integrated luminosity of 5 $\mathrm{fb}^{-1}$ collected by the LHCb experiment. In the $\Lambda_{c}^+ K^{-}$ system, the $\Xi_{c}(2930)^{0}$ state observed at the BaBar and Belle experiments is resolved into two narrower states, $\Xi_{c}(2923)^{0}$ and $\Xi_{c}(2939)^{0}$, whose masses and widths are measured to be $$m(\Xi_{c}(2923)^{0}) = 2924.5 \pm 0.4 \pm 1.1 \,\mathrm{MeV}, \\ m(\Xi_{c}(2939)^{0}) = 2938.5 \pm 0.9 \pm 2.3 \,\mathrm{MeV}, \\ \Gamma(\Xi_{c}(2923)^{0}) = \phantom{000}4.8 \pm 0.9 \pm 1.5 \,\mathrm{MeV},\\ \Gamma(\Xi_{c}(2939)^{0}) = \phantom{00}11.0 \pm 1.9 \pm 7.5 \,\mathrm{MeV},$$ where the first uncertainties are statistical and the second systematic. The results are consistent with a previous LHCb measurement using a prompt $\Lambda_{c}^{+} K^{-}$ sample. Evidence of a new $\Xi_{c}(2880)^{0}$ state is found with a local significance of $3.8\,\sigma$, whose mass and width are measured to be $2881.8 \pm 3.1 \pm 8.5\,\mathrm{MeV}$ and $12.4 \pm 5.3 \pm 5.8 \,\mathrm{MeV}$, respectively. In addition, evidence of a new decay mode $\Xi_{c}(2790)^{0} \to \Lambda_{c}^{+} K^{-}$ is found with a significance of $3.7\,\sigma$. The relative branching fraction of $B^{-} \to \Lambda_{c}^{+} \bar{\Lambda}_{c}^{-} K^{-}$ with respect to the $B^{-} \to D^{+} D^{-} K^{-}$ decay is measured to be $2.36 \pm 0.11 \pm 0.22 \pm 0.25$, where the first uncertainty is statistical, the second systematic and the third originates from the branching fractions of charm hadron decays.Comment: All figures and tables, along with any supplementary material and additional information, are available at https://cern.ch/lhcbproject/Publications/p/LHCb-PAPER-2022-028.html (LHCb public pages

Measurement of the ratios of branching fractions R(D∗)\mathcal{R}(D^{*}) and R(D0)\mathcal{R}(D^{0})

The ratios of branching fractions $\mathcal{R}(D^{*})\equiv\mathcal{B}(\bar{B}\to D^{*}\tau^{-}\bar{\nu}_{\tau})/\mathcal{B}(\bar{B}\to D^{*}\mu^{-}\bar{\nu}_{\mu})$ and $\mathcal{R}(D^{0})\equiv\mathcal{B}(B^{-}\to D^{0}\tau^{-}\bar{\nu}_{\tau})/\mathcal{B}(B^{-}\to D^{0}\mu^{-}\bar{\nu}_{\mu})$ are measured, assuming isospin symmetry, using a sample of proton-proton collision data corresponding to 3.0 fb${ }^{-1}$ of integrated luminosity recorded by the LHCb experiment during 2011 and 2012. The tau lepton is identified in the decay mode $\tau^{-}\to\mu^{-}\nu_{\tau}\bar{\nu}_{\mu}$. The measured values are $\mathcal{R}(D^{*})=0.281\pm0.018\pm0.024$ and $\mathcal{R}(D^{0})=0.441\pm0.060\pm0.066$, where the first uncertainty is statistical and the second is systematic. The correlation between these measurements is $\rho=-0.43$. Results are consistent with the current average of these quantities and are at a combined 1.9 standard deviations from the predictions based on lepton flavor universality in the Standard Model.Comment: All figures and tables, along with any supplementary material and additional information, are available at https://cern.ch/lhcbproject/Publications/p/LHCb-PAPER-2022-039.html (LHCb public pages