Diseño de un robot antropomórfico de propósito general

En este documento de consigna el proceso de ingeniería inversa realizado al brazo robótico Kawazaki RS03N existente en los laboratorios de mecatrónica, de la Universidad Tecnológica de Pereira. Se describe el proceso de desarrollo de cada una de las partes del robot, con la ayuda de un software CAD y como este permite la obtención de los parámetros necesarios para el análisis tanto cinemático como dinámico el sistema. Se determina la cinemática directa del robot a través del método Denavit-Hartenberg, para con la ayuda del robotics toolbox de matlab realizar el estudio dinámico del sistema. Finalmente se desarrolla una interfaz de interacción con el robot ,con la ayuda de una GUI, que permitirá una interacción sencilla con el brazo robótico

Evaluación de proyectos de inversión para el desarrollo local en municipios rurales. Hacia un enfoque integrado

Ante la aplicación estrictamente economicista que impera en las técnicas de evaluación de proyectos de inversión cuando se requiere analizar la viabilidad de las iniciativas de desarrollo en municipios rurales, se propone un enfoque que recupere las diferentes perspectivas de la evaluación en su énfasis social y económico que, para el espacio municipal, requiere ubicar de forma participativa los impactos e intereses de los distintos actores relevantes del proyecto y que el gobierno municipal adquiera un papel prominente para obtener una evaluación centrada en el desarrollo local. Con referencia a dos casos (en los municipios de Cunduacán, Tabasco, y Eduardo Neri, Guerrero), se elaboran algunos lineamientos para desarrollar un enfoque de evaluación integrado como método para el análisis de proyectos de inversión en municipios rurales.This job criticizes a strict economic application which is the most useful investment project evaluation techniques when someone wants to analyze rural municipality local growth viability. To face up to this, he suggests an approach including all of the different perspectives of evaluation in social and economic ways, which municipality requires to see impacts and interests of all of the relevant actors of the project where the local government acquires a main roll to make an evaluation of local growth basis. With reference to two cases (municipalities of: Cunduacan in the Tabasco State and Eduardo Neri in the Guerrero State), he elaborates some guidelines to develop an evaluation integrated approach to build it as a method for the analysis of investment projects to rural municipality local growth

Planning manipulation movements of a dual-arm system considering obstacle removing

The paper deals with the problem of planning movements of two hand-arm robotic systems, considering the possibility of using the robot hands to remove potential obstacles in order to obtain a free access to grasp a desired object. The approach is based on a variation of a Probabilistic Road Map that does not rule out the samples implying collisions with removable objects but instead classifies them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the work-space to make the path actually valid; we call it Probabilistic Road Map with Obstacles (PRMwO). The proposed system includes a task assignment system that distributes the task among the robots, using for that purpose a precedence graph built from the results of the PRMwO. The approach has been implemented for a real dual-arm robotic system, and some simulated and real running examples are presented in the paper. (C) 2014 Elsevier B.V. All rights reserved.Postprint (published version

INSTITUTIONS INFLUENCE PREFERENCES: EVIDENCE FROM A COMMON POOL RESOURCE EXPERIMENT

We model the dynamic effects of external enforcement on the exploitation of a common pool resource. Fitting our model to the results of experimental data we find that institutions influence social preferences. We solve two puzzles in the data: the increase and later erosion of cooperation when commoners vote against the imposition of a fine, and the high deterrence power of low fines. When fines are rejected, internalization of a social norm explains the increased cooperation; violations (accidental or not), coupled with reciprocal preferences, account for the erosion. Low fines stabilize cooperation by preventing a spiral of negative reciprocation.Field experiments, common pool resources, cooperation, enforcement, regulation, social preferences, social norms, learning models

Theories of the evolution of cooperative behaviour: A critical survey plus some new results

Gratuitous cooperation (in favour of non-relatives and without repeated interaction) eludes traditional evolutionary explanations. In this paper we survey the various theories of cooperative behaviour, and we describe our own effort to integrate these theories into a self-contained framework. Our main conclusions are as follows. First: altruistic punishment, conformism and gratuitous cooperation co-evolve, and group selection is a necessary ingredient for the co-evolution to take place. Second: people do not cooperate by mistake, as most theories imply; on the contrary, people knowingly sacrifice themselves for others. Third: in cooperative dilemmas conformism is an expression of preference, not a learning rule. Fourth, group-mutations (e.g., the rare emergence of a charismatic leader that brings order to the group) are necessary to sustain cooperation in the long run.Cooperation; altruism; altruistic punishment; conformism; group-selection

CFD modelling of the ammonia vapour absorption in a tubular bubble absorber with NH3/LiNO3

The absorber is a key component of absorption cooling systems, and its further development is essential to reduce the size and costs and facilitate the diffusion of absorption cooling systems. Computational fluid dynamics (CFD) can facilitate the characterization of the equipment used in absorption cooling systems at lower costs and complexity, but they must be properly developed and validated to provide reliability. This study provides a detailed description and assessment of a 3D CFD bubble absorber model developed to simulate the absorption process in a vertical double pipe with the NH3/LiNO3 solution. It includes a comprehensive methodology to develop the CFD model and its validation considering the effect of the solution flow and the cooling water temperature on absorber performance parameters such as the absorption mass flux and the solution heat transfer coefficient. The results show that the ‘Volume of Fluid model’ and the ‘Realizable k-epsilon model’ provide the lowest residuals and computational times in the simulations while a good correspondence between the CFD model and the experimental data with errors below 10% and 7% for the absorption mass flux and solution heat transfer coefficient, respectively, was obtained. The maximum absorption rate and heat transfer coefficient were 0.00441 kg m−2 s−1 and 786 W m−2 K−1, respectively

Factores que influyen en el consumo de Levonorgestrel como método anticonceptivo de emergencia en adolescentes

Objetivo: Identificar los factores que influyen en el consumo de Levonorgestrel (LNG) como Método Anticonceptivo de Emergencia (AOE) en adolescentes. Materiales y Métodos: Se realizó un estudio observacional, analítico, transversal, evaluando a 264 adolescentes estudiantes de nivel secundario y universitario de la ciudad de Trujillo en el periodo Junio-Julio 2019. Se realizó el cálculo de prevalencia de consumo de LNG entre las adolescentes y mediante un análisis de regresión multivariado se calculó el Odds ratio y el intervalo de confianza de cada factor estudiado que influya en el consumo adolescente de LNG como AOE. Resultados: De un total de 418 adolescentes entre 15-19 años incluidos en el estudio, se seleccionaron 264 aleatoriamente y se encontró que la edad promedio del inicio de consumo de LNG 16.46 ± 1,12. La prevalencia de consumo de LNG en adolescentes es 25.4%. Los factores que influyen en el consumo de LNG es la conducta sexual: sexo no planificado (p: 0.0001, OR: 138.275, IC95: 17.608-1085.874) y sexo planificado (p: 0.0001, OR: 69.878, IC95: 8.626-566.094), saber cuándo consumir LNG (p: 0.009, OR: 4.001, IC95: 1.412-11.338), precio accesible (p: 0.0001, OR: 7.607, IC95: 2.819-20.527) y su disponibilidad a la venta en las farmacias (p: 0.008, OR: 3.517, IC95: 1.389-8.907). No se observa relación significativa entre el consumo de LNG y el conocimiento del mecanismo de acción (p: 0.326) o el tiempo de efectividad del fármaco (p: 0.310). El 50.76% de adolescentes participantes ha iniciado su actividad sexual y 49.24% aún no. Conclusiones: 1 de cada 2 adolescentes ya iniciaron su actividad sexual, de las cuales el 62% consideran tener sexo no planificado y el 54.2% de ellas consume LNG como AOE; siendo ésta la conducta adolescente que más influye su consumo. Los otros factores adolescentes que influyen en el consumo de LNG son el sexo planificado y saber cuándo consumir el fármaco. Las características del fármaco que influyen en su consumo son el precio accesible y su disponibilidad a la venta en las farmacias.Objective: To identify the factors that influence the use of Levonorgestrel (LNG) as an Emergency Contraceptive (EC) among adolescents. Materials and methods: An observational, analytical and transversal research was conducted, in which 264 high school and university teenage students were evaluated in Trujillo city from June 2019 to July 2019. Statistical analysis calculated the prevalence of LNG use among adolescents and through a multivariate regression analysis we calculated the Odds ratio and 95 confidence interval of different factors that make adolescents use LNG as an EC. Results: From a total of 418 adolescents between 15 and 19 years old included in this research, 264 were randomly selected and the mean age for use of LNG found was 16.46 ± 1.12. The prevalence of LNG use among adolescents is 25.4%. The factors that influence in LNG use are sexual behavior: unplanned sexual intercourse (p: 0.0001, OR: 138.275, IC95: 17.608-1085.874) and planned sexual intercourse (p: 0.0001, OR: 69.878, IC95: 8.626-566.094), knowledge of when to use the pill (p: 0.009, OR: 4.001, IC95: 1.412-11.338), affordable price (p: 0.0001, OR: 7.607, IC95: 2.819-20.527) and pill availability in a drug store (p: 0.008, OR: 3.517, IC95: 1.389-8.907). There is no significant association between the use of LNG and the knowledge of its mechanism of action (p: 0.326) nor its time of effectiveness (p: 0.310). Furthermore, 50.76% of participants had initiated sexual intercourse and 49.24% hadn´t yet. Conclusions: 1 out of 2 teenage women had initiated sexual intercourse, 62% of them consider to have unplanned sexual intercourse and 54.2% from these use LNG as an EC, which makes this the adolescent behavior that most influences in its use. Other adolescent factors that influence on LNG use are planned sexual intercourse and knowledge of when to use the pill. Drug´s characteristics that influence on its use are affordable price and the availability in a drug store.Tesi

Antibiotic prophylaxis habits in dental implant surgery among dentists in Spain. A cross-sectional survey

The use of antibiotics to prevent dental implant failures and postoperative infections remains a controversial issue. The objectives of this study were to assess the current antibiotic prescribing patterns and antibiotic prescribing frequency of dentists in Biscay (Spain) in conjunction with routine dental implant surgery among healthy patients and to determine whether any consensus has been reached by such practitioners and last published evidence was being followed. Observational cross-sectional study: electronic survey. This study was reported according to the STROBE guidelines. This anonymous questionnaire contained open-ended and close-ended questions. An email was sent 26 October 2017 to all the registered members of the Biscay dentists? College (n=989). The collected data were analyzed using STATA® 14 software, and 95% confidence intervals (CI) were used to assess the frequency of prescription for each antibiotic regimen. The survey was responded to by a total of 233 participants (response rate=23.56%). Overall, 210 participants finished the survey completely, and 23 surveys were answered partially. The questionnaire was responded to by 122 females (58.1%) and 88 males (41.9%). Of the participants, 88% (n=207) always routinely prescribed prophylactic antibiotics in conjunction with dental implant surgery (95% CI: 84.79-92.88%). Approximately 9% (n=22) prescribed antibiotics sometimes (95% CI: 5.68-13.19%), and only 4 dentists (1.72%) never prescribed antibiotics (95% CI: 0.04-3.38%). Overall, 179 of 233 respondents prescribed both pre- and postoperative antibiotics (78.85%, 95% CI: 72.96-83.97%), 13 prescribed antibiotics only preoperatively (5.73%, 95% CI: 3.08-9.59%), and 35 prescribed antibiotics exclusively after routine dental implant surgery (15.42%, 95% CI: 10.98-20.78%). Most of the dentists working in Biscay routinely prescribe prophylactic antibiotics in conjunction with dental implant surgery among healthy patients. A large range of prophylactic regimens are prescribed and the most recently published evidence is not being followed

Análisis del método de escisión para resolver la ecuación no lineal de Schrödinger

El objetivo del trabajo es realizar una integración eficiente de la ecuación no lineal deSchrödinger con condiciones frontera periódicas, integrando en espacio con una discretizaciónpseudoespectral y en tiempo con un método de escisión. Además, se realizará un análisis de laconservación de algunos invariantes con este esquema, así como de la dispersión y de la estabilidad einestabilidad al integrar ondas planas. Para ello, se seguirá principalmente el trabajo pionerode Weideman y Herbst de 1986, publicado en SIAM J. Num. Anal.Grado en Matemática

Propiedades estructurales y dinámicas del metal cobre en su fase líquida

El trabajo consiste en realizar un estudio de las propiedades estructurales y dinámicas del metal cobre en su fase líquida. Para ello se ha realizado una simulación AIMD (Ab Initio Molecular Dynamics), es decir, basada en primeros principios como es la ecuación de Schrödinger (a través de la teoría del funcional de la densidad) y en estudiar el movimiento de los átomos o iones mediante técnicas computacionales basadas en las leyes de la mecánica clásica.Grado en Físic