New Strategy to Approach the Inverse Kinematics Model for Manipulators with Rotational Joints

The chapter describes a new strategy to approach the solution of the inverse kinematics problem for robot manipulators. A method to determine a polynomial model approximation for the joints positions is described by applying the divided differences with a new point of view for lineal path in the end-effector of the robot manipulator. Results of the mathematical approach are analysed by obtaining the kinematics inverse model and the approximate model for lineal trajectories of a manipulator for three degrees of freedom. Finally, future research approaches are commented

Uso de viruta de madera y lirio acuático (eichhornia crassipes) como agentes estructurantes en tratamientos aerobios de residuos hortícolas.

En procesos aerobios para tratar residuos orgánicos con alto contenido de humedad y bajo contenido de lignina y celulosa, deben emplearse agentes estructurantes para favorecer la aireación y por lo tanto el buen desarrollo del bioproceso. En este trabajo se utilizó una mezcla de viruta de madera y lirio acuático seco (Eichhornia crassipes) como agente estructurante en diferentes porcentajes (5, 10, 15 y 20 %). Cada tratamiento fue hecho por triplicado y estuvo compuesto de una mezcla que contenía los seis bioresiduos generados en mayor cantidad en la Central de Abasto de la Ciudad de México. Los experimentos se llevaron a cabo en celdas de material acrílico donde se colocó una mezcla de 1200 g de residuos y material estructurante. Durante el proceso, los parámetros medidos fueron el pH, la temperatura, la densidad, el contenido de humedad, la generación de lixiviados y la reducción de masa. Los resultados mostraron que el elevado contenido de humedad de la mezcla puede ser regulado con materiales estructurantes secos, ya que estos materiales absorben parte del lixiviado durante las primeras semanas del proceso y mejoran la textura de las pilas evitando con esto que la degradación se lleve a cabo en condiciones de anaerobiosis. Tomando como base la generación de lixiviados y la reducción de masa, los mejores resultados se obtuvieron usando un 15 % de agente estructurante, el cual estaba compuesto de una mezcla de 6:1 viruta de madera y lirio acuático.In aerobic treatments for solid waste with high humidity content and low lignine and cellulose, bulking agents must be applied in order to improve the aeration and the performance of the process. In the present work, a mixture of wood shaving and dry water lily (Eichhornia crassipes) was tested as bulking agent at different percentages (5, 10, 15 and 20 %). Each assay was prepared by triplicate and was composed by a mixture of the six most important horticultural waste from a big market (Central de Abasto de la Ciudad de Mexico). The assays were run in acrylic cells where 1200 g of organic waste and bulking agent were mixed. During the process, pH, temperature, density, humidity content, leachate generation and mass reduction were measured. Results showed that the high rate of humidity of this mixture could be regulated by adding dry materials. These agents absorb some leachate during the first weeks of the process and the texture in the windrow was improved avoiding the anaerobic biodegradation of this kind of waste. Evaluating the leachates generation and the mass reduction, the best results have been obtained using 15 % of bulking agent, which it was composed by 6:1 wood shavings and dry water lily.Los autores agradecen al Consejo Nacional de Ciencia y Tecnología (CONACYT) y al Instituto Politécnico Nacional (IPN) por el financiamiento de este proyecto y a la COFAA-IPN por el apoyo para la divulgación de los resultados de este trabajo

Analysis of Key Features of Non-Linear Behavior Using Recurrence Plots. Case Study: Urban Pollution at Mexico City

ABSTRACT The use of Recurrence plots have been extensively used in various fields. In this work, Recurrence Plots (RPs) investigates the changes in the non-linear behaviour of urban air pollution using large datasets of raw data (hourly). This analysis has not been used before to extract information from large datasets for this type non-linear problem. Two different approaches have been used to tackle this problem. The first approach is to show results according to monitoring network. The second approach is to show the results by particle type. This analysis shows the feasibility of using Recurrence Analysis for pollution monitoring and control

METODOLOGÍA PARA LA CORRECCIÓN DE DISTORSIÓN GEOMÉTRICA Y RECONSTRUCCIÓN 3D DE UN OBJETO MEDIANTE PERFILOMETRÍA WAVELET 1D

ResumenEl aceite lubricante, componente vital en máquinas rotatorias, al bajar su calidad se ve afectado el ciclo de vida del motor de sobremanera, y al no lubricarse, ese ciclo de vida es nulo. El presente proyecto pretende controlar un problema frecuente en la industria de transporte; la persistente contaminación del aceite. Para el adecuado mantenimiento, ahorro de energía y capital, se deben conocer las impurezas ligadas al aceite. Adicionalmente, el conocimiento del estado del lubricante y su futuro repuesto es importante para la prevención de fallas. Este trabajo exhibe los resultados del desarrollo de un sensor capacitivo para identificar las impurezas en aceite lubricante usado en motores diésel, presentando el comportamiento eléctrico del sensor expuesto al aceite y de los agentes externos tales como agua y glicol. Los experimentos consideran la temperatura y el volumen de impurezas en un aceite en estado puro y bajo contaminantes.Palabras Claves: Capacitivo, lubricante, sensor.METHODOLOGY FOR THE CORRECTION OF GEOMETRIC DISTORTION AND 3D RECONSTRUCTION OF AN OBJECT THROUGH WAVELET 1D PROFILOMETRYAbstractA vital component of rotary machines is the lubricating oil which quality significantly impacts on their life cycle. The present project aims to control a frequent problem in the transport industry; the persistent contamination of the oil and the lack of impurities detection on the motor lubricants. For proper maintenance, energy and capital savings, the impurities linked to the oil must be known. In addition, the status of the lubricant and its future replacement is important for failure prevention. This work presents the results of the development of a capacitive sensor to identify impurities in lubricating oil used in diesel engines, presenting the electric behavior of the sensor exposed to oil and external agents such as water and glycol. The experiments consider the temperature and the volume of impurities on both pure and contaminated oils.Keywords: Capacitive, lubricant, sensor

Can serum hyaluronic acid replace simple non-invasive indexes to predict liver fibrosis in HIV/Hepatitis C coinfected patients?

<p>Abstract</p> <p>Background</p> <p>Hyaluronic acid (HA) serum levels correlate with the histological stages of liver fibrosis in hepatitis C virus (HCV) monoinfected patients, and HA alone has shown very good diagnostic accuracy as a non-invasive assessment of fibrosis and cirrhosis. The aim of this study was to evaluate serum HA levels as a simple non-invasive diagnostic test to predict hepatic fibrosis in HIV/HCV-coinfected patients and to compare its diagnostic performance with other previously published simple non-invasive indexes consisting of routine parameters (HGM-1, HGM-2, Forns, APRI, and FIB-4).</p> <p>Methods</p> <p>We carried out a cross-sectional study on 201 patients who all underwent liver biopsies and had not previously received interferon therapy. Liver fibrosis was determined via METAVIR score. The diagnostic accuracy of HA was assessed by area under the receiver operating characteristic curves (AUROCs).</p> <p>Results</p> <p>The distribution of liver fibrosis in our cohort was 58.2% with significant fibrosis (F≥2), 31.8% with advanced fibrosis (F≥3), and 11.4% with cirrhosis (F4). Values for the AUROC of HA levels corresponding to significant fibrosis (F≥2), advanced fibrosis (F≥3) and cirrhosis (F4) were 0.676, 0.772, and 0.863, respectively. The AUROC values for HA were similar to those for HGM-1, HGM-2, FIB-4, APRI, and Forns indexes. The best diagnostic accuracy of HA was found for the diagnosis of cirrhosis (F4): the value of HA at the low cut-off (1182 ng/mL) excluded cirrhosis (F4) with a negative predictive value of 99% and at the high cut-off (2400 ng/mL) confirmed cirrhosis (F4) with a positive predictive value of 55%. By utilizing these low and high cut-off points for cirrhosis, biopsies could have theoretically been avoided in 52.2% (111/201) of the patients.</p> <p>Conclusions</p> <p>The diagnostic accuracy of serum HA levels increases gradually with the hepatic fibrosis stage. However, HA is better than other simple non-invasive indexes using parameters easily available in routine clinical practice only for the diagnosing of cirrhosis.</p

Long-term thermal sensitivity of Earth’s tropical forests

The sensitivity of tropical forest carbon to climate is a key uncertainty in predicting global climate change. Although short-term drying and warming are known to affect forests, it is unknown if such effects translate into long-term responses. Here, we analyze 590 permanent plots measured across the tropics to derive the equilibrium climate controls on forest carbon. Maximum temperature is the most important predictor of aboveground biomass (−9.1 megagrams of carbon per hectare per degree Celsius), primarily by reducing woody productivity, and has a greater impact per °C in the hottest forests (>32.2°C). Our results nevertheless reveal greater thermal resilience than observations of short-term variation imply. To realize the long-term climate adaptation potential of tropical forests requires both protecting them and stabilizing Earth’s climate

Search for new particles in events with energetic jets and large missing transverse momentum in proton-proton collisions at root s=13 TeV

A search is presented for new particles produced at the LHC in proton-proton collisions at root s = 13 TeV, using events with energetic jets and large missing transverse momentum. The analysis is based on a data sample corresponding to an integrated luminosity of 101 fb(-1), collected in 2017-2018 with the CMS detector. Machine learning techniques are used to define separate categories for events with narrow jets from initial-state radiation and events with large-radius jets consistent with a hadronic decay of a W or Z boson. A statistical combination is made with an earlier search based on a data sample of 36 fb(-1), collected in 2016. No significant excess of events is observed with respect to the standard model background expectation determined from control samples in data. The results are interpreted in terms of limits on the branching fraction of an invisible decay of the Higgs boson, as well as constraints on simplified models of dark matter, on first-generation scalar leptoquarks decaying to quarks and neutrinos, and on models with large extra dimensions. Several of the new limits, specifically for spin-1 dark matter mediators, pseudoscalar mediators, colored mediators, and leptoquarks, are the most restrictive to date.Peer reviewe