Collision-free path planning for robots using B-splines and simulated annealing

This thesis describes a technique to obtain an optimal collision-free path for an automated guided vehicle (AGV) and/or robot in two and three dimensions by synthesizing a B-spline curve under geometric and intrinsic constraints. The problem is formulated as a combinatorial optimization problem and solved by using simulated annealing. A two-link planar manipulator is included to show that the B-spline curve can also be synthesized by adding kinematic characteristics of the robot. A cost function, which includes obstacle proximity, excessive arc length, uneven parametric distribution and, possibly, link proximity costs, is developed for the simulated annealing algorithm. Three possible cases for the orientation of the moving object are explored: (a) fixed orientation, (b) orientation as another independent variable, and (c) orientation given by the slope of the curve. To demonstrate the robustness of the technique, several examples are presented. Objects are modeled as ellipsoid type shapes. The procedure to obtain the describing parameters of the ellipsoid is also presented

DPYD pathogenic variants associated with fluoropyrimidines toxicity

Background: Genetic variants in dihydropyrimidine dehydrogenase gene (DPYD) coding for the key enzyme (DPD) of fluoropyrimidines (FPs) catabolism. DPYD contributes to the development of severe FPs-related toxicity, and pathogenic DPYD variants detection reduces side effects and complications associated with FP-toxicity. The allelic frequency of these variants in the Mexican population is currently unknown. Methods: The study was carried out at the Centro Universitario Contra el Cáncer (CUCC) of the Universidad Autónoma de Nuevo León (UANL) in Monterrey México. Genomic DNA was isolated from 154 subjects using the QIAamp DNA Blood Midi kit (QIAGEN) following the manufacturer\u27s recommendations. We analyze the variants c.1156G-\u3eT, c.2846A-\u3eT, and c.1129-5923C-\u3eG by qPCR using predesigned probes. For the remaining genomic variants (c.1905+1G-\u3eA, c.1679T-\u3eG, c.1898delC and c.299_302delTCAT), we design sequencing oligos using the software Oligo Primer v.7®. The allele frequency was calculated for each variant. Results: We analyzed a total of 154 samples to detect the seven variants analyzed. So far, only 2 samples have been found that presented the variant c.1129-5923C\u3eG in a state of heterozygosis, representing 1.2987% of the total of our population. Conclusions: The allele frequency for the variant c.1129-5923C-\u3eG was higher than reported in other populations. So this allele is more common in our population, which could attribute to the large percentage of side effects in our patients. However, more studies and increasing the number of samples are needed to establish DPYD the allele frequency more precisely

Correlation between HIV viral load and aminotransferases as liver damage markers in HIV infected naive patients: a concordance cross-sectional study

Abnormalities in liver function tests could be produced exclusively by direct inflammation in hepatocytes, caused by the human immunodeficiency virus (HIV). Mechanisms by which HIV causes hepatic damage are still unknown. Our aim was to determine the correlation between HIV viral load, and serum levels of aspartate aminotransferase (AST) and alanine aminotransferase (ALT) as markers of hepatic damage in HIV naive infected patients

Dendritic cell deficiencies persist seven months after SARS-CoV-2 infection

Severe Acute Respiratory Syndrome Coronavirus (SARS-CoV)-2 infection induces an exacerbated inflammation driven by innate immunity components. Dendritic cells (DCs) play a key role in the defense against viral infections, for instance plasmacytoid DCs (pDCs), have the capacity to produce vast amounts of interferon-alpha (IFN-α). In COVID-19 there is a deficit in DC numbers and IFN-α production, which has been associated with disease severity. In this work, we described that in addition to the DC deficiency, several DC activation and homing markers were altered in acute COVID-19 patients, which were associated with multiple inflammatory markers. Remarkably, previously hospitalized and nonhospitalized patients remained with decreased numbers of CD1c+ myeloid DCs and pDCs seven months after SARS-CoV-2 infection. Moreover, the expression of DC markers such as CD86 and CD4 were only restored in previously nonhospitalized patients, while no restoration of integrin β7 and indoleamine 2,3-dyoxigenase (IDO) levels were observed. These findings contribute to a better understanding of the immunological sequelae of COVID-19

Mis casos clínicos de especialidades odontológicas

Libro que muestra la atención de casos clínicos particulares referente a las diferentes especialidades odontológicasLibro que muestra la atención de casos clínicos particulares referente a las diferentes especialidades odontológicasUniversidad Autónoma de Campeche Universidad Autónoma del Estado de Hidalgo Universidad Autónoma del Estado de Méxic

Collision-free path planning for robots using B-splines and simulated annealing

This thesis describes a technique to obtain an optimal collision-free path for an automated guided vehicle (AGV) and/or robot in two and three dimensions by synthesizing a B-spline curve under geometric and intrinsic constraints. The problem is formulated as a combinatorial optimization problem and solved by using simulated annealing. A two-link planar manipulator is included to show that the B-spline curve can also be synthesized by adding kinematic characteristics of the robot. A cost function, which includes obstacle proximity, excessive arc length, uneven parametric distribution and, possibly, link proximity costs, is developed for the simulated annealing algorithm. Three possible cases for the orientation of the moving object are explored: (a) fixed orientation, (b) orientation as another independent variable, and (c) orientation given by the slope of the curve. To demonstrate the robustness of the technique, several examples are presented. Objects are modeled as ellipsoid type shapes. The procedure to obtain the describing parameters of the ellipsoid is also presented.</p

Using Simulated Annealing with a Neighborhood Heuristic for Roll Cutting Optimization

Abstract This article presents the use of the Simulated Annealing algorithm with a heuristic to solve the waste minimization problem in roll cutting programming, in this case, paper. Client orders, which vary in weight, width, and external and internal diameter, are fully satisfied. Several tests were performed with real data from a paper company in which an average of 30% waste reduction and 100% reduction in production to inventory are obtained compare to the previous procedure

LA INCLUSIÓN EDUCATIVA EN LA PERSPECTIVA INTERDISCIPLINARIA

SE DAN APORTACIONES QUE AYUDAN A COMPRENDER QUE ACCCIONES Y CAMBIOS TOMAR PARA MEJORAR LA EDUCACIÓN.EL LIBR PRESENTA DIVERSOS TRABAJOS QUE ABORDAN LA PROBLEMÁTICA DE LA EDUCACIÓN DESDE LA PERSPECTIVA INTERDISCIPLINARIA.NINGUN

La evaluación colegiada de las competencias básicas en la Comunidad Autónoma de Canarias : hacia un modelo de escuela inclusiva y sostenible

Precede al título: Educación Primaria y Educación Secundaria ObligatoriaLa Ley Orgánica de Educación (LOE) introduce el concepto de «competencias básicas» como eje articulador del currículo, conectando de pleno con las reflexiones y las estrategias que se están desarrollando en otros sistemas educativos internacionales a la luz del informe Delors (1996), el documento DeSeCo (Definición y Selección de Competencias fundamentales) elaborado por la OCDE, de las evaluaciones PISA (Programa para la Evaluación Internacional del Alumnado), etc. Esta propuesta centra el foco en la dimensión formativa de la «evaluación», aspecto inacabado con la LOGSE (Ley Orgánica General del Sistema Educativo), a pesar de los esfuerzos realizados en esa dirección. Trabajar en las aulas para la consecución de las «competencias básicas» lleva ineludiblemente al problema de cómo evaluarlas de forma colegiada —cuando la propia ordenación del sistema educativo fragmenta cada una de las enseñanzas en diferentes áreas o materias— y de cómo emplear la información que proporciona esta labor para hacer valer el sentido formativo y regulador que debe tener la evaluación de las competencias básicas.Consejería de Educación y Universidades. Dirección General de Ordenación, Innovación y Promoción Educativa; Avda. Buenos Aires, 5; 38071 Tenerife; Tel. +34922592592; Fax +34922592570; [email protected]