Experimental design and analysis of a gyroelastic beam

Division of Higher Technical Education of MexicoPublished versio

Design of an exoskeleton for upper limb robot-assisted rehabilitation based on co-simulation

This paper presents the design and the simulation of an exoskeleton based on the kinematics of the human arm intended to be used in robot-assisted rehabilitation of the upper limb. The design meets the kinematic characteristics of the human arm so that the exoskeleton allows the movement of the arm in its full range of motion. We used co-simulation to design the exoskeleton considering a model of the upper limb developed in Opensim, Solidworks to design the mechanical structure and Matlab to construct the dynamic model. The system in motion was simulated in Simmechanics using predictive dynamics to compute independent joint trajectories obtained by modelling the exoskeleton as several optimization problems solved with SNOPT from Tomlab. The use of virtual tools in the designing process and the modular structure of the exoskeleton will allow the construction of personalized devices using 3D printing. The exoskeleton was designed to work under independent joint control so that the system will be able to work as passive, assistive and active-assistive mode, to keep records of motion for data analysis and to support the rehabilitation process

Modelo estratégico integral para la implementación del Sistema de Gestión de la Seguridad y Salud en el Trabajo (SG-SST) para la Empresa CM Calidad y Servicio S.A.S

El presente trabajo expone el modelo estratégico integral para la implementación del SG- SST en la empresa CM Calidad y Servicio S.A.S, teniendo en cuenta la gestión del conocimiento aplicado en la empresa y comparándolo con la norma vigente del decreto 1072 del 2015. Con este proyecto se desea presentar el desarrollo de los ítems: Planteamiento del problema, Marco teórico, la metodología de la investigación realizada, los resultados obtenidos de dicha investigación, la propuesta de mejora desarrollada para la implementación adecuada del sistema de gestión de seguridad y salud en el trabajo para la empresa diagnosticada, y por último se muestran las recomendaciones que la organización debe tener en cuenta para mejorar el sistema de gestión SG-SST.The present work exposes the integral strategic model for the implementation of the SG- SST in the company CM Calidad y Servicio SAS, taking into account the knowledge management applied in the company and comparing it with the current norm of the decree 1072 of 2015. With this project it is desired to present the development of the items: Approach to the problem, Theoretical framework, the methodology of the research carried out, the results obtained from said research, the improvement proposal developed for the adequate implementation of the safety and health management system at work for the company diagnosed, and finally the recommendations that the organization must consider to improve the SG-SST management system

Eventos de acoso, intimidación y victimización entre estudiantes del 5to y 6to grado del turno matutino de primaria de las Escuelas Públicas del Municipio de Ciudad Sandino, Departamento de Managua. Junio de 2007.

Las situaciones se valoran de manera individual y agrupada, para establecer frecuencia y severidad de los tipos de violencia y el rol que asumen los estudiantes ante las mismas. Como resultado, encontramos que más del 80% de los estudiantes evaluados expresan sentirse bien en diferentes situaciones y contextos; sin embargo, el 36% de los estudiantes sufre exclusión, 56% victimización de gravedad media y 23% de gravedad extrema por parte de sus compañeros. 10% reconoce conductas de exclusión y agresión de gravedad media y 27% de agresión grave hacia sus compañeros/as. 40% dice haber presenciado situaciones de exclusión, 22% agresiones de gravedad media y 19% agresiones de gravedad extrema. 42% dijo que cuando hay problemas recurre a su padre y a su madre, seguido de los amigos y compañeros, 31% dijo que recurriría a los profesores y solamente el 28% a los consejeros escolares. El 83% cree que los maestros se enteran poco de las situaciones de violencia, 58% afirma que cuando se enteran, intervienen activamente para resolverla; 66% cree que los maestros no saben como impedirlos. Al observar que agreden a un/una compañero/a mas del 70% dice no hacer nada, 46% dijo que pediría ayuda a un profesor y 10% afirmo que si presencian una agresión, también participarían

The WAM arm : modelling, control and its application in a HMI based on gaze tracking

In this thesis we describe the design and implementation of a Human Machine Interface (HMI) based on gaze tracking proposed to control robot prostheses. Robot manipulators hold a strong similarity with arm prosthetics, we used a 7 degrees of freedom (DOF) whole arm manipulator to test our HMI in the execution of reaching and grasping tasks. We showed that the interface worked under different control strategies using several velocity profiles. The system was tested by ten subjects with encouraging results. We analysed the performance of the 7-DOF robot manipulator in order to determine the suitability of its application in the development of this project. The original setup of the manipulator worked under joint Proportional and Derivative (PD) control but considering the results of the initial analysis of the system we proposed two alternative control strategies aimed to improve the performance of the manipulator: a feedforward friction compensation technique and joint Proportional Integral and Derivative control (PID). We created a dynamic model of the 7-DOF manipulator in Simmechanics in order to have a better understanding of the system. The friction phenomena of the manipulator was identified, represented through a fitted model and included in the system’s model with the aim of incrementing its accuracy with respect to the real system. The characteristics of the model made it suitable to test and to design control strategies for motion and friction compensation in MATLAB/Simulink. The model of the system was validated using data from the real robot arm and it was used later to tune the PID controllers of the joints of the 7-DOF manipulator using Iterative Feedback Tuning (IFT). Both experimental data and model simulations were used for the tuning procedure considering two different approaches. The data obtained from the friction identification process was used to implement a module for feedforward friction compensation over the pre-configured joint PD control of the manipulator. The responses of the system when using joint PID control and joint PD control with gravity and friction compensation were compared in the execution of motion tasks

Space and Place: Power, Sanctity, Media and Technology

How do people use power through media and technology to attach a sacred feeling to a particular space and place? The principal objective of this research project is to help understand the role of power in defining sanctity, and the role that media and technology play to influence an individual’s perspective of space and place. Various studies have attempted to define space and place but being an abstract concept, an agreed definition has not been found. Due to the individualistic concept of space, people are constantly updating and redefining their meaning based on their personal perspective of the world. Within a specific place people have set an identity for that site, they have created spaces within that location that has become sacred to them. Place based identity literature suggests that identity is derived from people’s attachment to place. By an individual’s identity being attached to a place that place then becomes sacred. Therefore a place that is defined as sacred is given power. The media can define for audiences whether a given space and place is sacred. This gives the media power over how people attach themselves to a given space and how they define the place where that space exist. Media is utilized to frame and alter the beliefs of the viewer. In this study, a mixed methods approach was employed. The methods applied include surveys presented online and follow up interviews

Modelado y control de manipuladores robóticos para aplicaciones biomédicas

Considering the physical similarities and performance requirements between the robot manipulator and the artificial prosthetic for the superior limb, most of the control schemes used in manipulators may be adapted to be used by prosthetic arms. This is why a robot manipulator can be considered as a good representation of the human arm and might be used as a platform to develop control strategies that can be used in prototypes of future artificial prosthetics. However, the design of suitable control strategies involves the consideration of mathematical representations of the system, such as kinematics and dynamics models. Mathematical modelling is fundamental in the designing process depending of the objectives of the implementation, the constraints of the task to be executed, and the desired robot’s performance. The difficulty in obtaining these models varies according to the complexity of the kinematics of the mechanical structure and the number of degrees of freedom (DOF) of the manipulator.Tomando en cuenta las similitudes físicas y de ejecución entre un robot manipulador y la prótesis artificial de la extremidad superior, muchos de los esquemas de control usados en manipuladores se pueden adaptar para ser utilizados en brazos prostéticos robóticos. Es por esto que un manipulador robótico puede ser considerado como una buena representación del brazo humano y puede ser utilizado como plataforma para desarrollar estrategias de control que puedan ser usadas en prototipos de prótesis artificiales. Sin embargo, el diseño de estrategias de control apropiadas involucra la consideración de representaciones matemáticas del sistema, tales como sus modelos cinemático y dinámico. El modelado matemático es fundamental en el proceso de diseño dependiendo de los objetivos de la implementación, las restricciones de la tarea a ejecutar, y el comportamiento deseado del robot. La dificultad en obtener dichos modelos varía de acuerdo a la complejidad de la cinemática de la estructura mecánica y el número de grados de libertad (GDL) del manipulador

Impactos de los créditos agropecuarios de Financiera Nacional de Desarrollo en el bienestar de los hogares beneficiarios del valle de Mexicali

This paper analyzes the impact that credits from Financiera Nacional de Desarrollo (fnd) aimed at rural and agricultural projects had on the welfare of families from the Valley of Mexicali, in the state of Baja California, Mexico. The logic behind the program is that credit will be invested in productive projects, creating a multiplier effect in the families’ income and allowing them to improve their quality of life. This research focused on the credits’ impact on participating families through a Propensity Score Matching methodology. To obtain the necessary data for this analysis, a survey was constructed with questions on investment, food consumption, education, and health of the participating families. The main results showed a positive impact on food consumption of normal goods, as well as on education expenditure, ownership of a tractor, and doctor visits. Por medio del método de pareamiento por puntaje de propensión, se analiza y cuantifica el impacto sobre el bienestar que los créditos otorgados al sector agroindustrial y rural por Financiera Nacional de Desarrollo (fnd) tienen en las familias beneficiarias del valle de Mexicali, en el estado de Baja California. Para obtener los datos, se elaboró una encuesta con preguntas sobre la inversión, alimentación, educación y salud de las familias. fnd espera que los proyectos productivos para los que se otorgó el crédito creen un efecto multiplicador en el ingreso de las familias permitiendo una mejora en su calidad de vida. Los principales resultados muestran un impacto positivo en los alimentos que son bienes normales, adquisición de tractores, gasto educativo y visitas al doctor.&nbsp