Mobile robot guidance

Assistive robotics is an increasingly growing field that has many applications. In an assisted living setting, there may be instances in which patients experience compromised mobility, and are therefore left either temporarily or permanently restricted to wheelchairs or beds. The utilization of assistive robotics in these settings could revolutionize treatment for immobile individuals by promoting effective patient-environment interaction and increase the independence and overall morale of affected individuals.Currently, there are two primary classes of assistive robots: service robots, and social robots. Service robots assist with tasks that individuals would normally complete themselves, but are unable to complete due to impairment or temporary restriction. Assistive social robots include companion robots, which stimulate mental activity and, intellectually engages its users. Current service robots may have depth sensors and visual recognition software integrated into one self-contained unit. The depth sensors are used for obstacle avoidance. Vision systems may be used for many applications including obstacle avoidance, gesture recognition, or object recognition. Gestures may be used by the unit as commands to move in the indicated direction.Assistive mobile robots have included devices such as laser pointers or vision systems to determine a user's object of interest and where it is located. Others have used video cameras for gesture recognition as stated above. Approaches to mobile robot guidance involving these devices may be difficult for individuals with impaired manual dexterity to use. If the individual is immobile, it would be difficult to operate the mentioned devices.The objective of this research was to integrate a method that allowed the user to command a robotic agent to traverse to an object of interest by utilizing eye gaze. This approach allowed the individual to command the robot with eyesight through the use of a head-worn gaze tracking device. Once the object was recognized, the robot was given the coordinates retrieved from the gaze tracker. The unit then proceeded to the object of interest by utilizing multiple sensors to avoid obstacles.In this research, the participant was asked to don an eye gaze tracker head worn device. The device gathered multiple points in the x, y, and z coordinate planes. MATLAB was used to determine the accuracy of the collected data, as well as the means to determine a set of x, y, and z coordinates needed as input for the mobile robot. After analyzing the results, it was determined that the eye gaze tracker could provide x and y coordinates that could be utilized as inputs for the mobile robot to get the object of interest. The z coordinate was determined to be unreliable as it would either be too short or overshoot from the object of interest

Estrategias ecopedagógicas para disminuir el daño ambiental por la acción antrópica en el corregimiento del Encanto, municipio de Pasto, departamento de Nariño.

Maestría en Desarrollo Sostenible y Medio Ambiente, Facultad de Ciencias Contables, Económicas y Administrativas.Las acciones antrópicas ocasionan un daño ambiental, resultados de problemas socioeconómicos y discrepancias entre los hombres. Siendo las nuevas categorías de dominio de oportunidad, y de mínima oportunidad, una raíz de tantas dentro de los problemas socio económicos, que afecta la relación hombre naturaleza. Objetivo general, interpretar las estrategias ecopedagógicas, que disminuyen el daño ambiental, resultado de la actividad antrópica en la región del Corregimiento del Encano. (Pasto, Nariño). Metodología cualitativa, cuantitativa y comprensiva. Enfoque teórico, crisis ambiental, resultado de problemas socioculturales. Los resultados de las actividades antrópicas son: deforestación, expansión frontera agropecuaria, falta de inversión socioeconómica, deficiencia de procesos educativos. Se propone como estrategia fomentar una unidad comunitaria de ecopedagogía, formar gestores en proyectos ambientales, generar proyectos pedagógicos ambientales. De la investigación se concluyó que el proceso de ecopedagogía se debe establecer en base al diagnóstico del problema propio de cada región y las soluciones concertadas con la comunidad

Informe de Expediente Civil No. 2096-2011-0-0401-JR-CI-03 Sobre Indemnización. Informe de. Expediente Administrativo No. 000110-2015/CEB Sobre: Barreras Burocráticas

Materia: Indemnización. Nº de Expediente: 2096-2011-0-0401-JR-CI-03. El demandante interpuso demanda de indemnización por daños y perjuicios en contra de la demandada Oficina de Normalización Previsional, derivada de una indebida reducción en su pensión de jubilación, argumentando que la misma le causó perjuicio patrimonial y extrapatrimonial durante el tiempo en que el hecho dañoso continuaba surtiendo efectos. Materia: Barreras Burocráticas. No de expediente: 000110-2015/CEB. En el presente caso se analizará si la negativa por parte del Ministerio de Transportes y Comunicaciones de otorgar una autorización para operar un Centro de Inspección Técnica Vehicular en el ámbito geográfico de Lima Metropolitana a una empresa constituye una barrera burocrática ilegal, considerando los fundamentos esgrimidos por la denunciante en el presente procedimiento

Body and health: a look from Anthropology

In this text, we present an approach of the body from an Anthropological perspective, seeking to understand the insertion of health in this construct that is the body, and in this way re-think the human body in its anthropological dimension, which takes place by the understanding of the processes that assign it meaning and by the understanding of the relation between identity and human body in its cultural referents, within a historical and social context, which is concrete and dynamic, in this way the body reconstitutes itself from cultural processes that mark ideological processes that end up happening between health and disease, as an assignment of a whole that only constitutes the biologicist part of it

Mejoramiento de Propiedades del Suelo Cohesivo de Subrasante de la Carretera Maravillas - Vilcapata con Escoria de Hornos Artesanales, Juliaca, 2023

En esta investigación busca mejorar las propiedades del suelo de subrasante de la vía Maravillas – Vilcapata con escoria de hornos artesanales; en la provincia de San Román que se encuentra en la región Puno; se ajusta a una investigación aplicada con un enfoque cuantitativo, diseño experimental; contempla una extensión de 6.45 Km, buscando mejorar el la transitabilidad vehicular dentro de la progresiva 5+500 km al 6+000 km usando un muestreo no probabilístico empleando para esto fichas de recolección de datos validadas por expertos en el tema, la estabilización del suelo de subrasante con la adición de Escoria de Hornos Artesanales que son residuos producto de la calcinación de ladrillos artesanales. De los resultados obtenidos de este estudio mostraron que la incorporación de escoria de horno artesanal mejoró las propiedades físicas y mecánicas de la subrasante. Se tiene un suelo natural con un IP del 16,52%, por lo que añadiendo un 10% de escoria de hornos artesanales, disminuyo un 12,65%, añadiendo un 15% disminuyo un 9,21% y añadiendo un 20% disminuyo en un 6.66%, logrando con la combinación de 20% la estabilización del suelo. La influencia en ensayo CBR al 95% de la máxima densidad seca mejoro la resistencia de la subrasante con una adición de 10 % de escoria de horno artesanales se incrementó en 2,58% de CBR, con la adición de 15% de escoria de hornos artesanales se incrementó en 4,50% de CBR y con la adición de 20 % de escoria de hornos artesanales se incrementó en 6,97% de CBR, de modo que en la combinación de 20% se logró la máxima resistencia

Genotyping squamous cell lung carcinoma in Colombia (Geno1.1-CLICaP)

Background: Lung cancer is a public health problem, and squamous cell carcinoma (SCC) is the second most prevalent subtype of this neoplasm. Compared to other subtypes, including adenocarcinoma, SCC is less well understood in terms of molecular pathogenesis, limiting therapeutic options among targeted agents approved for other disease subgroups. In this study, we sought to characterize the SCC genomic profile using a validated Next Generation Sequencing (NGS) platform. Methods: The comprehensive NGS assay (TruSight Tumor 170) was used in order to target the full coding regions of 170 cancer-related genes on SCC samples. PD-L1 expression in tumor cells (TCs) was assessed using clone 22C3 (Dako). Clinical outcomes were correlated with molecular profile, including progression free survival (PFS), overall response rate (ORR), and overall survival (OS). Results: A total of 26 samples were included, median age was 67 years (r, 33–83) and 53.8% were men. Tobacco consumption was identified in all subjects (mean 34-year package). For first-line treatment 80.8% of patients received cisplatin or carboplatin plus gemcitabine. In terms of molecular profile, we identified a high prevalence of inactivating mutations in TP53 (61.5%), PIK3CA (34.6%), MLL2 (34.6%), KEAP1 (38.4%), and NOTCH1 (26.9%). PD-L1 expression ranged from negative, 1, 2–49, and ≥50% in 23.1, 38.5, 26.9, and 11.5%, respectively. Interestingly, the genetic alterations did not have an effect in PFS, OS or ORR in this study. However, PDL1 expression was higher among those who had mutations in TP53 (p = 0.037) and greater expression of PDL1 was related to PIK3CA alterations (p = 0.05). Conclusions: The genomic profile of SCC encompasses important genes including TP53, PIK3CA and KEAP1. TP53 mutations could be associated with PDL1 expression, generating hypothesis regarding specific treatment options

Energy Estimation of Cosmic Rays with the Engineering Radio Array of the Pierre Auger Observatory

The Auger Engineering Radio Array (AERA) is part of the Pierre Auger Observatory and is used to detect the radio emission of cosmic-ray air showers. These observations are compared to the data of the surface detector stations of the Observatory, which provide well-calibrated information on the cosmic-ray energies and arrival directions. The response of the radio stations in the 30 to 80 MHz regime has been thoroughly calibrated to enable the reconstruction of the incoming electric field. For the latter, the energy deposit per area is determined from the radio pulses at each observer position and is interpolated using a two-dimensional function that takes into account signal asymmetries due to interference between the geomagnetic and charge-excess emission components. The spatial integral over the signal distribution gives a direct measurement of the energy transferred from the primary cosmic ray into radio emission in the AERA frequency range. We measure 15.8 MeV of radiation energy for a 1 EeV air shower arriving perpendicularly to the geomagnetic field. This radiation energy -- corrected for geometrical effects -- is used as a cosmic-ray energy estimator. Performing an absolute energy calibration against the surface-detector information, we observe that this radio-energy estimator scales quadratically with the cosmic-ray energy as expected for coherent emission. We find an energy resolution of the radio reconstruction of 22% for the data set and 17% for a high-quality subset containing only events with at least five radio stations with signal.Comment: Replaced with published version. Added journal reference and DO

Measurement of the Radiation Energy in the Radio Signal of Extensive Air Showers as a Universal Estimator of Cosmic-Ray Energy

We measure the energy emitted by extensive air showers in the form of radio emission in the frequency range from 30 to 80 MHz. Exploiting the accurate energy scale of the Pierre Auger Observatory, we obtain a radiation energy of 15.8 \pm 0.7 (stat) \pm 6.7 (sys) MeV for cosmic rays with an energy of 1 EeV arriving perpendicularly to a geomagnetic field of 0.24 G, scaling quadratically with the cosmic-ray energy. A comparison with predictions from state-of-the-art first-principle calculations shows agreement with our measurement. The radiation energy provides direct access to the calorimetric energy in the electromagnetic cascade of extensive air showers. Comparison with our result thus allows the direct calibration of any cosmic-ray radio detector against the well-established energy scale of the Pierre Auger Observatory.Comment: Replaced with published version. Added journal reference and DOI. Supplemental material in the ancillary file