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Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints
Rodolfo Garcia-Rodriguez,Vicente Parra-Vega,Luis Pantoja-Garcia,Ernesto Olguin-Diaz 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6
There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown.
Perinatal/Postnatal Study of D-003, a Mixture of Long-Chain Fatty Acids, in Rats
M.D. Rodriguez,J.E. Gonzalez,E.F. Leon,A. Gutierrez,G. Marrero,R. Gamez,H Garcia,,E Goicochea,Y. Rodriguez,A. Gomez 한국식품영양과학회 2006 Journal of medicinal food Vol.9 No.2
D-003 is a mixture of long-chain fatty acids isolated and purified from sugar cane wax with cholesterol-low-ering and antiplatelet effects. In order to further characterize the developmental toxicity during the treatment period from lategestation up to weaning of the offspring, pregnant females received 0 (control), 500, and 1,000 mg/kg/day D-003 daily byoral gavage beginning at day 15 of pregnancy and through gestation until day 21 postpartum. Maternal clinical signs, bodyweight, and food intake were measured at regular intervals during gestation and lactation. Live pups were weighed, sexed,and examined for developmental signs. One female and male of each litter were randomly selected to evaluate the reproduc-tive potential. There were no spontaneous or dose-related maternal deaths during the course of this study. The general healthand behavioral condition of offspring was good in all groups. No significant differences among groups were found in com-parisons of litter size, survival through the weaning period, sex ratio, and male and female weights. This peri- and postnatalstudy conducted with D-003 in rats indicated that treatment of the dam during late gestation and lactation did not show ad-versely effects on reproductive performance or fetal development over two generations.
Performance Evaluation Between SMPTC and PTC for PMSM Drives
Cristian Garcia,Jose Rodriguez,Margarita Norambuena,S. Alireza Davari,Fengxiang Wang,Yongchang Zhang 전력전자학회 2019 ICPE(ISPE)논문집 Vol.2019 No.5
Finite-set model predictive torque control (PTC) has been proposed as an attractive control strategy for drives, presenting high dynamic performance and a simple implementation. Its simplicity is due to the evaluation of single cost function based on the mathematical model prediction, however, the cost function needs a weighting factor to normalize and/or increase the importance of one of them control objectives, in this case torque and flux. Nowadays these weighting factors are a problem because there is no analytical method to determine its value, only there are some recommendations or suggestions for some specific applications. This paper validates the sequential model predictive torque control (SMPTC), which is a new strategy that does not need weighting factors, in a permanent magnet synchronous machine (PMSM) drives and compares its performance with the PTC standard. Simulation results are presented to demonstrate the good performance of SMPTC for PMSM and make the comparison with the PTC standard.
Ponce-Garcia, Gustavo,Villanueva-Segura, Olga K.,Garza-Elizondo, Karina,Villegas-Ramirez, Heriberto M.,Fernandez-Salas, Ildefonso,Rodriguez-Sanchez, Iram P.,Dzul-Manzanilla, Felipe,Flores-Suarez, Adri The Korea Society for Parasitology and Tropical Me 2022 The Korean Journal of Parasitology Vol.60 No.3
The head louse Pediculus humanus capitis (De Geer) is a hematophagous ectoparasite that inhabits the human scalp. The infestations are asymptomatic; however, skin irritation from scratching occasionally may cause secondary bacterial infections. The present study determined the presence and frequency of the knockdown resistance (kdr) mutation T929I in 245 head lice collected from Mexico, Peru, and Canada. Head lice were collected manually using a comb in the private head lice control clinic. Allele mutation at T9291 was present in 100% of the total sampled populations (245 lice) examined. In addition, 4.89% of the lice were homozygous susceptible, whereas 6.93% heterozygous and 88.16% homozygous were resistant, respectively. This represents the second report in Mexico and Quebec and fist in Lima.
C. Garcia‑Cabezon,M. A. Castro‑Sastre,A. I. Fernandez‑Abia,M. L. Rodriguez‑Mendez,F. Martin‑Pedrosa 대한금속·재료학회 2022 METALS AND MATERIALS International Vol.28 No.11
The 17–4 Precipitation Hardening Stainless Steel (PH SS) manufactured by Selective Laser Melting (SLM) has wide applicationperspectives, but they are limited due to defects and anisotropy. The selection of the appropriate process variablesplays a fundamental part in the microstructure and in the determination of the final mechanical and corrosion properties. The main purpose of this study is to analyze the corrosion behavior, hardness and microstructure of 17–4 PH SS manufacturedby SLM in comparison to the commercial counterparts. The anisotropic behavior was investigated by analyzing themicrostructure–hardness and corrosion interrelationship, both in the surface of the construction platform and in the growthdirection of the element. The corrosion behavior of the SLM 17–4PH SS in its natural state was investigated in relation tothat of the 17–4 PH SS heat treated in a 0.1 M NaCl + 0.5 M H2SO4solution, using three electrochemical techniques. Theresults confirmed that the corrosion resistance of SLM 17–4 PH SS was considerably better than that of the forging, evenafter 60 days of immersion in the test solution. This was attributed to the absence of important manufacturing defects, tothe fine microstructure with an important amount of austenite produced by SLM, and to a small amount of non-metallicinclusions precipitated as a result of the fast cooling and the high speed of solidification associated with the SLM process.
Proteolytic System of Streptococcus thermophilus
( G. M. Rodriguez-serrano ),( M. Garcia-garibay ),( A. E. Cruz-guerrero ),( L. Gomez-ruiz ),( A. Ayala-nino ),( A. Castaneda-ovando ),( L. G. Gonzalez-olivares ) 한국미생물생명공학회(구 한국산업미생물학회) 2018 Journal of microbiology and biotechnology Vol.28 No.10
The growth of lactic acid bacteria (LAB) generates a high number of metabolites related to aromas and flavors in fermented dairy foods. These microbial proteases are involved in protein hydrolysis that produces necessary peptides for their growth and releases different molecules of interest, like bioactive peptides, during their activity. Each genus in particular has its own proteolytic system to hydrolyze the necessary proteins to meet its requirements. This review aims to highlight the differences between the proteolytic systems of Streptococcus thermophilus and other lactic acid bacteria (Lactococcus and Lactobacillus) since they are microorganisms that are frequently used in combination with other LAB in the elaboration of fermented dairy products. Based on genetic studies and in vitro and in vivo tests, the proteolytic system of Streptococcus thermophilus has been divided into three parts: 1) a serine proteinase linked to the cellular wall that is activated in the absence of glutamine and methionine; 2) the transport of peptides and oligopeptides, which are integrated in both the Dpp system and the Ami system, respectively; according to this, it is worth mentioning that the Ami system is able to transport peptides with up to 23 amino acids while the Opp system of Lactococcus or Lactobacillus transports chains with less than 13 amino acids; and finally, 3) peptide hydrolysis by intracellular peptidases, including a group of three exclusive of S. thermophilus capable of releasing either aromatic amino acids or peptides with aromatic amino acids.
A rare case of choledochal cyst with pancreas divisum
Adrian Ransom-Rodriguez,Ruben Blachman-Braun,Emilio Sanchez-Garcia Ramos,Jesus Varela-Prieto,Erick Rosas-Lezama,Miguel Angel Mercado 한국간담췌외과학회 2017 Annals of hepato-biliary-pancreatic surgery Vol.21 No.1
Choledochal cysts are rare congenital malformations of the bile duct characterized by dilatations of the intrahepatic and/or extrahepatic portion of the biliary tree, they are associated to an anomalous arrangement of the pancreaticobiliary duct. Pancreas divisum results from a fusion failure of the pancreatic buds. The coexistence of pancreas divisum and choledochal cyst in adults has been reported in less than 10 well documented cases. This article presents a case of a 42-year-old Peruvian man with intermittent episodes of abdominal pain, initially diagnosed with choledocholithiasis, who underwent open cholecystectomy. During surgery, a diagnosis of choledochal cyst and pancreas divisum was made, and therefore a hepaticoduodenostomy was performed. The patient was referred to our hospital due to persistence of abdominal pain. After admission, a papillectomy was achieved without further complications. A cyst resection and dismantling of hepaticoduodenostomy with Roux-en-Y was performed 8 years later. During the subsequent 18-month follow-up, the patient remains asymptomatic.
Trichuris vulpis (Froelich, 1789) Infection in a Child: A Case Report
Adrian Marquez-Navarro,Gudelio Garcia-Bracamontes,Blanca E. Alvarez-Fernandez,Luz P. Avila-Caballero,Isabel Santos-Aranda,Dylan L. Diaz-Chiguer,Rosa M. Sanchez-Manzano,Elvia Rodriguez-Bataz,Benjamin N 대한기생충학열대의학회 2012 The Korean Journal of Parasitology Vol.50 No.1