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A framework to develop and test a model-free motion control system for a forestry crane

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Biomimetic Intelligence & Robotics 2023年第4期3卷 75-87页

作者： Pedro La Hera omar Mendoza-Trejo Hakan Lideskog Daniel Ortíz morales Swedish University of Agricultural Sciences Department of Forest Biomaterials and TechnologyUmea90183Sweden Lulea University of Technology Department of Engineering Sciences and MathematicsLulea 97187Sweden CRANAB AB Vindeln 92232Sweden

This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry *** control algorithm is based on functional analysis and differential algebra,under the concepts of a new type of approach known as model-free intelligent PID control(iPID).As it can be unsafe to test this form of control directly on real hardware,our main contribution is to introduce a framework for developing and testing control *** framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one,which we design and manufactured using *** downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks,prior to the actual testing on the real *** results demonstrate that this development framework is useful to safely test control software for heavy-duty systems,and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.

关键词： Model-free control Hydraulic manipulator Forestry crane control Intelligent PID control Forestry automation Controller implementation

Beam steering application for W-band data links with moving targets in 5G wireless networks

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Journal of Communications and Information Networks 2017年第2期2卷 91-100页

作者： Alvaro morales Sebastian Rodrguez omar Gallardo Juan Jose Vegas Olmos Idelfonso Tafur Monroy Technical University of Denmark Department of Photonics EngineeringOersteds PladsBuilding 343Kongens Lyngby 2800Denmarkl 2.Saint-Petersburg National Research University of Information TechnologiesMechanics and OpticsKronverksky prospektSaint Petersburg 197101Russian Federation

Abstract:Ubiquitous broadband Internet access is one of the major goals of the next generation of wireless ***,there are still some locations where this is diffcult to *** is the case on moving vehicles and,particularly,on *** the possible solutions to this problem,RoF(Radio-over-Fiber)architectures have been proposed as low-latency,cost-e ective *** elements are introduced to extend the RoF ***,the carrier frequency is raised into the W-band(75-110 GHz)to increase the available ***,a mechanical beam-steering solution based on a Stewart platform is adopted for the transmitter antenna to allow it to follow a moving receiver along a known path,thereby enhancing the coverage *** performance of a system transmitting a 2.5 Gbit/s non-return-to-zero signal generated by photonic up-conversion over a wireless link is evaluated in terms of real-time BER(Bit Error Rate)*** receiver is situated in di erent positions,and the orientation of the transmitter is changed *** below the forward error correction limit for 7%overhead are obtained over a range of 60 cm around a center point situated 2 m away from the transmitter.

关键词： 5G mobile communications mechanical steering millimeter-wave communications photonic up-conversion vehicular communications

Multielemental Microanalysis in Root and Leaves, Growth and Biomass in Tomato Seedling in Response to Ca Levels and Induction of Stress: Non-Destructive Spectroscopy

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Open Journal of Applied Sciences 2021年第6期11卷 672-683页

作者： omar A. Pérez-Dueñas Fanny Hernández-Mendoza Víctor García-Gaytán Soledad García-morales EI Colegio de Michoacán (LADiPA) La Piedad Michoacán Mexico Colegio de Postgraduados Campus Montecillo Texcoco Estado de México México Biotecnología Vegetal CONACYT-Centro de Investigación y Asistencia en Tecnología y Dise&#241 o del Estado de Jalisco México

Tomatoes are one of the main vegetables in the food industry that are consumed fresh and processed. A multi-element microanalysis was performed with the use of scanning electron microscopy (SEM) in conjunction with energy dispersion spectroscopy (EDS), to see changes in nutrient concentration in roots and leaves, as well as fresh and dry biomass in tomato seedlings. Exposed in nutrient solution (NS) with different levels of Ca (control, 25, 50 and 100 mM). The root was put in also to H2O2 for 8 hours to observe the changes that occurred. It was observed that NS with 100 mM Ca in fresh stem biomass and fresh leaf biomass increased by 25% and 38% compared to the control. It was observed that the NS with 100 and 50 mM of Ca, the content of Ca and Cl in foliar tissue increased by 34.50% and 13.15% compared to the control. Treatment with H2O2 and with 25 and 100 mM of Ca at NS increased the height of the seedling and fresh leaf bio-mass by 19.75% and 60.80% compared to the control. The treatment with H2O2 and with the different levels of Ca in the NS increased the content of C, P, K, Ca and Cl in the leaf tissue. Only S was significant for the control. Treatment with H2O2 and 100 mM Ca in the NS increased Ca and Mg by 83.48% and 40.47% for the root compared to the control. The K and Cl in the root was higher in the control treatment by 47.61% and 55% respect to the highest level of Ca. It is concluded that multielemental microanalysis is a powerful, non-destructive, fast and accurate tool for the determination of plant nutrients. Also, it is applicable for the areas like horticulture, physiology and agronomy.

关键词： Microanalysis Nutrient Solution Calcium Root Leaves Stem

Impact of Chiapanecan Handicrafts

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Journal of Modern Accounting and Auditing 2018年第6期14卷 333-342页

作者： Karla Liliana Haro-Zea Karla S. Basurto Gutiérrez Blanca H. morales Vázquez omar A. Flores Laguna Meritorious Autonomous University of Puebla Mexico University of Montemorelos Mexico

The purpose of this research is to study the perception of Chiapanecan handicrafts as an element of sustainable competitive advantage in the State of Chiapas, Mexico, mainly due to the tourism. Mexican handicrafts contribute to 20.3% of the Gross Domestic Product （GDP） of the cultural sector, that is, 0.6% of the National GDP. This research is quantitative, descriptive, and transversal. The sample selection was made for convenience so certain criteria could be met. In total, 70 tourists were surveyed in the handicraft commerce area. For the data retrieval, an instrument with the “Sustainability SWOT” （sSWOT） was designed, which consists of eight dimensions （trends, environmental challenges, threats, opportunities, strengths, weaknesses, which to prioritize, and where to act）. The instrument consists of 22 items with a single Likert scale ranging from 1 to 5 （1 = Null to 5 = Excellent）. The study showed that 54.29% of the tourists who visit Chiapas perceive that handicrafts have a regular impact on the small producer’s quality of life, while the remaining 45.71% point out that the impact is greater.

关键词： strategy competitiveness handicrafts competitive advantage sustainability and innovation

Chemical Evaluation of Groundwater from Supply Wells in the State of Coahuila,Mexico

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Journal of Water Resource and Protection 2014年第1期6卷 49-54页

作者： Hugo Saldarriaga-Norena Iliana de la Garza-Rodriguez Stefan Waliszewski Edith Colunga-Urbina omar Amador-Munoz Mayela Moreno-Davila Rodrigo morales-Cueto Centro de Investigaciones Quimicas Universidad Autonoma del Estado de MorelosCuernavacaMéxico Facultad de Ciencias Quimicas Universidad Autónoma de CoahuilaSaltilloMexico Instituto de Medicina Forense Universidad VeracruzanaVeracruzMexico Centro de Ciencias de la Atmosfera Universidad Nacional Autonoma de MexicoCiudad de MexicoMexico

The present study is conducted with the purpose of determining the chemical characteristics of groundwater that supplies 16 wells in the state of Coahuila, which are used for different human activities. Sampling was conducted in January 2011. For 56% of the fifteen wells tested, analysis did not detect the presence of aluminum;however, wells 2, 3, 6, 8 and 13 had concentrations above the permissible limit established by the Mexican standard NOM-127-SSA1-1994. For cadmium, only the well 3 was above the Norm. Meanwhile, iron was above the permissible limit in eight wells (2, 4, 5, 6, 9, 12, 13 and 15). Lead exceeded the limit in wells 6, 7, 9, 10, 11 and 12. In general, for the rest of the parameters listed in the Norm, values were below allowable limits. By using Piper diagrams, it was observed that in general, the waters tested showed characteristic calcium bicarbonate. By establishing a matrix of correlations between chemical parameters, it was observed that the highest significant correlations occurred among carbonate hardness, calcium, lead and total alkalinity, with r2 values greater than 0.82. Also, high correlations were found between some metal species, suggesting a common origin. The allowed Principal Component Analysis and Cluster Analysis establish the associations between all analyzed physicochemical parameters, and they also determine the wells with similar characteristics.

关键词： Groundwater Coahuila Physicochemical Parameters Piper’s Diagram PCA

Fatty Acid Deposition on Broiler Meat in Chickens Supplemented with Tuna Oil

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Food and Nutrition Sciences 2013年第9期4卷 16-20页

作者： Jesus Eduardo morales-Barrera Mariano Jesus Gonzalez-Alcorta Rosa Maria Castillo-Dominguez omar Francisco Prado-Rebolledo Xochitl Hernandez-Velasco Anita Menconi Guillermo Tellez Billy Marshal Hargis Silvia Carrillo-Dominguez Departamento de Producción Agrícola y Animal Universidad Autónoma Metropolitana México City México Department of Poultry Science University of Arkansas Fayetteville USA. Depto. Nutrición Animal Instituto Nacional de Ciencias Médicas y Nutrición Salvador Zubirán México City México Facultad de Medicina Veterinaria y Zootecnia Universidad de Colima Colima México Facultad de Medicina Veterinaria y Zootecnia Universidad Nacional Autónoma de México México City México Universidad Autónoma Chapingo Estado de México México

The aim of the present study was to evaluate the effect of feeding four levels of tuna oil on performance and fatty acid (FA) profiles of broiler chicken meat. 240 Ross broiler chickens were randomly assigned to 20 pens and divided into four treatments: 0%, 0.75%, 1%, and 1.25% of tuna oil. At 49 days, breast and legs-thighs muscles were processed for FA analysis. Concentrations of FA in legs and thighs meat were significantly higher when compared with breast meat. In both types of meats (breast and legs-thighs), the inclusion of 1.0% or 1.25% of tuna oil in the diet significantly increased (P < 0.05) the concentration of n-3 FA (especially docosahexaenoic and eicosapentaenoic acids). Fat in broiler breast contained a proportion of 29% saturated FA (SFA): 36% monosaturated FA (MFA): 35% polyunsaturated FA (PUFA);while legs and thighs meat had a proportion of 28% SFA: 38% MFA: 33% PUFA. The addition of tuna oil in the broiler diet significantly reduced the deposition of SFA, MFA, and PUFA in breast meat, while in legs and thighs these reductions were less noticeable. The significant reduction in the concentration of n-6 PUFA and the increment of n-3 PUFA were more evident in breast than in legs and thighs, and with the addition of 1% and 1.25% of tuna oil. The results of the present study suggest a difference in FA deposition attributable to supplementation with tuna oil. The addition of tuna oil could be recommendable to increase n-3 PUFA in both broiler chicken breast and legs-thighs meats, providing a healthier and functional chicken meat to consumer.

关键词： n-3 Fatty Acids Broilers Tuna Oil Breast Meat Legs and Thighs Meat

Effect of Time and Fatty Acid Composition in Eggs of White Leghorn Hens Supplemented with Tuna Oil

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Food and Nutrition Sciences 2013年第9期4卷 39-44页

作者： Jesus Eduardo morales-Barrera Mariano Jesus Gonzalez-Alcorta Rosa Maria Castillo-Dominguez omar Francisco Prado-Rebolledo Jose Luis Vazquez Xochitl Hernandez-Velasco Guillermo Tellez Anita Menconi Billy Marshal Hargis Silvia Carrillo-Dominguez Departamento de Producción Agrícola y Animal Universidad Autónoma Metropolitana México City México Department of Poultry Science University of Arkansas Fayetteville USA. Depto. Nutrición Animal Instituto Nacional de Ciencias Médicas y Nutrición Salvador Zubirán México City México Facultad de Medicina Veterinaria y Zootecnia Universidad de Colima Colima México Facultad de Medicina Veterinaria y Zootecnia Universidad Nacional Autónoma de México México City México Universidad Autónoma Chapingo Estado de México México

The study evaluated the effect of time and fatty acid (FA) composition in eggs of laying hens supplemented with tuna oil (TO). Two hundred White Leghorn hens 30-week were divided into 5 treatments with 4 replicates of 10 birds each. Treatments were assigned randomly and consisted of 0%, 0.75%, 1.50%, 2.25% and 3% TO in commercial sorghum-soybean meal diets, in which the soybean oil was partially replaced. The experiment was conducted for 90 days. At days 28, 56 and 84 of the experiment, 10 eggs per replicate were collected for chemical analysis. Feed intake, egg production rate, egg weight, and feed conversion were not influenced by dietary treatment. FA content was significantly altered (P < 0.05) by TO, showing a progressive increase in egg n-3 FA (especially docosahexaenoic [DHA] and eicosapentaenoic [EPA] acids) when TO was added. Levels of EPA and DHA were higher (P < 0.05) in the egg lipids of TO fed hens than those in the control group. This was correlated (P < 0.05) with the concentration of TO in the diet. However, no significant differences were observed either in egg weight or percent of egg lay between groups. There was a high correlation (P < 0.05) between TO inclusion level in the diet and the incorporation of EPA (r = 0.96) or DHA (r = 0.92) into the egg yolk and an overall decrease in n-6 FA. There was a high correlation (P < 0.05) between TO inclusion level and the incorporation of linoleic acid (LA, r = -0.95) or arachidonic acid (AA, r = -0.96) into the egg yolk. The highest incorporation (P < 0.05) of total n-3 FA content in eggs was obtained with 3% TO/kg. This increase was proportional to TO inclusion levels in the diets (r = 0.95). The results indicate that the n-3 FA content in eggs can be increased by dietary supplementation with TO, and that TO can serve as a reasonable alternative feed ingredient in layer diets to produce a healthier choice of egg.

关键词： Egg Enrichment Laying Hens n-3 Fatty Acids Tuna Oil

Mexican Guidelines for the Diagnosis and Treatment of Chronic Myeloid Leukaemia

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Journal of Cancer Therapy 2013年第3期4卷 747-764页

作者： Eduardo Cervera Federico Godínez Rosa Sosa Ramón Rivas Carlos Best Juan Hernández Adrián morales Hugo Zurita Ivette Carrasco Jorge Cruz álvaro Aguayo José Espinoza Juan Labardini Luis Valero Judith Cruz Diana Arcos Diego Limón omar López-Navarro Daniela Gordillo-Bastidas Myrna Candelaria Francisco Torres Juan Kassack Oscar de Jesús Pérez Ramírez Jorge Aquino Guillermo Díaz Mariela Cardiel Margarita Rodríguez Patricia Montoya Juan Contreras María Chávez Sandra Chávez David Gómez Olga Cantú Jorge Duque Luis Pita Eduardo Lobato Julio López Antonio López Pedro González Jorge Cortés Haematology and Oncology Department National Institute of Medical and Nutrition Sciences “Dr. Salvador Zubirán” Mexico City Mexico Haematology Deparment from Hospital Juárez Mexico City Mexico Haematology Department Blood Bank and Unit of Aphaeresis General Hospital of Culiacán Health Ministry Culiacán Mexico Haematology Department Bone Marrow Transplant and Blood Bank from Hospital Regional de Alta Especialidad “Dr. Juan Graham Casassus” Villahermosa Mexico Haematology Department Cancerology National Institute (INCan) Mexico City Mexico Haematology Department Cancerology National Institute (INCan) Mexico City Mexico 2Internal Medicine Haematology Hospital ISSSTECALI Tijuana Mexico Haematology Department Centenario Hospital Miguel Hidalgo Health Ministry Aguascalientes Mexico Haematology Department General Hospital of Sonora State Sonora Mexico Haematology Department Hospital Universitario UANL Monterrey Mexico Haematology Haematology Service Hospital General Regional SSG León Mexico Haematology Head of Haematology Service School of Medicine Autonomous University of San Luis Potosí San Luis Potosí Mexico Haematology Hospital “Aranda de la Parra” León Mexico Haematology Hospital General de Especialidades Campeche Mexico Haematology Hospital General de México Mexico City Mexico Haematology Hospital General de Occidente SSA Guadalajara Mexico Haematology Hospital Regional de Alta Especialidad de Oaxaca Oaxaca Mexico Haematology Mérida Clinic Yucatán Mexico Haematology Oncology Unit SSEP Puebla Mexico Hospital Betania Puebla Mexico Hospital of the Poblano Child Puebla Mexico Internal Medicine Haematology Hospital ISSSTECALI Tijuana Mexico Leukaemias Clinic at ISSEMyM Toluca Mexico Leukemia Department MD Anderson Cancer Center Houston Mexico Los Mochis General Hospital Sinaloa Mexico Renaissance Clinic Morelia Mexico State Council for AIDS Prevention and Control Chihuahua Mexico Universidad Autónoma de Yucatán Mérida Mexico

Background: This document includes recommendations and guidelines issued by a group of Mexican researchers and specialists gathered in the First National Colloquium for the Diagnosis and Management of Chronic Myeloid Leukaemia (CML) by initiative of Instituto Nacional de Cancerología and with the support of the Leukaemia Department of the MD Anderson Cancer Center. Mexico lacks of updated information taken from its own reality on the diagnosis and treatment of CML and other haematological disorders;besides, there are no national guidelines. Aim: To publish a consensus document with guidelines for the management of CML adjusted to the national environment and overall characteristics. Method: The participants answered a DELPHI questionnaire about the overall aspects of the disease, aiming to target controversial topics, discuss them in the colloquium, and to agree on the best ones. After those meetings, a final document was drawn up. Results: The group presents recommendations for definition, diagnosis, prognosis, monitoring, and treatment of CML in Mexico. Conclusions: Having consensus guidelines for the clinical management of CML in our country will enable the consensual practice of Mexican specialists regarding the clinical approach to CML, as well as optimize the resources which allow the rational planning of the medical care strategies.

关键词： Chronic Myeloid Leukaemia Management Guidelines Diagnosis Treatment.