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Estimation of the Attitude in an Industrial Robot： An Unit Quaternion Approach

通讯和计算机（中英文版） 2012年第11期9卷 1287-1292页

作者： Salmeron-Quiroz Bemardino Benito Guerrero-Castellanos Jose Fermi villegas-medina gerardo Rodriguez-Paredes Salvador Antonio Lam-Farias Luis Faculty of Engineering Autonomous University of San Luis Potosi (UASLP) zipcode 78290 San Luis PotosL Mexico Mechatronics Department Autonomous University of Puebla (BUAP) Valsequillo Boulevard zipcode 72592 Puebla Mexico National Polytechnic Institute (IPN- SEPI ESIME UA) Av. De la Granjas 682 Azcapotzalco zipcode 02250 Mexico City Motors Department Volkswagen Mexico Mexico-Puebla Km 116 Puebla zipcode 72700 Mexico

Traditionally, the automotive industry has been the largest employer of robots, but their control is inline and programmed to follow planning trajectories. In this case, in the department motor"s test of Volkswagen Mexico a semi-autonomous robot is developed. To date, some critical technical problems must be solved in a number of areas, including in dynamics control. Generally, the attitude estimation and the measurement of the angular velocity are a requirement for the attitude control. As a result, the computational cost and the complexity of the control loop are relatively higher. This paper deals with the implementation of an cheap micro AHRS (attitude and heading reference system) using low-cost inertial sensors. In the present paper, the technique proposed is designed with attitude estimation and the prediction movement. With this approach, only the measurements of at least two non-collinear directional sensors are needed. Since the control laws are highly simple and a model-based observer for angular velocity reconstruction is not needed, the proposed new strategy is very suitable for embedded implementations. The global convergence of the estimation and prediction techniques is proved. Simulation with some robustness tests is performed.

关键词：工业机器人姿态估计四元数法预测技术单位动态控制姿态控制机器人开发

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HP0953-hypothetical virulence factor overexpresion and localization during Helicobacter pylori infection of gastric epithelium

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World Journal of Gastroenterology 2022年第29期28卷 3886-3902页

作者： Nancy K Arteaga-Resendiz gerardo E Rodea Rosa María Ribas-Aparicio Alma L Olivares-Cervantes Juan Arturo Castelán-Vega Joséde Jesús Olivares-Trejo Sandra Mendoza-Elizalde Edgar O López-villegas Christian Colín Pamela Aguilar-Rodea Alfonso Reyes-López Marcela Salazar García Norma Velázquez-Guadarrama Laboratorio de Investigación en Enfermedades Infecciosas Hospital Infantil de México Federico GómezMexico City 06720Mexico Posgrado en Biomedicina y Biotecnología Molecular Laboratorio de Producción y Control de BiológicosEscuela Nacional de Ciencias BiológicasInstituto Politécnico NacionalMexico City 11340Mexico Laboratorio de Adquisición de Hierro Universidad Autónoma de la Ciudad MéxicoPosgrado Ciencias GenómicaMexico City 03100Mexico Laboratorio Central de Microscopía Escuela Nacional de Ciencias BiológicasInstituto Politécnico NacionalMexico City 11340Mexico Centro de estudios económicos y sociales en salud Hospital Infantil de México Federico GómezMexico City 06720Mexico Laboratorio de Investigación en Biología del Desarrollo y Teratogénesis Experimental Hospital Infantil de México Federico GómezMexico City 06720Mexico

BACKGROUND The high prevalence and persistence of Helicobacter pylori(H. pylori) infection, as well as the diversity of pathologies related to it, suggest that the virulence factors used by this microorganism are varied. Moreover, as its proteome contains 340hypothetical proteins, it is important to investigate them to completely understand the mechanisms of its virulence and survival. We have previously reported that the hypothetical protein HP0953 is overexpressed during the first hours of adhesion to inert surfaces, under stress conditions, suggesting its role in the environmental survival of this bacterium and perhaps as a virulence *** To investigate the expression and localization of HP0953 during adhesion to an inert surface and against gastric(AGS) *** Expression analysis was performed for HP0953 during H. pylori adhesion. HP0953 expression at 0,3, 12, 24, and 48 h was evaluated and compared using the Kruskal-Wallis equality-of-populations rank test. Recombinant protein was produced and used to obtain polyclonal antibodies for immunolocalization. Immunogold technique was performed on bacterial sections during adherence to inert surfaces and AGS cells, which was analyzed by transmission electron microscopy. HP0953 protein sequence was analyzed to predict the presence of a signal peptide and transmembrane helices, both provided by the ExPASy platform, and using the GLYCOPP platform for glycosylation sites. Different programs, via, I-TASSER, RaptorX, and HHalign-Kbest, were used to perform three-dimensional *** HP0953 exhibited its maximum expression at 12 h of infection in gastric epithelium *** technique revealed HP0953 localization in the cytoplasm and accumulation in some peripheral areas of the bacterial body, with greater expression when it is close to AGS *** analysis revealed the presence of a signal peptide that interacts with the transmembrane region and then allows the release of the protein

关键词： Hypothetical protein HP0953 Adherence Helicobacter pylori Glycocalyx Virulence factor Persistence

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Estimation of Human Movements via Quaternion

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通讯和计算机：中英文版 2013年第5期10卷 693-701页

作者： Bernardino Benito Salmeron-Quiroz Jose Fermi Guerrero-Castellanos Cesar Femando Mendez-Barrios gerardo villegas-medina Hector Mendez-Azua SEPI ESIME UA National Polytechnic Institute (I.P.N.) Azcapotzalco 02250 Mexico Mechatronics Department Autonomous University of Puebla (BUAP) Puebla 72592 Mexico Faculty of Engineering Autonomous University of San Luis Potosi (UASLP) San Luis Potosi 78290 Mexico

This paper presents the authors" research results about HRI (human-robot interaction). The goal is to estimate together the arm position, the anatomical movements of the shoulder and accelerations of the arm with respect to the shoulder and visualizing this movement in a 3-D virtual model to control a Robot. The estimation algorithm makes use of a nonlinear observer and an optimization routine to fuse information from the sensor. The global asymptotic convergence of the nonlinear observer is guaranteed. Extensive tests of the presented methodology with real world data show the effectiveness of the proposed procedure.

关键词：运动估计四元数非线性观测器传感器融合研究成果人机交互虚拟模型估计算法

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Safety and Efficacy of Oral Mirodenafil in Mexican with Erectile Dysfunction

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International Journal of Clinical Medicine 2016年第9期7卷 628-638页

作者： Juan gerardo Reyes-García Noemí Santos-Caballero Francisco Javier Flores-Murrieta Sección de Estudios de Posgrado e Investigación Escuela Superior de Medicina Instituto Politécnico Nacional Ciudad de México Mexico Landsteiner Scientific S.A. de C.V. Ciudad de México Mexico Unidad de Investigación en Farmacología Instituto Nacional de Enfermedades Respiratorias “Ismael Cosio Villegas” Ciudad de México Mexico

Erectile dysfunction is treated with 5-phospodiesterase inhibitors as Mirodenafil, which has shown its efficacy and safety in Koreans, however;no information in other populations is available. An open clinical trial study was designed to evaluate the efficacy and safety in real life of a fixed-dose of Mirodenafil in Mexican patients with erectile dysfunction. Forty-seven male patients received a 100 mg tablet of Mirodenafil, during 12 weeks. Primary outcome efficacy measure was the percentage of male patients with successful intercourse. Secondary outcomes measures included patient satisfaction, mood and self-esteem level. Safety assessments included laboratory tests, vital signs, physical examination, 12-lead electrocardiogram recordings, and incidence of adverse events by patients. Oral administration of Mirodenafil improved in an 80% - 90% the number of successful intercourses from 7 to 84 days of treatment. Moreover, patients reported a significant increment in their sexual satisfaction, mood and self-esteem. Mirodenafil treatment did not modify vital signs nor anthropometric parameters during 84 days. Mild headache was the most frequent adverse event (17.0%) and there were no severe adverse events during pharmacological treatment. Data suggest that oral Mirodenafil is safety, well tolerated and effective in the Mexican population with erectile dysfunction.

关键词： Efficacy Erectile Dysfunction Mexicans Mirodenafil Safety

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Oral Pharmacokinetics of Mirodenafil in Mexican Healthy Volunteers

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Pharmacology & Pharmacy 2014年第1期5卷 112-116页

作者： Miriam del Carmen Carrasco-Portugal Francisco Javier Flores-Murrieta Juan gerardo Reyes-García Noemí Santos-Caballero Landsteiner Scientific S.A. de C.V. México DF México Sección de Estudios de Posgrado e Investigación Escuela Superior de Medicina Instituto Politécnico Nacional México DF México Unidad de Investigación en Farmacología Insituto Nacional de Enfermedades Respiratorias “Ismael Cosio Villegas” México DF México Unidad de Investigación en Farmacología Insituto Nacional de Enfermedades Respiratorias “Ismael Cosio Villegas” México DF México Sección de Estudios de Posgrado e Investigación Escuela Superior de Medicina Instituto Politécnico Nacional México DF México

Mirodenafil is a 5-phosphodiesterase inhibitor that is currently marketed in Korea for the treatment of erectile dysfunction;however, no information in other populations is available. It has been described that Mirodenafil is metabolized by CYP3A4, a metabolic pathway in which interethnic differences have been reported. The purpose of this study was to characterize the oral pharmacokinetics of Mirodenafil in Mexicans. Seventeen male healthy volunteers were enrolled in this study. After an overnight fast, volunteers received an oral 100 mg dose and blood samples were collected at selected times during 24 h. Plasma was stored frozen and analyzed by an HPLC method. Pharmacokinetic parameters obtained were: Cmax 331.129 ± 32.689 ng/mL, tmax 1.574 ± 0.293 h, AUC24h 883.293 ± 104.088 ng·h/mL, AUC￥ 976.477 ± 108.812 ng·h/mL and t1/2 1.807 ± 0.171 h. Parameter values observed in this study are similar to those reported in Koreans. Since efficacy and safety studies of Mirodenafil have been conducted in Koreans, it is expected that dosage regime to employ in Mexicans should be similar to the approved for Korean population.

关键词： Erectile Dysfunction Healthy Volunteers Mexican Mirodenafil Pharmacokinetic

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Comparison on the Pharmacokinetics and Weight Reduction of Clobenzorex Slow Release and Immediate Release Formulations in Obese Patients

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Pharmacology & Pharmacy 2013年第2期4卷 218-221页

作者： Federico Argüelles-Tello Miriam del C.Carrasco-Portugal Norma A.Carrasco-Portugal Jose Carlos Aguilar-Carrasco Selene I.Patino-Camacho Cecilia Fernandez del Valle gerardo Reyes-Garcia Francisco J.Flores-Murrieta Sección de Estudios de Posgrado e Investigación Escuela Superior de Medicina del Instituto Politecnico NacionalMexico CityMexico Unidad de Investigación en Farmacología Instituto Nacional de Enfermedades Respiratorias Ismael Cosío VillegasMexico CityMexico Centro de Estudios Biofarmaceuticos Mexico CityMexico Instituto Nacional de Perinatología Mexico CityMexico

Clobenzorex is an anorexigenic drug that is widely used in Mexicofor the treatment of obesity, since it helps to reduce body weight. This drug is available as immediate release capsules. To improve compliance to treatment, it was developed a new slow release formulation. In order to establish its usefulness, oral pharmacokinetics and weight reduction of slow release and immediate release formulations of clobenzorex in obese patients were compared. Sixty patients with a BMI higher than 27 kg/m2 were included in the study. Two groups of 30 patients were formed, one of them received 30 mg immediate release formulation b.i.d. and the other group received one 60 mg slow release formulation once a day, since under this scheme these formulations are prescribed. Blood samples were obtained at selected times during the first day and once weekly during 4 weeks. After the last dose, samples were obtained at selected times during 48 h. Plasma levels were determined by HPLC-MS/MS and pharmacokinetic parameters were obtained. Reduction in Cmax due to increased tmax, as well as, increased half-life were observed with the slow release formulation in comparison with immediate release formulation. Although lower plasma levels of clobenzorex were reached with the slow release formulation, reduction of body weight was similar with both products. Based on the results, it was concluded that slow release formulation of clobenzorex is an adequate formulation of clobenzorex, since pharmacokinetics and effects observed are compatible with a once a day administration.

关键词： Clobenzorex Pharmacokinetics Slow Release Formulation

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