RESUMEN
A digital twin (DT) is a virtual/digital model of any physical object (physical twin), interconnected through data exchange. In the context of Industry 4.0, DTs are integral to intelligent automation driving innovation at scale by providing significant improvements in precision, flexibility, and real-time responsiveness. A critical challenge in developing DTs is achieving a model that reflects real-time conditions with precision and flexibility. This paper focuses on evaluating latency and accuracy, key metrics for assessing the efficacy of a DT, which often hinder scalability and adaptability in robotic applications. This article presents a comprehensive framework for developing DTs using Unity and Robot Operating System (ROS) as the main layers of digitalization and communication. The MoveIt package was used for motion planning and execution for the robotic arm, showcasing the framework's versatility independent of proprietary constraints. Leveraging the versatility and open-source nature of these tools, the framework ensures interoperability, adaptability, and scalability, crucial for modern smart manufacturing applications. Our approach was validated by conducting extensive accuracy and latency tests. We measured latency by timestamping messages exchanged between the physical and digital twin, achieving a latency of 77.67 ms. Accuracy was assessed by comparing the joint positions of the DT and the physical robotic arm over multiple cycles, resulting in an accuracy rate of 99.99%. The results highlight the potential of DTs in enhancing operational efficiency and decision-making in manufacturing environments.
RESUMEN
Menopause is the permanent cessation of menstruation resulting from the loss of ovarian and follicular activity. It usually occurs when women reach their early 50s. Vasomotor symptoms and vaginal dryness are frequently reported during menopause. Estrogen is the most effective treatment for management of hot flashes and night sweats. Local estrogen is preferred for vulvovaginal symptoms because of its excellent therapeutic response. Bone mineral density screening should be performed in all women older than 65 years, and should begin sooner in women with additional risk factors for osteoporotic fractures. Adequate intake of calcium and vitamin D should be encouraged for all postmenopausal women to reduce bone loss. Coronary artery disease is the leading cause of death in women. Postmenopausal women should be counseled regarding lifestyle modification, including smoking cessation and regular physical activity. All women should receive periodic measurement of blood pressure and lipids. Appropriate pharmacotherapy should be initiated when indicated. Women should receive breast cancer screening every one to two years beginning at age 40, as well as colorectal cancer screening beginning at age 50. Women younger than 65 years who are sexually active and have a cervix should receive routine cervical cancer screening with Papanicolaou smear. Recommended immunizations for menopausal women include an annual influenza vaccine, a tetanus and diphtheria toxoid booster every 10 years, and a one-time pneumococcal vaccine after age 65 years.