Development and Control of a Real Spherical Robot.

This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.

Modeling and Control of a Spherical Robot in the CoppeliaSim Simulator.

This article presents the development of a model of a spherical robot that rolls to move and has a single point of support with the surface. The model was developed in the CoppeliaSim simulator, which is a versatile tool for implementing this kind of experience. The model was tested under several scenarios and control goals (i.e., position control, path-following and formation control) with control strategies such as reinforcement learning, and Villela and IPC algorithms. The results of these approaches were compared using performance indexes to analyze the performance of the model under different scenarios. The model and examples with different control scenarios are available online.

Familial hypercholesterolemia in Mexico: Initial insights from the national registry.

BACKGROUND: Familial hypercholesterolemia (FH) remains underdiagnosed and undertreated. OBJECTIVE: Report the results of the first years (2017-2019) of the Mexican FH registry. METHODS: There are 60 investigators, representing 28 federal states, participating in the registry. The variables included are in accordance with the European Atherosclerosis Society (EAS) FH recommendations. RESULTS: To date, 709 patients have been registered, only 336 patients with complete data fields are presented. The mean age is 50 (36-62) years and the average time since diagnosis is 4 (IQR: 2-16) years. Genetic testing is recorded in 26.9%. Tendon xanthomas are present in 43.2%. The prevalence of type 2 diabetes is 11.3% and that of premature CAD is 9.8%. Index cases, male gender, hypertension and smoking were associated with premature CAD. The median lipoprotein (a) level is 30.5 (IQR 10.8-80.7) mg/dl. Statins and co-administration with ezetimibe were recorded in 88.1% and 35.7% respectively. A combined treatment target (50% reduction in LDL-C and an LDL-C <100 mg/dl) was achieved by 13.7%. Associated factors were index case (OR 3.6, 95%CI 1.69-8.73, P = .002), combination therapy (OR 2.4, 95%CI 1.23-4.90, P = .011), type 2 diabetes (OR 2.8, 95%CI 1.03-7.59, P = .036) and age (OR 1.023, 95%CI 1.01-1.05, P = .033). CONCLUSION: The results confirm late diagnosis, a lower than expected prevalence and risk of ASCVD, a higher than expected prevalence of type 2 diabetes and undertreatment, with relatively few patients reaching goals. Recommendations include, the use of combination lipid lowering therapy, control of comorbid conditions and more frequent genetic testing in the future.

[Meaning of drugs use for adolescents living in the streets, Valencia, Venezuela]. / Significado del consumo de drogas para las adolescentes de la calle, en la ciudad de Valencia, Venezuela.

This descriptive study with a qualitative approach aims to reveal the meaning of drugs use among adolescents living in the street, a condition that turns them into a social problem, so that theoretical approach seeks to understand the phenomenon. Seven (7) female adolescents living on the Cabriales walk in Valencia, Venezuela were interviewed. Grounded Theory and symbolic interactionism were used for data processing. Thus, the following categories were noticed: The search not to be good, Reaffirmation of the role of women, Consumption as experience, The gaze of others to the adolescent who uses drugs and The addict as a caregiver. Finally, we found that the use of drugs on the street for girls is a form of protection, survival and inclusion in the group.

Significado del consumo de drogas para las adolescentes de la calle, en la ciudad de Valencia, Venezuela / Significado do uso de drogas para adolescentes de rua, Valencia, Venezuela / Meaning of drugs use for adolescents living in the streets, Valencia, Venezuela

Se trata de un estudio descriptivo de enfoque cualitativo con el objetivo de revelar el significado del consumo de drogas en las adolescentes de la calle, condición que las convierte en problema social, por lo que se busca obtener una aproximación teórica para comprender este fenómeno. Siete (7) adolescentes femeninas del paseo Cabriales en la ciudad de Valencia, en Venezuela fueron entrevistadas. Para el análisis de los datos se utilizó el recurso metodológico de la Teoría fundamentada (Grand Theory) y la visión del Interaccionismo simbólico y de ahí surgieron las siguientes categorías: la búsqueda de no ser la buena, la reafirmación del rol femenino, el consumo como experiencia, la mirada de los otros a la adolescente que consume drogas, y la adicta como cuidadora. Finalmente, concluimos que el uso de drogas en la calle para las adolescentes del sexo femenino es una forma de protección, sobrevivencia e inclusión en los grupos.

Trata-se de estudo descritivo de abordagem qualitativa, cujo objetivo foi revelar o significado do uso de drogas entre adolescentes que vivem nas ruas, condição que se torna um problema social, de modo que a abordagem teórica busca compreender esse fenômeno. Sete (7) adolescentes do sexo feminino, em Valência, Venezuela, foram entrevistadas. Para análise dos dados, utilizou-se como recurso a metodologia da Grounded Theory e a visão do interacionismo simbólico, de onde emergiram as seguintes categorias: a busca de não ser bom, reafirmação do papel das mulheres, consumo como experiência, o olhar dos outros para a adolescente que usa drogas e o toxicodependente como cuidador. Por fim, conclui-se que o uso de drogas na rua, para adolescentes do sexo feminino, é uma forma de proteção, sobrevivência e inclusão grupal.

This descriptive study with a qualitative approach aims to reveal the meaning of drugs use among adolescents living in the street, a condition that turns them into a social problem, so that theoretical approach seeks to understand the phenomenon. Seven (7) female adolescents living on the Cabriales walk in Valencia, Venezuela were interviewed. Grounded Theory and symbolic interactionism were used for data processing. Thus, the following categories were noticed: The search not to be good, Reaffirmation of the role of women, Consumption as experience, The gaze of others to the adolescent who uses drugs and The addict as a caregiver. Finally, we found that the use of drugs on the street for girls is a form of protection, survival and inclusion in the group.

Factores que influyen en el rendimiento académico de los alumnos de la UNAT-A que proceden de la provincia de Condorcanqui - Amazonas - Perú, en el período 2002 - 2005 / Factors affecting the academic performance of students in UNAT-A coming from the province of Condorcanqui - Amazon - Peru, in the period 2002 - 2005

El presente trabajo aborda la performance académica de los estudiantes procedentes de la provincia de Condorcanqui del departamento de Amazonas pertenecientes a las etnias Aguaruna y Wuambisa, que ingresaron a la universidad vía convenio UNAT-A/ORPIAN; estableciendo un paralelo con los estudiantes procedentes de otras provincia menos alejadas que accedieron a la universidad utilizando los procedimientos regulares establecidos. Los resultados muestran, que la performance de los estudiantes ORPIAN fue deficiente en las asignaturas de comunicación lenguaje y matemáticas, promediando sólo el 47 y 50 por ciento del rendimiento esperado, en tanto que para las mismas asignaturas los estudiantes regulares alcanzaron el 64 y 60 por ciento en forma correspondiente. Estos calificativos bajos son el inicio de una espiral descendiente en los promedios ponderados acumulados a lo largo de 08 ciclos de estudio, con promedios en la escala vigesimal de apenas 6.78 (+-2.37) 7.30 (+-4.46) y 10.40 (+-2.32) en las carreras profesionales de Ingeniería Agroindustrial, Enfermería y Educación Primaria en forma correspondiente; estas diferencias no son cuantificables en la carrera profesional de Turismo en donde la perfomance es similar con un promedio de 12.30 (+-0.58). Según lo esperado, la tasa de deserción de los estudiantes fue en el mismo orden del 100 por ciento, 50 por ciento y 0.0 por ciento en las referidas carreras profesionales. Los resultados de la baja performance se sustentan en la limitada capacidad de comunicacción, deficiencias en formación académica pre universitaria a los que contribuyen factores socioeconómicos y de autoestima.