Browsing by Autor "Carmen Morales"

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    A Double Deep Q-Learning Network-Based Path Planning Approach for Autonomous Mobile Robots in Mining Environments
    (2024) Carmen Morales; Kevin Marlon Soza Mamani; Alvaro Prado
    Motion planning comprises one of the main corner-stones in autonomous mobile robotics, where obstacle avoidance and path planning efficiency are quintessential for the success of maneuverability applications. However, real-time implemen-tation of path planning is limited by adaptive scenarios, high dimensional maps, and time constraints. This paper proposes a Double Deep Q-Network approach for path planning and obstacle avoidance of skid-steer mobile robots due to its ability to explore an extended navigation workspace, and to reduce over estimation bias produced by sparse rewards. The proposed DDPG approach was compared to Q-Iearning and Deep Q-Network (DQN) algorithms to examine path planning performance under changing simulation environments, intended to be similar to those found in mining. Results from several exploration trails show that DDQN enhances the path length and significantly outperforms QL and DQN regarding path following time, reducing it about 26 % and 17 %, respectively. Ongoing research is expected to have an impact on the energy resources of the robot in mining scenarios.
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    Comparación de tolerabilidad y fisico-química entre lotes de antimonial comercial y no comercializado (Glucantime® vs. Ulamina) en el tratamiento de la Leishmaniasis cutánea
    (2003) Laura Vásquez de Ricciardi; Elina Rojas Moreno; J. V. Scorza; Nelson Vicuña Fernández; Carmen Morales; Padgett De; Sabrina López; Herminia Bendezú; José Scorza Dagert; Leticia Miranda de Contreras
    A retrospective study done by means of the revision of 416 medical records from cutaneous leishmaniasis patients, treated exclusively with pentavalent antimony (Glucantime® and Ulamina) at the Centre of Parasitological Research “Jose Witremundo Torrealba”, at the University of Los Andes, in Trujillo, Venezuela, during a period between June 1989 and June 2002, with the objective of determinates the tolerability of these compounds in terms of local adverse reactions, systemic and of cutaneous hypersensibility. Additionally, some physical-chemical characteristics were quantified in lots of both of the pharmaceutics used during the appointed period with the aim of justify the observed differences. A local cutaneous reaction was presented (induration, edema, eritheme and itch) in 13% of 166 patients treated with Glucantime® and in 7% of 250 treated with Ulamina, the systemic reactions found were hypertension, tachycardia, disnea, hepatitis, fever, headache, dizziness, asthenia and systemic allergic reaction in 3% of (Glucantime® treated patients and in 2% of the Ulamina ones. The positiveness to the cutaneous hypersensibility test was significantly higher with Ulamina. The loss of Ulamina showed a lower concentration of total and pentavalent antimony, chlorates, density and similarity, the lasts three of statistical significance