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This article deals with the tuning of a simplified non-linear model that represents the dynamic behavior of the manipulator arm PUMA MA2000, where excitation signals formed by a finite sum of harmonics Fourier series were used in order to obtain arm dynamical responses. Initially, non-linear mathematical model is derived by using the Euler-Lagrange notation, and then a simplified nonlinear model is obtained and tuned by using the experimental angular position measurements for waist, shoulder and elbow robot joints.

The United Nations through the World Health Organization has shown that crises or disasters can have a profound impact on the population’s physical and mental health(World Health Organization, 2003). In 2009 a new strain of the human influenza virus (AH1N1) appeared and reached pandemic levels, initiating an epidemiological alert in Mexico in April of the same year. Its impact was significant because it was a new subtype of the virus, especially for the severity of the symptoms and number of deaths, which required taking security, hygiene and social isolation measures to reduce the risk of contagion. In critical periods, clear, direct, objective and timely information is the most important preventive measure. However, when the available information is inadequate, depressive or anxious emotional reactions and distress may be observed in risk behaviours among the general population. Straus and collaborators (2004) suggested that during an outbreak, limited availability of information about the disease can have a negative impact on healthcare staff. In addition, Maunder (2004) highlights the importance of effective risk communication. In the case of healthcare providers, when they are overwhelmed by the emergency, the capacity and quality of the service provided may be affected.

“Efficiency of Delivering Oxygen by Nasal Canulas with Different Methods in Infants with Chronic Pulmonary Disease (CPD)”

Open window thoracostomy (OWT) and plastic surgery using myocutaneous flaps of extrathoracic muscles, was done in nine patients with chronic empyema, after conventional therapy had failed. In all these patients, the pleural cavity and bronchopleural fistulas, when present, closed within eight to 61 days (mean 30), after the second stage of surgery comprising the myoplasty; this in turn was performed between three to seven (mean 3.0) months after the OWT. All patients were considered cured with a minimal deformity of the chest wall. The final scar had an acceptable cosmetic appearance.