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INTRODUCTION: Chronic obstructive pulmonary disease has a guide in charge of prevention and treatment, called the Global Initiative for Chronic Lung Disease, which is annually updated and catalogs pulmonary rehabilitation, within the treatment options. OBJECTIVE: To describe the effects on clinical variables, functional capacity, anxiety/depression and health-related quality of life in patients with chronic obstructive pulmonary disease, after a pulmonary rehabilitation program, according to the GOLD 2020 classification in a Cali clinic. MATERIALS AND METHODS: Descriptive, longitudinal study where 79 patients divided into 3 groups were included (B, C and D). RESULTS: The mean age was 70 years, 69% men. The number of hospitalized days was greater for groups C and D with an average of 8 and 13 days, respectively (p≤0.000). The functional capacity showed a greater distance in group C (421m) and the shortest distance for group D (328m), p≤0.006. In anxiety and depression, group D managed to obtain improvements as well as in the quality of life questionnaire. CONCLUSION: Group C presented greater functional capacity and better quality of life, group B had better results in clinical variables, and group D had worse clinical condition, functional capacity and quality of life. At the end of pulmonary rehabilitation, group D presented greater changes in functional capacity and quality of life.

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The Earth's magnetic field is used in various navigation systems, but this field has a dynamic behavior that can be affected by different physical factors in local environments. These factors can pose risks to navigation systems and at the same time be a signal of a phenomenon that needs to be investigated, such as mineral concentration or the presence of interference from electrical equipment, among others. For that reason, in this project, this system was designed and integrated using a low-cost, military-grade magnet inductive magnetometer, which is integrated into two Inertial Measurement Units to corroborate the movement data, and at the same time a geopositioning system to georeference the sensor measurements. The information is managed by an MCU, which also stores data on an SD card. The system includes a lithium battery management system to provide more than an hour of autonomy. Wireless communication systems are intentionally avoided to prevent interference, and an infrared transmission LED is included instead, in case the real-time transmission is necessary. The results show that the proposed system allows for obtaining maps of magnetic field intensity in open spaces, and this information can be used to determine regions with anomalies.

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Different types of environmental pollution cause negative consequences to ecosystems throughout the globe, which humanity is now trying to mitigate. It is necessary to know the level of pollution problems in the immediate environment, to evaluate the impact of human activities, and mitigation strategies necessary to ensure habitability. For this reason, in this work, a low-cost pollution measurement station for outdoor or indoor use is proposed and developed that measures air pollution (particulate matter and CO2), noise (level and direction), light pollution (power and multispectral), and also relative humidity and ambient temperature. The system stores the data in an SD memory or transmits data in real-time to the internet via WiFi. The purposes of the system are to be used in environmental studies, to deploy monitoring networks, or to ensure the habitability of a living or working space. The prototype integrates the measurement of the different sources of contamination in a single compact device at USD$ 628.12 without sacrificing measurement accuracy. The system is validated for each variable with reference equipment, obtaining an average error of approximately 2.67% in the measurement of all the variables measured. The system is easy to assemble and has an option for power supply using solar photovoltaic devices and an alternative for connection to 2G/3G mobile networks.

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The use of IoT systems that support the construction of smart cities is a global trend that directly affects the quality of life of citizens. for vehicular and pedestrian traffic, the detection of living beings and especially of humans, is a way of quantifying different variables pertinent to the improvement of roads, traffic flows, frequency of visits, among others. the implementation of low-cost systems that do not involve high-processing systems makes the solutions more scalable at a global level. The data acquired by this type of device offers advantages to the different entities in statistics and public consultations, thus contributing to their growth. In this article, an assistance system for the task of pedestrian flow detection is designed and constructed. It integrates strategically located arrays of sensors to detect the direction and general location, which include microwave sensors to detect motion, and infrared presence sensors. The results demonstrate that the system manages to establish the direction of flow of the individual and laterally of the displacement and differentiation between humans and objects for assistance to other systems of counting or analysis of pedestrian flow.

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This article presents the outdoor and synthetic performance data concerning the main electrical parameters estimated from the I-V curve for three photovoltaic technologies (HIT, m-Si and CIGS) and the weather conditions (irradiance, ambient and panel temperature). Synthetic data were generated by simulating in OpenModelica software the impact of weather conditions on device performance, considering an irradiance range between 50 and 1300 W/m2. The outdoor data corresponds to the performance of the evaluated PV modules in outdoor tests in Medellin-Colombia for ten months using capacitive I-V tracers. In both cases, different capacitor values were considered to evaluate the effect on the I-V curve behavior of devices.

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We use the cumulant Green's functions method (CGFM) to study the single-band Hubbard model. The starting point of the method is to diagonalize a cluster ('seed') containingNcorrelated sites and employ the cumulants calculated from the cluster solution to obtain the full Green's functions for the lattice. All calculations are done directly; no variational or self-consistent process is needed. We benchmark the one-dimensional results for the gap, the double occupancy, and the ground-state energy as functions of the electronic correlation at half-filling and the occupation numbers as functions of the chemical potential obtained from the CGFM against the corresponding results of the thermodynamic Bethe ansatz and the quantum transfer matrix methods. The particle-hole symmetry of the density of states is fulfilled, and the gap, occupation numbers, and ground-state energy tend systematically to the known results as the cluster size increases. We include a straightforward application of the CGFM to simulate the singles occupation of an optical lattice experiment with lithium-6 atoms in an eight-site Fermi-Hubbard chain near half-filling. The method can be applied to any parameter space for one, two, or three-dimensional Hubbard Hamiltonians and extended to other strongly correlated models, like the Anderson Hamiltonian, thet - J, Kondo, and Coqblin-Schrieffer models.

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INTRODUCTION AND AIMS: A frequent task in the study of colorectal carcinomas (CRC) is to identify tumors harboring deficient DNA mismatch repair systems (dMMR), which are associated with microsatellite instability. Given that there is scant information on those tumors in Mexican patients, our aim was to describe their frequency, clinical and pathologic characteristics, and results, which are necessary for future trials. MATERIALS AND METHODS: A consecutive series of CRC patients, treated and followed at a tertiary care center was performed. The clinical and pathologic variables and the risk of hereditary or familial cancer syndrome were retrieved. The original slides and hMLH1, hPMS2, hMSH2, hMSH6 immunohistochemistry were evaluated. Tumors with an absence of at least one protein were considered dMMR. Differences were contrasted, utilizing non-parametric tests. RESULTS: One hundred and forty-four patients were included, with a median age of 65 years. A total of 134/93% patients presented with sporadic CRC, 8/5.6% had a family history of CRC, and 2/1.4% met the diagnostic criteria for hereditary non-polyposis colon cancer, according to the Amsterdam and Bethesda criteria. dMMR tumors were found in 39 patients, distributed among the three groups. They were locally advanced (p<0.001), right-sided, had the mucinous phenotype, and harbored a Crohn's-like lymphoid reaction (all three features, p<0.04). Adjuvant or palliative chemotherapy was administered to 57 (39.6%), concomitant chemoradiotherapy to 24 (16.7%), but 63 (43.8%) patients received no additional treatment to surgery. Five-year follow-up was completed in 131 of the patients and the outcomes alive-with-disease or died-of-disease were more frequently observed in the proficient (pMMR) lesions. CONCLUSIONS: In the present pre-FOLFOX case series, outcomes were better in dMMR CRC than in proficient lesions.

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Albedo is the percentage of radiation that a given surface reflects. Its study is important to evaluate thermal effects in buildings, generation capacity with bifacial panels, among others. In this work, the design and validation of a low-cost mobile albedometer is presented, which measures the reflection in 8 spectral bands in the visible, additionally the system is equipped with a Global Navigation Satellite System (GNSS) receiver, to reference its position and an Inertial Measurement Unit (IMU) to know its absolute orientation, make corrections in real time or detect errors. The purpose of designing the mobile device is to measure a larger area and, since it is georeferenced, it is to feed GIS tools that allow designers to use the information.

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The incidence angle of solar irradiance is an important parameter for sizing and locate photovoltaic systems, which affects the installation design and has a high influence in the power production of photovoltaic panels. This angle is traditionally estimated considering the geographical position, however, this approach ignores the existence of local elements that affect the generation, such as weather conditions, topography, constructions with high reflection, among others. Therefore, this work presents the design and construction of a measurement device with nine irradiance sensors, which are located at different angles on two orthogonal axes within a semisphere. Since the angles of the sensors are known, a model to determine the direction of the maximum incidence irradiance, at each instant of time, can be calculated from the on-site measurements. In this way, it is also possible to calculate the panel inclination and orientation producing the maximum power for a particular location. The device acquires the irradiance magnitude in the nine sensors in real time, and it is transmitted using the Internet to simplify data recollection. Finally, the device uses a low-cost platform, which makes possible the adoption of this solution in a wide range of applications, e.g. design, diagnostic or reconfiguration of PV arrays.

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Measuring climatic conditions is a fundamental task for a wide array of scientific and practical fields. Weather variables change depending on position and time, especially in tropical zones without seasons. Additionally, the increasing development of precision or smart agriculture makes it necessary to improve the measurement systems while widely distributing them at the location of crops. For these reasons, in this work, the design, construction and fabrication of an adaptable autonomous solar-powered climatic station with wireless 3G or WiFi communication is presented. The station measures relative humidity, temperature, atmospheric pressure, precipitation, wind speed, and light radiation. In addition, the system monitors the charge state of the main battery and the energy generated by the photovoltaic module to act as a reference cell for solar energy generation capability and agrivoltaic potential in the installation area. The station can be remotely controlled and reconfigured. The collected data from all sensors can be uploaded to the cloud in real-time. This initiative aims at enhancing the development of free and open source hardware that can be used by the agricultural sector and that allows professionals in the area to improve harvest yield and production conditions.

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The measurement of outdoor environmental and climatic variables is needed for many applications such as precision agriculture, environmental pollution monitoring, and the study of ecosystems. Some sensors deployed for these purposes such as temperature, relative humidity, atmospheric pressure, and carbon dioxide sensors require protection from climate factors to avoid bias. Radiation shields hold and protect sensors to avoid this bias, but commercial systems are limited, often expensive, and difficult to implement in low-cost contexts or large deployments for collaborative sensing. To overcome these challenges, this work presents an open source, easily adapted and customized design of a radiation shield. The device can be fabricated with inexpensive off-the-shelf parts and 3-D printed components and can be adapted to protect and isolate different types of sensors. Two material approaches are tested here: polylactic acid (PLA), the most common 3-D printing filament, and acrylonitrile styrene acrylate (ASA), which is known to offer better resistance against UV radiation, greater hardness, and generally higher resistance to degradation. To validate the designs, the two prototypes were installed on a custom outdoor meteorological system and temperature and humidity measurements were made in several locations for one month and compared against a proprietary system and a system with no shield. The 3-D printed materials were also both tested multiple times for one month for UV stability of their mechanical properties, their optical transmission and deformation under outdoor high-heat conditions. The results showed that ASA is the preferred material for this design and that the open source radiation shield could match the performance of proprietary systems. The open source system can be constructed for about nine US dollars, which enables mass development of flexible weather stations for monitoring needed in smart agriculture.

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The development and optimization of renewable energy systems are some of the most necessary topics to advance towards secure and sustainable energy models. Photovoltaic energy is one of those sustainable options that could contribute to the reduction of greenhouse gas emissions. The optimal angle of solar incidence producing the highest absorption in a day is an important parameter to install photovoltaic systems. This value is often estimated using simulation models based on geographic location; however, those models ignore the influence of nearby obstruction objects, albedo, and local weather conditions. Such a problem is addressed in this work by designing a system to estimate the optimum angle of solar incidence for the photovoltaic panels. The system is based on an arrangement of 33 measurement points spaced in arcs every 45 degrees in azimuth and every 22.5 degrees in elevation, which provides a wide range for analysis. The light captured by each optical fiber is transmitted to a flat array where the power is measured using a single RGB camera.

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BACKGROUND: While searching for novel small molecules for new organic pesticide agents against plant-parasitic nematodes, we found that the hexane extract from the roots of Senecio sinuatos and its main secondary metabolite, 3ß-angeloyloxy-6ß-hydroxyfuranoeremophil-1(10)-ene (1), possess nematicidal activity against the second stage juvenile (J2) of Meloidogyne incognita and Nacobbus aberrans. Both species reduce yield of various vegetable crops. These results encouraged us to synthesize esters 3-9 formed by diol 2, obtained by alkaline hydrolysis of 1 and acetic anhydride, benzoic acid, 2-nitrobenzoic acid, 2-bromobenzoic acid, 4-nitrobenzoic acid, 4-bromobenzoic acid, and 4-methoxybenzoic acid, respectively. The nematicidal activity of these esters was evaluated and compared with that of the free benzoic acids. RESULTS: Natural product 1 and derivatives 2-9 were obtained and characterized by their physical and spectroscopic properties, including one-dimensional (1D) and two-dimensional (2D) nuclear magnetic resonance (NMR) experiments; X-ray diffraction analysis established their absolute configuration. The nematicidal activity of compounds 1-9 was assessed in vitro against M. incognita and N. aberrans J2 and was compared to activity shown by benzoic acid, 2-nitrobenzoic acid, 2-bromobenzoic acid, 4-nitrobenzoic acid, 4-bromobenzoic acid, and 4-methoxybenzoic acid. The esters suppressed nematodes more than free benzoic acid. Nacobbus aberrans J2 were suppressed, with compounds 5, 6, and 8 being the most active. CONCLUSION: Esters formed by 3ß,6ß-dihydroxyfuranoeremophil-1(10)-ene and ortho- or para-substituted benzoic acids containing electron acceptor groups had nematicidal activity against N. aberrans. These compound can potentially serve as a model for the development of new organic nematicidal agents. © 2022 Society of Chemical Industry.

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PURPOSE: Identify the incidence and risk factors for acute kidney injury (AKI) following total knee arthroplasty (TKA) with and without tourniquet. MATERIAL AND METHODS: 100 patients were randomized into two groups. Postoperative AKI was defined as the postoperative creatinine level 0.3 mg/dl compared with baseline. Potential variables associated with AKI were analyzed by multivariate logistic regression model to identify the AKI risk factors in TKA patients with and without tourniquet. RESULTS: AKI rate was 22%, tourniquet use (OR = 2.66, p = 0.014), blood loss > 500 cm3 (OR = 3.99, p = 0.001), postoperative Hb < 10 g/dl (OR = 2.68, p = 0.008), blood transfusions (OR = 2.86, p = 0.012) and diabetes (OR = 2.80, p = 0.006) were associated with increased risk of postoperative AKI. CONCLUSIONS: The use of tourniquet should be indicated with caution and should not be used routinely in patients with other risk factors for the development of acute kidney dysfunction, other measures to achieve trans-surgical hemostasis should be implemented in our environment to reduce the incidence of acute kidney dysfunction related to the use of the tourniquet.

PROPÓSITO: Identificar la incidencia y factores de riesgo para lesión renal aguda (LRA) después de la artroplastia total de rodilla (ATR) con y sin uso de torniquete. MATERIAL Y MÉTODOS: Se dividieron 100 pacientes en dos grupos. Se definió la LRA como una elevación postoperatoria de la creatinina 0.3 mg/dl comparada con el nivel basal preoperatorio. Las potenciales variables asociadas con la DRA fueron analizadas con un modelo de regresión logística multivariada para identificar los factores de riesgo de DRA en pacientes sometidos a ATR con y sin torniquete. RESULTADOS: La incidencia de LRA fue de 22%. El uso de torniquete (OR = 2.66, p = 0.014), pérdida sanguínea > 500 cm3 (OR = 3.99, p = 0.001), Hb postoperatoria < 10 g/dl (OR = 2.68, p = 0.008), transfusión sanguínea (OR = 2.86, p = 0.012) y la diabetes (OR = 2.80, p = 0.006) fueron asociados a un mayor riesgo postoperatorio de LRA. CONCLUSIONES: El uso de torniquete debe estar indicado con precaución y no debe utilizarse de forma rutinaria en pacientes con otros factores de riesgo para el desarrollo de disfunción renal aguda, otras medidas para lograr la hemostasia transquirúrgica deben implementarse en nuestro entorno para reducir la incidencia de disfunción renal aguda relacionada con el uso del torniquete.

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INTRODUCTION AND AIM: Graft-versus-host disease (GvHD) is a complication of hematopoietic cell transplantation, and the small bowel is one of the main targets in the gastrointestinal tract. Capsule endoscopy is a safe procedure and can be useful in the diagnosis of GvHD. The aim of the present study was to compare the diagnostic yield of capsule endoscopy with the histopathologic findings in GvHD. MATERIALS AND METHODS: A retrospective diagnostic test study included all the patients with suspected GvHD that underwent gastroscopy and colonoscopy, with histopathologic evaluation of the biopsies taken, and capsule endoscopy, within the time frame of July 2015 and July 2019. Capsule endoscopy findings were compared with the histopathologic diagnosis, considered the gold standard. RESULTS: Twenty-one patients with GvHD (7 [33%] women; 37 ± 11.9 years of age) were included, 20 (95%) of whom had acute GvHD. The median gastric transit time of the capsule was 55 minutes (20-113) and the median small bowel transit time was 261 minutes (238-434). The entire small bowel was visualized through capsule endoscopy in 17 cases (80.95%). The histopathologic findings and capsule endoscopy findings resulted in the diagnosis of GvHD in 17 and 16 cases, respectively. There was agreement between the histopathologic and capsule endoscopy findings in 18 cases (15 positive and 3 negative). Sensitivity, specificity, positive predictive value, negative predictive value, and diagnostic yield of capsule endoscopy were 88%, 75%, 94%, 60%, and 85%, respectively. CONCLUSIONS: Capsule endoscopy is a safe tool for the diagnosis of GvHD, with high sensitivity and positive predictive value, as well as moderate agreement with histopathologic findings.

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Regulating insulin and leptin levels using a protein tyrosine phosphatase 1B (PTP1B) inhibitor is an attractive strategy to treat diabetes and obesity. Glycyrrhetinic acid (GA), a triterpenoid, may weakly inhibit this enzyme. Nonetheless, semisynthetic derivatives of GA have not been developed as PTP1B inhibitors to date. Herein we describe the synthesis and evaluation of two series of indole- and N-phenylpyrazole-GA derivatives (4a-f and 5a-f). We measured their inhibitory activity and enzyme kinetics against PTP1B using p-nitrophenylphosphate (pNPP) assay. GA derivatives bearing substituted indoles or N-phenylpyrazoles fused to their A-ring showed a 50% inhibitory concentration for PTP1B in a range from 2.5 to 10.1 µM. The trifluoromethyl derivative of indole-GA (4f) exhibited non-competitive inhibition of PTP1B as well as higher potency (IC50 = 2.5 µM) than that of positive controls ursolic acid (IC50 = 5.6 µM), claramine (IC50 = 13.7 µM) and suramin (IC50 = 4.1 µM). Finally, docking and molecular dynamics simulations provided the theoretical basis for the favorable activity of the designed compounds.

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Abstract: Purpose: Identify the incidence and risk factors for acute kidney injury (AKI) following total knee arthroplasty (TKA) with and without tourniquet. Material and methods: 100 patients were randomized into two groups. Postoperative AKI was defined as the postoperative creatinine level ≥ 0.3 mg/dl compared with baseline. Potential variables associated with AKI were analyzed by multivariate logistic regression model to identify the AKI risk factors in TKA patients with and without tourniquet. Results: AKI rate was 22%, tourniquet use (OR = 2.66, p = 0.014), blood loss > 500 cm3 (OR = 3.99, p = 0.001), postoperative Hb < 10 g/dl (OR = 2.68, p = 0.008), blood transfusions (OR = 2.86, p = 0.012) and diabetes (OR = 2.80, p = 0.006) were associated with increased risk of postoperative AKI. Conclusions: The use of tourniquet should be indicated with caution and should not be used routinely in patients with other risk factors for the development of acute kidney dysfunction, other measures to achieve trans-surgical hemostasis should be implemented in our environment to reduce the incidence of acute kidney dysfunction related to the use of the tourniquet.

Resumen: Propósito: Identificar la incidencia y factores de riesgo para lesión renal aguda (LRA) después de la artroplastia total de rodilla (ATR) con y sin uso de torniquete. Material y métodos: Se dividieron 100 pacientes en dos grupos. Se definió la LRA como una elevación postoperatoria de la creatinina ≥ 0.3 mg/dl comparada con el nivel basal preoperatorio. Las potenciales variables asociadas con la DRA fueron analizadas con un modelo de regresión logística multivariada para identificar los factores de riesgo de DRA en pacientes sometidos a ATR con y sin torniquete. Resultados: La incidencia de LRA fue de 22%. El uso de torniquete (OR = 2.66, p = 0.014), pérdida sanguínea > 500 cm3 (OR = 3.99, p = 0.001), Hb postoperatoria < 10 g/dl (OR = 2.68, p = 0.008), transfusión sanguínea (OR = 2.86, p = 0.012) y la diabetes (OR = 2.80, p = 0.006) fueron asociados a un mayor riesgo postoperatorio de LRA. Conclusiones: El uso de torniquete debe estar indicado con precaución y no debe utilizarse de forma rutinaria en pacientes con otros factores de riesgo para el desarrollo de disfunción renal aguda, otras medidas para lograr la hemostasia transquirúrgica deben implementarse en nuestro entorno para reducir la incidencia de disfunción renal aguda relacionada con el uso del torniquete.

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Since epoxythymols occur in Nature either as scalemic mixtures or as pure enantiomers, the knowledge of their chiral composition and of the absolute configuration (AC) of the dominant enantiomer turns out to be mandatory. This task has already been faced using 1,1-bis-2-naphthol (BINOL), as a chiral solvating agent in accurate 1H NMR quantifications to determine the enantiomeric ratio, and vibrational circular dichroism (VCD) to evidence the AC of the dominant enantiomer. We now explore the use of electronic circular dichroism (ECD) to determine the AC of an epoxythymol for which time-expensive DFT calculations would be required unless the AC of a related molecule is already known, from either VCD studies or single-crystal X-ray diffraction analysis, since one could correlate the ECD Cotton effect with the AC because in ECD only chromophores and their neighborhoods are evidenced. This method is now applied by using the epoxythymols from Piptothrix areolare. Known areolal (1) and 10-cinnamoyloxy-8,9-epoxythymol isobutyrate (2) were isolated from the roots, while known 7-acetoxy-10-cinnamoyloxy-8,9-epoxythymol isobutyrate (3) and 10-cinnamoyloxy-7-hydroxy-8,9-epoxythymol isobutyrate (4), as well as the new enantiopure 7-acetoxy-10-cinnamoyloxy-6-hydroxy-8,9-epoxythymol isobutyrate (5) and 10-cinnamoyloxy-8,9-epoxy-6-hydroxy-7-northymol isobutyrate (6), were obtained from the extract of the flowers. Chemical correlation of epoxythymols 1 and 3 was achieved. Compounds 1-4 were obtained as scalemic mixtures, and 5 and 6 as the pure (8S) enantiomers. In addition, the new 10-cinnamoyloxy-7-oxo-8,9-dehydrothymol isobutyrate (7) was isolated from the roots. The structures of 5-7 followed from NMR and HRMS data, while enantiomeric compositions of 1-6 were determined by 1H NMR-BINOL measurements. The AC determination for 2-6 was done by ECD using a sample of 1 to reference the ECD Cotton effect. In turn, the AC of 1 was determined by VCD and extensive DFT calculations. The ECD-BINOL methodology turned out to be some 500 times more sensitive than that combining VCD and 1H NMR-BINOL.

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Color and lighting quality assessment allow users to reliably examine the quality of light sources and the changes in the lighting conditions. Technological advance has led to an increase in the development of intelligent systems that are permanently connected to the Internet and that allow access to real time-data. Smart lighting systems have become a subject of great interest given their potential in different application areas, such as optimization for object reflectance and damage reduction to artwork. It has become necessary to develop new sensors that are aligned with the technological needs, that are easily integrated into IoT (Internet of Things) or smart lightning systems, and that allow estimating lighting quality measurements in real time. Here, a low-cost IoT multi-spectral acquisition device with wireless communication is presented. Insights into the overall system design and a validation of its operation is provided to allow reproducibility and independent testing of the proposed device. The device can be used for light source spectrum recovery and estimation of light quality and color rendering measures. The total cost of the device is below 130 USD, and customizability provides a great advantage over commercially available devices.

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Nowadays, additive manufacturing, rapid prototyping and assembly modules represent a market that has invaded the entire world, especially in developing countries where traditional manufacturing is more restricted. In robotics, it is pertinent to think that modular construction is essential, due to the complexity of geometry in each of the pieces and their manufacture. Taking into account the globalization of information and the worldwide reproduction of databases, facilitating access to CAD files to be reproduced in 3D printing promotes the easy construction of archived mechanical designs. A robotic architecture becomes a complex assembly by having multiple operating systems. The sensorics, mechanics, electronics and programming that it requires for navigation, collaboration, development, operation and even industrial manufacturing means that more and more elaborate embedded systems are used. In this work, a mobile robotics architecture was developed with a sensory system that allows free movement and navigation in closed loop inverse kinematics. This kind of robot uses navigation algorithms to take a trajectory in collaborative closed environments, that is, closed industrial environments where obstacles are normally immovable and corridors to move narrow, in addition to having mobile obstacles like humans.