The development of this thesis work consists on obtaining the NARMAX model of the dynamic behavior of the end-effector position of a robotic manipulator of three degrees of freedom by means of a parametric identification process. for this experimental data of the angular position of each of the joints is obtained after being excited with a certain signal, from the angular position data and the direct kinematic we obteined the end-effector position of the robotic manipulator, after obtaining the experimental data, we proceeded to select the elements of the structure of our parametric model, once the elements of the structure of the model have been selected, the coefficients of these elements were estimated to end with the validation of the model obtained. For the execution of the experimental tests a robotic manipulator of three degrees of freedom was implemented, which is made up of thre...

The objective of the study was to evaluate the effects of the inclusion of a commercial product based on microencapsulated essential oil (EA) and organic acid (OA) compounds as an alternative to an antibiotic additive witch improves productive performance (Bacitracin Zinc) in commercial laying hens for a period of 6 weeks on the productive parameters and egg quality. It was used 1008 hens (Hisex Brown) of 54 weeks of age, distributed in three treatments with six repetitions and 56 birds per repetition, to which one of the following experimental diets (treatments) was given: T1, basal diet + 500 mg / kg zinc bacitracin; T2, basal diet + 250 mg / kg (AE + OA); T3, basal diet + 500 mg / kg (AE + OC). The following measurements were made: percentage of total and second egg production, egg weight and mass, feed consumption and feed conversion index, weight gain and mortality as productive par...

El objetivo del presente estudio fue evaluar el efecto del uso de harina de subproducto animal (HSA) y harina de pescado (HP) en alimento sobre los parámetros productivos, el contenido de hierro en el huevo y la retribución económica del alimento en gallinas de postura comercial por un periodo de 6 semanas. A un total de 720 gallinas (Dekalb Brown) de 32 semanas de edad se suministró 3 tratamientos dietéticos: dieta control a base de maíz amarrillo duro y torta de soya, tratamiento 2 a base de la dieta basal + 2.5% de harina de pescado y el tratamiento 3 a base de la dieta basal + la adición de 2.5% harina de subproducto animal. A cada tratamiento se le asignó 6 repeticiones con 40 aves por repetición bajo similares condiciones de manejo y ambiente de crianza. Se realizaron las siguientes mediciones: producción total de huevos, consumo de alimento ave/día, masa de huevo, índi...