Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral
ilustraciones, fotografías, graficas
- Autores:
-
Cárdenas Bocanegra, Vladimir Alfonso
- Tipo de recurso:
- Fecha de publicación:
- 2021
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/81982
- Palabra clave:
- 000 - Ciencias de la computación, información y obras generales
Accidentes
Programas del sistema
Systems software
Accidents
Realidad Virtual
Riesgos laborales
Dispositivos hápticos
Seguimiento de manos
Sensación inmersiva
Entrenamiento
Virtual reality
Haptic devices
Occupational hazards
Hand tracking
Immersive feeling
- Rights
- openAccess
- License
- Atribución-NoComercial-CompartirIgual 4.0 Internacional
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Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
| dc.title.translated.eng.fl_str_mv |
Development of a virtual training environment with haptic interaction for the prevention and management of occupational risk |
| title |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
| spellingShingle |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral 000 - Ciencias de la computación, información y obras generales Accidentes Programas del sistema Systems software Accidents Realidad Virtual Riesgos laborales Dispositivos hápticos Seguimiento de manos Sensación inmersiva Entrenamiento Virtual reality Haptic devices Occupational hazards Hand tracking Immersive feeling |
| title_short |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
| title_full |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
| title_fullStr |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
| title_full_unstemmed |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
| title_sort |
Desarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboral |
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Cárdenas Bocanegra, Vladimir Alfonso |
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Olarte Dussán, Fredy Andrés |
| dc.contributor.author.none.fl_str_mv |
Cárdenas Bocanegra, Vladimir Alfonso |
| dc.contributor.researchgroup.spa.fl_str_mv |
Tecnología Para la Educación y la Innovación |
| dc.subject.ddc.spa.fl_str_mv |
000 - Ciencias de la computación, información y obras generales |
| topic |
000 - Ciencias de la computación, información y obras generales Accidentes Programas del sistema Systems software Accidents Realidad Virtual Riesgos laborales Dispositivos hápticos Seguimiento de manos Sensación inmersiva Entrenamiento Virtual reality Haptic devices Occupational hazards Hand tracking Immersive feeling |
| dc.subject.armarc.spa.fl_str_mv |
Accidentes |
| dc.subject.lemb.spa.fl_str_mv |
Programas del sistema |
| dc.subject.lemb.eng.fl_str_mv |
Systems software Accidents |
| dc.subject.proposal.spa.fl_str_mv |
Realidad Virtual Riesgos laborales Dispositivos hápticos Seguimiento de manos Sensación inmersiva Entrenamiento |
| dc.subject.proposal.eng.fl_str_mv |
Virtual reality Haptic devices Occupational hazards Hand tracking Immersive feeling |
| description |
ilustraciones, fotografías, graficas |
| publishDate |
2021 |
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2021 |
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2022-08-22T13:18:17Z |
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2022-08-22T13:18:17Z |
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Trabajo de grado - Maestría |
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info:eu-repo/semantics/masterThesis |
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Universidad Nacional de Colombia |
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Repositorio Institucional Universidad Nacional de Colombia |
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https://repositorio.unal.edu.co/ |
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Consejo Colombiano de Seguridad CCS Cómo le fue a Colombia en accidentalidad, enfermedad y muerte laboral en 2018. Consultado el 30/10/2020(https://ccs.org.co/como-le-fue-a-colombia-en-accidentalidad-enfermedad-y-muerte-laboral-en-2018/) Injury Prevention and Environmental Health: Key Messages from Disease Control Priorities, Third Edition Charles N. Mock, Rachel Nugent Chapter 3. DOI: 10.1596/978-1-4648-0522-6_ch3 OHSA EEUU - Top 10 Most Frequently Cited Standards for Fiscal Year 2019 (oct. 1, 2018, to Sept. 30, 2019) consultado el 1/11/2020 (https://www.osha.gov/top10citedstandards) Arrieta, E., Vélez, M., Sepúlveda, C. y Arango, D. (2019). Tercer informe de seguimiento sobre salud y estabilidad en el empleo. ANDI. Obtenido de http://www.andi.com.co/Uploads/Tercer%20informe%20de%20seguimiento%20sobre%20salud%20y%20estabilidad%20en%20el%20empleo%20CESLA%20ANDI.pdf Revista Dinero 2018 – Accidentes laborales: los errores que ninguna empresa debe cometer. Consultado el 10/11/2020 (https://www.dinero.com/empresas/articulo/reduciendo-los-riesgos-laborales-en-las-empresas-colombianas/259703) Cámara de Comercio de Bogotá – Eventos de formación Empresarial – Diplomado en gestion de riesgos. Consultado el 08/10/2020. (https://www.ccb.org.co/Eventos-y-capacitaciones/Nuestros-eventos/Formacion-Empresarial/Diplomados-virtuales/Gestion-de-riesgos) S. Yoshida, N. Taniguchi, S. Moriyama, S. Uehara, H. Tanaka, T. Kijima, M. Yokoyama, J. Ishioka, Y. Matsuoka, K. Saito, Y. Fujii, PT196 - Application of virtual reality in patient education about MRI-ultrasound fusion prostate biopsy, https://doi.org/10.1016/S2666-1683(20)33934 Elby Roy, Mahmoud M. Bakr, Roy George, The need for virtual reality simulators in dental education: A review,. https://doi.org/10.1016/j.sdentj.2017.02.001. Liang, Zhipeng, Zhou, Keping, Gao, Kaixin, Development of Virtual Reality Serious Game for Underground Rock-Related Hazards Safety Training. https://doi.org/10.1109/ACCESS.2019.2934990 Riva, Giuseppe, Wiederhold, Brenda K.,Mantovani, Fabrizia, Neuroscience of Virtual Reality: From Virtual Exposure to Embodied Medicine. https://doi.org/10.1089/cyber.2017.29099.gri Federación de Aseguradores Colombianos FASECOLDA https://sistemas.fasecolda.com/rldatos/Reportes/xClaseGrupoActividad.aspx. Consultado VRSENSE Safety Hazards – General Production consultado el 15/10/2020. https://www.vrsense.com/en/index.php/product/vrsense-safety-hazards-general-production/ Training to Craning in 60 Minutes: Putting My VR-learned Skills to the Test with a Real 22 Ton Crane. Consultado el 09/11/2021. https://www.roadtovr.com/iti-vr-crane-training-simulator-test/ Fundamental Surgery brings affordable VR training to surgeons. Consultado el 09/11/2020. https://healthiar.com/fundamental-surgery-brings-affordable-vr-training-to-surgeons C. Anthes, Christoph, García-Hernández, Rubén Jesús, Wiedemann, Markus, Kranzlmüller, Dieter. State of the art of virtual reality technology. DOI 10.1109/AERO.2016.7500674 Sacks, R., Perlman, A., & Barak, R. (2013). Construction safety training using immersive virtual reality. Construction Management and Economics, 31(9), 1005–1017 Riaño. C, M. (2017). Economía de la salud y seguridad en el trabajo: un análisis de costos y beneficios desde las perspectivas del asegurador y de la empresa. Ciencia & Trabajo. Dávideková, M., Mjartan, M., & Greguš, M. (2017). Utilization of Virtual Reality in Education of Employees in Slovakia. Procedia Computer Science, 113, 253–260. https://doi.org/10.1016/j.procs.2017.08.365 WANG, D., GUO, Y., LIU, S., ZHANG, Y., XU, W., & XIAO, J. (2019). Haptic display for virtual reality: progress and challenges. Virtual Reality & Intelligent Hardware, 1(2), 136–162. https://doi.org/10.3724/sp.j.2096-5796.2019.0008. Chait, J. D., Carmichael, D. J., Bandovic, I., Vasilyev, A., & Saggio, G. P. (2019). Development of an interactive virtual reality hepatobiliary system for preclinical medical education. Hpb, 21, S155. https://doi.org/10.1016/j.hpb.2019.03.277 Paper, W. (2019). Guidelines for Developing VR and AR Based Education and Training Diego-Mas, J. A., Alcaide-Marzal, J., & Poveda-Bautista, R. (2020). Effects of using immersive media on the effectiveness of training to prevent ergonomics risks. International Journal of Environmental Research and Public Health, 17(7). https://doi.org/10.3390/ijerph17072592 Osti, F., de Amicis, R., Sanchez, C. A., Tilt, A. B., Prather, E., & Liverani, A. (2020). A VR training system for learning and skills development for construction workers. Virtual Reality, 0123456789. https://doi.org/10.1007/s10055-020-00470-6 Ke, F., Pachman, M., & Dai, Z. (2020). Investigating educational affordances of virtual reality for simulation-based teaching training with graduate teaching assistants. Journal of Computing in Higher Education, 32(3), 607–627. https://doi.org/10.1007/s12528-020-09249-9 Medellin-Castillo, H. I., Zaragoza-Siqueiros, J., Govea-Valladares, E. H., de la Garza-Camargo, H., Lim, T., & Ritchie, J. M. (2020). Haptic-enabled virtual training in orthognathic surgery. Virtual Reality, 0123456789. https://doi.org/10.1007/s10055-020-00438-6 Mäkinen, H., Haavisto, E., Havola, S., & Koivisto, J. M. (2020). User experiences of virtual reality technologies for healthcare in learning: an integrative review. Behaviour and Information Technology, 1–17. https://doi.org/10.1080/0144929X.2020.1788162 Radianti, J., Majchrzak, T. A., Fromm, J., & Wohlgenannt, I. (2020). A systematic review of immersive virtual reality applications for higher education: Design elements, lessons learned, and research agenda. Computers and Education, 147(December 2019). https://doi.org/10.1016/j.compedu.2019.103778 Liang, Z., Zhou, K., & Gao, K. (2019). Development of Virtual Reality Serious Game for Underground Rock-Related Hazards Safety Training. IEEE Access, 7, 118639–118649. https://doi.org/10.1109/access.2019.2934990 Mendez, K. J. W., Piasecki, R. J., Hudson, K., Renda, S., Mollenkopf, N., Nettles, B. S., & Han, H. R. (2020). Virtual and augmented reality: Implications for the future of nursing education. Nurse Education Today, 93(December 2019), 2019–2021. https://doi.org/10.1016/j.nedt.2020.104531 O’Connor, M., Stowe, J., Potocnik, J., Giannotti, N., Murphy, S., & Rainford, L. (2020). 3D virtual reality simulation in radiography education: The students’ experience. Radiography. Jiménez S. Evaluación financiera del sistema de seguridad y salud ocupacional en la empresa privada y su impacto económico – social. Actualidad Contable Faces, vol. 20, núm. 34, 2017 Universidad de los Andes. Al-Sada, M., Jiang, K., Ranade, S., Kalkattawi, M., & Nakajima, T. (2020). HapticSnakes: multi-haptic feedback wearable robots for immersive virtual reality. Virtual Reality Sisto, Maria & Zare, Mohsen & Ouerhani, Nabil & Bolinhas, Christophe & Divernois, Margaux & Mignot, Bernard & Sagot, Jean-Claude & Gobron, Stéphane. (2018). Virtual Reality Serious Game for Musculoskeletal Disorder Prevention: 5th International Conference, AVR 2018, Otranto, Italy, June 24–27, 2018, Proceedings, Part II. 10.1007/978-3-319-95282-6_4. Escobar, Ivón & Gálvez, Catherine & Corrales, Gabriel & Pruna, Edwin & Pilatasig, Marco & Montaluisa, Javier. (2018). Virtual System Using Haptic Device for Real-Time Tele-Rehabilitation of Upper Limbs: 5th International Conference, AVR 2018, Otranto, Italy, June 24–27, 2018, Proceedings, Part II. 10.1007/978-3-319-95282-6_10 León, Alejandro & Romero, Paul & Quevedo, Washington & Arteaga, Oscar & Terán, Cochise & Benalcázar, Marco & Andaluz, Víctor. (2018). Virtual Rehabilitation System for Fine Motor Skills Using a Functional Hand Orthosis: 5th International Conference, AVR 2018, Otranto, Italy, June 24–27, 2018, Proceedings, Part II. 10.1007/978-3-319-95282-6_6. Tamayo, Mauricio & Salazar, Pablo & Bustamante, Denys & Silva, S. & Escudero, V. & Andaluz, Víctor. (2018). Virtual Rehabilitation of Carpal Tunnel Syndrome Through Force Feedback: 5th International Conference, AVR 2018, Otranto, Italy, June 24–27, 2018, Proceedings, Part II. 10.1007/978-3-319-95282-6_11. Chen, Ao & Golparvar-Fard, Mani & Kleiner, Brian. (2013). Design and Development of SAVES: A Construction Safety Training Augmented Virtuality Environment for Hazard Recognition and Severity Identification. Computing in Civil Engineering - Proceedings of the 2013 ASCE International Workshop on Computing in Civil Engineering. 841-848. 10.1061/9780784413029.105. Ivanova, N., Gugleva, V., Dobreva, M., Pehlivanov, I., Stefanov, S., & Andonova, V. (2016). Proprioception in Immersive Virtual Reality. Intech, i(tourism), 13 Laura, M. R. (2021). Desarrollo de una herramienta de software para la integración de sensores hápticos a interfaces de realidad aumentada orientadas al entrenamiento industrial. Universidad Nacional de Colombia Halicka, K. (2020). Technology selection using the TOPSIS method. Foresight and STI Governance, 14(1), 85–96. https://doi.org/10.17323/2500-2597.2020.1.85.96 Rybicka, J., Tiwari, A., & Leeke, G. A. (2016). Technology readiness level assessment of composites recycling technologies. Journal of Cleaner Production, 112, 1001–1012. Bergerson, J. A., Brandt, A., Cresko, J., Carbajales-Dale, M., MacLean, H. L., Matthews, H. S., McCoy, S., McManus, M., Miller, S. A., Morrow, W. R., Posen, I. D., Seager, T., Skone, T., & Sleep, S. (2020). Life cycle assessment of emerging technologies: Evaluation techniques at different stages of market and technical maturity. Journal of Industrial Ecology, 24(1), 11–25. https://doi.org/10.1111/jiec.12954 Lee, P. C., & Su, H. N. (2015). How to analyze technology life cycle from the perspective of patent characteristics? Portland International Conference on Management of Engineering and Technology, 2015-September, 2079–2083. https://doi.org/10.1109/PICMET.2015.7273161 Kaptur, V., & Mammadov, E. (2015). Methodology of selecting appropriate technologies for constructing telecommunication access networks. 2015 2nd International Scientific-Practical Conference Problems of Infocommunications Science and Technology, PIC S and T 2015 - Conference Proceedings, 90–92. https://doi.org/10.1109/INFOCOMMST.2015.7357278 Mayor, J. (2015). Propuesta de un modelo de decisión multicriterio para la adjudicación de contratos de proyectos de infraestructura de iniciativa pública en Colombia. 99. http://www.bdigital.unal.edu.co/50915/ Roy, B., & Słowiński, R. (2013). Questions guiding the choice of a multicriteria decision aiding method. EURO Journal on Decision Processes, 1(1–2), 69–97. https://doi.org/10.1007/s40070-013-0004-7 Hyun K. Kim, Jaehyun Park, Yeongcheol Choi, Mungyeong Choe, Virtual reality sickness questionnaire (VRSQ): Motion sickness measurement index in a virtual reality environment, Applied Ergonomics,Volume 69,2018, Pages 66-73,ISSN 0003-6870,https://doi.org/10.1016/j.apergo.2017.12.016. Mengli Yu, Ronggang Zhou, Huiwen Wang, Weihua Zhao,An evaluation for VR glasses system user experience: The influence factors of interactive operation and motion sickness,Applied Ergonomics,Volume 74,2019,Pages 206-213,ISSN 0003-6870,https://doi.org/10.1016/j.apergo.2018.08.012. Olechowski, A., Eppinger, S. D., & Joglekar, N. (2015). Technology readiness levels at 40: A study of state-of-the-art use, challenges, and opportunities. Portland International Conference on Management of Engineering and Technology, 2015-Septe, 2084–2094. Zakharov, Alexander & Kolsanov, Alexander & Khivintseva, Elena & Pyatin, Vasiliy & Yashkov, Alexander. (2021). Proprioception in Immersive Virtual Reality. VRSENSE Safety Hazards – General Production consultado el 15/10/2020. https://www.vrsense.com/en/index.php/product/vrsense-safety-hazards-general-production/ TESLASUIT – Humans Performance in VR. Consultado el 09/11/2020. https://teslasuit.io/blog/teslasuit-with-collaboration-partners-presents-various-vr-training-demo-for-different-industries/ Industrial 3D Visualization Platform – Solutions for Enterprises. Consultado el 09/11/2020. https://visard.com/#solutions Training to Craning in 60 Minutes: Putting My VR-learned Skills to the Test with a Real 22 Ton Crane. Consultado el 09/11/2021. https://www.roadtovr.com/iti-vr-crane-training-simulator-test/ Fundamental Surgery brings affordable VR training to surgeons. Consultado el 09/11/2020. https://healthiar.com/fundamental-surgery-brings-affordable-vr-training-to-surgeons Virtual Reality First Aid. Consultado el 09/11/2021 https://firstaidvr.com.au/ Visor Oculus Quest. Consultado el 11/11/2021. https://www.Oculus.com/quest-2/ VR Haptic Experience Consultado el 11/11/2021 https://www.bhaptics.com/ Your Hand, your Controller https://www.captoglove.com/ Consultado el 11/11/2020 Dispositivo de interacción háptica http://www.korfx.com/es/. Consultado el 27/10/2021. https://www.kickstarter.com/projects/morgansinko/hardlight-vr-suit-dont-just-play-the-game-feel-it?lang=es. Consultado el 27/10/2021. Motor de desarrollo para aplicaciones digitales. https://www.playstation.com/es-co/explore/playstation-vr/tech-specs/. Consultado el 27/10/2021 Motor de desarrollo para aplicaciones digitales. https://www.unrealengine.com/en-US/ Consultado el 27/10/2021 |
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Departamento de Ingeniería Eléctrica y Electrónica |
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Atribución-NoComercial-CompartirIgual 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-sa/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Olarte Dussán, Fredy Andrés1cd21366fe0dd9e5f7f95e2c58eb85b3Cárdenas Bocanegra, Vladimir Alfonso01b5f2e47b15827a83e2f1f0b77d5308Tecnología Para la Educación y la Innovación2022-08-22T13:18:17Z2022-08-22T13:18:17Z2021https://repositorio.unal.edu.co/handle/unal/81982Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, fotografías, graficasLos mecanismos de entrenamiento para disminución de la accidentalidad laboral son espacios de mejora continua donde la aplicación de nuevas tecnologías genera un impacto importante. A pesar de la existencia de diferentes alternativas para entrenamiento incluyendo escenarios de realidad virtual, no es común encontrar desarrollos que incluyan dispositivos hápticos los cuales podrían mejorar la sensación inmersiva de estos entornos. Buscando contribuir en esta temática se diseñó un entorno de entrenamiento virtual que integra dispositivos hápticos para su interacción. El entorno incluyó dos escenarios de prueba, una subestación eléctrica y un pozo petrolero, así como las diferentes plantillas que permitan reproducir el desarrollo en diferentes escenarios. El entorno está conformado por un visor de realidad virtual Oculus, guantes de interacción háptica captoglove que permiten controlar el movimiento del personaje a través de gestos y un chaleco háptico b-haptix que genera vibración en la presencia de algún tipo de peligro. Entre las situaciones peligrosas incluidas en el desarrollo está la fragmentación de objetos, fuga de gas, arco eléctrico, presencia de humo y material particulado para los cuales se desarrolló el código que permite controlar su ubicación, duración, imagen de alerta, patrón de vibración en el chaleco y sonido. La validación del desarrollo se realizó en colaboración de un grupo de 23 operarios con experiencia promedio de siete años en actividades de campo, que están expuestos a diario a todo tipo de peligro. La investigación permitió concluir que tanto la generación de entornos virtuales de entrenamiento como la integración de dispositivos hápticos representan una mejora importante en el objetivo de contribuir con espacios de formación seguros que reduzcan la accidentalidad laboral. (Texto tomado de la fuente)Occupational accidents and possible actions to prevent it are a space for continuous improvement where the application of new technologies generates a significant impact. However, although it is possible to find several alternatives, it is not common to find developments that include haptic devices which could improve the immersive sensation. In order to contribute to this topic, was designed a virtual training environment that integrates haptic devices for their interaction. The environment included two test scenarios, an electrical substation and an oil well, as well as the different templates that allow them to be reproduced with different environments. The devices chosen were the Oculus virtual reality glasses, the captoglove haptic interaction gloves and the b-haptix haptic vest. The risks included in the development are fragmentation of objects, gas leakage, electric arc, presence of smoke and particulate matter. For them, a programming code was developed that allows control of location, duration, alert image, vibration pattern in the vest and sound. For the validation of the development, we counted with the collaboration of a group of 23 workers with an average experience of seven years in field activities, who are exposed to all kinds of risks on a daily basis. The validator group concluded that, thanks to the immersive feel and graphic detail, the development was useful for training risky conditions in safe environments.MaestríaMagíster en Ingeniería - Automatización IndustrialAutomatización de Procesos79 páginasapplication/pdfspaUniversidad Nacional de ColombiaBogotá - Ingeniería - Maestría en Ingeniería - Automatización IndustrialDepartamento de Ingeniería Eléctrica y ElectrónicaFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede Bogotá000 - Ciencias de la computación, información y obras generalesAccidentesProgramas del sistemaSystems softwareAccidentsRealidad VirtualRiesgos laboralesDispositivos hápticosSeguimiento de manosSensación inmersivaEntrenamientoVirtual realityHaptic devicesOccupational hazardsHand trackingImmersive feelingDesarrollo de un entorno virtual de entrenamiento con interacción háptica para la prevención y gestión del riesgo laboralDevelopment of a virtual training environment with haptic interaction for the prevention and management of occupational riskTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionImageTexthttp://purl.org/redcol/resource_type/TMRedColLaReferenciaConsejo Colombiano de Seguridad CCS Cómo le fue a Colombia en accidentalidad, enfermedad y muerte laboral en 2018. 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Consultado el 27/10/2021Motor de desarrollo para aplicaciones digitales. https://www.unrealengine.com/en-US/ Consultado el 27/10/2021AdministradoresEstudiantesInvestigadoresORIGINALTesis Maestría Vladimir Cárdenas V5.pdfTesis Maestría Vladimir Cárdenas V5.pdfTesis de Maestría en Automatización Industrialapplication/pdf3374060https://repositorio.unal.edu.co/bitstream/unal/81982/3/Tesis%20Maestr%c3%ada%20Vladimir%20C%c3%a1rdenas%20V5.pdf658028ee9a4537242377b992f183cad9MD53LICENSElicense.txtlicense.txttext/plain; charset=utf-84074https://repositorio.unal.edu.co/bitstream/unal/81982/4/license.txt8153f7789df02f0a4c9e079953658ab2MD54THUMBNAILTesis Maestría Vladimir Cárdenas V5.pdf.jpgTesis Maestría Vladimir Cárdenas V5.pdf.jpgGenerated Thumbnailimage/jpeg5349https://repositorio.unal.edu.co/bitstream/unal/81982/5/Tesis%20Maestr%c3%ada%20Vladimir%20C%c3%a1rdenas%20V5.pdf.jpgb0ea0c35aa0fad88ff6854ef8d9d0979MD55unal/81982oai:repositorio.unal.edu.co:unal/819822023-08-07 23:03:48.317Repositorio 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