Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente
This project presents the design, development, and evaluation of a virtual reality teleoperation system for controlling the Franka Research 3 robotic arm. Addressing the limitations of traditional 2D visualization interfaces, the proposed solution enables intuitive control through a distributed arch...
- Autores:
-
Rivera Arbeláez, Juan Pablo
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2025
- Institución:
- Universidad Autónoma de Occidente
- Repositorio:
- RED: Repositorio Educativo Digital UAO
- Idioma:
- eng
- OAI Identifier:
- oai:red.uao.edu.co:10614/16179
- Acceso en línea:
- https://hdl.handle.net/10614/16179
https://red.uao.edu.co/
- Palabra clave:
- Ingeniería Mecatrónica
Interfaces de teleoperación
Interacción humano-robot
Realidad virtual
Manipulador robótico
Usabilidad del sistema
Teleoperation Interfaces
Human Robot Interaction
Virtual Reality
Robotic Manipulators
System Usability
- Rights
- openAccess
- License
- )-- Universidad Autónoma de Occidente, 2025
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Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| title |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| spellingShingle |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente Ingeniería Mecatrónica Interfaces de teleoperación Interacción humano-robot Realidad virtual Manipulador robótico Usabilidad del sistema Teleoperation Interfaces Human Robot Interaction Virtual Reality Robotic Manipulators System Usability |
| title_short |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| title_full |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| title_fullStr |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| title_full_unstemmed |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| title_sort |
Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente |
| dc.creator.fl_str_mv |
Rivera Arbeláez, Juan Pablo |
| dc.contributor.advisor.none.fl_str_mv |
Castillo García, Javier Ferney |
| dc.contributor.author.none.fl_str_mv |
Rivera Arbeláez, Juan Pablo |
| dc.contributor.corporatename.spa.fl_str_mv |
Universidad Autónoma de Occidente |
| dc.contributor.jury.none.fl_str_mv |
Llanos Neuta, Nicolas |
| dc.subject.proposal.spa.fl_str_mv |
Ingeniería Mecatrónica Interfaces de teleoperación Interacción humano-robot Realidad virtual Manipulador robótico Usabilidad del sistema |
| topic |
Ingeniería Mecatrónica Interfaces de teleoperación Interacción humano-robot Realidad virtual Manipulador robótico Usabilidad del sistema Teleoperation Interfaces Human Robot Interaction Virtual Reality Robotic Manipulators System Usability |
| dc.subject.proposal.eng.fl_str_mv |
Teleoperation Interfaces Human Robot Interaction Virtual Reality Robotic Manipulators System Usability |
| description |
This project presents the design, development, and evaluation of a virtual reality teleoperation system for controlling the Franka Research 3 robotic arm. Addressing the limitations of traditional 2D visualization interfaces, the proposed solution enables intuitive control through a distributed architecture that integrates ROS2 middleware, Unity engine, a ZED Mini stereo camera, and the Meta Quest 2 VR headset with touch controllers. Following an iterative methodology grounded in the Rational Unified Process and concurrent design principles, the system was incrementally developed and tested with 14 participants. Core functionalities included real-time stereo image streaming and joystick-based manipulation. Performance metrics and user-centered evaluations, collected through the System Usability Scale (SUS), NASA Task Load Index (NASA-TLX), Virtual Reality Sickness Questionnaire (VRSQ), and User Experience Questionnaire (UEQ) demonstrated the system’s overall learnability, usability, and operational feasibility. SUS’s score of 61.25 suggests a usable system with room for improvement to reach full user-friendliness. NASA-TLX score of 32.44 reflects a low perceived workload. VRSQ score of 16.07 points to a low incidence of cybersickness symptoms, supporting the system’s comfort during short-duration use. A clear improvement in task execution time and user confidence was observed across trials, confirming the interface's effectiveness despite minor limitations in synchronization and visual stability. The system architecture emphasizes modularity, scalability, and extensibility, making it suitable for advanced research and practical applications in teleoperation. Key contributions include the validation of a ROS2–Unity integration model for immersive control, a working force-feedback implementation, and insights into usability trade-offs in impedance-based motion control. This work contributes to closing the gap in remote human–robot collaboration and sets a foundation for future innovations around teleoperation and: digital twins, augmented reality, and adaptive haptic control. |
| publishDate |
2025 |
| dc.date.accessioned.none.fl_str_mv |
2025-06-17T14:52:03Z |
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2025-06-17T14:52:03Z |
| dc.date.issued.none.fl_str_mv |
2025-06-03 |
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Trabajo de grado - Pregrado |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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Text |
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info:eu-repo/semantics/bachelorThesis |
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Rivera Arbeláez, J. P. (2025). Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente (Pasantía de investigación). Universidad Autónoma de Occidente. Cali. Colombia. https://hdl.handle.net/10614/16179 |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/10614/16179 |
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Universidad Autónoma de Occidente |
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Respositorio Educativo Digital UAO |
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https://red.uao.edu.co/ |
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Rivera Arbeláez, J. P. (2025). Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente (Pasantía de investigación). Universidad Autónoma de Occidente. Cali. Colombia. https://hdl.handle.net/10614/16179 Universidad Autónoma de Occidente Respositorio Educativo Digital UAO |
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https://hdl.handle.net/10614/16179 https://red.uao.edu.co/ |
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eng |
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eng |
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Page et al., “The PRISMA 2020 statement: an updated guideline for reporting systematic reviews,” Syst Rev, vol. 10, no. 1, Dec. 2021, doi: 10.1186/S13643-021-01626-4. [6] S. I. Abdelmaksoud, M. H. Al-Mola, G. E. M. Abro, and V. S. Asirvadam, “In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques,” IEEE Access, vol. 12, pp. 47672–47701, Apr. 2024, doi: 10.1109/ACCESS.2024.3383782. [7] Franka Robotics, “Franka Control Interface Documentation.” Accessed: Mar. 23, 2025. [Online]. Available: https://support.franka.de/docs/index.html [8] Franka Robotics, “Franka Research 3.” Accessed: Mar. 23, 2025. [Online]. Available: https://franka.de/products/franka-research-3 [9] Y. P. Su, X. Q. Chen, C. Zhou, L. H. Pearson, C. G. Pretty, and J. G. Chase, “Integrating Virtual, Mixed, and Augmented Reality into Remote Robotic Applications: A Brief Review of Extended Reality-Enhanced Robotic Systems for Intuitive Telemanipulation and Telemanufacturing Tasks in Hazardous Conditions,” 2023, Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/app132212129. [10] A. Martín-Barrio, J. J. Roldán, S. Terrile, J. del Cerro, and A. Barrientos, “Application of immersive technologies and natural language to hyper-redundant robot teleoperation,” Virtual Real, vol. 24, no. 3, pp. 541–555, 2020, doi: 10.1007/s10055-019-00414-9. [11] K. Duan and Z. Zou, “Morphology agnostic gesture mapping for intuitive teleoperation of construction robots,” Advanced Engineering Informatics, vol. 62, 2024, doi: 10.1016/j.aei.2024.102600. [12] D. Sun, A. Kiselev, Q. Liao, T. Stoyanov, and A. Loutfi, “A New Mixed-Reality-Based Teleoperation System for Telepresence and Maneuverability Enhancement,” IEEE Trans Hum Mach Syst, vol. 50, no. 1, pp. 55–67, 2020, doi: 10.1109/THMS.2019.2960676. [13] E. Coronado, S. Itadera, and I. G. Ramirez-Alpizar, “Integrating Virtual, Mixed, and Augmented Reality to Human–Robot Interaction Applications Using Game Engines: A Brief Review of Accessible Software Tools and Frameworks,” Applied Sciences (Switzerland), vol. 13, no. 3, 2023, doi: 10.3390/app13031292. [14] Q. Zhang, Q. Liu, J. Duan, and J. Qin, “Research on Teleoperated Virtual Reality Human–Robot Five-Dimensional Collaboration System,” Biomimetics, vol. 8, no. 8, 2023, doi: 10.3390/biomimetics8080605. [15] B. R. Galarza, P. Ayala, S. Manzano, and M. V Garcia, “Virtual Reality Teleoperation System for Mobile Robot Manipulation,” Robotics 2023, Vol. 12, Page 163, vol. 12, no. 6, p. 163, 2023, doi: 10.3390/ROBOTICS12060163. [16] K. A. Szczurek, R. M. Prades, E. Matheson, J. Rodriguez-Nogueira, and M. Di Castro, “Multimodal Multi-User Mixed Reality Human-Robot Interface for Remote Operations in Hazardous Environments,” IEEE Access, vol. 11, pp. 17305–17333, 2023, doi: 10.1109/ACCESS.2023.3245833. [17] F. Huang, X. Yang, T. Yan, and Z. Chen, “Telepresence augmentation for visual and haptic guided immersive teleoperation of industrial manipulator,” ISA Trans, vol. 150, pp. 262–277, Jul. 2024, doi: 10.1016/j.isatra.2024.05.003. [18] B. Bejczy et al., “Mixed reality interface for improving mobile manipulator teleoperation in contamination critical applications,” in Procedia Manufacturing, Elsevier B.V., 2020, pp. 620–626. doi: 10.1016/j.promfg.2020.10.087. [19] Unity Technologies, “Unity Documentation.” Accessed: Mar. 23, 2025. [Online]. Available: https://docs.unity.com/ [20] Open Robotics, “ROS2 Humble Documentation.” Accessed: Mar. 23, 2025. [Online]. Available: https://docs.ros.org/en/humble/index.html [21] Unity Technologies, “Unity Robotic Hub - GitHub Repository.” Accessed: Mar. 23, 2025. [Online]. Available: https://github.com/Unity-Technologies/Unity-Robotics-Hub [22] D. J. Rea and S. H. Seo, “Still Not Solved: A Call for Renewed Focus on User-Centered Teleoperation Interfaces,” Front Robot AI, vol. 9, p. 704225, Mar. 2022, doi: 10.3389/FROBT.2022.704225/BIBTEX. [23] R. Hetrick, N. Amerson, B. Kim, E. Rosen, E. J. D. Visser, and E. Phillips, “Comparing Virtual Reality Interfaces for the Teleoperation of Robots,” 2020 Systems and Information Engineering Design Symposium, SIEDS 2020, Apr. 2020, doi: 10.1109/SIEDS49339.2020.9106630. [24] D. Whitney, E. Rosen, E. Phillips, G. Konidaris, and S. Tellex, “Comparing Robot Grasping Teleoperation Across Desktop and Virtual Reality with ROS Reality,” Springer Proceedings in Advanced Robotics, vol. 10, pp. 335–350, 2020, doi: 10.1007/978-3-030-28619-4_28. [25] P. Nandhini, P. Chellammal, J. S. Jaslin, S. Harthy Ruby Priya, M. Uma, and R. Kaviyaraj, “Teleoperation in the Age of Mixed Reality: VR, AR, and ROS Integration for Human-Robot Direct Interaction,” 2023 4th International Conference on Electronics and Sustainable Communication Systems, ICESC 2023 - Proceedings, pp. 240–245, 2023, doi: 10.1109/ICESC57686.2023.10193567. [26] D. of B. E. University of Twente, “Nakama Robotics Lab.” Accessed: Mar. 23, 2025. [Online]. Available: https://www.utwente.nl/en/et/be/research/nakama_robotics_lab/ [27] A. Mohan et al., “Telesurgery and Robotics: An Improved and Efficient Era,” Cureus, vol. 13, no. 3, Mar. 2021, doi: 10.7759/CUREUS.14124. [28] “Teleoperation with haptic feedback and VR training | MTC.” Accessed: Aug. 19, 2024. [Online]. Available: https://cms.the-mtc.org/teleoperation-haptic-feedback-and-virtual-reality-training-hazardous-environments [29] A. U. Krishnan, T. C. Lin, and Z. Li, “Design Interface Mapping for Efficient Free-form Tele-manipulation,” IEEE International Conference on Intelligent Robots and Systems, vol. 2022-October, pp. 6221–6226, 2022, doi: 10.1109/IROS47612.2022.9982149. [30] P. Y. Reyes-Delgado, M. Mora, H. A. Duran-Limon, L. C. Rodríguez-Martínez, R. V O’Connor, and R. Mendoza-Gonzalez, “The strengths and weaknesses of software architecture design in the RUP, MSF, MBASE and RUP-SOA methodologies: A conceptual review,” Comput Stand Interfaces, vol. 47, pp. 24–41, 2016, doi: 10.1016/j.csi.2016.02.005. [31] K. T. Ulrich and S. D. Eppinger, Product design and development, 6th ed. New York: McGraw-Hill Education, 2016. Accessed: Mar. 30, 2025. [Online]. Available: https://archive.org/details/productdesigndev0000ulri_r6y7 [32] Instituto Nacional de Seguridad y Salud en el Trabajo (INSST), “NTP 544: Estimación de la carga mental de trabajo: el método NASA-TLX,” España, Feb. 2000. Accessed: Mar. 30, 2025. [Online]. Available: https://www.insst.es/documentacion/colecciones-tecnicas/ntp-notas-tecnicas-de-prevencion/16-serie-ntp-numeros-541-a-575-ano-2001/ntp-544-estimacion-de-la-carga-mental-de-trabajo-el-metodo-nasa-tlx-2000 [33] P. Kourtesis, J. Linnell, R. Amir, F. Argelaguet, and S. E. MacPherson, “Cybersickness in Virtual Reality Questionnaire (CSQ-VR): A Validation and Comparison against SSQ and VRSQ,” Virtual Worlds - MDPI, vol. 1, Feb. 2023, doi: 10.36227/techrxiv.21973640.v1. [34] M. Schrepp, “User Experience Questionnaire Handbook,” Sep. 2023, doi: 10.13140/RG.2.1.2815.0245. [35] J. Brooke, “SUS: A ‘Quick and Dirty’ Usability Scale,” Usability Evaluation In Industry, pp. 207–212, 1996, doi: 10.1201/9781498710411-35. |
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Castillo García, Javier FerneyRivera Arbeláez, Juan PabloUniversidad Autónoma de OccidenteLlanos Neuta, Nicolas2025-06-17T14:52:03Z2025-06-17T14:52:03Z2025-06-03Rivera Arbeláez, J. P. (2025). Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente (Pasantía de investigación). Universidad Autónoma de Occidente. Cali. Colombia. https://hdl.handle.net/10614/16179https://hdl.handle.net/10614/16179Universidad Autónoma de OccidenteRespositorio Educativo Digital UAOhttps://red.uao.edu.co/This project presents the design, development, and evaluation of a virtual reality teleoperation system for controlling the Franka Research 3 robotic arm. Addressing the limitations of traditional 2D visualization interfaces, the proposed solution enables intuitive control through a distributed architecture that integrates ROS2 middleware, Unity engine, a ZED Mini stereo camera, and the Meta Quest 2 VR headset with touch controllers. Following an iterative methodology grounded in the Rational Unified Process and concurrent design principles, the system was incrementally developed and tested with 14 participants. Core functionalities included real-time stereo image streaming and joystick-based manipulation. Performance metrics and user-centered evaluations, collected through the System Usability Scale (SUS), NASA Task Load Index (NASA-TLX), Virtual Reality Sickness Questionnaire (VRSQ), and User Experience Questionnaire (UEQ) demonstrated the system’s overall learnability, usability, and operational feasibility. SUS’s score of 61.25 suggests a usable system with room for improvement to reach full user-friendliness. NASA-TLX score of 32.44 reflects a low perceived workload. VRSQ score of 16.07 points to a low incidence of cybersickness symptoms, supporting the system’s comfort during short-duration use. A clear improvement in task execution time and user confidence was observed across trials, confirming the interface's effectiveness despite minor limitations in synchronization and visual stability. The system architecture emphasizes modularity, scalability, and extensibility, making it suitable for advanced research and practical applications in teleoperation. Key contributions include the validation of a ROS2–Unity integration model for immersive control, a working force-feedback implementation, and insights into usability trade-offs in impedance-based motion control. This work contributes to closing the gap in remote human–robot collaboration and sets a foundation for future innovations around teleoperation and: digital twins, augmented reality, and adaptive haptic control.Este proyecto presenta el diseño, desarrollo y evaluación de un sistema de teleoperación de realidad virtual para controlar el brazo robótico Franka Research 3. Abordando las limitaciones de las interfaces de visualización 2D tradicionales, la solución propuesta permite un control intuitivo a través de una arquitectura distribuida que integra el middleware ROS2, Unity Engine, una cámara estéreo ZED Mini, y el visor de realidad virtual Meta Quest 2 con sus controles. Siguiendo una metodología iterativa basada en el Proceso Racional Unificado y los principios del diseño concurrente, el sistema se desarrolló de forma incremental y se probó con 14 participantes. Entre las funcionalidades básicas se encuentra la transmisión de imágenes estéreo en tiempo real y la manipulación con joystick. Las métricas de rendimiento y evaluaciones centradas en el usuario, recopiladas a través de la Escala de Usabilidad del Sistema (SUS), el Índice de Carga de Tareas de la NASA (NASA-TLX), el Cuestionario de Enfermedad de Realidad Virtual (VRSQ) y el Cuestionario de Experiencia del Usuario (UEQ); demostraron la capacidad de aprendizaje, la usabilidad y la viabilidad operativa generales del sistema. La puntuación del SUS de 61,25 sugiere un sistema utilizable con espacio de mejora para alcanzar la total facilidad de uso. La puntuación NASA-TLX de 31,2 refleja una baja carga de trabajo percibida. La puntuación VRSQ de 16,07 apunta a una baja incidencia de síntomas de cibersickness, lo que respalda la comodidad del sistema durante el uso de corta duración. Se observó una clara mejora en el tiempo de ejecución de la tarea y en la confianza del usuario a lo largo de los ensayos, lo que confirma la eficacia de la interfaz a pesar de pequeñas limitaciones en la sincronización y la estabilidad visual. La arquitectura del sistema hace hincapié en la modularidad y escalabilidad, lo que lo hace adecuado para la investigación y las aplicaciones prácticas en teleoperación. Las contribuciones clave incluyen la validación de un modelo de integración ROS2-Unity para el control inmersivo, una implementación de retroalimentación háptica, y conocimientos sobre las compensaciones de usabilidad en el control de movimiento basado en impedancia. Este trabajo contribuye a cerrar la brecha en la colaboración remota entre humanos y robots, colaborando a la fundamentación para futuras innovaciones en gemelos digitales, realidad aumentada y control háptico adaptativo en interfaces de teleoperaciónPasantía de investigación (ngeniero Mecatrónico)-- Universidad Autónoma de Occidente, 2025PregradoIngeniero(a) Mecatrónico(a)64 páginasapplication/pdfengUniversidad Autónoma de OccidenteIngeniería MecatrónicaFacultad de Ingeniería y Ciencias BásicasCali)-- Universidad Autónoma de Occidente, 2025https://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAtribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)http://purl.org/coar/access_right/c_abf2Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de TwenteTrabajo de grado - Pregradohttp://purl.org/coar/resource_type/c_7a1fTextinfo:eu-repo/semantics/bachelorThesishttp://purl.org/redcol/resource_type/TPinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a85[1] T. 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Brooke, “SUS: A ‘Quick and Dirty’ Usability Scale,” Usability Evaluation In Industry, pp. 207–212, 1996, doi: 10.1201/9781498710411-35.Ingeniería MecatrónicaInterfaces de teleoperaciónInteracción humano-robotRealidad virtualManipulador robóticoUsabilidad del sistemaTeleoperation InterfacesHuman Robot InteractionVirtual RealityRobotic ManipulatorsSystem UsabilityComunidad generalPublicationORIGINALT11420_Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente.pdfT11420_Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente.pdfArchivo texto completo del trabajo de grado, PDFapplication/pdf2577047https://red.uao.edu.co/bitstreams/c3c72cfa-68f9-4320-a961-1505c493a740/download1fa09822ffe568d2d8fb86da056f4091MD51T11420A_ANEXO A. 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Informed Consent.pdf.jpgGenerated Thumbnailimage/jpeg14482https://red.uao.edu.co/bitstreams/ea6d591f-d461-43f7-b526-74571df93c5e/download4851c92072d435796d8de82f374ca23cMD525TA11420_Autorización trabajo de grado.pdf.jpgTA11420_Autorización trabajo de grado.pdf.jpgGenerated Thumbnailimage/jpeg13345https://red.uao.edu.co/bitstreams/a282dd34-c28a-4481-a549-dce3b71bd95a/downloadb9480f22b1be82aefdd180f6d599c1adMD52710614/16179oai:red.uao.edu.co:10614/161792025-06-21 03:02:23.643https://creativecommons.org/licenses/by-nc-nd/4.0/)-- Universidad Autónoma de Occidente, 2025open.accesshttps://red.uao.edu.coRepositorio Digital Universidad Autonoma de Occidenterepositorio@uao.edu.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 |