Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot
: figuras, tablas
- Autores:
-
Betancur Heredia, Manuela
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2025
- Institución:
- Universidad Tecnológica de Pereira
- Repositorio:
- Repositorio Institucional UTP
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.utp.edu.co:11059/16273
- Acceso en línea:
- https://hdl.handle.net/11059/16273
https://repositorio.utp.edu.co/home
- Palabra clave:
- 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
Ingeniería
Robots industriales
Trabajo en grupos
2. Ingeniería y Tecnología::2K. Otras Ingenierías y Tecnologías
Human-robot collaborative (HRC)
Ensamble colaborativo
Colaboración secuencial
ODS 4: Educación de calidad. Garantizar una educación inclusiva y equitativa de calidad y promover oportunidades de aprendizaje permanente para todos
- Rights
- openAccess
- License
- Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)
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Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
| title |
Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
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Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Ingeniería Robots industriales Trabajo en grupos 2. Ingeniería y Tecnología::2K. Otras Ingenierías y Tecnologías Human-robot collaborative (HRC) Ensamble colaborativo Colaboración secuencial ODS 4: Educación de calidad. Garantizar una educación inclusiva y equitativa de calidad y promover oportunidades de aprendizaje permanente para todos |
| title_short |
Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
| title_full |
Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
| title_fullStr |
Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
| title_full_unstemmed |
Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
| title_sort |
Programación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robot |
| dc.creator.fl_str_mv |
Betancur Heredia, Manuela |
| dc.contributor.advisor.none.fl_str_mv |
Muñoz Guevara, John Andres |
| dc.contributor.author.none.fl_str_mv |
Betancur Heredia, Manuela |
| dc.subject.ddc.none.fl_str_mv |
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería |
| topic |
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Ingeniería Robots industriales Trabajo en grupos 2. Ingeniería y Tecnología::2K. Otras Ingenierías y Tecnologías Human-robot collaborative (HRC) Ensamble colaborativo Colaboración secuencial ODS 4: Educación de calidad. Garantizar una educación inclusiva y equitativa de calidad y promover oportunidades de aprendizaje permanente para todos |
| dc.subject.armarc.none.fl_str_mv |
Ingeniería Robots industriales Trabajo en grupos |
| dc.subject.ocde.none.fl_str_mv |
2. Ingeniería y Tecnología::2K. Otras Ingenierías y Tecnologías |
| dc.subject.proposal.spa.fl_str_mv |
Human-robot collaborative (HRC) Ensamble colaborativo Colaboración secuencial |
| dc.subject.ods.none.fl_str_mv |
ODS 4: Educación de calidad. Garantizar una educación inclusiva y equitativa de calidad y promover oportunidades de aprendizaje permanente para todos |
| description |
: figuras, tablas |
| publishDate |
2025 |
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2025-09-08T13:07:05Z |
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2025-09-08T13:07:05Z |
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2025 |
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Trabajo de grado - Pregrado |
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Universidad Tecnológica de Pereira |
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Repositorio Universidad Tecnológica de Pereira |
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spa |
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Abd, K. K. (2015). Intelligent scheduling of robotic flexible assembly cells. Springer. Boschetti, G., Faccio, M., Milanese, M., & Minto, R. (2021). C-ALB (Collaborative Assembly Line Balancing): a new approach in cobot solutions. The International Journal of Advanced Manufacturing Technology, 116(9-10), 3027-3042. https://doi.org/10.1007/s00170-021-07565-7 Chansombat, S., Pongcharoen, P., & Hicks, C. (2019). A mixed-integer linear programming model for integrated production and preventive maintenance scheduling in the capital goods industry. International Journal of Production Research, 57(1), 61-82. Cherubini, A., Passama, R., Crosnier, A., Lasnier, A., & Fraisse, P. (2016). Collaborative manufacturing with physical human–robot interaction. Robotics and Computer- Integrated Manufacturing, 40, 1-13. Chutima, P. (2022). A comprehensive review of robotic assembly line balancing problem. Journal of Intelligent Manufacturing, 33(1), 1-34. Çil, Z. A., Li, Z., Mete, S., & Özceylan, E. (2020). Mathematical model and bee algorithms for mixed-model assembly line balancing problem with physical human–robot collaboration. Applied soft computing, 93, 106394. Dalle Mura, M., & Dini, G. (2019). Designing assembly lines with humans and collaborative robots: A genetic approach. CIRP Annals, 68(1), 1-4. Faccio, M., Bottin, M., & Rosati, G. (2019). Collaborative and traditional robotic assembly: a comparison model. The International Journal of Advanced Manufacturing Technology, 102(5-8), 1355-1372. https://doi.org/10.1007/s00170-018-03247-z Ferreira, C., Figueira, G., & Amorim, P. (2021). Scheduling Human-Robot Teams in collaborative working cells. International Journal of Production Economics, 235. https://doi.org/10.1016/j.ijpe.2021.108094 Ghandi, S., & Masehian, E. (2015). Review and taxonomies of assembly and disassembly path planning problems and approaches. Computer-Aided Design, 67, 58-86. Groover, M. P. (2016). Automation, production systems, and computer-integrated manufacturing. Pearson Education India. Gultekin, H., Akturk, M. S., & Karasan, O. E. (2008). Scheduling in robotic cells: process flexibility and cell layout. International Journal of Production Research, 46(8), 2105- 2121. International Federation of Robotic [IFR]. (2024). https://ifr.org/ Jiménez, P. (2013). Survey on assembly sequencing: a combinatorial and geometrical perspective. Journal of Intelligent Manufacturing, 24, 235-250. Keshvarparast, A., Battini, D., Battaia, O., & Pirayesh, A. (2024). Collaborative robots in manufacturing and assembly systems: literature review and future research agenda. Journal of Intelligent Manufacturing, 35(5), 2065-2118. Kheirabadi, M., Keivanpour, S., Chinniah, Y., & Frayret, J.-M. (2022). A review on collaborative robot assembly line balancing problems. IFAC-PapersOnLine, 55(10), 2779-2784. Koltai, T., Dimény, I., Gallina, V., Gaal, A., & Sepe, C. (2021). An analysis of task assignment and cycle times when robots are added to human-operated assembly lines, using mathematical programming models. International Journal of Production Economics, 242. https://doi.org/10.1016/j.ijpe.2021.108292 Li, Z., Janardhanan, M., Tang, Q., & Zhang, Z. (2023). Models and algorithms for U-shaped assembly line balancing problem with collaborative robots. Soft Computing, 27(14), 9639-9659. Li, Z., Janardhanan, M. N., & Tang, Q. (2021). Multi-objective migrating bird optimization algorithm for cost-oriented assembly line balancing problem with collaborative robots. Neural Computing and Applications, 33(14), 8575-8596. https://doi.org/10.1007/s00521- 020-05610-2 Ma’ruf, A., Nugraha, R. C., Cakravastia, A., & Halim, A. H. (2024). A Mathematical Model and Ant Colony Algorithm for Assembly Line Balancing Problem with Human-Robot Collaboration and Alternative Subgraphs. IEEE Access. Manu. G, M. G. e. a., & et al. (2018). Flexible Manufacturing Systems (FMS), A Review. International Journal of Mechanical and Production Engineering Research and Development, 8(2), 323-336. https://doi.org/10.24247/ijmperdapr201836 Mao, Z., Sun, Y., Fang, K., Huang, D., & Zhang, J. (2024). Model and metaheuristic for human– robot collaboration assembly line worker assignment and balancing problem. Computers & Operations Research, 165, 106605. Masehian, E., & Ghandi, S. (2021). Assembly sequence and path planning for monotone and nonmonotone assemblies with rigid and flexible parts. Robotics and Computer-Integrated Manufacturing, 72, 102180. Mohamed, S. B., Petty, D. J., Harrison, D. K., & Rigby, R. (2001). A cell management system to support robotic assembly. The International Journal of Advanced Manufacturing Technology, 18, 598-604. Montini, E., Daniele, F., Agbomemewa, L., Confalonieri, M., Cutrona, V., Bettoni, A., Rocco, P., & Ferrario, A. (2024). Collaborative Robotics: A Survey From Literature and Practitioners Perspectives. Journal of Intelligent & Robotic Systems, 110(3), 117. Muñoz-Guevara, J. A., Toro-Ocampo, E., & Vélez-Gallego, M. C. (2024). Robotic assembly systems planning and scheduling problems: A revie. International Journal of Industrial Engineering Computations, 15(4), 845-870. https://doi.org/10.5267/j.ijiec.2024.8.001 Muñoz-Guevara, J. A., Villegas-Florez, J. A., & Jaramillo-Tabima, J. J. (2024). Scheduling in a Simple Assembly Robotics Cell to Minimize Earliness and Tardiness. Ingeniería (0121- 750X), 29(2). Nourmohammadi, A., Fathi, M., & Ng, A. H. (2024). Balancing and scheduling human-robot collaborated assembly lines with layout and objective consideration. Computers & industrial engineering, 187, 109775. Nourmohammadi, A., Fathi, M., & Ng, A. H. C. (2022). Balancing and scheduling assembly lines with human-robot collaboration tasks. Computers & Operations Research, 140. https://doi.org/10.1016/j.cor.2021.105674 Rabbani, M., Behbahan, S. Z. B., & Farrokhi-Asl, H. (2020). The Collaboration of Human-Robot in Mixed-Model Four-Sided Assembly Line Balancing Problem. Journal of Intelligent & Robotic Systems, 100(1), 71-81. https://doi.org/10.1007/s10846-020-01177-1 Sarin, S., & Chen, C. (1987). The machine loading and tool allocation problem in a flexible manufacturing system. International Journal of Production Research, 25(7), 1081-1094. Slama, I., Arbaoui, T., Nourmohammadi, A., & Fathi, M. (2023). Assembly line balancing with collaborative robots under uncertainty of human processing times. 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT), Sokolov, O., Andrusyshyn, V., Iakovets, A., & Ivanov, V. (2025). Intelligent Human–Robot Interaction Assistant for Collaborative Robots. Electronics, 14(6), 1160. Stadnicka, D., & Antonelli, D. (2019). Human-robot collaborative work cell implementation through lean thinking. International Journal of Computer Integrated Manufacturing, 32(6), 580-595. https://doi.org/10.1080/0951192x.2019.1599437 Stecke, K. E., & Mokhtarzadeh, M. (2022). Balancing collaborative human–robot assembly lines to optimise cycle time and ergonomic risk. International Journal of Production Research, 60(1), 25-47. Wang, D., & Zhang, J. (2023). Flow shop scheduling with human–robot collaboration: a joint chance-constrained programming approach. International Journal of Production Research, 62(4), 1297-1317. https://doi.org/10.1080/00207543.2023.2181025 Weckenborg, C., Kieckhäfer, K., Müller, C., Grunewald, M., & Spengler, T. S. (2019). Balancing of assembly lines with collaborative robots. Business Research, 13(1), 93-132. https://doi.org/10.1007/s40685-019-0101-y Weckenborg, C., Kieckhäfer, K., Müller, C., Grunewald, M., & Spengler, T. S. (2020). Balancing of assembly lines with collaborative robots. Business Research, 13(1), 93-132. Weckenborg, C., & Spengler, T. S. (2019). Assembly Line Balancing with Collaborative Robots under consideration of Ergonomics: A cost-oriented approach. IFAC-PapersOnLine, 52(13), 1860-1865. Zhang, M., Li, C., Shang, Y., Huang, H., Zhu, W., & Liu, Y. (2022). A task scheduling model integrating micro-breaks for optimisation of job-cycle time in human-robot collaborative assembly cells. International Journal of Production Research, 60(15), 4766-4777. |
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Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)Manifiesto (Manifestamos) en este documento la voluntad de autorizar a la Biblioteca Jorge Roa Martínez de la Universidad Tecnológica de Pereira la publicación en el Repositorio institucional (http://biblioteca.utp.edu.co), la versión electrónica de la OBRA titulada: La Universidad Tecnológica de Pereira, entidad académica sin ánimo de lucro, queda por lo tanto facultada para ejercer plenamente la autorización anteriormente descrita en su actividad ordinaria de investigación, docencia y publicación. La autorización otorgada se ajusta a lo que establece la Ley 23 de 1982. Con todo, en mi (nuestra) condición de autor (es) me (nos) reservo (reservamos) los derechos morales de la OBRA antes citada con arreglo al artículo 30 de la Ley 23 de 1982. En concordancia suscribo (suscribimos) este documento en el momento mismo que hago (hacemos) entrega de mi (nuestra) OBRA a la Biblioteca “Jorge Roa Martínez” de la Universidad Tecnológica de Pereira. Manifiesto (manifestamos) que la OBRA objeto de la presente autorizaciónhttps://creativecommons.org/licenses/by-nc-nd/4.0/http://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessMuñoz Guevara, John Andresvirtual::282-1Betancur Heredia, Manuela2025-09-08T13:07:05Z2025-09-08T13:07:05Z2025https://hdl.handle.net/11059/16273Universidad Tecnológica de PereiraRepositorio Universidad Tecnológica de Pereirahttps://repositorio.utp.edu.co/home: figuras, tablasLa industria de ensamble ha transformado sus métodos de producción tradicionales hacia sistemas más flexibles, con el objetivo de responder a la demanda con productos más personalizados y mayor velocidad de entrega. En este contexto, los robots colaborativos se han convertido en una alternativa para incrementar la productividad y eficiencia en los procesos, integrando de manera efectiva actividades manuales y automatizadas. Este proyecto se centra en la programación de tareas en una estación de ensamble colaborativa secuencial, mediante la aplicación de programación lineal entera mixta...RESUMEN -- 9 INTRODUCCIÓN -- 10 1. PLANTEAMIENTO DEL PROBLEMA -- 11 1.1. Formulación del Problema -- 12 1.2. Sistematización del problema -- 12 2. OBJETIVOS -- 12 2.1. Objetivo General -- 12 2.2. Objetivos Específicos -- 13 3. JUSTIFICACIÓN -- 13 4. MARCO REFERENCIAL -- 15 4.1. Antecedentes -- 15 4.2. Estado del arte -- 16 4.2.1. Bases de datos -- 17 4.2.2. Resultado de búsqueda -- 18 4.2.3. Temas de Investigación -- 20 5. MARCO TEÓRICO -- 21 5.1. Sistema de Manufactura Flexible -- 21 5.1.1. Sistema de ensamble flexible -- 22 5.1.2. Líneas de ensamble robóticas -- 24 5.1.3. Celdas de ensamblaje robótico -- 24 5.1.4. Celdas de ensamble colaborativos HRC -- 26 5.2. Problemas de Planeación de ensamble -- 30 5.2.1. Planeación de la Secuencia de Ensamble - ASP -- 31 5.2.2. Planeación de ruta de ensamble – APP -- 33 5.2.3. Balanceo de Líneas de Ensamble -- 34 5.2.4. Programación de tareas de ensamble -- 34 5 6. MARCO CONCEPTUAL -- 36 7. METODOLOGÍA -- 37 7.1. Tipo de estudio -- 37 7.1.1. Descriptivo -- 37 7.2. Método de investigación -- 38 7.2.1. Cuantitativo -- 38 7.2.2. Etapas del Estudio -- 38 7.3. Tratamiento de la Información -- 40 8. PROGRAMACIÓN DE TAREAS DE ENSAMBLE EN UNA ESTACIÓN DE TRABAJO COLABORATIVO SECUENCIAL HUMANO-ROBOT -- 40 8.1. Análisis de variables, parámetros y métricas en la programación de tareas una estación de trabajo colaborativo secuencial -- 40 8.1.1. Medidas de desempeño -- 46 8.2. Formulación del MILP para HRC-SSP -- 48 8.2.1. Supuestos para la formulación del problema -- 48 8.2.2. Notación matemática para la formulación HRC-SSP -- 49 8.2.3. Modelo matemático MILP para HRC-SSP -- 50 8.3. Análisis del Desempeño del Modelo MILP Aplicado a Instancias HRC-SSP -- 53 8.3.1. Instancias -- 53 8.3.2. Resultados -- 54 8.4. Estación de ensamble HRC-SSP con cambios de herramientas del robot -- 58 8.4.1. Notación del MILP para el HRC-SSP con inclusión tiempos de setup -- 61 8.4.2. Resultados -- 63 CONCLUSIONES -- 69 RECOMENDACIONES -- 71 REFERENCIAS -- 72PregradoIngeniero(a) Industrial76 páginasapplication/pdfspaUniversidad Tecnológica de PereiraIngeniería IndustrialFacultad de Ciencias EmpresarialesPereira620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaIngenieríaRobots industrialesTrabajo en grupos2. Ingeniería y Tecnología::2K. Otras Ingenierías y TecnologíasHuman-robot collaborative (HRC)Ensamble colaborativoColaboración secuencialODS 4: Educación de calidad. Garantizar una educación inclusiva y equitativa de calidad y promover oportunidades de aprendizaje permanente para todosProgramación de tareas de ensamble en una estación de trabajo colaborativo secuencial humano-robotTrabajo de grado - Pregradoinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTextinfo:eu-repo/semantics/bachelorThesisPereira, Risaralda, ColombiaAbd, K. K. (2015). Intelligent scheduling of robotic flexible assembly cells. Springer.Boschetti, G., Faccio, M., Milanese, M., & Minto, R. (2021). C-ALB (Collaborative Assembly Line Balancing): a new approach in cobot solutions. The International Journal of Advanced Manufacturing Technology, 116(9-10), 3027-3042. https://doi.org/10.1007/s00170-021-07565-7Chansombat, S., Pongcharoen, P., & Hicks, C. (2019). A mixed-integer linear programming model for integrated production and preventive maintenance scheduling in the capital goods industry. International Journal of Production Research, 57(1), 61-82.Cherubini, A., Passama, R., Crosnier, A., Lasnier, A., & Fraisse, P. (2016). Collaborative manufacturing with physical human–robot interaction. Robotics and Computer- Integrated Manufacturing, 40, 1-13.Chutima, P. (2022). A comprehensive review of robotic assembly line balancing problem. Journal of Intelligent Manufacturing, 33(1), 1-34.Çil, Z. A., Li, Z., Mete, S., & Özceylan, E. (2020). Mathematical model and bee algorithms for mixed-model assembly line balancing problem with physical human–robot collaboration. Applied soft computing, 93, 106394.Dalle Mura, M., & Dini, G. (2019). Designing assembly lines with humans and collaborative robots: A genetic approach. CIRP Annals, 68(1), 1-4.Faccio, M., Bottin, M., & Rosati, G. (2019). Collaborative and traditional robotic assembly: a comparison model. The International Journal of Advanced Manufacturing Technology, 102(5-8), 1355-1372. https://doi.org/10.1007/s00170-018-03247-zFerreira, C., Figueira, G., & Amorim, P. (2021). Scheduling Human-Robot Teams in collaborative working cells. International Journal of Production Economics, 235. https://doi.org/10.1016/j.ijpe.2021.108094Ghandi, S., & Masehian, E. (2015). Review and taxonomies of assembly and disassembly path planning problems and approaches. Computer-Aided Design, 67, 58-86.Groover, M. P. (2016). Automation, production systems, and computer-integrated manufacturing. Pearson Education India.Gultekin, H., Akturk, M. S., & Karasan, O. E. (2008). Scheduling in robotic cells: process flexibility and cell layout. International Journal of Production Research, 46(8), 2105- 2121.International Federation of Robotic [IFR]. (2024). https://ifr.org/Jiménez, P. (2013). Survey on assembly sequencing: a combinatorial and geometrical perspective. Journal of Intelligent Manufacturing, 24, 235-250.Keshvarparast, A., Battini, D., Battaia, O., & Pirayesh, A. (2024). Collaborative robots in manufacturing and assembly systems: literature review and future research agenda. Journal of Intelligent Manufacturing, 35(5), 2065-2118.Kheirabadi, M., Keivanpour, S., Chinniah, Y., & Frayret, J.-M. (2022). A review on collaborative robot assembly line balancing problems. IFAC-PapersOnLine, 55(10), 2779-2784.Koltai, T., Dimény, I., Gallina, V., Gaal, A., & Sepe, C. (2021). An analysis of task assignment and cycle times when robots are added to human-operated assembly lines, using mathematical programming models. International Journal of Production Economics, 242. https://doi.org/10.1016/j.ijpe.2021.108292Li, Z., Janardhanan, M., Tang, Q., & Zhang, Z. (2023). Models and algorithms for U-shaped assembly line balancing problem with collaborative robots. Soft Computing, 27(14), 9639-9659.Li, Z., Janardhanan, M. N., & Tang, Q. (2021). 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International Journal of Production Research, 60(15), 4766-4777.Comunidad académica y científica, Estudiantes, Docentes, InvestigadoresPublication0000-0002-8671-1668virtual::282-1fdb95410-69c7-47d8-9bcc-fe3d96a72740virtual::282-1fdb95410-69c7-47d8-9bcc-fe3d96a72740virtual::282-1ORIGINALTrabajo de grado.pdfTrabajo de grado.pdfapplication/pdf1783508https://repositorio.utp.edu.co/bitstreams/63d48394-143c-4fa2-8f5b-eeec7f13922a/download788911cd828bb811d56c2c03f0d47f54MD51LICENSElicense.txtlicense.txttext/plain; charset=utf-815543https://repositorio.utp.edu.co/bitstreams/5c658991-7acf-42ed-b8a5-a23ed6161a86/download73a5432e0b76442b22b026844140d683MD52THUMBNAILImagen1.pngimage/png44166https://repositorio.utp.edu.co/bitstreams/85b43de0-6690-4558-a27c-86712e7c8cf7/downloade40117466aa7c5e6f6408c13fb416738MD53Trabajo de grado.pdf.jpgTrabajo de grado.pdf.jpgGenerated Thumbnailimage/jpeg7197https://repositorio.utp.edu.co/bitstreams/aae0afae-0248-4163-9847-46c44b1e202e/download4d8bf59195ad9615a400db227a2b0e7bMD55TEXTTrabajo de grado.pdf.txtTrabajo de grado.pdf.txtExtracted texttext/plain102568https://repositorio.utp.edu.co/bitstreams/f79e851e-18ff-4dcc-b994-b624df69883c/downloadd780299a084024c9862b5e52f7bdf9cdMD5411059/16273oai:repositorio.utp.edu.co:11059/162732025-09-09 05:01:02.636https://creativecommons.org/licenses/by-nc-nd/4.0/Manifiesto (Manifestamos) en este documento la voluntad de autorizar a la Biblioteca Jorge Roa Martínez de la Universidad Tecnológica de Pereira la publicación en el Repositorio institucional (http://biblioteca.utp.edu.co), la versión electrónica de la OBRA titulada: La Universidad Tecnológica de Pereira, entidad académica sin ánimo de lucro, queda por lo tanto facultada para ejercer plenamente la autorización anteriormente descrita en su actividad ordinaria de investigación, docencia y publicación. 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Manifiesto (manifestamos) que la OBRA objeto de la presente autorizaciónopen.accesshttps://repositorio.utp.edu.coRepositorio de la Universidad Tecnológica de 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