Terminal Control Of A 2-Link Robot Manipulator

This paper describes a comparative evaluation of different controllers for a position regulation 2-link robot manipulator. The equation of motion for two link robot is a nonlinear di erential equation. The controllers, namely two proportional plus derivative with a nonlinear compensation and a terminal control, are designed from the dynamic description of the two link robot and then the controlled system is simulated by means of Matlab/ Simulink software which allows animated simulations using 3D World Editor (Matlab)2020/202

Forward method for vertical air motion estimation from frequency modulated continuous wave radar rain measurements

Vertically-pointed Frequency-Modulated Continuous-Wave (FMCW) radar measurements of rain are greatly influenced by strong vertical winds (vertical air motion, VAM) in convective rain scenarios. Particularly, 2nd order products such as rain rate (RR) and drop size distribution (DSD) experience high estimation errors due to VAM. In this work, we consider the estimation of VAM from vertically-pointed FMCW radar measurements in order to correct VAM-corrupted rain 2nd order products. We present preliminary research on a forward method to estimate VAM velocity at a particular height from S-band FMCW radar measurements in convective rain scenarios. The method relies on the parameterization of the DSD as a gamma distribution. It estimates the VAM along with the constitutive parameters of the gamma distribution by means of a parametric solver. The methodology is tested over long-duration, high-resolution measurements by the University of Massachussetts FMCW radar and validated against a ground-based disdrometer in the context of the Verification of the Origins of Rotation in Tornadoes Experiment-Southeast (VORTEX-SE).Peer ReviewedPostprint (published version

Numerical solver for vertical air motion estimation

We present preliminary research on a method to estimate Vertical Air Motion (VAM) at a particular height by comparing the measured rain-rate (RR) by a vertically-pointing S-band Frequency-Modulated Continuous-Wave (FMCW) radar with that of a ground-based disdrometer. The method is based on a constrained parametric solver, assuming high correlation between 5-min averaged rain rates measured by the radar and disdrometer. The method is tested over disdrometer and radar observations during the Verification of the ORigins Tornado EXperiment in South East US (VORTEX-SE) project. Finally, the results are partially validated by means of fitting a gamma distribution to the VAM-corrected DSD profiles and studying its parameters.This research is part of the projects PGC2018-094132-B-I00 and MDM2016-0600 (“CommSensLab” Excellence Unit) funded by Ministerio de Ciencia e Investigación (MCIN)/ Agencia Estatal de Investigación (AEI)/10.13039/501100011033/ FEDER “Una manera de hacer Europa”. The work of A. Salcedo-Bosch was supported under grant 2020 FISDU 00455 funded by Generalitat de Catalunya—AGAUR. The European Commission collaborated under projects H2020 ACTRIS-IMP (GA-871115) and H2020 ATMOACCESS (GA-101008004).Peer ReviewedPostprint (author's final draft

Clonal chromosomal mosaicism and loss of chromosome Y in elderly men increase vulnerability for SARS-CoV-2

The pandemic caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2, COVID-19) had an estimated overall case fatality ratio of 1.38% (pre-vaccination), being 53% higher in males and increasing exponentially with age. Among 9578 individuals diagnosed with COVID-19 in the SCOURGE study, we found 133 cases (1.42%) with detectable clonal mosaicism for chromosome alterations (mCA) and 226 males (5.08%) with acquired loss of chromosome Y (LOY). Individuals with clonal mosaic events (mCA and/or LOY) showed a 54% increase in the risk of COVID-19 lethality. LOY is associated with transcriptomic biomarkers of immune dysfunction, pro-coagulation activity and cardiovascular risk. Interferon-induced genes involved in the initial immune response to SARS-CoV-2 are also down-regulated in LOY. Thus, mCA and LOY underlie at least part of the sex-biased severity and mortality of COVID-19 in aging patients. Given its potential therapeutic and prognostic relevance, evaluation of clonal mosaicism should be implemented as biomarker of COVID-19 severity in elderly people. Among 9578 individuals diagnosed with COVID-19 in the SCOURGE study, individuals with clonal mosaic events (clonal mosaicism for chromosome alterations and/or loss of chromosome Y) showed an increased risk of COVID-19 lethality

Observacions del radar de pluja a la campanya vortex-se: correcció del moviment vertical de l'aire de l'espectre doppler per millorar la qualitat de les dades

We present research on two methods to estimate the Vertical Air Motion (VAM) velocity by comparing rainfall observations from two different sensing instruments: an S-band radar and a ground-based disdrometer during the Verification of the Origins of Rotation in Tornadoes Experiment-Southeast (VORTEX-SE).Presentamos una investigación sobre dos métodos para estimar la velocidad del movimiento vertical del aire (VAM) mediante la comparación de las observaciones de lluvia de dos instrumentos de detección diferentes: un radar de banda S y un disdrómetro terrestre durante la Verificación de los Orígenes de la Rotación en el Experimento de tornados-Sureste. (VORTEX-SE).Presentem investigacions sobre dos mètodes per estimar la velocitat del moviment vertical de l'aire (VAM) comparant les observacions de pluja de dos instruments de detecció diferents: un radar de banda S i un disdròmetre terrestre durant la Verificació dels Orígens de la Rotació en l'Rxperiment de Tornados-Sud-Est. (VORTEX-SE)

EINA360 2019

Recull de treballs de fi de grau de Disseny, del màster oficial de Recerca en Art i Disseny, màster en Tipografia Avançada, postgrau en Fotografia i Disseny Editorial, postgrau en Il·lustració creativa i tècniques de comunicació visual i d'entrevistes i projectes d'alumni d'EINA.Recopilación de trabajos de fin de grado de Diseño, del máster oficial de Investigación en Arte y Diseño, máster en Tipografía Avanzada, postgrado en Fotografía y Diseño Editorial, postgrado en Ilustración Creativa y Técnicas de Comunicación Visual, y de entrevistas y proyectos de alumni de EINA

Typo EINA 15 years

Aquest llibre commemora els 15 anys dels cursos de tipografia a Eina. Han estat 15 edicions de durades i continguts diferents però que sempre han considerat la lletra com la manera per entendre i construir la pàgina. Les primeres tres edicions no van tenir cap mena de tiulació per després passar a un postgrau i finalment a un màster de títol propi de la Universitat Autònoma de Barcelona. A les pàgines següents, trobareu les dates, la llista de professors i la llista d’alumnes de cada curs i, a continuació, una tria de treballs destacats d’alguns alumnes que han cursat els estudis. En fer aquesta publicació, un cop acabada la tria, és quan ens hem adonat de la importància d’allò que ha deixat el curs i de com de diferents són els ambits relacionats amb la lletra.Este libro conmemora los 15 años de los cursos de tipografía en Eina. Han sido 15 ediciones de duraciones y contenidos diferentes pero que siempre han considerado la letra como la forma de entender y construir la página. Las primeras tres ediciones no tuvieron forma de titulación alguna, para después pasar a un posgrado y finalmente a un máster de título propio en la Universitat Autònoma de Barcelona. Encontraréis en la siguientes páginas las fechas, la lista de profesores y la lista de alumnos de cada curso, y a continuación una selección de trabajos destacados de quienes pasaron por los cursos. Al hacer esta publicación, una vez terminada la selección, es cuando nos hemos dado cuenta de cómo de importante es lo que ha dejado el curso y de cómo de diferentes son los ámbitos relacionados con la letra.This book commemorates 15 years of typography courses at Eina. These courses have had different lengths and contents, but all have considered the letter as the key to understanding and building the page. For the first three years, there was no formal degree attached to the program, but Typography later became a postgraduate degree and finally an accredited Master´s degree from Autonomous University of Barcelona. In the following pages you’ll find the dates, professors and students of each year of the program, followed by a selection of outstanding projects. Putting this publication together was a reminder of just how important this course is, and of the many different ways there are of thinking about letters