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

Cleaning phenolic compounds present in water using salting-out effect with DCA-based ionic liquids

Water is an essential natural resource, and its contamination is an important issue at present. This study aimed to increase the techniques that can be used to clean and reuse industrial wastewater by studying the feasibility of an aqueous two-phase system to eliminate phenolic compounds from aqueous systems. The system was prepared using two hydrophilic ionic liquids based on dicyanamide anion, 1-ethyl-3-methylimidazlium dicyanamide [EMim] [DCA], and 1-butyl-3-methylimidazolium dicyanamide [BMim][DCA], and one inorganic salt, K3PO4, at three different concentrations (20, 30, and 40%). The process was tested for the removal of phenol, o-cresol, 2-chlorophenol, and a mixture of them (PCM) at initial concentrations from 0.003 to 15 g·L−1 in water. The extraction efficiencies for all the studied systems were calculated. The influence of the structure of the cation, the concentration of salt, and the initial concentration of the extracted compounds in the extraction yields were recorded. In general, the obtained results were high for all the studied systems, with extraction efficiencies of more than 90% representing the highest removal of the 2-chlorophenol compound using [EMim] [DCA] at the highest concentration of salt.Comisión Interministerial de Ciencia y Tecnología | Ref. CTM2013-46093-

Linfadenitis caseosa: factores de virulencia, patogénesis y vacunas. Revisión

Caseous lymphadenitis is a disease that affects sheep and goat production worldwide. The etiological agent is a Gram-positive, facultative intracellular bacterium called Corynebacterium pseudotuberculosis biovar ovis. The disease can occur with a cutaneous or visceral development, causing deterioration in the physical condition of the animal, as well as losses in the production of milk and meat, carcass confiscation, skin rejection and consequently, great economic losses. The study of virulence factors and pathogenesis mechanisms have made it possible to understand this disease, as well as to establish the target molecules for the development of new vaccines. There are commercial vaccines available globally; however, the protection conferred by them has not been effective in controlling the disease. Currently, the use of new technologies has allowed the obtaining and characterization of proteins with immunogenic potential for the development of new vaccines, which could be an alternative to increase protection. In the present work, the main factors of virulence of Corynebacterium pseudotuberculosis, their implications in the pathogenesis and the current trends in the vaccine formulations are presented.La linfadenitis caseosa es una enfermedad que afecta la producción ovina y caprina a nivel mundial. El agente etiológico es una bacteria Gram positiva, intracelular facultativa denominada Corynebacterium pseudotuberculosis biovar ovis. La enfermedad puede cursar con un desarrollo cutáneo o visceral, provocando deterioro en la condición física del animal, así como pérdidas en la producción de leche y carne, decomiso de las canales, rechazo de las pieles y como consecuencia, grandes pérdidas económicas. El estudio de los factores de virulencia y los mecanismos de patogénesis han permitido comprender esta enfermedad, así como establecer las moléculas diana para el desarrollo de nuevas vacunas. Existen vacunas comerciales disponibles a nivel mundial; sin embargo, la protección conferida por éstas no ha sido eficaz en el control de la enfermedad. Actualmente el uso de nuevas tecnologías ha permitido la obtención y caracterización de proteínas con potencial inmunogénico para el desarrollado de nuevas vacunas, las cuales podrían ser una alternativa para incrementar la protección. En el presente trabajo se exponen los principales factores de virulencia de Corynebacterium pseudotuberculosis, sus implicaciones en la patogénesis y las tendencias actuales en las formulaciones vacunales

Removal of azo dyes orange II and reactive black 5 from aqueous solutions by adsorption on chitosan beads modified with choline chloride: urea deep eutectic solvent and FeO

The removal of the azo dyes Orange II (OII) and Reactive Black 5 (RB5) from aqueous solutions was studied using three types of adsorbents derived from chitosan: unmodified chitosan beads (un-Ch), chitosan beads tuned with a deep eutectic solvent (DES) composed of choline chloride:urea at a 1:2 molar ratio (Ch-DES), along with FeO nanoparticles added to chitosan and modified with DES (Ch-FeO-DES). Both dyes were effectively removed in 3–4 h when Ch-DES beads were used, at a dye concentration range of 25–50 mg/L. The modification with DES improved the removal efficiency to achieve increases of around 32% for OII and 17% for RB5. The adsorbent dosage and the initial dye concentration influenced the adsorption process. Isotherm adsorption models (Langmuir, Freundlich, and Temkin) and kinetic models (pseudo-first-order, pseudo-second-order, intraparticle diffusion, and Elovich models) were applied to identify the adsorption behavior. The process could be characterized by employing the pseudo-second-order kinetic model and fitting it to the monolayer Langmuir isotherm. The adsorption occurred on a monolayer with no interaction among dye molecules when electrostatic forces would determine the attaching of dye molecules on the adsorbent. OII was efficiently desorbed by an alkaline solution, while RB5 was more strongly attached. The adsorbent could be recycled, after regeneration with an acid solution, for at least 5 reuse cycles while still achieving effective OII removal. Reactivation with a diluted EDTA solution allowed the authors to recycle RB5-attached beads, achieving optimum removal in two further uses.Xunta de Galicia | Ref. GPC-ED431B 2020/08Agencia Estatal de Investigación | Ref. PID2019-107728RB-I0

Removal of Acid Blue 80 from aqueous solutions using chitosan-based beads modified with choline chloride: urea Deep Eutectic Solvent and FeO

An alternative chitosan-based adsorbent modified by impregnation with deep eutectic solvent (DES) choline-chloride:urea at a molar ratio 1:2 proved efficient removal of the anthraquinone dye Acid Blue 80 (AB80) from aqueous solutions, and offered enhanced adsorption capacity compared to the starting materials. The adsorption was mainly affected by initial AB80 concentration, adsorbent dosage, contact time, and slightly influenced by temperature (25–45 °C), and pH (3.5–10). The pseudo-second-order kinetic model fitted the experimental data, and pseudo-first order model fitted as well at the highest AB80 concentration, 250 mg/L. The experimental data agreed with the Langmuir isotherm model, with a maximum adsorption capacity of 61.64 mg/g at 35 °C. The process was exothermic above 100 mg/L of dye and spontaneous up to 200 mg/L (T < 35 °C). The adsorbent could be reused without further treatment at least 5 times providing ≥40% removal, whereas the dye could be efficiently recovered by NaOH desorption. Electrostatic interactions as well as physisorption could explain the adsorption behaviorAgencia Estatal de Investigación | Ref. PID2019-107728RB-I00Xunta de Galicia | Ref. ED431B 2020/08Financiado para publicación en acceso aberto: Universidade de Vigo/CISU

La motivación y el uso de las TIC: una experiencia docente con estudiantes de terapia ocupacional

El uso combinado de metodologías tradicionales con metodologías actuales que incorporen las nuevas tecnologías en el aula puede contribuir a potenciar la motivación y la participación del alumnado. Objetivos: implementar metodologías activas en el aula con el fin de maximizar la adquisición del conocimiento a través de técnicas alternativas en la comunicación y resolución de problemas, analizándose el nivel de motivación de los estudiantes. Metodología: Se ha aplicado un cuestionario de motivación a una muestra de 53 estudiantes (N=53) del Grado en Terapia Ocupacional de la Universidad de Castilla-La Mancha (España). Resultados: Los resultados Pre-Test , muestran que la subescala denominada valor de la tarea tiene el valor máximo (X=5,58; SD= 1,27) y la subescala ansiedad ante los exámenes, la puntuación más baja (X=4,39; SD=0,96). El resto de puntuaciones de las sub-escalas se encuentran comprendidas entre estas dos. Conclusiones: El nivel de motivación al inicio de la asignatura mostró valores descriptivos altos, teniendo en cuenta que el valor máximo que se puede obtener es de 7 puntos.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Análisis de la motivación y rendimiento académico utilizando el aprendizaje basado en problemas con estudiantes de Ciencias de la salud :Terapia ocupacional

El Aprendizaje basado en Problemas (ABP) se caracteriza por desarrollar una serie de habilidades y competencias indispensables en el entorno profesional. Es un método innovador en el cual el aprendizaje es significativo, ya que se centra en el estudiante y fomenta el aprendizaje autónomo. En las disciplinas de ciencias de la salud, se precisan unas estrategias educativas específicas, ya que los estudios de ciencias de la Salud están fragmentados en diferentes especialidades, es por este motivo que el ABP es una herramienta que puede ser muy útil. El objetivo de este estudio es conocer si la utilización del ABP mejora la motivación de los estudiantes y también si influye en el rendimiento académico de los estudiantes. Para ello, se incorporó en la metodología el uso de actividades que conllevaran ABP en dos asignaturas y dos cursos de la Facultad de Ciencias de la Salud, (Intervención de la Terapia Ocupacional en Salud Mental I y técnicas terapéuticas). Dichas asignaturas fueron impartidas en la titulación de Terapia Ocupacional durante el curso académico 2013/2014. La muestra estuvo compuesta por un total de 106 estudiantes. Para medir la motivación, se administró el cuestionario de motivación y estrategias de aprendizaje (en sus siglas en inglés, MSLQ) al comienzo de las dos asignaturas para conocer el nivel de motivación del que partían. Cuando finalizaron las dos asignaturas se volvió a administrar a los estudiantes que habían participado en la encuesta inicial. Concretamente, se presentan las características de la experiencia, así como un análisis descriptivo sobre la relación entre el uso de la ABP y la nota final de las asignaturas. Se compararon también las calificaciones de asignaturas que no habían implementado el ABP en su metodología. Los resultados mostraron de forma general que los niveles de motivación son parecidos en la fase inicial y final, obteniéndose por lo general puntuaciones de 4 en aproximadamente el 50% de los encuestados. En cambio, cabe señalar que al compararse las notas de de los estudiantes en las asignaturas que habían implementado ABP y en las que no, los resultados mostraron que en las asignaturas con ABP las calificaciones finales fueron más altas que en aquellas asignaturas que no se implementó. Estos resultados indican que el uso de la metodología basada en ABP contribuye a que los estudiantes mantengan un nivel de motivación durante la asignatura, el cual a su vez influye positivamente en el rendimiento académico de los estudiantesUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Water decolorization using tuned ternary Deep Eutectic solvents

A method to totally decolorize textile wastewaters using new extraction solvents is proposed, with the aim of vastly reducing water consumption. This technique allows for water reuse while solving one of the biggest problems of the textile industry: the generation of huge amounts of liquid residues. In these effluents, dyes are the most common present pollutants, and are toxic to both human and aquatic life, and to the environment. Full decolorization is an indispensable prerequisite to obtain a clean water that can be repurposed following circular economy principles. To decolorize aqueous streams, liquid–liquid extraction is a widely used technique, achieving both the recovery of the pollutants and the used solvent. In this context, Deep Eutectic Solvents are a promising candidate for novel optimized processes. In this work, we propose several of these agents, formed from tetrabutylammonium chloride, thymol, menthol and decanoic acid, optimized for interaction with a wide array of dye classes and processable physicochemical properties. Across all the studied solvents, it was possible to achieve high extraction efficiency, with full decolorization for most dyes, at very low solvent to aqueous phase ratios. Furthermore, assays using synthetic effluents, containing dyes and other chemicals used to ensure a correct dyeing process, show that our solvents are good candidates to treat streams as those found in industry.Agencia Estatal de Investigación (AEI) | Ref. PID2019-107728RB-I00Xunta de Galicia | Ref. GPC-ED431B 2020/0Ministerio de Ciencia | Ref. PRE2020-09315

Identification of pore spaces in 3D CT soil images using a PFCM partitional clustering

Recent advances in non-destructive imaging techniques, such as X-ray computed tomography (CT), make it possible to analyse pore space features from the direct visualisation from soil structures. A quantitative characterisation of the three-dimensional solid-pore architecture is important to understand soil mechanics, as they relate to the control of biological, chemical, and physical processes across scales. This analysis technique therefore offers an opportunity to better interpret soil strata, as new and relevant information can be obtained. In this work, we propose an approach to automatically identify the pore structure of a set of 200-2D images that represent slices of an original 3D CT image of a soil sample, which can be accomplished through non-linear enhancement of the pixel grey levels and an image segmentation based on a PFCM (Possibilistic Fuzzy C-Means) algorithm. Once the solids and pore spaces have been identified, the set of 200-2D images is then used to reconstruct an approximation of the soil sample by projecting only the pore spaces. This reconstruction shows the structure of the soil and its pores, which become more bounded, less bounded, or unbounded with changes in depth. If the soil sample image quality is sufficiently favourable in terms of contrast, noise and sharpness, the pore identification is less complicated, and the PFCM clustering algorithm can be used without additional processing; otherwise, images require pre-processing before using this algorithm. Promising results were obtained with four soil samples, the first of which was used to show the algorithm validity and the additional three were used to demonstrate the robustness of our proposal. The methodology we present here can better detect the solid soil and pore spaces on CT images, enabling the generation of better 2D?3D representations of pore structures from segmented 2D images