Fray Lorenzo de San Nicolás: arte y uso de la arquitectura en la Basílica del Prado

[EN] The knowledge of architecture, initially through the direct follow-up of the Vitruvio`s manuscript and later from the intervention of the writers and architects of the Renaissance, has sought to be transmitted over time through the meeting of Its precepts in theoretical works capable of maintaining the principles of shape, style and proportion, guideline and basis for architects and future works. As regards the architect and treatise writer Fray Lorenzo de San Nicolás, we have seen that the theoretical proposals collected in his book Arte y Uso de Arquitectura are reflected in their own buildings. Through digital photogrammetric rising techniques we have been able to analyze the degree of approximation or coherence between the theory and the built project.[ES] El conocimiento de la arquitectura, inicialmente mediante el seguimiento directo del manuscrito de Vitruvio, y más tarde a partir de la intervención de los arquitectos tratadistas del Renacimiento, ha buscado transmitirse a lo largo del tiempo a través de la reunión de sus preceptos en obras teóricas capaces de mantener los principios de forma, estilo y proporción, pauta y base para arquitectos y obras venideras. Por lo que se refiere al arquitecto y tratadista Fray Lorenzo de San Nicolás, hemos podido comprobar que las propuestas teóricas recogidas en su obra Arte y Uso de Arquitectura se ven reflejadas en sus propios edificios. A través de técnicas digitales fotogramétricas de levantamiento hemos podido analizar el grado de aproximación o coherencia entre la teoría y el proyecto construido.Garcia León, J.; Ros Torres, J.; Fernández Vázquez, J.; García Córdoba, M. (2023). Fray Lorenzo de San Nicolás: art and use of architecture in the Prado Basilica. EGE Revista de Expresión Gráfica en la Edificación. (19):65-81. https://doi.org/10.4995/ege.2023.2072365811

Structure of force variability during squats performed with an inertial flywheel device under stable versus unstable surfaces

The use of unstable surfaces during resistance training has demonstrated a maintenance or reduction on force production. However, the use of unstable surface on force variability has not been assessed using non-linear methods that may be better suited to detect changes in movement variability throughout a given movement. Consequently, this study compared the use of stable vs unstable surfaces on force variability during bilateral squats performed with an inertial flywheel device (Eccoteck, Byomedic System SCP, Spain). Twenty healthy men (mean ± SD: age 22.9 ± 2.9 years, height 1.81 ± 0.7 m, body mass 76.4 ± 7.6 kg and 1RM back squat 110.9 ± 19.7 kg) with a minimum of four years in resistance training performed six sets of six repetitions of squats at maximal concentric effort with one minute rest between sets. Force output on the vertical axes was measured using a strain gauge and the results were processed using nonlinear sample entropy (SampEn). Results showed no differences for any of the dependent variables between stable and unstable conditions. SampEn showed no differences between conditions (chi-squared = 0.048 P = 0.827), while Forcemean and SampEn presented a small correlation (r = 0.184; p < 0.01). No changes in entropy were found over the course of the series. Together, these results suggest that the structure of force variability between stable and unstable surfaces are similar. This lack of difference between surfaces may be due to postural and anticipatory adjustments. Consequently, by introducing unstable surfaces to the flywheel bilateral squat exercise, practitioners may not observe changes in Forcemean and force variability when compared to stable surface training suggesting that increased training volumes or intensity may be required during unstable environments to cause a desired training stimulus.Peer ReviewedPostprint (author's final draft

A One-Step, Versatile Synthesis of Dibenzo [n.2.2] Macrobicyclic Compounds via a Conformation-Directed Macrocyclization Reaction

A series of dibenzo [n.2.2] bicyclic compounds (n = 2–20) were prepared in one step and good yields starting from dimethyl anthracene-9,10-dicarboxylate. Reduction of the aromatic diester using lithium/naphthalene led to a bis-enolate that was cyclized with a variety of bis-electrophiles. The ease of the cyclization is probably due to the puckered conformation of the intermediate formed after the first alkylation step, in which the newly introduced chain that will become the bridge portion occupies a pseudoaxial position, positioning the leaving group close to the enolate nucleophile in the macrocyclization stepThis work was supported by the Ministerio de Economía y Competitividad of Spain (CTQ2011-22436) and Xunta de Galicia (PGIDIT10-PXIB209113PR, 10PXIB209155PR, and 2007/085)S

Performance analysis of a PID fractional order control in a differential mobile robot

[EN] This work deals with the tracking trajectory problem for a differential-drive mobile robot taking into account a dynamic extension from the kinematic model and, controlling a front point located at a certain distance perpendicular to the mid-axis of the wheels. Two controls are proposed, a PID fractional order controller (PIδDµ) and a PD fractional order controller (PDµ), both based on the tracking errors. The proposed controllers are obtained by means of the input-output linearization technique. On the other hand, the controller fractional terms are based on the Caputo’s operator. Numerical simulations with different fractional orders are presented and compared with the integer order PID controller, showing the variations that occurred when changing only the controller order.[ES] Este trabajo aborda el problema de seguimiento de trayectorias de un robot móvil tipo diferencial considerando una extensión dinámica del modelo cinemático y, controlando un punto frontal situado a una cierta distancia perpendicular al eje medio de las ruedas. Se proponen dos tipos de controladores, un controlador PID de orden fraccionario (PIdeltaDmu) y un controlador PD fraccionario (PDmu), ambos basados en errores de seguimiento. Los controladores propuestos se obtienen empleando la técnica de linealización entrada-salida. Por otra parte, los términos fraccionarios del controlador se basan en el operador de Caputo. Se presentan simulaciones numéricas con diferentes órdenes fraccionarios y se comparan con el controlador PID de orden entero, mostrando las variaciones ocurridas al cambiar únicamente el orden del controlador.División de Investigación y Posgrado (DINVP) de la Universidad IberoamericanaVázquez, U.; González-Sierra, J.; Fernández-Anaya, G.; Hernández-Martínez, EG. (2021). Análisis del desempeño de un control PID de orden fraccional en un robot móvil diferencial. Revista Iberoamericana de Automática e Informática industrial. 19(1):74-83. https://doi.org/10.4995/riai.2021.15036OJS7483191Al-Mayyahi, A., Wang, W., Birch, P., 2016. Design of fractional-order controller for trajectory tracking control of a non-holonomic autonomous ground vehicle. Journal of Control, Automation and Electrical Systems 27 (1), 29-42. https://doi.org/10.1007/s40313-015-0214-2Betourne, A., Campion, G., 1996. Dynamic modelling and control design of a class of omnidirectional mobile robots. In Proceedings of IEEE International Conference on Robotics and Automation 3, 2810-2815.Buslowicz, M., 2012. Stability analysis of continuous-time linear systems consisting of n subsystems with different fractional orders. Bulletin of the Polish Academy of Sciences. Technical Sciences 60 (2), 279-284. https://doi.org/10.2478/v10175-012-0037-2Buslowicz, M., 2013. Frequency domain method for stability analysis of linear continuous-time state-space systems with double fractional orders. In Advances in the Theory and Applications of Non-integer Order Systems, Springer, Heidelberg, 31-39. https://doi.org/10.1007/978-3-319-00933-9_3Campion, G., Bastin, G., Dandrea-Novel, B., 1996. Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE transactions on robotics and automation 12 (1), 47-62. https://doi.org/10.1109/70.481750Contreras, J., Herrera, D., Toibero, J., Carelli, R., 2017. Controllers design for differential drive mobile robots based on extended kinematic modeling. In 2017 European Conference on Mobile Robots, 1-6.Fierro, R., Lewis, F., 1998. Control of a nonholonomic mobile robot using neural networks. IEEE transactions on neural networks 9 (4), 589-600. https://doi.org/10.1109/72.701173Kanjanawanishkul, K., Zell, A., 2009. Path following for an omnidirectional mobile robot based on model predictive control. In 2009 IEEE International Conference on Robotics and Automation, 3341-3346. https://doi.org/10.1109/ROBOT.2009.5152217Khalil, H., Grizzle, J., 2002. Nonlinear systems. Upper Saddle River, NJ: Prentice hall 3.Martínez, E., Ríos, H., Mera, M., Gonzalez-Sierra, J., 2019. A robust tracking control for unicycle mobile robots: An attractive ellipsoid approach. In 2019 IEEE 58th Conference on Decision and Control (CDC), 5799-5804. https://doi.org/10.1109/CDC40024.2019.9029954Matignon, D., 1996. Stability results for fractional differential equations with applications to control processing. In IMACS Multiconference on Computational engineering in systems applications 2 (1), 963-968.Matignon, D., 1998. Stability properties for generalized fractional differential systems. In ESAIM: Proceedings 5, 145-158. https://doi.org/10.1051/proc:1998004Miller, K., Ross, B., 1993. An introduction to the fractional calculus and fractional differential equations.Orman, K., Basci, A., Derdiyok, A., 2016. Speed and direction angle control of four wheel drive skid-steered mobile robot by using fractional order pi controller. Elektronika ir Elektrotechnika 22 (5), 14-19. https://doi.org/10.5755/j01.eie.22.5.16337Ovalle, L., Ríos, H., Llama, M., Dzul, V. S. A., 2019. Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches. Control Engineering Practice 85, 50-58. https://doi.org/10.1016/j.conengprac.2019.01.002Park, B., Yoo, S., Park, J., Choi, Y., 2008. Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty. IEEE Transactions on Control Systems Technology 17 (1), 207-214. https://doi.org/10.1109/TCST.2008.922584Petrás, I., 2008. Stability of fractional-order systems with rational orders. Fractional Calculus and Applied Sciences 10.Petrás, I., 2011. Fractional-order nonlinear systems: Modeling, analysis and simulation. Nonlinear Physical Science Book Series, Springer. https://doi.org/10.1007/978-3-642-18101-6Petrás, I., Dorcák, L., 1999. The frequency method for stability investigation of fractional control systems. J. of SACTA 2 (1-2), 75-85.Podlubny, I., 1998. Fractional differential equations: an introduction to fractional derivatives, fractional differential equations, to methods of their solution and some of their applications. Elsevier, 340.Radwan, A., Soliman, A., Elwakil, A., Sedeek, A., 2009. On the stability of linear systems with fractional-order elements. Chaos, Solitons & Fractals 40 (5), 2317-2328. https://doi.org/10.1016/j.chaos.2007.10.033Rasheed, L., Al-Araji, A., 2017. A cognitive nonlinear fractional order pid neural controller design for wheeled mobile robot based on bacterial foraging optimization algorithm. Engineering and Technology Journal 35 (3), 289-300.Rodriguez-Cortes, H., Aranda-Bricaire, E., 2007. Observer based trajectory tracking for a wheeled mobile robot. In 2007 American Conference Control, 991-996. https://doi.org/10.1109/ACC.2007.4282706Rojas-Moreno, A., Perez-Valenzuela, G., 2017. Fractional order tracking control of a wheeled mobile robot. IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing, 1-4. https://doi.org/10.1109/INTERCON.2017.8079683Sabatier, J., Moze, M., Farges, C., 2010. Lmi stability conditions for fractional order systems. Computers & Mathematics with Applications 59 (5), 1594-1609. https://doi.org/10.1016/j.camwa.2009.08.003Siegwart, R., Nourbakhsh, I., Scaramuzza, D., 2011. Introduction to autonomous mobile robots. MIT press.Sira-Ramírez, H., López-Uribe, C., Velasco-Villa, M., 2013. Linear observer-based active disturbance rejection control of the omnidirectional mobile robot. Asian Journal of Control 15 (1), 51-63. https://doi.org/10.1002/asjc.523Tawfik, M., Abdulwahb, E., Swadi, S., 2014. Trajectory tracking control for a wheeled mobile robot using fractional order piadb controller. Al-Khwarizmi Engineering Journal 10 (3), 39-52.Tepljakov, A., 2017. Fractional-order modeling and control of dynamic systems; fomcon: Fractional-order modeling and control toolbox. Springer Theses, 107--129. https://doi.org/10.1007/978-3-319-52950-9Tepljakov, A., Petlenkov, E., Belikov, J., Finajev, J., 2013. Fractional-order controller design and digital implementation using fomcon toolbox for matlab. IEEE Conference on Computer Aided Control System Design, 340--345. https://doi.org/10.1109/CACSD.2013.6663486Valerio, D., Costa, J. D., 2013. An introduction to fractional control. IET 91, 32-208.Vázquez, J., Velasco-Villa, M., 2008. Path-tracking dynamic model based control of an omnidirectional mobile robot. IFAC Proceedings Volumes 41 (2), 5365-5370. https://doi.org/10.3182/20080706-5-KR-1001.00904Yang, H., Fan, X., Shi, P., Hua, C., 2015. Nonlinear control for tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint. IEEE Transactions on Control Systems Technology 24 (2), 741-746. https://doi.org/10.1109/TCST.2015.2457877Zhang, L., Liu, L., Zhang, S., 2020. Design, implementation, and validation of robust fractional-order pd controller for wheeled mobile robot trajectory tracking. Complexity 2020, 1-12. https://doi.org/10.1155/2020/9523549Zhao, Y., Chen, N., Tai, Y., 2016. Trajectory tracking control of wheeled mobile robot based on fractional order backstepping. In 2016 Chinese Control and Decision Conference, 6730-6734. https://doi.org/10.1109/CCDC.2016.753220

Anlysis using geographical information system in the city of Cartagena

[SPA] A partir de un listado de edificaciones modernistas de la ciudad de Cartagena, y mediante el empleo de Sistemas de Información Geográfica, se realizan los mapas temáticos en función de diferentes variables mostrando cartográficamente los arquitectos que los realizaron,los usos para los que se proyectaron o el grado de catalogación actual de los mismos, que pueden relacionarse con las principales rutas modernistas de la ciudad. A partir del estudio espacial de la ubicación de los edificios seleccionados aparecen dos ejes de concentración de los mismos, muy bien diferenciados, que coinciden con los principales ejes de la ciudad amurallada: el eje Norte-Sur entre la puerta de Madrid y la del Muelle, que continua extramuros en la misma dirección en las casas baratas y el otro eje fundamental Oeste-Este, que coincide con el eje de la puerta de San José, que también continúa extramuros con la estación de ferrocarril. Este estudio es susceptible de incorporarse a un geoportal siendo este la herramienta óptima para la difusión y conocimiento de la información obtenida sobre el modernismo en la ciudad. [ENG] Based on a list of art nouveau buildings on Cartagena, and using Geographic Information Systems, we have made thematic maps rooted in different variables, cartographically showing the architects who created them, current uses and the degree of cataloging, which may relate with the modernist routes of the city. From the study of the location of selected buildings we can observe two axes of concentration of buildings, which coincide with the principal axes of the walled city: the North-South axis from the Puerta de Madrid toPuerta del Muelle, which continues outside the walls in the same direction at Casas Baratas and other main West-East, which coincides with the axis of the Puerta de San Jose, which also continues outside the walls until the railway station. This study is sensitive to join a geoportal as an optimal tool for dissemination and knowledge of information obtained on modernism in the Cartagena

Transcranial static magnetic stimulation reduces seizures in a mouse model of Dravet syndrome

[Abstract] Dravet syndrome is a rare form of severe genetic epilepsy characterized by recurrent and long-lasting seizures. It appears around the first year of life, with a quick evolution toward an increase in the frequency of the seizures, accompanied by a delay in motor and cognitive development, and does not respond well to antiepileptic medication. Most patients carry a mutation in the gene SCN1A encoding the α subunit of the voltage-gated sodium channel Nav1.1, resulting in hyperexcitability of neural circuits and seizure onset. In this work, we applied transcranial static magnetic stimulation (tSMS), a non-invasive, safe, easy-to-use and affordable neuromodulatory tool that reduces neural excitability in a mouse model of Dravet syndrome. We demonstrate that tSMS dramatically reduced the number of crises. Furthermore, crises recorded in the presence of the tSMS were shorter and less intense than in the sham condition. Since tSMS has demonstrated its efficacy at reducing cortical excitability in humans without showing unwanted side effects, in an attempt to anticipate a possible use of tSMS for Dravet Syndrome patients, we performed a numerical simulation in which the magnetic field generated by the magnet was modeled to estimate the magnetic field intensity reached in the cerebral cortex, which could help to design stimulation strategies in these patients. Our results provide a proof of concept for nonpharmacological treatment of Dravet syndrome, which opens the door to the design of new protocols for treatment.Instituto de salud Carlos III; PI21/00151Xunta de Galicia; ED431C 2022/05 (CR)Ministerio de Ciencia e Innovacion (España); PID2019-108250RJ-10

Impact of heart failure on the clinical profile and outcomes in patients with atrial fibrillation treated with rivaroxaban. Data from the EMIR study

Background: The aim of this study was to analyze the impact of the presence of heart failure (HF) on the clinical profile and outcomes in patients with atrial fibrillation (AF) anticoagulated with rivaroxaban. Methods: Observational and non-interventional study that included AF adults recruited from 79 Spanish centers, anticoagulated with rivaroxaban ≥ 6 months before inclusion. Data were analyzed according to baseline HF status. Results: Out of 1,433 patients, 326 (22.7%) had HF at baseline. Compared to patients without HF, HF patients were older (75.3 ± 9.9 vs. 73.8 ± 9.6 years; p = 0.01), had more diabetes (36.5% vs. 24.3%; p < 0.01), coronary artery disease (28.2% vs. 12.9%; p < 0.01), renal insufficiency (31.7% vs. 22.6%; p = 0.01), higher CHA2DS2-VASc (4.5 ± 1.6 vs. 3.2 ± 1.4; p < 0.01) and HAS-BLED (1.8 ± 1.1 vs. 1.5 ± 1.0; p < 0.01). After a median follow-up of 2.5 years, among HF patients, annual rates of stroke/ /systemic embolism/transient ischemic attack, major adverse cardiovascular events (MACE) (non-fatal myocardial infarction, revascularization and cardiovascular death), cardiovascular death, and major bleeding were 1.2%, 3.0%, 2.0%, and 1.4%, respectively. Compared to those patients without HF, HF patients had greater annual rates of MACE (3.0% vs. 0.5%; p < 0.01) and cardiovascular death (2.0% vs. 0.2%; p < 0.01), without significant differences regarding other outcomes, including thromboembolic or bleeding events. Previous HF was an independent predictor of MACE (odds ratio 3.4; 95% confidence interval 1.6–7.3; p = 0.002) but not for thromboembolic events or major bleeding. Conclusions: Among AF patients anticoagulated with rivaroxaban, HF patients had a worse clinical profile and a higher MACE risk and cardiovascular mortality. HF was independently associated with the development of MACE, but not with thromboembolic events or major bleeding. (Cardiol J 2022; 29, 6: 936–947)

Improvement of driver night vision in foggy environments by structured light projection

Nowadays, fog is still a natural phenomenon that hinders our ability to detect targets, particularly in the field of driving where accidents are increasing. In the literature we find different studies determining the range of visibility, improving the quality of an image, determining the characteristics of fog, etc. In this work we propose the possibility of using a structured lighting system, on which we project the light towards the target, limiting the field lighting. We have developed a scattering light propagation model to simulate and subsequently study the veil luminance, generated by backscattering, to predict the decrease in visibility. This simulation considers the type of fog, the relative orientation of various elements (observer, light source and targets). We have built a fog chamber to validate the experimental params of the described system. The results obtained from both the simulation and the experimental measurements demonstrate that it is possible to obtain a high contrast enhancement for viewing a target when illuminated as described. Clearly, this kind of lighting technology will improve the road safety in foggy night environments. The results of this work can also be extrapolated to any situation in which the visibility of an observer is compromised by the environment, such as heavy rain, smoke from fires, among others