Bilateral Internuclear Ophthalmoplegia in a Young Woman with Vertebral Artery Dissection

Background: Internuclear ophthalmoplegia (INO) is an eye movement disorder caused by a lesion in the medial longitudinal fasciculus (MLF) located in the midbrain. Adduction paralysis of both eyes and bilateral abduction nystagmus are the main features of INO[1]. Case presentation: A 29-year-old Hispanic woman was admitted to the emergency department complaining of an intense holocranial headache lasting 9 days, associated with nausea and vomiting. She was discharged home with resolution of the headache but persistence of symptoms. However, she subsequently developed horizontal diplopia and gait abnormalities. She was readmitted to hospital because of anomalous eye movements and conjugate gaze palsy, manifested as bilateral INO. Magnetic resonance angiography (MRA) findings were consistent with dissection of the left V4 vertebral artery with multiple brain infarcts in the superior cerebellar artery territory, comprising both MLF tracts. Conclusions: In young adults, bilateral INO is normally caused by demyelinating disease. In other patients, common causes include trauma, infections and autoimmune diseases with neurological symptoms. Vascular disease is implicated in over a third of cases

Requirement Engineering Activities in Smart Environments for Large Facilities

Developing a large, but smart environment is a complex task that requires the collaboration of experts of different disciplines. How to successfully attain such collaboration is not a trivial matter. The paper illustrates the problem with a case study where the manager of the facility intends to influence pedestrians so that they choose a task that requires certain effort, e.g. using staircases, instead of the current one that requires less effort, e.g. using the elevator. Defining requirements for such scenarios requires a strong multidisciplinary collaboration which is not currently well supported. This paper contributes with an approach to provide non-technician experts with tools so that they can provide feedback on the requirements and verify them in a systematic way

A System for the Measurement of the Subjective Visual Vertical Using a Virtual Reality Device

The Subjective Visual Vertical (SVV) is a common test for evaluating the perception of verticality. Altered verticality has been connected with disorders in the otolithic, visual or proprioceptive systems, caused by stroke, Parkinson’s disease or multiple sclerosis, among others. Currently, this test is carried out using a variety of specific, mostly homemade apparatuses that include moving planes, buckets, hemispheric domes or a line projected in a screen. Our aim is to develop a flexible, inexpensive, user-friendly and easily extensible system based on virtual reality for the measurement of the SVV and several related visual diagnostic tests, and validate it through an experimental evaluation. Our evaluation showed that the proposed system is suitable for the measurement of SVV in healthy subjects. The next step is to perform a more elaborated experimentation on patients and compare the results with the measurements obtained from traditional methods

Comprehensive transient-state study for CARMENES-NIR high thermal stability

CARMENES has been proposed as a next-generation instrument for the 3.5m Calar Alto Telescope. Its objective is finding habitable exoplanets around M dwarfs through radial velocity measurements (m/s level) in the near-infrared. Consequently, the NIR spectrograph is highly constraint regarding thermal/mechanical requirements. As a first approach, the thermal stability has been limited to \pm 0.01K (within year period) over a working temperature of 243K. This can be achieved by means of several temperature-controlled rooms. The options considered to minimise the complexity of the thermal design are here presented, as well as the transient-state thermal analyses realised to make the best choice

Prevalence of colonizing bacteria and their association with primary bacteremias in hemodialysis of a university hospital

to be from 2.5 to 5.5 cases per 1,000 catheter-day. the clinical impact is relevant and increases the cost of the HD Unit. Methods: The present study is the irst of 2 phases. It was conducted from January to December of 2012, and included all patients and nurses who were in the HD Unit. The prevalence of Gramnegative bacilli (GNB) and methicillin-resistant Staphylococcus aureus (MrSA) colonizing the nasal passages and the skin is described. Also, phenotypic association was sought by genus, species and sensitivities between colonizing bacterial strains and blood cultures with GNB and MRSA. Results: the study included 70 patients and 10 nurses. the prevalence of nasal colonization in patients by GNB was 9% and 6% in the pericatheter, and no nursing GNB colonization was discovered. The prevalence of MRSA nasal colonization was 19% and 6% in the pericatheter for patients and in the nurses the nasal colonization was 50% and 10% in the hands. We identiied 29 cases of primary bacteremia. The primary bacteremia rate is 1.5 per 1,000 catheter-day or 0.4 episodes per patient per year. Conclusion: We demonstrated a high prevalence of MrSA colonization in patients and nurses in the HD Unit. No relationship was found between primary bacteremia by GNB and patients and nurses’ bacteria colonization by the phenotypic comparison

Multienzyme One-Pot Cascades Incorporating Methyltransferases for the Strategic Diversification of Tetrahydroisoquinoline Alkaloids

The tetrahydroisoquinoline (THIQ) ring system is present in a large variety of structurally diverse natural products exhibiting a wide range of biological activities. Routes to mimic the biosynthetic pathways to such alkaloids, by building cascade reactions in vitro, represents a successful strategy and can offer better stereoselectivities than traditional synthetic methods. S-Adenosylmethionine (SAM)-dependent methyltransferases are crucial in the biosynthesis and diversification of THIQs; however, their application is often limited in vitro by the high cost of SAM and low substrate scope. In this study, we describe the use of methyltransferases in vitro in multi-enzyme cascades, including for the generation of SAM in situ. Up to seven enzymes were used for the regioselective diversification of natural and non-natural THIQs on an enzymatic preparative scale. Regioselectivites of the methyltransferases were dependent on the group at C-1 and presence of fluorine in the THIQs. An interesting dual activity was also discovered for the catechol methyltransferases used, which were found to be able to regioselectively methylate two different catechols in a single molecule

Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots

[EN] This paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the actuators is presented. Then, the model around an operating point is considered which allows to exploit the differential flatness property of the system, permitting a complete parametrization in terms of the flat output. Assuming that the vehicle network exchange information through a directed and strongly connected graph, a decentralized control law is designed, and an event-based algorithm is developed. Then each MIP decides, based on the difference of its current state and its latest broadcast state, when it has to send a new value to its neighbors. The stability of the complete system is carried out in the Lyapunov sense together with the ISS (Input-to-State Stability) approach. Numerical results show the advantages \textit{wrt} information exchange between MIPs, as well as a good performance in the angular stabilization under two scenarios: regulation and tracking problem.[ES] El trabajo presenta el diseno de una estrategia de control distribuido con comunicación activada por eventos, que resuelve el problema de consenso líder-seguidor, de un conjunto de robots móviles tipo péndulo invertido (RMPI). La linealización de las ecuaciones de movimiento de los RMPI, alrededor del punto de equilibrio, permiten explotar las propiedades de planitud diferencial, dando lugar a una reparametrización del sistema mediante la salida plana. Asumiendo que los vehículos se comunican mediante una red, cuya topología es representada por un grafo no dirigido y fuertemente conectado, se disena una ley de control distribuido y una funcion de evento que indica el instante en el que el i-ésimo vehículo debe transmitir informacion (su estado) a sus vecinos. El resultado es un intercambio asíncrono de información entre vehículos y donde el tiempo entre eventos no es equidistante. El análisis de estabilidad se lleva a cabo en el sentido de Lyapunov y en el sentido entrada-estado ISS (Input-to-State Stability). Los resultados en simulación numérica muestran el buen desempeño del consenso de la red de vehículos en dos escenarios representativos: regulación y seguimiento de trayectoria.Ramírez-Cárdenas, O.; Guerrero-Castellanos, J.; Linares-Flores, J.; Durand, S.; Guerrero-Sánchez, W. (2019). Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor. Revista Iberoamericana de Automática e Informática. 16(4):435-446. https://doi.org/10.4995/riai.2019.11113SWORD435446164Ahmed, N., Cortes, J., Martinez, S., 2016a. Distributed control and estimation of robotic vehicle networks: Overview of the special issue. IEEE Control Systems 36 (2), 36-40. https://doi.org/10.1109/MCS.2015.2512030Ahmed, N., Cortes, J., Martinez, S., 2016b. Distributed control and estimation of robotic vehicle networks: Overview of the special issue-part II. IEEE Control Systems 36 (4), 18-21. https://doi.org/10.1109/MCS.2016.2558398Aström, K. J., Murray, R. M., 2010. Feedback systems: an introduction for scientists and engineers. Princeton University Press. https://doi.org/10.2307/j.ctvcm4gdkBrisilla, R., Sankaranarayanan, V., 2015. Nonlinear control of mobile inverted pendulum. Robotics and Autonomous Systems 70, 145 - 155. https://doi.org/10.1016/j.robot.2015.02.012Bullo, F., Cortés, J., Martinez, S., 2009. Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms: A Mathematical Approach to Motion Coordination Algorithms. Princeton University Press. https://doi.org/10.1515/9781400831470Chung, T. L., Bui, T. H., Nguyen, T. T., Kim, S. B., Jul 2004. Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path. KSME International Journal 18 (7), 1094-1106. https://doi.org/10.1007/BF02983284Dimarogonas, D. V., Frazzoli, E., Johansson, K. H., 2012. Distributed eventtriggered control for multi-agent systems. IEEE Transactions on Automatic Control 57 (5), 1291-1297. https://doi.org/10.1109/TAC.2011.2174666Durand, S., Marchand, N., Aug 2009. Further results on event-based pid controller. In: Control Conference (ECC), 2009 European. pp. 1979-1984. https://doi.org/10.23919/ECC.2009.7074694Frías, O. O. G., 2013. Estabilización del péndulo invertido sobre dos ruedas mediante el método de lyapunov. Revista Iberoamericana de Automática e Informática Industrial RIAI 10 (1), 30 - 36. https://doi.org/10.1016/j.riai.2012.11.003Garcia, E., Cao, Y., Wang, X., Casbeer, D. W., July 2015. Decentralized eventtriggered consensus of linear multi-agent systems under directed graphs. In: 2015 American Control Conference (ACC). pp. 5764-5769. https://doi.org/10.1109/ACC.2015.7172242Ge, X., Han, Q. L., 2017. Distributed formation control of networked multiagent systems using a dynamic event-triggered communication mechanism. IEEE Transactions on Industrial Electronics PP (99), 1-1.Grasser, F., D'Arrigo, A., Colombi, S., Rufer, A. C., Feb 2002. Joe: a mobile, inverted pendulum. IEEE Transactions on Industrial Electronics 49 (1), 107-114. https://doi.org/10.1109/41.982254Guerrero Castellanos, J. F., Vega-Alonzo, A., Marchand, N., Durand, S., Linares-Flores, J., Mino-Aguilar, G., 2017. Real-time event-based formation control of a group of vtol-uavs. In: Proceedings of the 3rd IEEE International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP). Hal-01527633. https://doi.org/10.1109/EBCCSP.2017.8022817Guinaldo, M., Fábregas, E., Farias, G., Dormido-Canto, S., Chaos, D., Sánchez, J., Dormido, S., 2013. A mobile robots experimental environment with event-based wireless communication. Sensors 13 (7), 9396-9413. https://doi.org/10.3390/s130709396Hebertt Sira-Ramírez, Alberto Luviano-Juárez, M. R.-N. E.-W. Z.-B., 2017. Active Disturbance Rejection Control of Dynamic Systems. Butterworth- Heinemann.Lewis, F. L., Zhang, H., Hengster-Movric, K., Das, A., 2013. Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer Science & Business Media. https://doi.org/10.1007/978-1-4471-5574-4Li, Z., Yang, C., Fan, L., 2003. Advanced Control of Wheeled Inverted Pendulum Systems. Springer-Verlag London.Marchand, N., Durand, S., Guerrero-Castellanos, J. F., 2013. A general formula for event-based stabilization of nonlinear systems. Automatic Control, IEEE Transactions on 58 (5), 1332-1337. https://doi.org/10.1109/TAC.2012.2225493Müllhaupt, P., 2009. Introduction à l'analyse et à la commande des systèmes non linéaires. PPUR Presses polytechniques.Olfati-Saber, R., Murray, R. M., 2004. Consensus problems in networks of agents with switching topology and time-delays. Automatic Control, IEEE Transactions on 49 (9), 1520-1533. https://doi.org/10.1109/TAC.2004.834113Pathak, K., Franch, J., Agrawal, S. K., June 2005. Velocity and position control of a wheeled inverted pendulum by partial feedback linearization. IEEE Transactions on Robotics 21 (3), 505-513. https://doi.org/10.1109/TRO.2004.840905Ren, W., Beard, R. W., 2008. Distributed consensus in multi-vehicle cooperative control. Springer. https://doi.org/10.1007/978-1-84800-015-5Salerno, A., Angeles, J., Sept 2003. On the nonlinear controllability of a quasiholonomic mobile robot. In: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). Vol. 3. pp. 3379-3384 vol.3.Sánchez, J., Guarnes, M., Dormido, S., 2009. On the application of different event-based sampling strategies to the control of a simple industrial process. Sensors 9, 6795-6818. https://doi.org/10.3390/s90906795Sanchez-Santana, J., Guerrero-Castellanos, J., Villarreal-Cervantes, M., Ramírez-Martínez, S., 2018. Control distribuido y disparado por eventos para la formación de robots móviles tipo (3, 0) ' ?. In: Congreso Nacional de Control Automático.Schinstock, D., McGahee, K., Smith, S., July 2016. Engaging students in control systems using a balancing robot in a mechatronics course. In: 2016 American Control Conference (ACC). pp. 6658-6663. https://doi.org/10.1109/ACC.2016.7526719Segway, 2018. Segway human transporter. URL: http://www.segway.comSeyboth, G. S., Dimarogonas, D. V., Johansson, K. H., 2013. Event-based broadcasting for multi-agent average consensus. Automatica 49 (1), 245- 252. https://doi.org/10.1016/j.automatica.2012.08.042Sira-Ramírez, H., Agrawal, S. K., 2004. Differentially Flat Systems. Marcel Dekker, Inc. https://doi.org/10.1201/9781482276640Tabuada, P., 2007. Event-triggered real-time scheduling of stabilizing control tasks. IEEE Transactions on Automatic Control 52 (9), 1680-1685. https://doi.org/10.1109/TAC.2007.904277Tsai, C. C., Li, Y. X., Tai, F. C., Sept 2017. Backstepping sliding-mode leader- follower consensus formation control of uncertain networked heterogeneous nonholonomic wheeled mobile multirobots. In: 2017 56th Annual Conferen- ce of the Society of Instrument and Control Engineers of Japan (SICE). pp. 1407-1412. https://doi.org/10.23919/SICE.2017.8105661Velasco, M., Martí, P., Bini, E., 2009. On lyapunov sampling for event-driven controllers. In: Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on. IEEE, pp. 6238-6243. https://doi.org/10.1109/CDC.2009.5400541Xie, D., Xu, S., Zhang, B., Li, Y., Chu, Y., 2016. Consensus for multi-agent systems with distributed adaptive control and an event-triggered communication strategy. 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The Search of Diffusive Properties in Ambient Seismic Noise

Ambient seismic noise (ASN) is becoming of interest for geophysical exploration and engineering seismology as it is possible to exploit its potential for imaging. Theory asserts that the Green’s function can be retrieved from correlations within a diffuse field. Surface waves are the most conspicuous part of Green’s function in layered media. Thus, the velocities of surface waves can be obtained from ASN if the wavefield is diffuse. There is widespread interest in the conditions of emergence and properties of diffuse fields. In the applications, useful approximations of the Green’s function can be obtained from cross-correlations of recorded motions of ASN. An elastic field is diffuse if the illumination is azimuthally uniform and equipartitioned. It happens with the coda waves in earthquakes and has been verified in carefully planned experiments. For one of these data sets, the 1999 Chilpancingo (Mexico) experiment, there are some records of earthquake pre-events that undoubtedly are composed of ASN, so that the processing for coda can be tested on them. We decompose the ASN energies and study their equilibration. The scheme is inspired by the original experiment and uses the ASN recorded in an L-shaped array that allows the computation of spatial derivatives. It requires care in establishing the appropriate ranges for measuring parameters. In this search for robust indicators of diffusivity, we are led to establish that under certain circumstances, the S and P energy equilibration is a process that anticipates the diffusion regime (no necessarily isotropy), which justifies the use of horizontal-to-vertical spectral ratio in the theoretical context of diffusion

alpha-particle production in the scattering of 6He by 208Pb at energies around the Coulomb barrier

New experimental data from the scattering of 6He+208Pb at energies around and below the Coulomb barrier are presented. The yield of breakup products coming from projectile fragmentation is dominated by a strong group of $\alpha$ particles. The energy and angular distributions of this group have been analyzed and compared with theoretical calculations. This analysis indicates that the $\alpha$ particles emitted at backward angles in this reaction are mainly due to two-neutron transfer to weakly bound states of the final nucleus.Comment: 20 pages, 5 figures. Nuclear Physics A792 (2007) 2-1

Implementation of a Training Program in Advanced Life Support within map competence of future students of Medicine, University of Granada

Objetivo: Analizar la primera experiencia de formación en soporte vital avanzado (SVA) en estudiantes de medicina, incluyéndola como asignatura de libre configuración siguiendo las normas de la European Resuscitation Council. Metodología: Estudio observacional descriptivo transversal. Los datos se recogieron de los alumnos que participaron en el curso de SVA, como asignatura de libre configuración, realizado en la facultad de medicina de la Universidad de Granada. Se recogieron mediante encuesta variables sociodemográficas, variables de aspectos específicos de calidad del curso, así como la consideración de los alumnos ante la posibilidad de implantación del SVA en los estudios de Grado en la facultad de medicina. (Escala de puntuación= 1 mínimo- 5 máximo). Resultados: Se encuestaron a los 25 alumnos que asistieron al curso y su evaluación fue: Evaluación global del curso= 5,0, docentes participantes=4,8+ 0,3, material empleado=4,2+ 0,5 y las instalaciones= 3,7+ 0,6. Necesidad de la implantación de la formación en soporte vital avanzado en los estudios de Grado= 84% imprescindible y el 16% recomendable. Formación de los docentes que impartan esta asignatura= 4% Formación específica en urgencias y emergencias, 4% Formación específica en soporte vital y el 92% formación específica en soporte vital y metodología de la formación. Espacios docentes específicos para la formación en soporte vital = 56% imprescindible, 40% recomendable y el 4% opcional. Escogería la asignatura=100% de alumnos respondió que SI. Posible dotación de créditos=4% 8 créditos, 80% 6 créditos y el 16% se mostró indiferente. Elección del año académico a impartir la asignatura=52% en quinto y el 48% en sexto. Necesidad de reciclaje= el 100% de los alumnos respondieron SI. Conclusiones: El grado de satisfacción con la acción formativa es muy elevado, destacando la valoraciòn a los docentes. Los alumnos consideran imprescindible que los docentes sean expertos clínicos en la atención al paciente en situación de PCR, y además dispongan de formación específica en metodología de la formación aplicada a la enseñanza del soporte vital. Además consideran que el desarrollo de un mapa competencial específico en soporte vital debe estar incorporado al curriculum formativo de cualquier estudiante del Grado de Medicina.Objective: To analyze the first training experience in advanced life support (ALS) in medical students, including it as a free elective course following the rules of the European Resuscitation Council. Method: This is a cross-sectional observational study. Data were collected from the students who participated in the course of ALS, as free elective course, held at the Faculty of Medicine of the University of Granada. Dates were collected: sociodemographic, specific aspects of quality of the course, as well as consideration of the students at the possibility of implementation of SVA in graduate studies in the faculty of medicine. (Rating scale = 1, minimum 5 maximum).Results: The 25 students who attended the course and its evaluation was surveyed was: Overall Course Evaluation = 5.0, participating teachers = 4.8 + 0.3, material used = 4.2 + 0.5 = 3 facilities, 7 + 0.6. Need for the implementation of training in advanced life support in the Degree = 84 % essential and 16% recommended. Training of teachers to impart this course = 4 % Specific training in emergency , 4 % Specific training in life support and 92% specific training in life support and training methodologies . Specific teaching areas for training in life support = 56 % essential, 40 % and 4% recommended optional. Choose the course = 100 % of students answered YES. Possible allocation of credits = 4% 8 credits 6 credits 80 % and 16% were indifferent. Election of the academic year to teach the subject = 52% in the fifth and sixth 48 %. Need for recycling = 100% of the students answered YES. Conclusions: The degree of satisfaction with the training is very high, highlighting the valuation teachers. The students believe that teachers must be skilled in clinical patient care at-PCR, and also have specific training in training methodology applied to the teaching of life support. Also to consider developing a specific competence map in life support should be incorporated into the training curriculum for any student of Degree of Medicine