Improved modelling of the freshwater provisioning ecosystem service in water scarce river basins

Freshwater provisioning by the landscape contributes to human well-being through water use for drinking, irrigation and other purposes. The assessment of this ecosystem service involves the quantification of water resources and the valuation of water use benefits. Models especially designed to assess ecosystem services can be used. However, they have limitations in representing the delivery of the service in water scarce river basins where water management and the temporal variability of water resource and its use are key aspects to consider. Integrating water resources management tools represents a good alternative to ecosystem services models in these river basins. We propose a modelling framework that links a rainfall-runoff model and a water allocation model which allow accounting for the specific requirements of water scarce river basins. Moreover, we develop a water tracer which rebounds the value of the service from beneficiaries to water sources, allowing the spatial mapping of the service

ANALYSIS OF TETHERED SWIMMING FORCE, TETHERED SWIMMING POWER, SWIMMING SPEED AND ANTROPOMETRICAL CHARACTERISTICS OF YOUNG SWIMMERS IN CRAWL STROKE

Propulsive forces, instantaneous power and swimming velocity in semi-tethered swimming were measured in a group of 69 competitive swimmers. Also, isometric force in laboratory, best 15 m swimming velocity and 100 m freestyle personal mark and anthropometric characteristics were recorded. The results show the high relationship between swimming speed and the propulsive forces, and the instantaneous power. Consequently, the above mentioned variables can be useful for the evaluation of the swimmers along a season

Sliding mode control for robust and smooth reference tracking in robot visual servoing

[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both sliding mode controls are extensively compared in a 3D-simulated environment with their equivalent well-known continuous controls, which can be found in the literature, to highlight their similarities and differences. The main advantages of the proposed method are smoothness, robustness, and low computational cost. The applicability and robustness of the proposed approach are substantiated by experimental results using a conventional 6R industrial manipulator (KUKA KR 6 R900 sixx [AGILUS]) for positioning and tracking tasks.Spanish Government, Grant/Award Number: BES-2010-038486; Generalitat Valenciana, Grant/Award Number: BEST/2017/029 and APOSTD/2016/044Muñoz-Benavent, P.; Gracia, L.; Solanes, JE.; Esparza, A.; Tornero, J. (2018). Sliding mode control for robust and smooth reference tracking in robot visual servoing. International Journal of Robust and Nonlinear Control. 28(5):1728-1756. https://doi.org/10.1002/rnc.3981S17281756285Hutchinson, S., Hager, G. D., & Corke, P. I. (1996). A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(5), 651-670. doi:10.1109/70.538972Chaumette, F., & Hutchinson, S. (2008). Visual Servoing and Visual Tracking. Springer Handbook of Robotics, 563-583. doi:10.1007/978-3-540-30301-5_25Corke, P. (2011). Robotics, Vision and Control. 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On improving robot image-based visual servoing based on dual-rate reference filtering control strategy. Robotica, 34(12), 2842-2859. doi:10.1017/s0263574715000454Elena M Cristiano M Damiano F Bonfe M Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing 2003 Istanbul, Turkey https://doi.org/10.1109/CCA.2003.1223145Hashimoto, K., Ebine, T., & Kimura, H. (1996). Visual servoing with hand-eye manipulator-optimal control approach. IEEE Transactions on Robotics and Automation, 12(5), 766-774. doi:10.1109/70.538981Chan A Leonard S Croft EA Little JJ Collision-free visual servoing of an eye-in-hand manipulator via constraint-aware planning and control 2011 San Francisco, CA, USA https://doi.org/10.1109/ACC.2011.5991008Allibert, G., Courtial, E., & Chaumette, F. (2010). Visual Servoing via Nonlinear Predictive Control. Lecture Notes in Control and Information Sciences, 375-393. doi:10.1007/978-1-84996-089-2_20Kragic, D., & Christensen, H. I. (2003). Robust Visual Servoing. The International Journal of Robotics Research, 22(10-11), 923-939. doi:10.1177/027836490302210009Mezouar Y Chaumette F Path planning in image space for robust visual servoing 2000 San Francisco, CA, USA https://doi.org/10.1109/ROBOT.2000.846445Morel, G., Zanne, P., & Plestan, F. (2005). Robust visual servoing: bounding the task function tracking errors. IEEE Transactions on Control Systems Technology, 13(6), 998-1009. doi:10.1109/tcst.2005.857409Hammouda, L., Kaaniche, K., Mekki, H., & Chtourou, M. (2015). Robust visual servoing using global features based on random process. International Journal of Computational Vision and Robotics, 5(2), 138. doi:10.1504/ijcvr.2015.068803Yang YX Liu D Liu H Robot-self-learning visual servoing algorithm using neural networks 2002 Beijing, China https://doi.org/10.1109/ICMLC.2002.1174473Sadeghzadeh, M., Calvert, D., & Abdullah, H. A. (2014). Self-Learning Visual Servoing of Robot Manipulator Using Explanation-Based Fuzzy Neural Networks and Q-Learning. Journal of Intelligent & Robotic Systems, 78(1), 83-104. doi:10.1007/s10846-014-0151-5Lee AX Levine S Abbeel P Learning Visual Servoing With Deep Features and Fitted Q-Iteration 2017Fakhry, H. H., & Wilson, W. J. (1996). A modified resolved acceleration controller for position-based visual servoing. Mathematical and Computer Modelling, 24(5-6), 1-9. doi:10.1016/0895-7177(96)00112-4Keshmiri, M., Wen-Fang Xie, & Mohebbi, A. (2014). Augmented Image-Based Visual Servoing of a Manipulator Using Acceleration Command. IEEE Transactions on Industrial Electronics, 61(10), 5444-5452. doi:10.1109/tie.2014.2300048Edwards, C., & Spurgeon, S. (1998). Sliding Mode Control. doi:10.1201/9781498701822Zanne P Morel G Piestan F Robust vision based 3D trajectory tracking using sliding mode control 2000 San Francisco, CA, USAOliveira TR Peixoto AJ Leite AC Hsu L Sliding mode control of uncertain multivariable nonlinear systems applied to uncalibrated robotics visual servoing 2009 St. Louis, MO, USAOliveira, T. R., Leite, A. C., Peixoto, A. J., & Hsu, L. (2014). Overcoming Limitations of Uncalibrated Robotics Visual Servoing by means of Sliding Mode Control and Switching Monitoring Scheme. Asian Journal of Control, 16(3), 752-764. doi:10.1002/asjc.899Li, F., & Xie, H.-L. (2010). Sliding mode variable structure control for visual servoing system. International Journal of Automation and Computing, 7(3), 317-323. doi:10.1007/s11633-010-0509-5Kim J Kim D Choi S Won S Image-based visual servoing using sliding mode control 2006 Busan, South KoreaBurger W Dean-Leon E Cheng G Robust second order sliding mode control for 6D position based visual servoing with a redundant mobile manipulator 2015 Seoul, South KoreaBecerra, H. M., López-Nicolás, G., & Sagüés, C. (2011). A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views. IEEE Transactions on Robotics, 27(1), 175-183. doi:10.1109/tro.2010.2091750Parsapour, M., & Taghirad, H. D. (2015). Kernel-based sliding mode control for visual servoing system. IET Computer Vision, 9(3), 309-320. doi:10.1049/iet-cvi.2013.0310Xin J Ran BJ Ma XM Robot visual sliding mode servoing using SIFT features 2016 Chengdu, ChinaZhao, Y. M., Lin, Y., Xi, F., Guo, S., & Ouyang, P. (2016). Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System. Journal of Manufacturing Science and Engineering, 139(4). doi:10.1115/1.4034681Moosavian, S. A. A., & Papadopoulos, E. (2007). Modified transpose Jacobian control of robotic systems. Automatica, 43(7), 1226-1233. doi:10.1016/j.automatica.2006.12.029Sagara, S., & Taira, Y. (2008). Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix. Artificial Life and Robotics, 13(1), 355-358. doi:10.1007/s10015-008-0584-7Khalaji, A. K., & Moosavian, S. A. A. (2015). Modified transpose Jacobian control of a tractor-trailer wheeled robot. Journal of Mechanical Science and Technology, 29(9), 3961-3969. doi:10.1007/s12206-015-0841-3Utkin, V., Guldner, J., & Shi, J. (2017). Sliding Mode Control in Electro-Mechanical Systems. doi:10.1201/9781420065619Utkin, V. (2016). Discussion Aspects of High-Order Sliding Mode Control. IEEE Transactions on Automatic Control, 61(3), 829-833. doi:10.1109/tac.2015.2450571Romdhane, H., Dehri, K., & Nouri, A. S. (2016). Discrete second-order sliding mode control based on optimal sliding function vector for multivariable systems with input-output representation. International Journal of Robust and Nonlinear Control, 26(17), 3806-3830. doi:10.1002/rnc.3536Sharma, N. K., & Janardhanan, S. (2017). Optimal discrete higher-order sliding mode control of uncertain LTI systems with partial state information. International Journal of Robust and Nonlinear Control. doi:10.1002/rnc.3785LEVANT, A. (1993). Sliding order and sliding accuracy in sliding mode control. International Journal of Control, 58(6), 1247-1263. doi:10.1080/00207179308923053Levant, A. (2003). Higher-order sliding modes, differentiation and output-feedback control. International Journal of Control, 76(9-10), 924-941. doi:10.1080/0020717031000099029Bartolini, G., Ferrara, A., & Usai, E. (1998). Chattering avoidance by second-order sliding mode control. IEEE Transactions on Automatic Control, 43(2), 241-246. doi:10.1109/9.661074Siciliano, B., Sciavicco, L., Villani, L., & Oriolo, G. (2009). Robotics. Advanced Textbooks in Control and Signal Processing. doi:10.1007/978-1-84628-642-1Deo, A. S., & Walker, I. D. (1995). Overview of damped least-squares methods for inverse kinematics of robot manipulators. Journal of Intelligent & Robotic Systems, 14(1), 43-68. doi:10.1007/bf01254007WHEELER, G., SU, C.-Y., & STEPANENKO, Y. (1998). A Sliding Mode Controller with Improved Adaptation Laws for the Upper Bounds on the Norm of Uncertainties. Automatica, 34(12), 1657-1661. doi:10.1016/s0005-1098(98)80024-1Yu-Sheng Lu. (2009). Sliding-Mode Disturbance Observer With Switching-Gain Adaptation and Its Application to Optical Disk Drives. IEEE Transactions on Industrial Electronics, 56(9), 3743-3750. doi:10.1109/tie.2009.2025719Chen, X., Shen, W., Cao, Z., & Kapoor, A. (2014). A novel approach for state of charge estimation based on adaptive switching gain sliding mode observer in electric vehicles. Journal of Power Sources, 246, 667-678. doi:10.1016/j.jpowsour.2013.08.039Cong, B. L., Chen, Z., & Liu, X. D. (2012). On adaptive sliding mode control without switching gain overestimation. International Journal of Robust and Nonlinear Control, 24(3), 515-531. doi:10.1002/rnc.2902Taleb, M., Plestan, F., & Bououlid, B. (2014). An adaptive solution for robust control based on integral high-order sliding mode concept. International Journal of Robust and Nonlinear Control, 25(8), 1201-1213. doi:10.1002/rnc.3135Zhu, J., & Khayati, K. (2016). On a new adaptive sliding mode control for MIMO nonlinear systems with uncertainties of unknown bounds. 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Human-robot cooperation for robust surface treatment using non-conventional sliding mode control

© 2018 ISA This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot

Scientific communication (XXIII). Medical language (1): The use and abuse of abbreviations and acronyms in the medical language and in Pediatrics

[EN]: Abbreviations (abbreviations, acronyms and symbols) are widely used in all scientific fields, especially in health sciences, usually used as a resource to gain time and save space. However, they can cause communication problems between professionals from different levels of care and may incur misunderstandings that can lead to serious consequences, especially in drug prescriptions in childhood. This article revises the rules that define their construction and use, describes problems of their use in scientific communication, proposes solutions to avoid acronyms and details some search engines about acronyms on the internet.[EN]: Abbreviations (abbreviations, acronyms and symbols) are widely used in all scientific fields, especially in health sciences, usually used as a resource to gain time and save space. However, they can cause communication problems between professionals from different levels of care and may incur misunderstandings that can lead to serious consequences, especially in drug prescriptions in childhood. This article revises the rules that define their construction and use, describes problems of their use in scientific communication, proposes solutions to avoid acronyms and details some search engines about acronyms on the internet.Peer Reviewe

Scientific communication (XXI). Basic knowledge to read (and write) a scientific paper (8): Checklists of diagnostic test

[EN]: Before a new diagnostic test and before the use in clinical practice, it is necessary to know its validity. And to validate studies of diagnostic tests it is necessary they have methodological rigor in the design and applicability. In diagnostic tests we can consider two checklists: STARD for validity and QUA-DAS for quality. The STARD statement defines a list of 25 questions and one flowchart to be followed for an appropriate study design, given the inclusion of patients, the order of performing the test, the number of patients receiving the test and the selected reference. The QUADAS statement consists, of four key areas including: selection of patients, test under study, reference standards, and patient flow and timetable.[ES]: Ante una nueva prueba diagnóstica, y antes de utilizarla en la práctica clínica, es necesario conocer su validez. Y para que los estudios de pruebas diagnósticas sean válidos, es preciso que tengan rigor metodológico en cuanto a su diseño y aplicabilidad. En las pruebas diagnósticas podemos considerar dos listas guía de comprobación: STARD para la validez y QUADAS para la calidad. La declaración STARD define un listado de 25 preguntas y un diagrama de flujo que debería seguirse para que el diseño de un estudio sea adecuado, teniendo en cuenta la inclusión de los pacientes, el orden de la realización de la prueba, el número de pacientes que reciben la prueba y la prueba de referencia seleccionada. La declaración QUADAS está formada por cuatro áreas fundamentales: a) selección de los pacientes; b) prueba en estudio; c) estándares de referencia, y d) flujo de pacientes y cronograma.Peer Reviewe

Scientific communication (XIX). Basic knowledge to read (and write) a scientific paper (6): checklists of experimental studies

[EN]: Clinical trials are considered the gold standard in therapeutic interventions and the key factor in these studies is randomization. The germ of these lists guide comes from the standards applied to randomized clinical trial, the gold standard of biomedical publication, and it needs to be described in detail, accurately and transparently, both the design, implementation, analysis and results. However, the information provided in the publications is often inadequate or inaccurate, and these deficiencies motivated in 1996 the development of the CONSORT statement. We are in the third generation of the CONSORT statement and we review the 25 items that are considered critical and that should be included in any report of a randomized clinical trial. Nonrandomized intervention studies are needed when there are reasons that prevent the realization of a randomized clinical trial, but the TREND checklist should be used to communicate transparently the results. In this article we also review the 22 items of the TREND statement with a brief description of each one.[ES]: El ensayo clínico es el diseño que se considera el «patrón oro» en intervenciones terapéuticas, y el factor clave es la aleatorización. El germen de estas listas guía procede de los estándares aplicados al ensayo clínico aleatorizado, «patrón oro» de la publicación biomédica, y es preciso que se describan detalladamente, con exactitud y transparencia, su diseño, ejecución, análisis y resultados. Sin embargo, la información facilitada en las publicaciones es muchas veces insuficiente o inexacta, carencias que motivaron el desarrollo de la declaración CONSORT en 1996. Nos encontramos en la tercera generación de la declaración CONSORT y revisamos los 25 ítems considerados críticos que, por tanto, deberían incluirse en todo informe de un ensayo clínico aleatorizado. Cuando existen razones que impidan la realización de un ensayo clínico aleatorizado es necesario efectuar estudios de intervención no aleatorizados, pero para comunicar con transparencia los resultados obtenidos en ellos debe emplearse la lista de comprobación TREND. En este artículo también revisamos los 22 ítems de la declaración TREND con una breve descripción de cada uno.Peer Reviewe

A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks

© 2018 IEEE. This paper presents a control architecture readily suitable for surface treatment tasks such as polishing, grinding, finishing or deburring as carried out by a human operator, with the added benefit of accuracy, recurrence and physical strength as administered by a robotic manipulator partner. The shared strategy effectively couples the human operator propioceptive abilities and fine skills through his interactions with the autonomous physical agent. The novel proposed control scheme is based on task prioritization and a non-conventional sliding mode control, which is considered to benefit from its inherent robustness and low computational cost. The system relies on two force sensors, one located between the last link of the robot and the surface treatment tool, and the other located in some place of the robot end-effector: the former is used to suitably accomplish the conditioning task, while the latter is used by the operator to manually guide the robotic tool. When the operator chooses to cease guiding the tool, the robot motion safely switches back to an automatic reference tracking. The paper presents the theories for the novel collaborative controller, whilst its effectiveness for robotic surface treatment is substantiated by experimental results using a redundant 7R manipulator and a mock-up conditioning tool

A Comprehensive Study on Pain Assessment from Multimodal Sensor Data

Pain assessment is a critical aspect of healthcare, influencing timely interventions and patient well-being. Traditional pain evaluation methods often rely on subjective patient reports, leading to inaccuracies and disparities in treatment, especially for patients who present difficulties to communicate due to cognitive impairments. Our contributions are three-fold. Firstly, we analyze the correlations of the data extracted from biomedical sensors. Then, we use state-of-the-art computer vision techniques to analyze videos focusing on the facial expressions of the patients, both per-frame and using the temporal context. We compare them and provide a baseline for pain assessment methods using two popular benchmarks: UNBC-McMaster Shoulder Pain Expression Archive Database and BioVid Heat Pain Database. We achieved an accuracy of over 96% and over 94% for the F1 Score, recall and precision metrics in pain estimation using single frames with the UNBC-McMaster dataset, employing state-of-the-art computer vision techniques such as Transformer-based architectures for vision tasks. In addition, from the conclusions drawn from the study, future lines of work in this area are discussed