A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems

This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).Peer ReviewedPostprint (published version

A new self-organizing neural gas model based on Bregman divergences

In this paper, a new self-organizing neural gas model that we call Growing Hierarchical Bregman Neural Gas (GHBNG) has been proposed. Our proposal is based on the Growing Hierarchical Neural Gas (GHNG) in which Bregman divergences are incorporated in order to compute the winning neuron. This model has been applied to anomaly detection in video sequences together with a Faster R-CNN as an object detector module. Experimental results not only confirm the effectiveness of the GHBNG for the detection of anomalous object in video sequences but also its selforganization capabilities.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Actuator and sensor fault estimation based on a proportional-integral quasi-LPV observer with inexact scheduling parameters

© 2019. ElsevierThis paper presents a method for actuator and sensor fault estimation based on a proportional-integral observer (PIO) for a class of nonlinear system described by a polytopic quasi-linear parameter varying (qLPV) mathematical model. Contrarily to the traditional approach, which considers measurable or unmeasurable scheduling parameters, this work proposes a methodology that considers inexact scheduling parameters. This condition is present in many physical systems where the scheduling parameters can be affected by noise, offsets, calibration errors, and other factors that have a negative impact on the measurements. A H8 performance criterion is considered in the design in order to guarantee robustness against sensor noise, disturbance, and inexact scheduling parameters. Then, a set of linear matrix inequalities (LMIs) is derived by the use of a quadratic Lyapunov function. The solution of the LMI guarantees asymptotic stability of the PIO. Finally, the performance and applicability of the proposed method are illustrated through a numerical experiment in a nonlinear system.Peer ReviewedPostprint (author's final draft

Consideraciones en el estudio anatómico sobre el músculo peroneo tercero, peroneo anterior, tercer peroneo, peroneo tertius, fibularis tertius

The anatomy of the foot, their knowledge, opens up a wide range of expectations so accurate for diagnosing various pathologies of the foot, and above all, to know you better. The purpose of this study was to look closely at the anatomy of the muscle Tertius peroneo to define its origin and insercción to the controversy raised by the literature, its function in the foot, and its frequency, it is a muscle that is not present in all feet. The third peroneo muscle, also known as peroneo Tertius, is a muscle group of the previous leg, which in the current literature is considered inconsistent, that character was not found in our study. We repeat that the authors describe as an inconstant muscle (eg. Rouvière) adjective meaning in anatomy that it is a muscle in less than 45% of cases. For Testud, in the absence black 14 times in 100, the Europeans 7 or 8 times 100, and lacking in monkeys. According to Kapandji is dorsal flexor, abductor and pronator foot. We intend to demonstrate our dissections, a muscle that is most of what appears and where is its origin and insertion, as well as its presentation and position by photographs of cadaver feet.La anatomía del pie, su conocimiento, nos abre un amplio abanico de expectativas para diagnosticar de manera certera diversas patologías del pie, y sobre todo, para conocerlo mejor. El objeto de éste estudio fue observar detenidamente la anatomía del músculo peroneo tertius, definir su origen e insercción ante la controversia que suscita la bibliografía consultada, su función en el pie, y su frecuencia de aparición, pues es un músculo que no está presente en todos los pies. El músculo tercer peroneo, conocido también como peroneo tertius, es un músculo del grupo anterior de la pierna, que en la literatura actual es considerado inconstante, carácter que no fue comprobado en nuestro estudio. Repetimos que diferentes autores lo califican como un músculo inconstante (por ej. Rouviére), significando éste adjetivo en anatomía que es un músculo presente en menos del 45% de los casos. Para Testud, en la raza negra falta 14 veces en 100, en los europeos 7 u 8 veces cada 100, y falta en los monos. Según Kapandji es flexor dorsal, abductor y pronador del pie. Pretendemos demostrar con nuestras disecciones, que es un músculo más habitual de lo que parece y dónde está su origen e inserción, así como su función,presentación y posición mediante fotografías en pies de cadáver

Basic Phytotherapy and Podiatry

Este trabajo pretende ofrecer una serie de conocimientos o premisas básicas sobre la Fitoterapia y como su uso nos puede ser de ayuda en Podología. Presentamos una serie de conclusiones sobre las plantas medicinales y su farmacología, así como los principios activos más importantes, los grupos en que se divide…etc. No Obstante, hablamos de las realidades fundamentales de la fitoterapia sin despreciar la Medicina Tradicional, y por supuesto, también hablamos de los inconvenientes que tiene. Intentamos aplicar la Fitoterapia a la Podología mostrando aquí una pequeña, mínima, serie de plantas medicinales que nos pueden ser de utilidad, una forma de pequeño compendio que nos muestra sus propiedades. Luego aplicamos éstos conocimientos a determinadas patologías muy frecuentes en el pie como la gota, esguinces, verrugas…etc. Y para finalizar, algunos remedios caseros y las conclusiones.This work tries to offer a series of knowledge or basic premises on the fitotherapy and as its use can help us in chiropody. We present a series of conclusions on the medicinal plants and their pharmacology, as well as the most important active elements, the groups in that is divided…Despite, we speak of the fundamental realities of the fitotherapy without despising the traditional medicine, and by all means, also we speak of the disadvantages that it has. We try to apply the fitotherapy to the chiropody, showing here a small, minimum series of medicinal plants that can come in useful, a form of small compendium that shows its properties to us. Then, we applied these knowledges to certain very frequent pathologies in the foot, as the disease in the smaller bones of the ffetgout-, the sprains-wrench or twist the ligaments of an ankle violently, warts- small bening qrowth on the skin. And to finalize, some domestic remedies and the conclusions

Law and Ethics in Clinical Research

La investigación clínica se desarrolla sobre una serie de hipótesis, a partir de las cuales empezamos a trabajar en pacientes (o en animales de laboratorio), que pueden sufrir riesgos o repercusiones graves. A veces, incluso se experimentó de manera grave con efectos nefastos para la humanidad, sobre todo, durante guerras y conflictos sociales. La fecha más importante en éste aspecto fue la II guerra mundial, desde la cual, se desarrollo el código de Nuremberg, y a partir de entonces, se han establecido controles y leyes, declaraciones y comisiones, para reducir al máximo los riesgos de todas las personas o animales que participan en un proyecto científico.Clinical research is built on a series of hypotheses, from which we started working on patients (or animals), who may face serious risks or impacts. There was human research causing severe adverse effects for humanity, especially during wars and social conflicts. The most important date in this regard was the World War II, from which one could develop the Nuremberg Code, and thereafter, there are controls and laws, declarations and commissions, to minimize the risks of all people or animals involved in a scientific project

Planar Chirality: A Mine for Catalysis and Structure Discovery

[EN] Planar chirality is one of the most fascinating expressions of chirality, which is exploited by nature to lock three-dimensional chiral conformations and, more recently, by chemists to create new chiral reagents, catalysts, and functional organic materials. Nevertheless, the shortage of procedures able to induce and secure asymmetry during the generation of these unique chiral entities has dissuaded chemists from exploiting their structural properties. This Minireview intends to illustrate the limited but remarkable catalytic methods that have been reported for the production of planar chirality in strained molecules and serve as a source of inspiration for the development of new unconventional procedures, which are expected to appear in the near future.We thank the University of the Basque Country UPV/EHU (UFIQOSYC 11/22), the Basque Government (grant IT-1236-19) and Ministerio de Ciencia e Innovation (grant PID2019-109633GB-C21), Spain, for their continuous financial support

Pixel Features for Self-organizing Map Based Detection of Foreground Objects in Dynamic Environments

Among current foreground detection algorithms for video sequences, methods based on self-organizing maps are obtaining a greater relevance. In this work we propose a probabilistic self-organising map based model, which uses a uniform distribution to represent the foreground. A suitable set of characteristic pixel features is chosen to train the probabilistic model. Our approach has been compared to some competing methods on a test set of benchmark videos, with favorable results.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Análisis zooarqueológico de material precolombino e histórico: un caso de estudio de la Ciudad de México

In 2011 during rescue archaeological excavations of the Power Federal Commission of Mexico City, some remains were discovered with mixed contexts. The purpose of this paper is to identify the temporality (precolumbian or historical) of the fauna in the site. The study covers the zooarchaeological and taphonomic analysis of a sample of 387 bone fragments.Durante las actividades de salvamento arqueológico ante trabajos de obras de cableado subterráneo por parte de la Comisión Federal de Electricidad de la Ciudad de México (2011), quedaron expuestos restos óseos pertenecientes a contextos mezclados. El propósito de este trabajo es identificar la temporalidad (precolombina o histórica) de la fauna hallada. El estudio abarca el análisis zooarqueológico y tafonómico de una muestra de 387 restos

Approach to managing the Freiberg’s disease

La enfermedad de Freiberg, descrita por Albert H. Freiberg en 1914, es una osteocondrosis que se presenta en los metatarsianos y con mayor frecuencia en la segunda cabeza metatarsal. La carencia de consenso en relación a la etiología multifactorial que presenta esta afección y la prevalencia de esta enfermedad a nivel del pie, sobre todo en la adolescencia y en deportistas, nos lleva a mejorar los conocimientos existentes en lo que se refiere a su clasificación, diagnóstico y tratamiento en la búsqueda de actualizar los conceptos relacionados con esta patología del pie.Freiberg’s disease, described by Albert H. Freiberg in 1914, is presented in osteochondrosis metatarsals and more frequently in the second metatarsal head. The lack of consensus regarding the multifactorial etiology has this condition and the prevalence of this disease at the foot, especially in adolescence and athletes, leads us to improve existing knowledge in regard to their classification, diagnosis and treatment in the quest to update the concepts related to this foot disorders