L0 and L1 Guidance and Path-Following Control for Airborne Wind Energy Systems

For an efficient and reliable operation of an Airborne Wind Energy System, it is widely accepted that the kite should follow a pre-defined optimized path. In this article, we address the problem of designing a trajectory controller so that such path is closely followed. The path-following controllers investigated are based on a well-known nonlinear guidance logic termed L1 and on a proposed modification of it, which we termed L0. We have developed and implemented both L0 and L1 controllers for an AWES. The two controllers have an easy implementation with an explicit expression for the control law based on the cross-track error, on the heading angle relative to the path, and on a single parameter L (L0 or L1, depending on each controller) that we are able to tune. The L0 controller has an even easier implementation since the explicit control law can be used without the need to switch controllers. Since the switching of controllers might jeopardize stability, the L0 controller has an important theoretical advantage in being able to guarantee stability on a larger domain of attraction.The simulation study shows that both nonlinear guidance logic controllers exhibit appropriate performance when the L parameter is adequately tuned, with the L0 controller showing a better performance when measured in terms of the average cross-track error. (c) 2022 by the authors. Licensee MDPI, Basel, Switzerland

Participatory planning and quality assessment: contributions of a nursing management technology

Objective: to analyze the outcomes of participatory planning and quality assessment of the nursing care provided in a hospital ward using a nursing management technology. Method: Convergent care research focuses on research and practice intervention, developed in a hospital in southern Brazil from April to August 2016. Participatory planning and quality evaluation was performed using the PRAXIS® technology. Results: In the participatory planning, a survey of needs/problems was carried out by 33 professionals followed by 5 workshops, where mission, guiding principles, 4 priority problems, expected results, objectives and plans of activities were defined. For quality evaluation, two indicators were used: satisfaction and notification of adverse events. The evaluation was carried out with 101 patients and /or relatives, predominating “great or good”. Adverse events, 28 records, predominating medication errors. Conclusion: Participatory planning and quality assessment are essential to improve nursing care management and the PRAXIS® technological innovation has been a useful resource.info:eu-repo/semantics/publishedVersio

Sampled-data model predictive control using adaptive time-mesh refinement algorithms

We address sampleddata nonlinear Model Predictive Control (MPC) schemes, in particular we address methods to efficiently and accurately solve the underlying continuous-time optimal control problems (OCP). In nonlinear OCPs, the number of discretization points is a major factor affecting the computational time. Also, the location of these points is a major factor affecting the accuracy of the solutions. We propose the use of an algorithm that iteratively finds the adequate timemesh to satisfy some predefined error estimate on the obtained trajectories. The proposed adaptive timemesh refinement algorithm provides local mesh resolution considering a timedependent stopping criterion, enabling an higher accuracy in the initial parts of the receding horizon, which are more relevant to MPC. The results show the advantage of the proposed adaptive mesh strategy, which leads to results obtained approximately as fast as the ones given by a coarse equidistantspaced mesh and as accurate as the ones given by a fine equidistantspaced mesh. (c) Springer International Publishing Switzerland 2017

PUS3 mutations are associated with intellectual disability, leukoencephalopathy, and nephropathy

Mutations in PUS3, which encodes a highly conserved enzyme responsible for posttranscriptional modification of tRNA, have been shown in a single family to be a cause of nonsyndromic intellectual disability (ID).1 In this study, we used whole-exome sequencing (WES) to identify biallelic mutations in PUS3 associated with syndromic ID with dysmorphic features, white matter disease (WMD), and renal abnormalities in a nonconsanguineous family from Brazil

Circulation of Different Lineages of Dengue Virus 2, Genotype American/Asian in Brazil: Dynamics and Molecular and Phylogenetic Characterization

The American/Asian genotype of Dengue virus type 2 (DENV-2) was introduced into the Americas in the 80′s. Although there is no data showing when this genotype was first introduced into Brazil, it was first detected in Brazil in 1990. After which the virus spread throughout the country and major epidemics occurred in 1998, 2007/08 and 2010. In this study we sequenced 12 DENV-2 genomes obtained from serum samples of patients with dengue fever residing in São José do Rio Preto, São Paulo (SJRP/SP), Brazil, in 2008. The whole open reading frame or envelope sequences were used to perform phylogenetic, phylogeographic and evolutionary analyses. Isolates from SJRP/SP were grouped within one lineage (BR3) close to isolates from Rio de Janeiro, Brazil. Isolates from SJRP were probably introduced there at least in 2007, prior to its detection in the 2008 outbreak. DENV-2 circulation in Brazil is characterized by the introduction, displacement and circulation of three well-defined lineages in different times, most probably from the Caribbean. Thirty-seven unique amino acid substitutions were observed among the lineages, including seven amino acid differences in domains I to III of the envelope protein. Moreover, we dated here, for the first time, the introduction of American/Asian genotype into Brazil (lineage BR1) to 1988/89, followed by the introduction of lineages BR2 (1998–2000) and BR3 (2003–05). Our results show a delay between the introduction and detection of DENV-2 lineages in Brazil, reinforcing the importance and need for surveillance programs to detect and trace the evolution of these viruses. Additionally, Brazilian DENV-2 differed in genetic diversity, date of introduction and geographic origin and distribution in Brazil, and these are important factors for the evolution, dynamics and control of dengue.Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq Grant )Fundação de Amparo à Pesquisa do Estado de São PauloFundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG grant

Eligibility for interventions, co-occurrence and risk factors for unhealthy behaviours in patients consulting for routine primary care: results from the Pre-Empt study

Smoking, excessive drinking, lack of exercise and a poor diet remain key causes of premature morbidity and mortality globally, yet it is not clear what proportion of patients attending for routine primary care are eligible for interventions about these behaviours, the extent to which they co-occur within individuals, and which individuals are at greatest risk for multiple unhealthy behaviours. The aim of the trial was to examine 'intervention eligibility' and co-occurrence of the 'big four' risky health behaviours - lack of exercise, smoking, an unhealthy diet and excessive drinking - in a primary care population. Data were collected from adult patients consulting routinely in general practice across South Wales as part of the Pre-Empt study; a cluster randomised controlled trial. After giving consent, participants completed screening instruments, which included the following to assess eligibility for an intervention based on set thresholds: AUDIT-C (for alcohol), HSI (for smoking), IPAQ (for exercise) and a subset of DINE (for diet). The intervention following screening was based on which combination of risky behaviours the patient had. Descriptive statistics, χ2 tests for association and ordinal regressions were undertaken. Two thousand sixty seven patients were screened: mean age of 48.6 years, 61.9 % female and 42.8 % in a managerial or professional occupation. In terms of numbers of risky behaviours screened eligible for, two was the most common (43.6 %), with diet and exercise (27.2 %) being the most common combination. Insufficient exercise was the most common single risky behaviour (12.0 %). 21.8 % of patients would have been eligible for an intervention for three behaviours and 5.9 % for all four behaviours. Just 4.5 % of patients did not identify any risky behaviours. Women, older age groups and those in managerial or professional occupations were more likely to exhibit all four risky behaviours. Very few patients consulting for routine primary care screen ineligible for interventions about common unhealthy behaviours, and most engage in more than one of the major common unhealthy behaviours. Clinicians should be particularly alert to opportunities to engaging younger, non professional men and those with multi-morbidity about risky health behaviour. ISRCTN22495456. BACKGROUND METHODS RESULTS CONCLUSION TRIAL REGISTRATIO

Modified constraint-induced movement therapy or bimanual occupational therapy following injection of Botulinum toxin-A to improve bimanual performance in young children with hemiplegic cerebral palsy: a randomised controlled trial methods paper

<p>Abstract</p> <p>Background</p> <p>Use of Botulinum toxin-A (BoNT-A) for treatment of upper limb spasticity in children with cerebral palsy has become routine clinical practice in many paediatric treatment centres worldwide. There is now high-level evidence that upper limb BoNT-A injection, in combination with occupational therapy, improves outcomes in children with cerebral palsy at both the body function/structure and activity level domains of the International Classification of Functioning, Disability and Health. Investigation is now required to establish what amount and specific type of occupational therapy will further enhance functional outcomes and prolong the beneficial effects of BoNT-A.</p> <p>Methods/Design</p> <p>A randomised, controlled, evaluator blinded, prospective parallel-group trial. Eligible participants were children aged 18 months to 6 years, diagnosed with spastic hemiplegic cerebral palsy and who were able to demonstrate selective motor control of the affected upper limb. Both groups received upper limb injections of BoNT-A. Children were randomised to either the modified constraint-induced movement therapy group (experimental) or bimanual occupational therapy group (control). Outcome assessments were undertaken at pre-injection and 1, 3 and 6 months following injection of BoNT-A. The primary outcome measure was the Assisting Hand Assessment. Secondary outcomes included: the Quality of Upper Extremity Skills Test; Pediatric Evaluation of Disability Inventory; Canadian Occupational Performance Measure; Goal Attainment Scaling; Pediatric Motor Activity Log; modified Ashworth Scale and; the modified Tardieu Scale.</p> <p>Discussion</p> <p>The aim of this paper is to describe the methodology of a randomised controlled trial comparing the effects of modified constraint-induced movement therapy (a uni-manual therapy) versus bimanual occupational therapy (a bimanual therapy) on improving bimanual upper limb performance of children with hemiplegic cerebral palsy following upper limb injection of BoNT-A. The paper outlines the background to the study, the study hypotheses, outcome measures and trial methodology. It also provides a comprehensive description of the interventions provided.</p> <p>Trial Registration</p> <p>ACTRN12605000002684</p