Adaptive Method for the Experimental Detection of Instabilities

Motivated by numerical bifurcation detection, we present a methodology for the direct location of bifurcation points in nonlinear dynamic laboratory experiments. The procedure involves active, adaptive use of the bifurcation parameter(s) as control variable(s), coupled with the on-line identification of low-order nonlinear dynamic models from experimental time-series data. Application of the procedure to such “hard” transitions as saddle-node and subcritical Hopf bifurcations is demonstrated through simulated experiments of lumped as well as spatially distributed systems

A benchmark for orientation control of a multirotor in a three degrees-of-freedom rotation structure

[EN] A fully equipped quadrotor is attached to a structure that allows free rotation without translation. Additionally, a set of MATLAB-Simulink® tools execute the flight controller programming and manage the real-time transmission of commands and flight states for the remote pilot. For this test bench a simulator is offered. It faithfully reproduces the behaviour of the real system in order to propose a benchmark on Control Engineering. This aims to control the quadrotor orientation described using the Euler angles. Thus the three control actions that attack the propulsion system must be generated taking into account the rotation speeds and angles that are estimated by the navigation system and the angle set points. During the performance tests, a modifiable supply voltage replaces the battery charge level and a control action emulates the height control, resulting in dierent operating points of the system as in a real flight. The simulator allows free setup of closed and open loop experiments for model identification tasks or analysing the control performance for dierent inputs and operating points. The final objective is to incorporate a control law that improves the behaviour given as a reference for a certain experiment. After a simulation, an evaluation function quantifies the dierences in tracking error and control action between the current control and the reference control for each degree of freedom. The main challenge is a narrow control bandwidth to govern a complex three-variable system.[ES] Un cuatrirrotor con todo el equipamiento de vuelo se encuentra fijado a una estructura que permite la rotación en el espacio sin desplazamiento. Además, un conjunto de herramientas software desarrolladas con MATLAB-Simulink® ejecutan la programación de su controladora y gestionan la transmisión en tiempo real de consignas y estados del vuelo pilotado remotamente. Para este banco de pruebas se ofrece un simulador que reproduce fielmente el comportamiento del sistema real con el fin de plantear un benchmark de Ingeniería de Control. El problema propuesto es controlar la orientación del mutirrotor definida por los ángulos de Euler. Para ello, deben generarse las tres acciones de control que atacan al sistema de propulsión, considerando las velocidades y ángulos que estima el sistema de navegacion y las consignas angulares. Para lograr un mayor realismo, en las pruebas de comportamiento se pueden modificar la tensión de alimentación, que simula el nivel de carga de la batería, y una acción de control que emula el control de la altura, lo que da lugar a diferentes puntos de operación. El simulador permite configurar experimentos en lazo abierto o cerrado, para tareas de identificación o para analizar el comportamiento de los controladores en diferentes puntos de operación y ante diferentes entradas. El objetivo final es incorporar una ley de control que mejore el comportamiento dado como referencia para cierto experimento. Tras una simulación, una función de evaluación cuantifica las diferencias en el error de seguimiento y en la acción de control entre el control actual y el de referencia para cada grado de libertad. El principal desafío es optimizar el reducido ancho de banda disponible para controlar un sistema dinámico complejo.Los autores agradecen la ayuda prestada por el Gobierno de La Rioja a través del proyecto de I+D ADER 2017-I-IDD00035, y por la Universidad de La Rioja a través de la Ayuda para la realización de Proyectos de Innovación Docente 2020 PID Nº 36 y la Ayuda a Grupos de Investigación REGI2020 /23.Rico-Azagra, J.; Gil-Martínez, M.; Rico, R.; Nájera, S.; Elvira, C. (2021). Benchmark de control de la orientación de un multirrotor en una estructura de rotación con tres grados de libertad. Revista Iberoamericana de Automática e Informática industrial. 18(3):265-276. https://doi.org/10.4995/riai.2021.14356OJS265276183Bejarano, G., Alfaya, J., Rodriguez, D., Ortega, M., Morilla, F., 2019. Control de un sistema de refrigeración. Visitado 27.03.2021. URL: http://www.dia.uned.es/∼fmorilla/CIC2019/Bigazzi, L., Gherardini, S., Innocenti, G., Basso, M., 2021. Development of non expensive technologies for precise maneuvering of completely autonomous unmanned aerial vehicles. Sensors (Switzerland) 21 (2), 1-24. https://doi.org/10.3390/s21020391Blasco, X., García-Nieto, S., Reynoso-Meza, G., 2012. Control autónomo del seguimiento de trayectorias de un vehículo cuatrirrotor. Simulación y evaluación de propuestas. Revista Iberoamericana de Automática e Informática Industrial 9 (2), 194-199. https://doi.org/10.1016/j.riai.2012.01.001Bo, G., Xin, L., Hui, Z., Ling, W., 2016. Quadrotor helicopter attitude control using cascade PID. 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Teaching tool for a control systems laboratory using a quadrotor as a plant in MATLAB. IEEE Transactions on Education 60 (4), 249-256. https://doi.org/10.1109/TE.2017.2653762Lim, H., Park, J., Lee, D., Kim, H., 2012. Build your own quadrotor: Opensource projects on unmanned aerial vehicles. IEEE Robotics and Automation Magazine 19 (3), 33-45. https://doi.org/10.1109/MRA.2012.2205629Lotufo, M., Colangelo, L., Perez-Montenegro, C., Canuto, E., Novara, C., 2019. UAV quadrotor attitude control: An ADRC-EMC combined approach. Control Engineering Practice 84, 13-22. https://doi.org/10.1016/j.conengprac.2018.11.002Madridano, A., Campos, S., Al-Kaff, A., García, F., Martín, D., Escalera, A., 2020. Vehículo aéreo no tripulado para vigilancia y monitorización de incendios. Revista Iberoamericana de Automática e Informática industrial 17 (3), 254-263. https://doi.org/10.4995/riai.2020.11806Mercader, P., Cánovas, C. D., Baños, A., 2019. Control PID multivariable de una caldera de vapor. Revista Iberoamericana de Automática e Informática Industrial 16 (1), 15-25. https://doi.org/10.4995/riai.2018.9034Morilla, F., Rodríguez, C., 2017. Control de una caldera de vapor. Visitado 27.03.2021. URL: http://www.dia.uned.es/∼fmorilla/CIC2017/Nájera, S., Rico-Azagra, J., Elvira, C., Gil-Martínez, M., 2019. Plataforma giroscópica realizada mediante impresión 3D para el control de actitud y orientación de UAVs multi-rotor. In: Actas de las XL Jornadas de Automática, Comité Español de Automática de la IFAC. pp. 317-323. https://doi.org/10.17979/spudc.9788497497169.317Nascimento, T. P., Saska, M., 2019. Position and attitude control of multi-rotor aerial vehicles: A survey. Annual Reviews in Control 48, 129-146. https://doi.org/10.1016/j.arcontrol.2019.08.004Rico, R., Maisterra, P., Gil-Martínez, M., Rico-Azagra, J., S., N., 2015. Identificación experimental de los parámetros de un cuatrirrotor. In: Actas de las XXXVI Jornadas de Automática, Comité Español de Automática de la 'IFAC. pp. 973-982.Rico-Azagra, J., Gil-Martínez, M., Rico, R., Maisterra, P., 2016a. Plataforma didáctica de bajo coste para el control de actitud y orientación de UAVs multi-rotor. In: Actas de las XXXVII Jornadas de Automática, Comité Español de Automática de la IFAC. pp. 989-997.Rico-Azagra, J., Gil-Martínez, M., Rico-Azagra, R., Maisterra, P., 2016b. Low-cost attitude estimation for a ground vehicle. Advances in Intelligent Systems and Computing 417, 121-132. https://doi.org/10.1007/978-3-319-27146-0Rico-Azagra, J., Rico, R., Maisterra, P., Gil-Martínez, M., 2015. Comparación de algoritmos de estimación de actitud. In: Actas de las XXXVI Jornadas de Automática, Comité Español de Automática de la IFAC. pp. 911-920.Romero, J. A., Sanchis, R., 2011. Benchmark para la evaluación de algoritmos de auto-ajuste de controladores PID. Revista Iberoamericana de Automática e Informática Industrial 8 (1), 112-117. https://doi.org/10.4995/RIAI.2011.01.13Rubí, B., Perez, R., Morcego, B., 2020. A survey of path following control strategies for UAVs focused on quadrotors. Journal of Intelligent and Robotic Systems: Theory and Applications 98 (2), 241-265. https://doi.org/10.1007/s10846-019-01085-zShakhatreh, H., Sawalmeh, A. H., Al-Fuqaha, A., Dou, Z., Almaita, E., Khalil, I., Othman, N. S., Khreishah, A., Guizani, M., 2019. Unmanned aerial vehicles (UAVs): A survey on civil applications and key research challenges. IEEE Access 7, 48572-48634. https://doi.org/10.1109/ACCESS.2019.2909530Shraim, H., Awada, A., Youness, R., 2018. A survey on quadrotors: Configurations, modeling and identification, control, collision avoidance, fault diagnosis and tolerant control. IEEE Aerospace and Electronic Systems Magazine 33 (7), 14-33. https://doi.org/10.1109/MAES.2018.160246Shuster, M. D., 1993. Survey of attitude representations. Journal of the Astronautical Sciences 41 (4), 439-517.Sanchez-Fontes, E., Vilchis, J. A., Vilchis-González, A., Saldivar, B., Jacinto- 'Villegas, J., Martínez-Mendez, R., 2020. Nuevo vehículo aéreo autónomo estable por construcción: configuración y modelo dinámico. Revista Ibero-americana de Automática e Informática industrial 17 (3), 264-275. https://doi.org/10.4995/riai.2020.11603SolidWorks, 2018. Versión 2018. Dassault Systèmes S.A., Vélizy-Villacoublay, Francia.Wang, P., Man, Z., Cao, Z., Zheng, J., Zhao, Y., 2016. Dynamics modelling and linear control of quadcopter. In: International Conference on Advanced Mechatronic Systems, ICAMechS. Vol. 0. pp. 498-503. https://doi.org/10.1109/ICAMechS.2016.7813499Zhang, X., Li, X., Wang, K., Lu, Y., 2014. A survey of modelling and identification of quadrotor robot. Abstract and Applied Analysis 2014, Article ID 320526, 16 pages. https://doi.org/10.1155/2014/32052

Interrelationship between skin sensitization, rhinitis, and asthma in patients with allergic rhinitis: a study of Spain and Portugal

OBJECTIVE: Allergic rhinitis can determine the presence and type of asthma. The main aim of this study was to evaluate the link between allergic rhinitis, asthma, and skin test sensitization in patients with allergic rhinitis. METHODS: Patients with allergic rhinitis, aged 10 to 50 years, were consecutively enrolled at different allergy centers in Spain and Portugal. All the patients underwent skin prick tests with a panel of 20 biologically standardized aeroallergens. Allergic rhinitis was classified according to etiology and the Allergic Rhinitis and its Impact on Asthma guidelines and asthma was classified according to the Global Initiative for Asthma guidelines. RESULTS: A total of 3225 patients, with a mean age of 27 years, were evaluated. House dust mites and grass and olive tree pollens were the most common aeroallergens. The mean (SD) number of positive skin tests per patient was 6.5 (4), the mean wheal size was 42.3 (28) mm2, and the mean atopy index was 6.5 (2). Forty-nine percent of the patients had concomitant asthma. Asthma severity was associated with a longer time since onset (P < .04) and allergic rhinitis severity (P < .001). Patients with concomitant asthma had a significantly higher number of aeroallergens and sensitization intensity than those without asthma (P < .001). CONCLUSIONS: In this broad population sample, the presence and type of asthma was influenced by skin sensitization and both time since onset and severity of allergic rhinitis

Efecto de terapias farmacológicas para el control glicémico en pacientes con diabetes mellitus tipo 2 en los desenlaces vasculares

Introduction: In the last 5 years the publication of knowledge related to vascular disease and diabetes mellitus type 2 (DT2) has been increasing. However, due to the absence of a review that collects all the vascular outcomes of T2D, the current review of the literature aims to group all vascular outcomes related to T2D and describe how hypoglycemic drug therapy can be effective for the control of these outcomes. Cardiovascular events as the main outcome show that innovative antidiabetic drugs such as empagliflozin and liraglutide can add significant benefits for patients with T2D. Materials and methods: Systematic search of the literature, from which 141 references were obtained, after eliminating duplicates, for paired screening. Subsequently, 21 references were identified that met the inclusion criteria to be considered in the analysis. Results: The effect of good glycemic control on clinical outcomes, specifically in the progression of diabetic kidney disease, has been the objective of multiple large-scale studies, both in type 1 diabetic patients and type 2 diabetics and macrovascular outcome of the primary DMT2, increasing the incidence of comorbidities and in turn representing greater morbidity. Conclusions: Among the main causes of morbidity and mortality of patients with T2D, are those with vascular damage, especially cardiovascular disease and renal involvement. In this context, the pharmacological treatment of diabetes mellitus has focused on finding drugs that reduce the importance of cardiovascular events and that at the same time delay the onset of nephropathy or its progression. Thiazolidinediones, DPP4 inhibitors (alogliptin, saxagliptin and sitagliptin), insulin glargine and degludec have demonstrated cardiovascular safety, but not incremental cardiovascular benefits, in patients with T2D who are at high risk of atherosclerotic cardiovascular disease.Introducción: En los últimos 5 años la publicación de conocimiento relacionado con la enfermedad vascular y la diabetes mellitus tipo 2 (DT2) ha ido en aumento. Sin embargo, debido a la ausencia de una revisión que recopilara todos los desenlaces vasculares de la DT2, la presente revisión de literatura tiene como objetivo agrupar todos los desenlaces vasculares relacionados con la DT2 y describir cómo la terapia farmacológica hipoglicemiante puede ser eficaz para lograr el control de estos desenlaces. Los eventos cardiovasculares como desenlace principal demuestran que los medicamentos antidiabéticos innovadores como la empagliflozina y la liraglutida pueden agregar un beneficio significativo para pacientes con DT2. Materiales y métodos: Búsqueda sistemática de la literatura, de la cual se obtuvieron 141 referencias, después de eliminar duplica- dos, para la tamización pareada. Posterior a esto, se identificaron 21 referencias que cumplían con los criterios de inclusión para ser considerados en el análisis. Resultados: El efecto de un buen control glucémico, sobre los resultados clínicos, específicamente en la progresión de la enfermedad renal diabética, ha sido objetivo de múltiples estudios a gran escala, tanto en pacientes diabéticos tipo 1 como en diabéticos tipo 2. Los desenlaces micro y macrovasculares son los principales desenlaces de la DMT2, que incrementan la incidencia de comorbilidades y representan, a su vez, una mayor morbilidad. Conclusiones: Dentro de las principales causas de morbilidad y mortalidad de los pacientes con DT2, se encuentran las relacionadas con daño vascular, en especial enfermedad cardiovascular y compromiso renal. En este contexto, el tratamiento farmacológico de la diabetes mellitus se ha enfocado en encontrar medicamentos que reduzcan de manera significativa los eventos cardiovasculares y que al mismo tiempo retrasen la aparición de nefropatía o su progresión. Las tiazolidinedionas, los inhibidores de DPP4 (alogliptina, saxagliptina y sitagliptina), la insulina glargina y degludec han demostrado seguridad cardiovascular, pero no beneficio cardiovascular incremental en pacientes con DT2 que tienen alto riesgo de enfermedad cardiovascular aterosclerótica

Mortality due to COVID-19 in Spain and its association with environmental factors and determinants of health

The objective of this study was to identify which air pollutants, atmospheric variables and health determinants could infuence COVID-19 mortality in Spain. This study used information from 41 of the 52 provinces in Spain (from Feb. 1, to May 31, 2021). Generalized Linear Models (GLM) with Poisson link were carried out for the provinces, using the Rate of Mortality due to COVID-19 (CM) per 1,000,000 inhabitants as dependent variables, and average daily concentrations of PM10 and NO2 as independent variables. Meteorological variables included maximum daily temperature (Tmax) and average daily absolute humidity (HA). The GLM model controlled for trend, seasonalities and the autoregressive character of the series. Days with lags were established. The relative risk (RR) was calculated by increases of 10 g/m3 in PM10 and NO2 and by 1 ℃ in the case of Tmax and 1 g/m3 in the case of HA. Later, a linear regression was carried out that included the social determinants of health.The authors would like to thank the Carlos III Health Institute for their fnancial support Project ENPY 221/20. This work was carried out with funds of the ENPY 221/20 project

Effects of local factors on adaptation to heat in Spain (1983–2018)

The European Union is currently immersed in policy development to address the effects of climate change around the world. Key plans and processes for facilitating adaptation to high temperatures and for reducing the adverse effects on health are among the most urgent measures. Therefore, it is necessary to understand those factors that influence adaptation. The aim of this study was to provide knowledge related to the social, climate and economic factors that are related to the evolution of minimum mortality temperatures (MMT) in Spain in the rural and urban contexts, during the 1983–2018 time period. For this purpose, local factors were studied regarding their relationship to levels of adaptation to heat.The authors gratefully acknowledge the grants for projects ENPY107/18; ENPY 376/18, ENPY 470/19 and ENPY 340/20 from the Carlos III Institute of Health, and is supported by the Biodiversity Foundation of the Ministry for Ecological Transition and Demographic Challenge

Imprisonment and internment: Comparing penal facilities North and South

Recent references to the ‘warehouse prison’ in the United States and the prisión-depósito in Latin America seem to indicate that penal confinement in the western hemisphere has converged on a similar model. However, this article suggests otherwise. It contrasts penal facilities in North America and Latin America in terms of six interrelated aspects: regimentation; surveillance; isolation; supervision; accountability; and formalization. Quantitatively, control in North American penal facilities is assiduous (unceasing, persistent and intrusive), while in Latin America it is perfunctory (sporadic, indifferent and cursory). Qualitatively, North American penal facilities produce imprisonment (which enacts penal intervention through confinement), while in Latin America they produce internment (which enacts penal intervention through release). Closely entwined with this qualitative difference are distinct practices of judicial involvement in sentencing and penal supervision. Those practices, and the cultural and political factors that underpin them, represent an interesting starting point for the explanation of the contrasting nature of imprisonment and internment

Gender differences in adaptation to heat in Spain (1983–2018)

In Spain the average temperature has increased by 1.7 °C since pre-industrial times. There has been an increase in heat waves both in terms of frequency and intensity, with a clear impact in terms of population health. The effect of heat waves on daily mortality presents important territorial differences. Gender also affects these impacts, as a determinant that conditions social inequalities in health. There is evidence that women may be more susceptible to extreme heat than men, although there are relatively few studies that analyze differences in the vulnerability and adaptation to heat by sex. This could be related to physiological causes. On the other hand, one of the indicators used to measure vulnerability to heat in a population and its adaptation is the minimum mortality temperature (MMT) and its temporal evolution.The authors wish to thank the funding provided by the ENPY 304/20, ENPY 376/18 and ENPY 107/18 projects of the Carlos III Health Institute III (ISCIII)

Occurrence of Corynebacterium striatum as an emerging antibiotic-resistant nosocomial pathogen in a Tunisian hospital

Corynebacterium striatum is a nosocomial opportunistic pathogen increasingly associated with a wide range of human infections and is often resistant to several antibiotics. We investigated the susceptibility of 63 C. striatum isolated at the Farhat-Hached hospital, Sousse (Tunisia), during the period 2011?2014, to a panel of 16 compounds belonging to the main clinically relevant classes of antimicrobial agents. All strains were susceptible to vancomycin, linezolid, and daptomycin. Amikacin and gentamicin also showed good activity (MICs90 = 1 and 2 mg/L, respectively). High rates of resistance to penicillin (82.5%), clindamycin (79.4%), cefotaxime (60.3%), erythromycin (47.6%), ciprofloxacin (36.5%), moxifloxacin (34.9%), and rifampicin (25.4%) were observed. Fifty-nine (93.7%) out of the 63 isolates showed resistance to at least one compound and 31 (49.2%) were multidrug-resistant. Twenty-nine resistance profiles were distinguished among the 59 resistant C. striatum. Most of the strains resistant to fluoroquinolones showed a double mutation leading to an amino acid change in positions 87 and 91 in the quinolone resistance-determining region of the gyrA gene. The 52 strains resistant to penicillin were positive for the gene bla, encoding a class A ?-lactamase. Twenty-two PFGE patterns were identified among the 63 C. striatum, indicating that some clones have spread within the hospital