Fuzzy Predictive Controller for Mobile Robot Path Tracking

IFAC Intelligent Components and Instruments for Control Applications, Annecy, France 1997This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.Ministerio de Ciencia y Tecnología TAP95-0307Ministerio de Ciencia y Tecnología TAP96-884C

Modelling and Simulation of a Solar Power Plant with a Distributed Collectors System

IF AC Power Systems Modelling and Control Applicatio ns, Brussels, Belgium 1988This paper presents a model and computer simulation results of the distributed collectors field of a solar power plant. This plant is located in Tabernas (Almeria - Spain). The dynamic behaviour of the distributed collectors field is simulated by 100 lumped parameter submodels. Temperatures of the oil and the tube walls are modelled separately. The model also takes into account sun position, field geometry, mirrors reflectivity, solar radiation, and the inlet field oil temperature.Junta de Andalucía 07/CLM/MD

Economy and Environmental Problems in the Mexican Coastal States

A canonical correspondence analysis (CCA) for environmental and economic variables was performed for 17 Mexican coastal states. The ordination method allowed us to identify three groups, namely hydroelectric energy generation (I), pollution (II) and harbours (III), which were associated to different human activities. Furthermore, CCA is efficient to help us generate hypotheses for future research. It is therefore advised that CCA should be used for routine analyses into economics.Coastal States of Mexico, Canonical Correspondence Analysis, Diversity Index, Economic Development, Environmental Variables.

Versión al español de la Metacognition Self-Assessment Scale (MSAS) para adultos

Background:Although there are other tools in the Spanish language for assessing metacognition, there is no other that is as quick, simple and multidimensional as the Metacognition Self-Assessment Scale (MSAS). Objectives:Adapt and validate the MSAS to Spanish. Method:The sample consisted of 973 volunteers, 68.3% women and mean age of 27.9 years (SD= 12.68). Results:The internal consistency of the Spanish adaptation was generally adequate with a total α = .830, and from α = .658 to .826 for the factors. The original four-factor structure (Self-Reflexivity, Critical Distance, Mastery and Understanding Other Minds) showed adequate fit indices. The evidence of concurrent criterion validity indices was not as expected. Indications of discriminant validity were the low Self-Reflexivity scores of participants with a psychopathological history (d = .222) or psychological treatment (d = .326); in Mastery by those under psychological treatment (d = .345) or medication (d = .482), and in Critical distance for medication (d = .419). Conclusion:The Spanish adaptation and validation of the MSAS seems adequate for assessing metacognition and its subcomponents in the general population, opening a wide field of clinical and research applications.Antecedentes: Aunque existen otras herramientas en español para evaluar la metacognición, no hay una versión disponible desde una perspectiva multidimensional como la Escala de Autoevaluación de la Metacognición(Metacognition Self-Assessment Scale, MSAS), que tiene además la ventaja de ser sencilla y rápida en su aplicación. Objetivos: Adaptar y validar la escala MSAS al español. Método:Participaron975 voluntarios/as, 68.2% mujeres, edad media de 27.9 años (DT= 12.68). Resultados: Los valores psicométricos de la adaptación al español son adecuados, α = .830 (total), y entre α = .658 y .826 (factores). La estructura factorial original de cuatro factores (Autorreflexividad, Distancia Crítica, Maestría y Comprensión de Mentes Ajenas) muestra adecuados índices de ajuste. Sin embargo, los indicios de validez de criterio no han sido los esperados. Los indicadores de validez discriminante fueron bajos en los participantes con antecedentes psicopatológicos (d = .222) y tratamiento psicológico (d = .326) en el factor Autorreflexividad ; en el factor Dominio entre los que estaban bajo tratamiento psicológico (d = .345) y tenían prescrita medicación (d = .482), y en el factor Distancia crítica para los participantes con medicación (d = .419).Conclusión: La adaptación y validación de la MSAS en español para población general parece adecuada para evaluar la metacognición y sus subcomponentes, abriendo un amplio campo de aplicaciones tanto clínicas como de investigación

Small Renal Masses: Incidental Diagnosis, Clinical Symptoms, and Prognostic Factors

Introduction. The small renal masses (SRMs) have increased over the past two decades due to more liberal use of imaging techniques. SRMs have allowed discussions regarding their prognostic, diagnosis, and therapeutic approach. Materials and methods. Clinical presentation, incidental diagnosis, and prognosis factors of SRMs are discussed in this review. Results. SRMs are defined as lesions less than 4 cm in diameter. SRM could be benign, and most malignant SMRs are low stage and low grade. Clinical symptoms like hematuria are very rare, being diagnosed by chance (incidental) in most cases. Size, stage, and grade are still the most consistent prognosis factors in (RCC). An enhanced contrast SRM that grows during active surveillance is clearly malignant, and its aggressive potential increases in those greater than 3 cm. Clear cell carcinoma is the most frequent cellular type of malign SRM. Conclusions. Only some SRMs are benign. The great majority of malign SRMs have good prognosis (low stage and grade, no metastasis) with open or laparoscopic surgical treatment (nephron sparing techniques). Active surveillance is an accepted attitude in selected cases

Neutron-Capture elements in planetary nebulae: first detections of near-Infrared [Te III] and [Br V] emission lines

We have identified two new near-infrared emission lines in the spectra of planetary nebulae (PNe) arising from heavy elements produced by neutron capture reactions: [Te III] 2.1019 $\mu$m and [Br V] 1.6429 $\mu$m. [Te III] was detected in both NGC 7027 and IC 418, while [Br V] was seen in NGC 7027. The observations were obtained with the medium-resolution spectrograph EMIR on the 10.4m Gran Telescopio Canarias at La Palma, and with the high-resolution spectrograph IGRINS on the 2.7m Harlan J. Smith telescope at McDonald Observatory. New calculations of atomic data for these ions, specifically A-values and collision strengths, are presented and used to derive ionic abundances of Te$^{2+}$ and Br$^{4+}$. We also derive ionic abundances of other neutron-capture elements detected in the near-infrared spectra, and estimate total elemental abundances of Se, Br, Kr, Rb, and Te after correcting for unobserved ions. Comparison of our derived enrichments to theoretical predictions from AGB evolutionary models shows reasonable agreement for solar metallicity progenitor stars of $\sim$2 - 4 M$_{\odot}$. The spectrally-isolated [Br V] 1.6429 $\mu$m line has advantages for determining nebular Br abundances over optical [Br III] emission lines that can be blended with other features. Finally, measurements of Te are of special interest because this element lies beyond the first peak of the s-process, and thus provides new leverage on the abundance pattern of trans-iron species produced by AGB stars.Comment: 9 pages, 1 figure, 4 tables. Accepted for publication in ApJ Letter

Análisis sobre la influencia de la densidad en la termografía de infrarrojos y el alcance de esta técnica en la detección de defectos internos en la madera

This paper shows the results of a laboratory phase for the determination of the 1limits of infrared thermography in detecting internal defects in wood and, furthermore, it analyses how the density of this material can influence the surface temperature displayed in a thermogram. To this end, experimental work is carried out whereby a series of work and environmental parameters are monitored (such as environmental temperature, relative humidity, distance to target), and the process is systematized by using pieces of different wood species (different densities) and by devising a set of samples for which various possible cases are analysed in terms of size and internal position of the damage. Similarly, using these samples, a study has been conducted on the effect on the thermal image produced by an increase of humidity inside the defect phenomena normally associated with wood decay.En el presente artículo se muestran los resultados obtenidos en una fase de laboratorio al tratar de determinar el alcance de la termografía de infrarrojos en la detección de defectos internos en la madera y, por otro lado, cómo interviene la densidad de este material sobre la temperatura superficial mostrada en un termograma. Para ello se ha desarrollado un trabajo experimental donde se han controlado una serie de parámetros ambientales y de trabajo (temperatura ambiente, humedad relativa, distancia al objetivo…), y se ha sistematizado el proceso utilizando piezas de distintas especies de madera (distintas densidades) y diseñando una serie de probetas donde se han analizado varias casuísticas posibles en cuanto a tamaño y posición interna de los daños. Análogamente, sobre estas probetas se ha estudiado el efecto que produce sobre la imagen termográfica un incremento de humedad interna en el defecto asociada normalmente a los fenómenos de pudrición de la madera