Experimental Validation of a Sliding Mode Control for a Stewart Platform Used in Aerospace Inspection Applications

The authors introduce a new controller, aimed at industrial domains, that improves the performance and accuracy of positioning systems based on Stewart platforms. More specifically, this paper presents, and validates experimentally, a sliding mode control for precisely positioning a Stewart platform used as a mobile platform in non-destructive inspection (NDI) applications. The NDI application involves exploring the specimen surface of aeronautical coupons at different heights. In order to avoid defocusing and blurred images, the platform must be positioned accurately to keep a uniform distance between the camera and the surface of the specimen. This operation requires the coordinated control of the six electro mechanic actuators (EMAs). The platform trajectory and the EMA lengths can be calculated by means of the forward and inverse kinematics of the Stewart platform. Typically, a proportional integral (PI) control approach is used for this purpose but unfortunately this control scheme is unable to position the platform accurately enough. For this reason, a sliding mode control (SMC) strategy is proposed. The SMC requires: (1) a priori knowledge of the bounds on system uncertainties, and (2) the analysis of the system stability in order to ensure that the strategy executes adequately. The results of this work show a higher performance of the SMC when compared with the PI control strategy: the average absolute error is reduced from 3.45 mm in PI to 0.78 mm in the SMC. Additionally, the duty cycle analysis shows that although PI control demands a smoother actuator response, the power consumption is similar.This research was funded by the Basque Government through the project SMAR3NAK (ELKARTEK KK-2019/00051), by the Ministerio de Economía y Competitividad (RTI2018-094669-B-C31) and by Aernnova and the Diputación Foral de Álava (DFA) through the project CONAVAUTIN 2 (Collaboration Agreement)

El foro asincrónico como herramienta de aprendizaje en estudiantes universitarios

El presente escrito analiza desde un enfoque cuantitativo el foro asincrónico como herramienta de aprendizaje. El objetivo de la investigación fue conocer si el foro asincrónico contribuye a la mejora del aprendizaje en un curso de Licenciatura de Administración en estudiantes de primer ingreso a una universidad pública de México. Para ello se aplicó un instrumento de medición con pre-prueba y pos-prueba para medir el aprendizaje de los estudiantes a través de las calificaciones obtenidas de un tema de la Unidad de Enseñanza Aprendizaje (UEA) de Informática. Los resultados nos muestran que en la pos-prueba donde se utilizó el foro durante un periodo entre siete y doce días, la media de calificación aumentó. Lo que confirman diversas investigaciones al señalar que el foro como herramienta de aprendizaje contribuye a la comprensión de los temas de un curso. El foro asincrónico se probó durante un lapso de entre siete y doce días; lo que sugiere que, si se emplea la herramienta de foro de manera sistemática durante un tiempo mayor a doce días, puede reportar un impacto superior en un curso convencional. Cabe señalar que en el uso del foro asincrónico no hubo intervención del profesor, la interacción sucedió entre los pares. La participación fue de carácter autónoma y autorregulada por cada estudiante. Concluimos que el foro es una herramienta eficaz para promover mayor participación e interacción social que facilita el aprendizaje y la compresión de conocimiento en comunidad

Object-oriented modeling and simulation of the closed loop cardiovascular system by using SIMSCAPE

The modeling of physiological systems via mathematical equations reflects the calculation procedure more than the structure of the real system modeled, with the simulation environment SIMULINK™ being one of the best suited to this strategy. Nevertheless, object-oriented modeling is spreading in current simulation environments through the use of the individual components of the model and its interconnections to define the underlying dynamic equations. In this paper we describe the use of the SIMSCAPE™ simulation environment in the object-oriented modeling of the closed loop cardiovascular system. The described approach represents a valuable tool in the teaching of physiology for graduate medical students

Two new species of terrestrial-breeding frogs (Anura: Brachycephaloidea) from Cordillera de Colán, Peru

We describe two new species of terrestrial-breeding frogs from the Cordillera de Colán, in northeastern Peru. We used Parsimony and Maximum Likelihood approaches to infer a molecular phylogeny on a dataset composed of 75 terminals, including three terminals representing the new species, and 4202 bp of concatenated mtDNA and nuDNA fragments. Our phylogenetic analyses support the placement of the two new species in Lynchius and Oreobates, respectively. The new species of Lynchius occurs in two localities from 1,977 to 2,006 m a.s.l., and is characterized by having a dorsum covered by conical tubercles and a brown dorsal coloration lacking a pattern of blotches on the hidden surfaces of flanks and hindlimbs. The new species of Oreobates is only known from one location at 2608 m a.s.l. and is characterized by the absence of axillary and inguinal glands, and the presence of white or cream blotches on the dark brown hidden surfaces of the body

Fiber Bragg Gratings, IT Techniques and Strain Gauge Validation for Strain Calculation on Aged Metal Specimens

This paper studies the feasibility of calculating strains in aged F114 steel specimens with Fiber Bragg Grating (FBG) sensors and infrared thermography (IT) techniques. Two specimens have been conditioned under extreme temperature and relative humidity conditions making comparative tests of stress before and after aging using different adhesives. Moreover, a comparison has been made with IT techniques and conventional methods for calculating stresses in F114 steel. Implementation of Structural Health Monitoring techniques on real aircraft during their life cycle requires a study of the behaviour of FBG sensors and their wiring under real conditions, before using them for a long time. To simulate aging, specimens were stored in a climate chamber at 70 °C and 90% RH for 60 days. This study is framed within the Structural Health Monitoring (SHM) and Non Destructuve Evaluation (NDE) research lines, integrated into the avionics area maintained by the Aeronautical Technologies Centre (CTA) and the University of the Basque Country (UPV/EHU)

Pulmonary vein flow split effects in patient-specific simulations of left atrial flow

Disruptions to left atrial (LA) blood flow, such as those caused by atrial fibrillation (AF), can lead to thrombosis in the left atrial appendage (LAA) and an increased risk of systemic embolism. LA hemodynamics are influenced by various factors, including LA anatomy and function, and pulmonary vein (PV) inflow conditions. In particular, the PV flow split can vary significantly among and within patients depending on multiple factors. In this study, we investigated how changes in PV flow split affect LA flow transport, focusing for the first time on blood stasis in the LAA, using a high-fidelity patient-specific computational fluid dynamics (CFD) model. We use an Immersed Boundary Method, simulating the flow in a fixed, uniform Cartesian mesh and imposing the movement of the LA walls with a moving Lagrangian mesh generated from 4D Computerized Tomography images. We analyzed LA anatomies from eight patients with varying atrial function, including three with AF and either a LAA thrombus or a history of Transient Ischemic Attacks (TIAs). Using four different flow splits (60/40% and 55/45% through right and left PVs, even flow rate, and same velocity through each PV), we found that flow patterns are sensitive to PV flow split variations, particularly in planes parallel to the mitral valve. Changes in PV flow split also had a significant impact on blood stasis and could contribute to increased risk for thrombosis inside the LAA, particularly in patients with AF and previous LAA thrombus or a history of TIAs. Our study highlights the importance of considering patient-specific PV flow split variations when assessing LA hemodynamics and identifying patients at increased risk for thrombosis and stroke. This knowledge is relevant to planning clinical procedures such as AF ablation or the implementation of LAA occluders.This work was partially supported by Comunidad de Madrid (Synergy Grant Y2018/BIO-4858 PREFI-CM), Spanish Research Agency (AEI, grant number PID2019-107279RB-I00), Instituto de Salud Carlos III (grant numbers PI15/02211-ISBITAMI and DTS/1900063-ISBIFLOW), and by the EU-European Regional Development Fund. Funding for open access charge: Universidad de Málaga /CBU

Pulmonary vein flow split effects in patient-specific simulations of left atrial flow

Disruptions to left atrial (LA) blood flow, such as those caused by atrial fibrillation (AF), can lead to thrombosis in the left atrial appendage (LAA) and an increased risk of systemic embolism. LA hemodynamics are influenced by various factors, including LA anatomy and function, and pulmonary vein (PV) inflow conditions. In particular, the PV flow split can vary significantly among and within patients depending on multiple factors. In this study, we investigated how changes in PV flow split affect LA flow transport, focusing for the first time on blood stasis in the LAA, using a high-fidelity patient-specific computational fluid dynamics (CFD) model. We use an Immersed Boundary Method, simulating the flow in a fixed, uniform Cartesian mesh and imposing the movement of the LA walls with a moving Lagrangian mesh generated from 4D Computerized Tomography images. We analyzed LA anatomies from eight patients with varying atrial function, including three with AF and either a LAA thrombus or a history of Transient Ischemic Attacks (TIAs). Using four different flow splits (60/40% and 55/45% through right and left PVs, even flow rate, and same velocity through each PV), we found that flow patterns are sensitive to PV flow split variations, particularly in planes parallel to the mitral valve. Changes in PV flow split also had a significant impact on blood stasis and could contribute to increased risk for thrombosis inside the LAA, particularly in patients with AF and previous LAA thrombus or a history of TIAs. Our study highlights the importance of considering patient-specific PV flow split variations when assessing LA hemodynamics and identifying patients at increased risk for thrombosis and stroke. This knowledge is relevant to planning clinical procedures such as AF ablation or the implementation of LAA occluders.This work was partially supported by Comunidad de Madrid (Synergy Grant Y2018/BIO-4858 PREFI-CM), Spanish Research Agency (AEI, grant number PID2019-107279RB-I00), Instituto de Salud Carlos III (grant numbers PI15/02211-ISBITAMI and DTS/1900063-ISBIFLOW), and by the EU-European Regional Development Fund . Funding for open access charge: Universidad de Málaga / CBUA

Demonstration of Patient-Specific Simulations to Assess Left Atrial Appendage Thrombogenesis Risk

Atrial fibrillation (AF) alters left atrial (LA) hemodynamics, which can lead to thrombosis in the left atrial appendage (LAA), systemic embolism and stroke. A personalized risk-stratification of AF patients for stroke would permit improved balancing of preventive anticoagulation therapies against bleeding risk. We investigated how LA anatomy and function impact LA and LAA hemodynamics, and explored whether patient-specific analysis by computational fluid dynamics (CFD) can predict the risk of LAA thrombosis. We analyzed 4D-CT acquisitions of LA wall motion with an in-house immersed-boundary CFD solver. We considered six patients with diverse atrial function, three with either a LAA thrombus (removed digitally before running the simulations) or a history of transient ischemic attacks (LAAT/TIA-pos), and three without a LAA thrombus or TIA (LAAT/TIA-neg). We found that blood inside the left atrial appendage of LAAT/TIA-pos patients had marked alterations in residence time and kinetic energy when compared with LAAT/TIA-neg patients. In addition, we showed how the LA conduit, reservoir and booster functions distinctly affect LA and LAA hemodynamics. Finally, fixed-wall and moving-wall simulations produced different LA hemodynamics and residence time predictions for each patient. Consequently, fixed-wall simulations risk-stratified our small cohort for LAA thrombosis worse than moving-wall simulations, particularly patients with intermediate LAA residence time. Overall, these results suggest that both wall kinetics and LAA morphology contribute to LAA blood stasis and thrombosis.This work was partially supported by the Comunidad de Madrid (Sinergias Y2018/BIO-4858 PREFI-CM), Cátedra Excelencia UC3M-Santander, Ministry of Education of Spain (Salvador de Madariaga program), the US NHLBI (NCAI-UCCAI-2017-06-6), the United States American Heart Association (AHA 20POST35200401), and the 2019 UCSD GEM Program. Computational time provided by XSEDE (Comet) and RES (Altamira) is gratefully acknowledged

Molecular detection and characterization of hemoplasmas in the pudu (Pudu Puda), a native CERVID from CHILE

8 Pág. Centro de Investigación en Sanidad Animal (CISA)Hemotropic mycoplasmas cause hemolytic anemia in a variety of wild and domestic mammals. Despite growing evidence about their widespread presence and genetic diversity in wildlife, their presence has never been investigated in Chilean artiodactyls. We aimed to describe the presence and diversity of hemoplasmas in pudus (Pudu puda), a small cervid native to Chile. Hemoplasma infection was assessed in blood samples from 43 wild and 33 captive pudus from central and southern Chile by direct sequencing of the 16S rRNA gene. We detected hemoplasmas in 13%, with no statistical differences between wild (19%) and captive animals (6%). A sequence closely related to Mycoplasma ovis was present both in wild (14%) and captive (6%) pudus. Two previously undescribed sequences, classified in a clade including hemoplasmas from carnivores, were found in one wild pudu each. This study presents the first evidence of the presence of M. ovislike organisms in Chile and of the susceptibility of pudus to infection with hemoplasmas. Further research is needed to understand the pathologic consequences of this pathogen for pudus, its effects at the population level, and their potential impact on the health small ruminants and other wildlife species in Chile.Peer reviewe