Analytical solution to the one-dimensional non-uniform absorption of solar radiation in uncoated and coated single glass panes

The analytical solution to the one-dimensional absorption–conduction heat transfer problem inside a single glass pane is presented, which correctly takes into account all the relevant physical phenomena: the appearance of multiple reflections, the spectral distribution of solar radiation, the spectral dependence of optical properties, the presence of possible coatings, the non-uniform nature of radiation absorption, and the diffusion of heat by conduction across the glass pane. Additionally to the well established and known direct absorptance αe, the derived solution introduces a new spectral quantity called direct absorptance moment βe, that indicates where in the glass pane is the absorption of radiation actually taking place. The theoretical and numerical comparison of the derived solution with existing approximate thermal models for the absorption–conduction problem reveals that the latter ones work best for low-absorbing uncoated single glass panes, something not necessarily fulfilled by modern glazings

Hybrid walking therapy with fatigue management for spinal cord injured individuals

In paraplegic individuals with upper motor neuron lesions the descending path for signals from central nervous system to the muscles are lost or diminished. Motor neuroprosthesis based on electrical stimulation can be applied to induce restoration of motor function in paraplegic patients. Furthermore, electrical stimulation of such motor neuroprosthesis can be more efficiently managed and delivered if combined with powered exoskeletons that compensate the limited force in the stimulated muscles and bring additional support to the human body. Such hybrid overground gait therapy is likely to be more efficient to retrain the spinal cord in incomplete injuries than conventional, robotic or neuroprosthetic approaches. However, the control of bilateral joints is difficult due to the complexity, non-linearity and time-variance of the system involved. Also, the effects of muscle fatigue and spasticity in the stimulated muscles complicate the control task. Furthermore, a compliant joint actuation is required to allow for a cooperative control approach that is compatible with the assist-as-needed rehabilitation paradigm. These were direct motivations for this research. The overall aim was to generate the necessary knowledge to design a novel hybrid walking therapy with fatigue management for incomplete spinal cord injured subjects. Research activities were conducted towards the establishment of the required methods and (hardware and software) systems that required to proof the concept with a pilot clinical evaluation. Speciffically, a compressive analysis of the state of the art on hybrid exoskeletons revealed several challenges which were tackled by this dissertation. Firstly, assist-as-needed was implemented over the basis of a compliant control of the robotic exoskeleton and a closed-loop control of the neuroprosthesis. Both controllers are integrated within a hybrid-cooperative strategy that is able to balance the assistance of the robotic exoskeleton regarding muscle performance. This approach is supported on the monitoring of the leg-exoskeleton physical interaction. Thus the fatigue caused by neuromuscular stimulation was also subject of speciffic research. Experimental studies were conducted with paraplegic patients towards the establishment of an objective criteria for muscle fatigue estimation and management. The results of these studies were integrated in the hybrid-cooperative controller in order to detect and manage muscle fatigue while providing walking therapy. Secondly closed-loop control of the neuroprosthesis was addressed in this dissertation. The proposed control approach allowed to tailor the stimulation pattern regarding the speciffic residual motor function of the lower limb of the patient. In order to uncouple the closed-loop control from muscle performance monitoring, the hybrid-cooperative control approach implemented a sequential switch between closed-loop and open-loop control of the neuroprosthesis. Lastly, a comprehensive clinical evaluation protocol allowed to assess the impact of the hybrid walking therapy on the gait function of a sample of paraplegic patients. Results demonstrate that: 1) the hybrid controller adapts to patient residual function during walking, 2) the therapy is tolerated by patients, and 3) the walking function of patients was improved after participating in the study. In conclusion, the hybrid walking therapy holds potential for rehabilitate walking in motor incomplete paraplegic patients, guaranteeing further research on this topic. This dissertation is framed within two research projects: REHABOT (Ministerio de Ciencia e Innovación, grant DPI2008-06772-C03-02) and HYPER (Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders, grant CSD2009-00067 CONSOLIDER INGENIO 2010). Within these research projects, cutting-edge research is conducted in the eld of hybrid actuation and control for rehabilitation of motor disorders. This dissertation constitutes proof-of concept of the hybrid walking therapy for paraplegic individuals for these projects. ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------En individuos parapléjicos con lesiones de la motoneurona superior, la conexión descendente para la transmisión de las señales del sistema nervioso central a los músculos se ve perdida o disminuida. Las neuroprótesis motoras basadas en la estimulación eléctrica pueden ser aplicadas para inducir la restauración de la función motora en pacientes con paraplejia. Además, la estimulación eléctrica de tales neuroprótesis motoras se puede gestionar y aplicar de manera más eficiente mediante la combinación con exoesqueletos robóticos que compensen la generación limitada de fuerza de los músculos estimulados, y proporcionen soporte adicional para el cuerpo. Dicha terapia de marcha ambulatoria puede ser probablemente más eficaz para la recuperación de las funciones de la médula espinal en lesiones incompletas que las terapias convencionales, robóticas o neuroprotesicas. Sin embargo, el control bilateral de las articulaciones es difícil debido a la complejidad, no-linealidad y la variación con el tiempo de las características del sistema en cuestión. Además, la fatiga muscular y la espasticidad de los músculos estimulados complican la tarea de control. Por otra parte, se requiere una actuación robótica modulable para permitir un enfoque de control cooperativo compatible con el paradigma de rehabilitación de asistencia bajo demanda. Todo lo anterior constituyó las motivaciones directas para esta investigación. El objetivo general fue generar el conocimiento necesario para diseñar un nuevo tratamiento híbrido de rehabilitación marcha con gestión de la fatiga para lesionados medulares incompletos. Se llevaron a cabo actividades de investigación para el establecimiento de los métodos necesarios y los sistemas (hardware y software) requeridos para probar el concepto mediante una evaluación clínica piloto. Específicamente, un análisis del estado de la técnica sobre exoesqueletos híbridos reveló varios retos que fueron abordados en esta tesis. En primer lugar, el paradigma de asistencia bajo demanda se implementó sobre la base de un control adaptable del exoesqueleto robótico y un control en lazo cerrado de la neuroprótesis. Ambos controladores están integrados dentro de una estrategia híbrida cooperativa que es capaz de equilibrar la asistencia del exoesqueleto robótico en relación con el rendimiento muscular. Este enfoque se soporta sobre la monitorización de la interacción física entre la pierna y el exoesqueleto. Por tanto, la fatiga causada por la estimulación neuromuscular también fue objeto de una investigación específica. Se realizaron estudios experimentales con pacientes parapléjicos para el establecimiento de un criterio objetivo para la detección y la gestión de la fatiga muscular. Los resultados de estos estudios fueron integrados en el controlador híbrido-cooperativo con el fin de detectar y gestionar la fatiga muscular mientras se realiza la terapia híbrida de rehabilitación de la marcha. En segundo lugar, el control en lazo cerrado de la neuroprótesis fue abordado en esta tesis. El método de control propuesto permite adaptar el patrón de estimulación en relación con la funcionalidad residual específica de la extremidad inferior del paciente. Sin embargo, con el n de desacoplar el control en lazo cerrado de la monitorización del rendimiento muscular, el enfoque de control híbrido-cooperativo incorpora una conmutación secuencial entre el control en lazo cerrado y en lazo abierto de la neuropr otesis. Por último, un protocolo de evaluación clínica global permitido evaluar el impacto de la terapia híbrida de la marcha en la función de la marcha de una muestra de pacientes parapléjicos. Los resultados demuestran que: 1) el controlador híbrido se adapta a la función residual del paciente durante la marcha, 2) la terapia es tolerada por los pacientes, y 3) la funci on de marcha del paciente mejora despu es de participar en el estudio. En conclusión, la terapia de híbrida de la marcha alberga un potencial para la rehabilitación de la marcha en pacientes parapléjicos incompletos motor, garantizando realizar investigación más profunda sobre este tema. Esta tesis se enmarca dentro de los dos proyectos de investigación: REHABOT (Ministerio de Ciencia e Innovación, referencia DPI2008-06772-C03-02) y HYPER (Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders, referencia CSD2009-00067 CONSOLIDER INGENIO 2010). Dentro de estos proyectos se lleva a cabo investigación de vanguardia en el campo de la actuación y el control híbrido de la combinación robot-neuroprótesis para la rehabilitación de trastornos motores. Esta tesis constituye la prueba de concepto de la terapia de híbrida de la marcha para individuos parapléjicos en estos proyectos.This dissertation is framed within two research projects: REHABOT (Ministerio de Ciencia e Innovación, grant DPI2008-06772-C03-02) and HYPER (Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders, grant CSD2009-00067 CONSOLIDER INGENIO 2010

TAILOR: Patient-specific hybrid wearable systems for walking rehabilitation

Personalization of robotic exoskeletons for walking assistance to the end user is still a challenge for this technology. The TAILOR project aims to create hybrid and modular robotic-neuroprosthetic wearable systems that can be adapted to an individual patient. For that, a User-Centered Design approach and predictive dynamic simulation tools are conceived to support the design of the hybrid assistive technology.Peer ReviewedObjectius de Desenvolupament Sostenible::3 - Salut i BenestarPostprint (published version

Intervención desde terapia ocupacional en niños con acondroplasia: Revisión bibliográfica

La acondroplasia es la forma más común de enanismo. Se trata de un trastornoen el crecimiento de los huesos causado por una mutación genética que impideel crecimiento normal del cartílago. El principal síntoma de esta enfermedad esel acortamiento simétrico de huesos largos, lo que causa una disminución deltono muscular, brazos y piernas cortos, estatura baja, estenosis raquídea,braquidactilia, cifosis y lordosis entre otros. Lo que puede conllevar a la largagraves problemas de salud, como pueden ser, problemas respiratorios,neurológicos, obesidad o infecciones.Debido a que la acondroplasia es una enfermedad que no se puede prevenir yque tampoco tiene tratamiento específico ni cura, es importante intervenir desdela terapia ocupacional para mitigar las complicaciones, reducir los problemas yevitar que la enfermedad empeore. La terapia ocupacional en estos usuariospuede ser muy útil para mejorar su calidad de vida.El objetivo de este trabajo es recopilar y analizar las posibles intervencionesdesde terapia ocupacional en niños/as que sufren acondroplasia. Para ello serealizará una revisión sistemática de la bibliografía existente utilizando lasprincipales bases de datos y siguiendo las guías PRISMA para su elaboración.Con este trabajo se pretende la actualización de las intervenciones en usuariospediátricos con acondroplasia.<br /

A two-level sliding-window VBR controller for real-time hierarchical video coding

In this paper, a novel rate control algorithm for real-time VBR hierarchical video coding is proposed. The algorithm works at two levels that are called long- and short-term levels. The long-term level aims at ensuring that the bit count does not exceed the maximum allowed amount for a few-second long window. To this end, it considers a sliding window spanning several GOPs, which is shifted on a GOP basis. In doing so, it avoids the potentially sharp adjustments at the end of the GOP that usually happen in non-sliding approaches. The short-term level aims to provide a proper QP adaptation to fit the target bit budget, which is dictated by the long-term level. It also uses a sliding window, which in this case extends over one GOP. The proposed algorithm has been assessed in realistic conditions for a variety of video sequences. It has been compared to both a constant quality and CBR hierarchical approaches, showing an excellent performance in terms of both rate-distortion and PSNR variation

Advances in selective activation of muscles for non-invasive motor neuroprostheses

Non-invasive neuroprosthetic (NP) technologies for movement compensation and rehabilitation remain with challenges for their clinical application. Two of those major challenges are selective activation of muscles and fatigue management. This review discusses how electrode arrays improve the efficiency and selectivity of functional electrical stimulation (FES) applied via transcutaneous electrodes. In this paper we review the principles and achievements during the last decade on techniques for artificial motor unit recruitment to improve the selective activation of muscles. We review the key factors affecting the outcome of muscle force production via multi-pad transcutaneous electrical stimulation and discuss how stimulation parameters can be set to optimize external activation of body segments. A detailed review of existing electrode array systems proposed by different research teams is also provided. Furthermore, a review of the targeted applications of existing electrode arrays for control of upper and lower limb NPs is provided. Eventually, last section demonstrates the potential of electrode arrays to overcome the major challenges of NPs for compensation and rehabilitation of patient-specific impairments.This work has been done with partial financial support of the Ministry of Science and Innovation, in the framework of national project HYPER(CSD 2009-00067- Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders) and European Union in the framework of TREMOR Project: “TREMOR: An ambulatory BCI-driven tremor suppression system based on functional electrical stimulation”, ICT-2007-224051, and “NeuroTREMOR: A novel concept for support to diagnosis and remote management of tremor”, ICT-2011.5.1-287739.Peer reviewe

A Cauchy-density-based rate controller for H.264/AVC in low-delay environments

The accuracy of the Cauchy probability density function for modeling of the discrete cosine transform coefficient distribution has already been proved for the frame layer of the rate control subsystem of a hybrid video coder. Nevertheless, in some specific applications operating in real-time low-delay environments, a basic unit layer is recommended in order to provide a good trade-off between quality and delay control. In this paper, a novel basic unit bit allocation for H.264/AVC is proposed based on a simplified Cauchy probability density function source modeling. The experimental results show that the proposed algorithm improves the average peak signal-to-noise ratio in 0.28 and 0.35 dB with respect to two well-known rate control schemes, while maintaining similar peak signal-to-noise ratio standard deviation and buffer occupancy evolution

Cauchy-Density-Based Basic Unit Layer Rate Controller for H.264/AVC

The rate control problem has been extensively studied in parallel to the development of the different video coding standards. The bit allocation via Cauchy-density-based rate-distortion (R-D) modeling of the discrete cosine transform (DCT) coefficients has proved to be one of the most accurate solution at picture level. Nevertheless, in some specific applications operating in real-time low-delay environments, a basic unit (BU) layer is recommended in order to provide a good trade-off between picture quality and delay control. In this paper, a novel BU bit allocation for H.264/AVC is proposed based on a simplified Cauchy probability density function (PDF) source modeling. The experimental results are twofold: 1) the proposed rate control algorithm (RCA) achieves an average PSNR improvement of 0.28 dB respect to a well known BU layer RCA, while maintaining a similar buffer occupancy evolution; and 2) It achieves to notably reduce the buffer occupancy fluctuations respect to a well known picture layer RCA, while maintaining similar quality levels.Publicad