Seguimiento de trayectoria robusta de un cuadricóptero sin mediciones de velocidad utilizando el control super-twisting generalizado

This paper presents a nonlinear control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle under perturbations. This strategy is based on the Generalized Super-Twisting Algorithm (GSTA); it means the second order sliding mode technique, which is able to ensure robustness with respect to modeling errors and bounded external disturbances due to the added extra linear correction terms. The controller goal is to achieve suitable path tracking of desired absolute positions and yaw angle while keeping the stability of the pitch and roll angle, in spite of the presence of disturbances and the handling of all system nonlinearities. In this work, a scenario in which velocities measurements are not available and are estimated by the Generalized Super-Twisting Observer is considered. Finally, the simulation results are also provided in order to illustrate the performances of the proposed controller.Este artículo presenta una estrategia de control no lineal para resolver el problema de seguimiento de trayectorias para un vehículo aéreo no tripulado bajo perturbaciones. Esta estrategia se basa en el Algoritmo Super-Twisting Generalizado (GSTA); es una técnica de modos deslizantes de segundo orden, la cual es capaz de asegurar robustez con respecto a errores de modelado y perturbaciones externas acotadas debido a los términos de corrección lineales añadidos respecto al algoritmo Super Twisting convencional. El objetivo del controlador es conseguir un seguimiento de trayectoria adecuado de las posiciones absolutas deseadas y del ángulo de guiñada, mientras se mantiene la estabilidad del ángulo de inclinación y de alabeo, a pesar de la presencia de perturbaciones y las no linealidades del sistema. En este trabajo, es considerado un escenario en el que las mediciones de las velocidades no están disponibles y son estimadas por el Observador Super-Twisting Generalizado. Finalmente, también fueron proporcionados los resultados de simulación para ilustrar el desempeño del controlador propuesto

Pulmonary vascular remodeling and prognosis in patients evaluated for heart transplantation: insights from the OCTOPUS-CHF study

[Abstract] Objective: In patients with advanced heart failure, the intravascular optical coherence tomography (OCT) of subsegmental pulmonary artery measurements is correlated with right heart catheterization parameters. Our aim was to study the prognostic value of pulmonary OCT, right heart catheterization data, and the echocardiographic estimation of pulmonary pressure in patients studied for elective heart transplants. Methods: This research is an observational, prospective, multicenter study involving 90 adults with a one-year follow-up. Results: A total of 10 patients (11.1%) died due to worsening heart failure before heart transplantation, 50 underwent a heart transplant (55.6%), and 9 died in the first year after the transplant. The patients with and without events (mortality or heart failure-induced hospitalization) had similar data regarding echocardiography, right heart catheterization, and pulmonary OCT (with a median estimated pulmonary artery systolic pressure of 42.0 mmHg, interquartile range (IQR) of 30.3-50.0 vs. 47.0 mmHg, IQR 34.6-59.5 and p = 0.79, median pulmonary vascular resistance of 2.2 Wood units, IQR 1.3-3.7 vs. 2.0 Wood units, IQR 1.4-3.2 and p = 0.99, and a median pulmonary artery wall thickness of 0.2 ± 0.5 mm vs. 0.2 ± 0.6 mm and p = 0.87). Conclusion: Pulmonary vascular remodeling (evaluated with echocardiography, right heart catheterization, and pulmonary OCT) was not associated with prognosis in a selected sample of adults evaluated for elective heart transplants. Pulmonary OCT is safe and feasible for the evaluation of these patients.Instituto de Salud Carlos III; PI18/00254European Regional Development Fund; CB16/11/0050

Pulmonary Vascular Remodeling and Prognosis in Patients Evaluated for Heart Transplantation: Insights from the OCTOPUS-CHF Study

Objective: In patients with advanced heart failure, the intravascular optical coherence tomography (OCT) of subsegmental pulmonary artery measurements is correlated with right heart catheterization parameters. Our aim was to study the prognostic value of pulmonary OCT, right heart catheterization data, and the echocardiographic estimation of pulmonary pressure in patients studied for elective heart transplants. Methods: This research is an observational, prospective, multicenter study involving 90 adults with a one-year follow-up. Results: A total of 10 patients (11.1%) died due to worsening heart failure before heart transplantation, 50 underwent a heart transplant (55.6%), and 9 died in the first year after the transplant. The patients with and without events (mortality or heart failure-induced hospitalization) had similar data regarding echocardiography, right heart catheterization, and pulmonary OCT (with a median estimated pulmonary artery systolic pressure of 42.0 mmHg, interquartile range (IQR) of 30.3-50.0 vs. 47.0 mmHg, IQR 34.6-59.5 and p = 0.79, median pulmonary vascular resistance of 2.2 Wood units, IQR 1.3-3.7 vs. 2.0 Wood units, IQR 1.4-3.2 and p = 0.99, and a median pulmonary artery wall thickness of 0.2 +/- 0.5 mm vs. 0.2 +/- 0.6 mm and p = 0.87). Conclusion: Pulmonary vascular remodeling (evaluated with echocardiography, right heart catheterization, and pulmonary OCT) was not associated with prognosis in a selected sample of adults evaluated for elective heart transplants. Pulmonary OCT is safe and feasible for the evaluation of these patients

re-habitar El Carmen : Un proyecto sobre patrimonio contemporáneo

El proyecto _re-HABITAR suponía para el propio proceder de la institución un avance más allá del reconocimiento, registro, inventario o protección patrimonial de la arquitectura del siglo XX y del Movimiento Moderno para posicionarse en la acción preventiva y conservativa de ese legado contemporáneo. Para ello, la praxis patrimonial se aferraba a un modelo: el de la vivienda social en España en la segunda mitad del siglo XX; a un caso concreto: el de la barriada de Nuestra Señora del Carmen (Recasens Méndez-Queipo de Llano, 1958); y a un requisito fundamental: analizar un objeto vivo y en uso, aún con la presencia de quienes lo vivieron y usaron desde su origen

Ciencia Odontológica 2.0

Libro que muestra avances de la Investigación Odontológica en MéxicoEs para los integrantes de la Red de Investigación en Estomatología (RIE) una enorme alegría presentar el segundo de una serie de 6 libros sobre casos clínicos, revisiones de la literatura e investigaciones. La RIE está integrada por cuerpos académicos de la UAEH, UAEM, UAC y UdeG

Height and body-mass index trajectories of school-aged children and adolescents from 1985 to 2019 in 200 countries and territories: a pooled analysis of 2181 population-based studies with 65 million participants

Summary Background Comparable global data on health and nutrition of school-aged children and adolescents are scarce. We aimed to estimate age trajectories and time trends in mean height and mean body-mass index (BMI), which measures weight gain beyond what is expected from height gain, for school-aged children and adolescents. Methods For this pooled analysis, we used a database of cardiometabolic risk factors collated by the Non-Communicable Disease Risk Factor Collaboration. We applied a Bayesian hierarchical model to estimate trends from 1985 to 2019 in mean height and mean BMI in 1-year age groups for ages 5–19 years. The model allowed for non-linear changes over time in mean height and mean BMI and for non-linear changes with age of children and adolescents, including periods of rapid growth during adolescence. Findings We pooled data from 2181 population-based studies, with measurements of height and weight in 65 million participants in 200 countries and territories. In 2019, we estimated a difference of 20 cm or higher in mean height of 19-year-old adolescents between countries with the tallest populations (the Netherlands, Montenegro, Estonia, and Bosnia and Herzegovina for boys; and the Netherlands, Montenegro, Denmark, and Iceland for girls) and those with the shortest populations (Timor-Leste, Laos, Solomon Islands, and Papua New Guinea for boys; and Guatemala, Bangladesh, Nepal, and Timor-Leste for girls). In the same year, the difference between the highest mean BMI (in Pacific island countries, Kuwait, Bahrain, The Bahamas, Chile, the USA, and New Zealand for both boys and girls and in South Africa for girls) and lowest mean BMI (in India, Bangladesh, Timor-Leste, Ethiopia, and Chad for boys and girls; and in Japan and Romania for girls) was approximately 9–10 kg/m2. In some countries, children aged 5 years started with healthier height or BMI than the global median and, in some cases, as healthy as the best performing countries, but they became progressively less healthy compared with their comparators as they grew older by not growing as tall (eg, boys in Austria and Barbados, and girls in Belgium and Puerto Rico) or gaining too much weight for their height (eg, girls and boys in Kuwait, Bahrain, Fiji, Jamaica, and Mexico; and girls in South Africa and New Zealand). In other countries, growing children overtook the height of their comparators (eg, Latvia, Czech Republic, Morocco, and Iran) or curbed their weight gain (eg, Italy, France, and Croatia) in late childhood and adolescence. When changes in both height and BMI were considered, girls in South Korea, Vietnam, Saudi Arabia, Turkey, and some central Asian countries (eg, Armenia and Azerbaijan), and boys in central and western Europe (eg, Portugal, Denmark, Poland, and Montenegro) had the healthiest changes in anthropometric status over the past 3·5 decades because, compared with children and adolescents in other countries, they had a much larger gain in height than they did in BMI. The unhealthiest changes—gaining too little height, too much weight for their height compared with children in other countries, or both—occurred in many countries in sub-Saharan Africa, New Zealand, and the USA for boys and girls; in Malaysia and some Pacific island nations for boys; and in Mexico for girls. Interpretation The height and BMI trajectories over age and time of school-aged children and adolescents are highly variable across countries, which indicates heterogeneous nutritional quality and lifelong health advantages and risks

Large expert-curated database for benchmarking document similarity detection in biomedical literature search

Document recommendation systems for locating relevant literature have mostly relied on methods developed a decade ago. This is largely due to the lack of a large offline gold-standard benchmark of relevant documents that cover a variety of research fields such that newly developed literature search techniques can be compared, improved and translated into practice. To overcome this bottleneck, we have established the RElevant LIterature SearcH consortium consisting of more than 1500 scientists from 84 countries, who have collectively annotated the relevance of over 180 000 PubMed-listed articles with regard to their respective seed (input) article/s. The majority of annotations were contributed by highly experienced, original authors of the seed articles. The collected data cover 76% of all unique PubMed Medical Subject Headings descriptors. No systematic biases were observed across different experience levels, research fields or time spent on annotations. More importantly, annotations of the same document pairs contributed by different scientists were highly concordant. We further show that the three representative baseline methods used to generate recommended articles for evaluation (Okapi Best Matching 25, Term Frequency-Inverse Document Frequency and PubMed Related Articles) had similar overall performances. Additionally, we found that these methods each tend to produce distinct collections of recommended articles, suggesting that a hybrid method may be required to completely capture all relevant articles. The established database server located at https://relishdb.ict.griffith.edu.au is freely available for the downloading of annotation data and the blind testing of new methods. We expect that this benchmark will be useful for stimulating the development of new powerful techniques for title and title/abstract-based search engines for relevant articles in biomedical research.Peer reviewe

Gestión del conocimiento. Perspectiva multidisciplinaria. Volumen 10

El libro “Gestión del Conocimiento. Perspectiva Multidisciplinaria”, Volumen 10, de la Colección Unión Global, es resultado de investigaciones. Los capítulos del libro, son resultados de investigaciones desarrolladas por sus autores. El libro es una publicación internacional, seriada, continua, arbitrada de acceso abierto a todas las áreas del conocimiento, que cuenta con el esfuerzo de investigadores de varios países del mundo, orientada a contribuir con procesos de gestión del conocimiento científico, tecnológico y humanístico que consoliden la transformación del conocimiento en diferentes escenarios, tanto organizacionales como universitarios, para el desarrollo de habilidades cognitivas del quehacer diario. La gestión del conocimiento es un camino para consolidar una plataforma en las empresas públicas o privadas, entidades educativas, organizaciones no gubernamentales, ya sea generando políticas para todas las jerarquías o un modelo de gestión para la administración, donde es fundamental articular el conocimiento, los trabajadores, directivos, el espacio de trabajo, hacia la creación de ambientes propicios para el desarrollo integral de las instituciones

Actitudes y conocimientos en la prescripción de medicamentos a embarazadas por los médicos rurales de la provincia del Azuay en el año 2011

Se realizó un estudio transversal en el período comprendido entre junio del 2010 hasta abril del 2011, se trabajó con el universo correspondiente a todos los médicos rurales de la provincia del Azuay los cuales son 122. Para el levantamiento de los datos utilizamos un cuestionario validado, el mismo que utilizó Baldon Josiane, et al, en un estudio en Brasil en el año 2006; el cuestionario original fue adaptado para ser llenado por los médicos rurales. RESULTADOS: Del universo, 11 no participaron en el estudio. De media, el 67.75 % de participantes respondieron correctamente. El 6.5% no se sintieron seguros en la prescripción. El 25.41% decidieron la opción incorrecta. Los menores índices de acierto correspondieron a las prescripciones de prednisona, levotiroxina, (30.63% en ambos). El mayor índice de acierto ocurrió con el fármaco paracetamol (100%). Los casos que generaron mayor indecisión fueron los relativos al uso de la prednisona (13,51%) y levotiroxina (18. 92,7%). En cuanto a la fuente de información la más consultada son los libros de Gineco-obstetricia 55 médicos (49.55%) y 41 médicos (36.94%) utilizan libros de farmacología. Ninguno utiliza la información brindada por los visitadores médicos 0%. El 34.23 % de Los médicos rurales siempre consultan a la pacientes en edad fértil la posibilidad de embarazo, el 54.05 % casi siempre y el 11.71 % A veces. Los médicos rurales en su mayoría poseen los conocimientos y actitudes adecuadas al prescribir aunque el porcentaje de indecisión o errores es considerable lo que podría traer efectos perjudiciales en la madre o en el feto. auObjective: To assess the attitudes and knowledge in prescribing drugs to pregnant women by rural physicians in province of Azuay in 2011. Method and Materials: A cross-sectional study period from June 2010 through April 2011, we worked with the universe of all rural physicians in province of Azuay they are 122. For the data collection we used a validated questionnaire, the same as used by Baldon Josiane, et al, in Brazil in 2006, the original questionnaire was adapted to be answered by rural physicians. RESULTS: In this study 11 physicians did not participate in the study. On average, 67.75% of participants answered correctly. 6.5% did not feel safe prescribing. The 25.41% chose the wrong option. The Lower success rate corresponded to the requirements of prednisone, levothyroxine, (30.63% each one). The highest success rate occurred with paracetamol (100%). The Cases that produce more doubts were related to the use of prednisone (13.51%) and levothyroxine (18. 92.7%). the source of Information most consulted are books of OB / GYN , 55 physicians (49.55%) consulted those books. and 41 physicians (36.94%) use textbooks of pharmacology. Nobody uses the information provided by pharmaceutical visitors (0%). 34.23% of rural physicians always consult patients in childbearing age the possibility of pregnancy, 54.05% almost always and 11.71% sometimes. Most of rural physicians have appropriate knowledge and attitudes to prescribe drugs to pregnant women. The percentage of indecision and errors are remarkable. This problem might have negative effects in mother or fetus.MédicoCuenc