9 research outputs found

    Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

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    A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller

    7th Drug hypersensitivity meeting: part two

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    Apoyo social y condiciones de vida de adultos mayores que viven en la pobreza urbana en México Social support and living conditions in poor elderly people in urban Mexico

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    El objetivo del artículo fue analizar el apoyo social y las condiciones de vida de adultos mayores en zonas urbanas empobrecidas. Estudio cualitativo con 8 grupos focales, realizado en Guerrero, Jalisco, Morelos y Sinaloa, México, durante 2005-2006. Participaron 40 varones y 63 mujeres. El principal apoyo para la vida cotidiana y la condición de salud de los adultos mayores proviene de los familiares cercanos, en algunos casos de vecinos. Los apoyos de los adultos mayores son básicamente materiales y económicos, así como cierto tipo de acompañamiento y traslado a consultas médicas. El apoyo emocional es mínimo o inexistente, igual la compañía cotidiana y la integración en la vida familiar. Se identificó una ausencia significativa de apoyo por parte del gobierno o de organizaciones religiosas o civiles. La familia continúa siendo la fuente fundamental de apoyo. Es necesario incrementar las acciones gubernamentales para la población adulta mayor y transformar la idea de que las necesidades de esta población es una responsabilidad individual más que colectiva.<br>The aim of this paper was to analyze social support and living conditions among poor elderly people in Mexican cities. A qualitative study with eight focus groups was carried out in Guadalajara, Cuernavaca, Chilpancingo, and Culiacan, Mexico, in 2005. Forty men and 63 women participated in the study. The main support for the elderly in daily living came from their immediate family and in some cases from neighbors. Social support was basically material and economic, in addition to providing company and transportation for medical appointments. Daily emotional support, companionship, and social inclusion were minimal or absent. The study identified a significant lack of support from government and religious or civil society organizations. The family is still the main source of support for the elderly. Increased government collaboration is dramatically needed to combat the misconception that the needs of the elderly are the individual family's responsibility rather than a collaborative effort by society

    The Coral Trait Database, a curated database of trait information for coral species from the global oceans.

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    Trait-based approaches advance ecological and evolutionary research because traits provide a strong link to an organism's function and fitness. Trait-based research might lead to a deeper understanding of the functions of, and services provided by, ecosystems, thereby improving management, which is vital in the current era of rapid environmental change. Coral reef scientists have long collected trait data for corals; however, these are difficult to access and often under-utilized in addressing large-scale questions. We present the Coral Trait Database initiative that aims to bring together physiological, morphological, ecological, phylogenetic and biogeographic trait information into a single repository. The database houses species- and individual-level data from published field and experimental studies alongside contextual data that provide important framing for analyses. In this data descriptor, we release data for 56 traits for 1547 species, and present a collaborative platform on which other trait data are being actively federated. Our overall goal is for the Coral Trait Database to become an open-source, community-led data clearinghouse that accelerates coral reef research
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