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El objetivo general de la investigación fue analizar jurídicamente la detención con fines investigativos y su incidencia en el principio de presunción de inocencia. Se desarrolló la metodología desde el enfoque cualitativo, utilizando varias fuentes bibliográficas a fin de conseguir información real y actualizada para poder alcanzar el objetivo planteado frente al problema jurídico en análisis, contrastando la información con la opinión de los juristas entrevistados. Además, se analizó material bibliográfico, libros, artículos de revista, normativa y leyes, produciéndose así aportes al derecho en la institución del debido proceso en la garantía del deber. Se concluye lo establecido en el artículo 530 del Código Orgánico Integral Penal que regula la detención con fines investigativos incurre en una inconstitucionalidad en virtud de qué vulnera el principio de presunción de inocencia, debido a que la detención se justifica exclusivamente en aquellos casos en un juicio justo la incurrencia en una infracción penal.

Surface electromyographic signals (EMG) historically have been used to classify tasks in basis of a feature extraction scheme and low complexity classifiers. Deep networks, as Multilayer Perceptron and Convolutional Neural Network (MLP and CNN, respectively), avoid the traditional, complex and heuristic (handcrafted) process of feature extraction. Today, it is possible to face the computational cost that these automatic techniques require due to the technology advancement. This allowed deep learning techniques to be quickly generalized to countless applications. This paper proposes to use the third order cumulants and their 2D Fourier transform (Bispectrum) to directly feed CNN and MLP deep learning networks. The classifier is not user-dependent (same classifier for all users) and obtains better results than the classical scheme according to several metrics.

This article presents a novel adaptive controller developed for trajectory tracking tasks in UAVs. The controller is based on a parametric adaptive control law combined with the identification of the non-modeled dynamics by a neural network by using a sliding surface. A stability analysis was made by using Lyapunov theory. The proposal was validated through several simulations where the adaptive features of the controller were proved.

Automatic control has become an important part of the modern industrial processes. Progress both in basic research as applied to automatic control, provide a way to obtain the optimum performance of the dynamical systems, improve the quality and reduce the costs. Robotics, as a part of automatics, represents nowadays an important research area, and it has an essential role in the productive modernization (UNECE and IFR, 2005). The inclusion of industrial manipulators in the manufacturing process allows obtaining better and cheaper products. Therefore, the development of an open software structure for the industrial robots controlling is a very important objective to be achieved (William, 1994), (Frederick and Albus, 1997). The main characteristic of an open software structure for robotics applications is the interface that relates the components of the robot with the basic internal structure. In industrial area, one of the most important works was developed in the framework of the European project OSACA (Open System Architecture for Control within Automation Systems). Similarly, significant contributions were reached in Japan through OSEC (Open System Environment for Controllers) under IROFA (International Robotics and Factory Automation Center), (Sawada and Akira, 1997), and in the United States of America through OMAC (Open Modular Architecture Control). The objective of all these research projects is to develop an open control system including the reference model of the components, the general application interface and the structure so that all the components work together. So far manufacturers do not work together to develop standard control software that could be applied to any industrial robot. On the other hand, several commercial software packages, that run under Windows, for mobile robots can be found. Among the best known ones, Advanced Robotics Interface for Applications (ARIA) is used in the robots manufactured by Mobile Robots Inc., BotController software were developed by MobotSoft and it is used for the well known Khepera and Koala robots. Even when these software packages are powerful and have many benefits, they can be applied only to the robots that were developed. 23

Marine renewable energy (MRE) technologies have been fostered in the European Union (EU) due to their potential contribution to achieving the EU’s climate objectives and the decarbonization of the energy system. However, their development can pose severe environmental risks to marine ecosystems. Hence, the EU requires environmental protection and sustainable growth for the development of MRE in maritime spaces under the sovereignty or jurisdiction of EU Member States. This article analyses the main international law instruments for the protection of the environment against the impacts associated with the deployment of MRE in the EU. It argues that the international legal framework is theoretically capable of protecting the environment against the impacts of MRE, but that it needs to be further developed and specified to ensure exhaustive protection. However, it also highlights the important role of this framework to provide a basis for developing the framework at the EU secondary law level.

The marine renewable energy (MRE) industry is growing exponentially in the European Union (EU) due to, among other factors, its potential contribution to mitigating climate change. However, there are negative environmental effects associated with the development of MRE that could compromise the protection of the marine ecosystems. In this context, the EU requires environmental protection and sustainable growth for the development of MRE. This article identifies and analyses the main features of the legal framework provided by the EU secondary law instruments regulating the protection of the environment against the impacts of MRE and explores options to strengthen such protection. It argues that the fragmented and sectoral legal framework is theoretically capable of protecting the environment against the impacts of MRE, but needs to be further developed, coordinated and specified to ensure protection in practice. The article also highlights that the consideration of MRE as projects subject to compulsory environmental impact assessment (EIA) under the EIA Directive and the consideration of key environmental obligations during the EIA process could strengthen the ability of the legal framework to provide protection.

Infecciones experimentales con C. septicum en ratones sirvieron para estudiar comparativamente el efecto quimoterapéutico de soluciones con sulfametaxozole, sulfadiazina o sulfadoxina, en asociación con trimetoprim. Se estudió el efecto de algunas vías de administración terapéutica asàcomo las dosis óptimas y la influencia del número de dosis de cada tratamiento en el curso de infecciones letales. Se observó la influencia de la edad y peso de los animales confrontados, asàcomo el tiempo de la infección transcurrido antes del tratamiento. Los resultados obtenidos demuestran la efectividad de estos quimoterápicos de amplio espectro en el control de infecciones letales con C. septicum. Esta efectividad parece depender del inoculum de confrontación usado, de la edad y peso de los animales huéspedes, del tiempo de la infección transcurrida antes del tratamiento, asàcomo de la vía de administración y del tipo de tratamiento de usado. Una combinación cuidadosa de estos parámetros, especialmente cuando se usó al asociación de estos parámetros, especialmente cuando se usó la asociación terapéutica sulfadoxina-trimetoprim por la vía intramuscular, dio como resultado altos números de sobrevivencia ante infecciones que en animales controles resultaron ser letales. Se discute el significado de estas observaciones en términos del curso de la infección bacteriana dependiente del mecanismo de acción de cada asociación terapéutica estudiada

La estructura viral puede verse afectada por la presencia de ciertos compuestos químicos. Se demuestra un aumento en el tiempo de mortalidad de embriones de pollo recibieron virus expuestos a conservadores como el fenol o el metil y el propil parabeno, lo que indica una disminución significativa en el número de partículas virales viables capaces de causar infección. Por hemoaglutinación también se demuestra un incremento relativamente pequeño y lento en el número de virus, en función de un tiempo determinado, en líquido alaitoideo de embriones inoculados con virus expuestos a fenol y parabenos, a diferencia de otros embriones que recibieron vacunas expuestas a conservadores como la penicilina y estreptomicina con o sin tampón fosfato. El uso de vacunas tratadas con fenol o parabenos, previo a su administración en pollitos, dieron títulos serológicos en inhibición de la hemoaglutinación bastante bajos, demostrando también la importancia del uso adecuado de conservadores apropiados en una formulación vacunal

La peste porcina clásica es una enfermedad viral , especifica de los cerdos, la cual sólo puede ser prevenida por vacunación. Este trabajo reporta sobre la seguridad de administrar virus vivo modificado por lapinización como profiláctico contra infecciones experimentales homólogas. De las mediciones de temperatura, ante o después de la vacunación y confrontación, en combinación con los resultados histopatológicos, se reporta la incapacidad de los virus modificados, a diferencia de la cepa virulenta de confrontación, de ocasionar infección patológica visualizada por el aparecimiento de fiebre y microcoagulaciones sistémicas con daños endoteliales de los vasos sanguíneos e infiltración lonfoplasmocitaria en los tejidos. A esto se suma la habilidad de estos virus para proteger totalmente contra dosis letales cuando se administran a individuos sanos con pesos alrededor de 9,5 kg o más. La resistencia humoral parece ser importante según los resultados de la administración de suero realizada temprano a los 3 días de la infección; caso contrario, los efectos del virus de confrontación resultaron ser mortalmente irreversibles

C 3H/ Anf mice were immunized with Lubrol or cholate- treated culture forms of the Tuluhuén strain of Trypanosoma cruzi and subsequently challenged with the homologous bloodstream forms. The equivalent of 1x108 – 2x108 detergent-treated culture forms were injected intraperitoneally, intramuscularly or subcutaneously. The mice were challenged intraperitoneally with 1x105 – 2x105 bloddstream forms equivalent to 100-200LD50 administered 21 or 42 days after immunization. The effects of immunization were measured by recording survival times, noting blood and tissue parasitemias, and by attempting to recover parasites from the challenged mice in Rhesus monkey kidney tissue cell cultures and in irradiated mice.

Los parásitos causantes de gastroenteritis en bovinos parecen ser bastantes frecuentes en las ganaderías de Pichincha en Ecuador. Al tiempo de este estudio (entre agosto y septiembre de 1981 y en los meses de enero a junio de 1982) y mediante análisis coproparasitarios se demostraron infecciones naturales cruzadas en animales entre 0 a 24 meses de edad, reconociendo la presencia de varios nematodos de los géneros Trichostrongylus, Haemonchus, Cooperaria, Oesophagostomun y Ostertagia, citados en orden de abundancia y frecuencia. Aparte de estos géneros también se encontraron algunos huevos de Bunostomun, Trichuris, Nematodirus y Ascaris que aparecieron con escasa frecuencia. Los animales estudiados pertenecían a 100 propiedades localizadas en 10 parroquias de los cantones Pedro Moncayo, Cayambe y Rumiñahui donde se observaron técnicas de manejo de animales y condiciones climáticas y de suelos que se prestan para convertir a la zona en endémica para estas infecciones parasitarias lo que obliga a la implementación de continuos programas anuales de desparasitación si no se controla la vehiculización de quistes, huevos y larvas reptantes. De los animales estudiados, los más jóvenes entre 0 (a) 12 meses fueron los más infectados. El levamisol, un antiparasitario de amplio espectro para nematodos, probó ser efectivo contra estos parásitos en los estadíos adulto y larvario utilizando 5mg por kg de peso, vía intramuscular. Su efecto se visualizó al comprobarse una reducción altamente significativa en el número de huevos por gramo de heces durante varios días después del tratamiento. Los resultados también indicaron posibles diferencias en la susceptibilidad del levamisol entre un parásito y otro. Se discute el significado de estas observaciones en términos de la ecología de la zona, las técnicas de manejo de los animales, el ciclo de vida de los parásitos asàcomo las propiedades farmacodinamias y el mecanismo de acción del levamisol.

Fil: Mesquida, Cesar Dario. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Centro Cientifico Tecnologico Conicet - Patagonia Norte. Instituto de Investigacion y Desarrollo en Ingenieria de Procesos, Biotecnologia y Energias Alternativas. Universidad Nacional del Comahue. Instituto de Investigacion y Desarrollo en Ingenieria de Procesos, Biotecnologia y Energias Alternativas; Argentina. Universidad Nacional del Comahue. Facultad de Ingenieria. Departamento de Mecanica; Argentina

Both necrotizing enterocolitis and acute kidney injury are tightly related conditions, which independently increase mortality in newborns. Necrotizing enterocolitis is an inflammatory disease with a systemic repercussion that leads to inflammatory kidney changes predisposing to renal damage.This study assessed risk factors for the development of acute kidney injury in patients diagnosed with necrotizing enterocolitis and compared mortality between patients with or without acute kidney injury. Thirty-nine patients with the diagnosis of necrotizing enterocolitis were included, regardless of the gestational age.Of 39 patients, 38.5% developed acute kidney injury. Survival showed to be significantly lower in patients with acute kidney injury (54.4 days) when compared to newborns without acute kidney injury (76.22 days; p = 0.014). Mortality in patients with acute kidney injury was 46.7%, increasing up to 62.5% with severe kidney damage. The hazard ratio for mortality was 4.708 for acute kidney injury (p = 0.025). The severity of enterocolitis showed to be an independent risk factor in developing acute kidney injury and severe kidney injury (odds ratio [OR] = 1.841, p = 0.034 and OR = 1.917, p = 0.027, respectively).Newborns with necrotizing enterocolitis should be evaluated for early recognition of acute kidney injury. Prospective studies with a higher number of patients are needed to identify modifiable risk factors to impact in the prevention of these conditions.La enterocolitis necrosante y el daño renal agudo son condiciones íntimamente relacionadas que incrementan independientemente la mortalidad en recién nacidos. La enterocolitis necrosante es una enfermedad inflamatoria sistémica que desencadena cambios renales inflamatorios, predisponiendo el desarrollo de daño renal.Se analizaron los factores de riesgo para el desarrollo de daño renal agudo en pacientes con diagnóstico de enterocolitis necrosante y se comparó la mortalidad entre los pacientes sin daño renal y los pacientes con daño renal agudo. Se incluyeron 39 pacientes con diagnóstico de enterocolitis necrosante, independientemente de la edad gestacional.De los 39 pacientes, el 38.5% desarrolló daño renal agudo. La sobrevida de los que desarrollaron daño renal agudo (54.4 días) mostró ser significativamente menor al compararse con los recién nacidos que no presentaron daño renal (76.22 días; p = 0.014). La mortalidad en los pacientes con daño renal agudo fue del 46.7%, que se incrementó hasta el 62.5% en aquellos con daño renal grave. El riesgo de mortalidad fue de 4.708 para daño renal agudo (p = 0.025). La gravedad de la enterocolitis necrosante demostró ser un factor de riesgo independiente para el desarrollo de daño renal agudo y de daño renal agudo severo (razón de momios [RM] = 1.841; p = 0.034 y RM = 1.917; p = 0.027, respectivamente).Los recién nacidos con diagnóstico de enterocolitis necrosante deben ser evaluados para reconocer de forma temprana la presencia de daño renal agudo. Se requiere de estudios prospectivos con mayor número de pacientes para identificar factores de riesgo modificables que puedan impactar en la prevención de estas patologías.

This paper introduces the reader into the interdisciplinary nature of environmental law, through the review of a case of green areas ecosystem degradation by Lima’s city urban growth. The authors show the usefulness of using history, urban planning, environmental policy, environmental management tools, criminal prosecution, among other disciplines, in order to apply the legislation in a coherent manner and oriented to contribute to the common well-being. The integration of these multiple approaches in the Sustainable Development Goals by 2030, allows fi nancing for projects help overcome the challenges in order to reconcile urban growth and urban green areas conservation. El artículo introduce al lector en una reflexión sobre la interdisciplinariedad del derecho ambiental a partir de un caso específico de deterioro de servicios ambientales de las áreas verdes por el crecimiento de la ciudad de Lima. Los autores muestran la utilidad de apelar a la historia, el ordenamiento urbano, la política ambiental, los instrumentos de la gestión ambiental, la investigación criminal, entre otras disciplinas, para poder aplicar la legislación de manera coherente y orientada a contribuir al bienestar común. La integración de estos múltiples enfoques en los Objetivos de Desarrollo Sostenible hacia el 2030, permite financiar proyectos que ayuden a superar los desafíos de conciliar el crecimiento urbano con la conservación de las áreas verdes de las ciudades.

This paper proposes a neuro-adaptive controller evolving in a sub-actuated formation. A formation controller based on the null space approach is defined to obtain the references for local controllers for each one of the quadrotors defined to the transportation task. Formation controller takes into account the transport of a cable-suspended load with two quadrotors considering collision avoidance, wind perturbations, and proper distribution of the load weight. A neuro-adaptive sliding mode control (SMC) controller is defined with the objective to achieve the references obtained by the formation controller. These adjustment laws were obtained through the Lyapunov stability criterion. Finally, numerical simulation shows the excellent performance of the proposed technique for trajectory tracking tasks in unknown navigation environment.

Marine renewable energies (mres) have become a priority in the eu due to their potential contribution to mitigating climate change and providing competitive, affordable, and secure energy (among other benefits). However, the installation, maintenance, operation, and decommissioning of mres, in addition to the energy transmission to the grid and the development of the related industry, could compromise the protection of the marine environment. The Regional Seas Conventions (rscs) are some of the relevant legal instruments for the protection of the marine environment at the European regional level. This article analyses the applicability of the rscs to mres and argues that these instruments offer only generic protection against the environmental effects associated with the deployment of these sources of energy. However, the interaction between the rscs and relevant eu secondary law instruments applicable to mres can strengthen the environmental protection against the environmental effects of mres in the eu’s maritime spaces. 1

This work presents a neuro-adaptive control method in sliding mode control designed in discrete time for SCARA robot arm. The proposed control structure is based on neuro-adaptive sliding mode control to adjust dynamics variations of the SCARA robot. The sliding control is included to ensure that the discrete-time neural control can improve the stable closed loop system to be immune to the parameters variations. The proposed technique simultaneously ensures the stability of the adaptation of neural networks and can obtain adequate control when the robots parameters are inexactly or unknown. This adaptive neural system was applied on a SCARA type robot arm where the trajectory tracking error converges to zero. Finally, experiments have been developed on SCARA robot arm to demonstrate the efficiency of the proposed technique, including comparison with a classical controller. Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

This work presents a discrete-time sliding mode neuro-adaptive control (DTSMNAC) method for robot manipulators. Due to the dynamics variations and uncertainties in the robot model, the trajectory tracking of robot manipulators has been one of the research areas for the last years. The proposed control structure is a practical design that combines a discrete-time neuro-adaptation technique with sliding mode control to compensate the dynamics variations in the robot. Using an online adaptation technique, a DTSMNAC controller is used to approximate the equivalent control in the neighborhood of the sliding surface. A sliding control is included to guarantee that the discrete-time neural sliding mode control can improve a stable closed-loop system for the trajectory tracking control of the robot with dynamics variations. The proposed technique simultaneously ensures the stability of the adaptation of the neural networks and can be obtained a suitable equivalent control when the parameters of the robot dynamics are unknown in advance. This neural adaptive system is applied to a SCARA robot manipulator and shows to be able to ensure that the output tracking error will converge to zero. Finally, experiments on a SCARA robot have been developed to show the performance of the proposed technique, including the comparison with a PID controller. Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

Four peloids with therapeutic properties from the Copahue geothermal system were comparatively studied. Three of them were naturally produced within the “Chancho” lagoon (ChL), the “Sulfurosa” lagoon (SL), and the “Verde” lagoon (VL), whereas the last one was the result of an industrial-scale maturation experience called “Maturation lagoon” (ML). The liquid phase of the peloids presents percentages of mineral-medicinal water ranging between 55.6% (SL) and 77.4% (VL), which is classified as acidic and sulphate-rich with significant quantities of calcium and sodium cations. The solid phase study evidenced that VL is a phyllo-peloid constituted mainly of clay minerals, while the other three materials were classified as sulfo-peloids due to the high content of sulfur in their composition. The clay minerals found in all peloids were dioctahedral smectite and kaolinite. Two drying methods were studied for the samples: the stove-drying method (SD) and the freeze-drying method (FD). The materials obtained by FD showed a greater adsorbent capacity and were more easily dispersible in water, being used to prepare the so-called “enhanced” peloids. This type of peloid consists of a drug adsorbed on its solid phase, that can be released improving the peloid's therapeutic effect. Lidocaine (LID) was used as an adsorbate, achieving adsorption values of 30 mg.g−1 for the natural peloids, thus reaching similar proportions to those of commercial formulations. Drug release tests performed with enhanced peloids showed that in aqueous media up to 50% of LID was desorbed within one hour when the raw material was ML. The high potential of these improved peloids for prolonged drug release is emphasized.

In modern agriculture, the efficient use of water for irrigation is essential for the development and sustainability of agricultural undertakings. In order to do so, this paper presentsthe design of an irrigation controller based on a water movement model in the soil that allows knowing the moisture value at different depths. A model-based predictive control strategy is proposed to determine the operation of the irrigation valves, taking into account the system constraints (maximum input flow, maximum and minimum water content levels, irrigation requirements); In this way, the controller determines the times to start the irrigation and the amount of water to be supplied through a drip irrigation system. At first instance, the functioning of the predictive control algorithm is evaluated without taking into account the extraction of water, either by evaporation or by the consumption of some type of crop.

In this paper, we present a novel trajectory tracking algorithm for a four-rotor air vehicle (quadrotor). The PID controller is developed following an adaptive neuronal technique, and the discrete theory of Lyapunov verifies its stability. Also, the neuronal identification of the UAV dynamic model is presented. Besides, an extended Kalman filter is used in order to filter the signals from the aerial vehicle that are contaminated by measurement noises, and that can affect the quality of the identification. Then, the output errors are re-propagated to adjust the PID gains to reduce the control errors. Finally, the experimental results are presented using a four-rotor aerial vehicle (quadrotor), by comparing the presented proposal with a classical fixed-gain PID. Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Tosetti Sanz, Santiago Ramon. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

In this paper a MIMO (Multiple-Input-Multiple-Output) adaptive neural PID (AN-PID) controller that can be applied to a nonlinear dynamics is proposed, and its use is shown in the control of a SCARA robot for two degrees of freedom. The AN-PID controller, including a neural network of the dynamic perceptron type, is designed. The proposed controller uses a RBF network to identify the model and back propagates the control error to the AN-PID controller, unlike other controllers, that use direct methods to back propagate such error. With these properties, an AN-PID controller corrects the tracking errors due to the uncertainties and variations in the robot arm dynamics. It is robust and with adaptive capacity in order to achieve a suitable control performance. Experimental results on the SCARA robot were obtained to illustrate the effectiveness of the proposed control strategy, including comparison with a classical PID. By using Lyapunovs discrete-time theory, it was demonstrated that the control error is semi-global uniformly ultimate bounded (SGUUB). Fil: Oliveira Freire, Eduardo. Universidade Federal de Sergipe; Brasil Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina

In this work, it will be reported original results concerning the application of PID Adaptive Neural controller in mobile robot in trajectory tracking control. In this control strategy the exact dynamical model of the robot will not need to be known and identified. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and dynamics variations in the robot dynamic are compensated by an adaptive neural PID controller. The resulting adaptive neural PID controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance. The stability of the proposed technique (based on Lyapunov’s theory) was demonstrated. Finally, experiments on a mobile robot have been developed to show the performance of the proposed technique, including the comparison with other controllers. Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina

This work presents an adaptive trajectory tracking controller for an unmanned aerial vehicle (UAV) which combines a feedback linearization controller based on a nominal model of a quadrotor and a Neuro Adaptive Compensation (NAC). The NAC is introduced in order to minimize the control errors caused by uncertainties in the nominal parameters. The uncertain parameters of the nominal model are balanced by a Neuro Adaptive Compensator. The proposed adaptive control scheme is robust and efficient to achieve a good trajectory following performance for outdoor and indoor applications. The analysis of the neural approximation error on the control errors is included. Finally, the effectiveness of the control system is proved through numerical simulation.

A design of sliding mode controllers (SMC) with adaptive capacity is presented. This control technique is formed by two cascaded SMC controllers, one of them having an adaptive neural compensator (ANC); both are put on a WMR (wheeled mobile robot). The mobile robot is divided into a kinematics and a dynamics structure; the first SMC controller acts only on the kinematic structure and the SMC with neural adaptive compensator on the other one. The dynamic SMC was designed applying an inverse dynamic controller and using the model dynamics of the WMR. The adaptive neural compensation (ANC) was used in order to reduce the control error caused by the dynamics variations but it conveys a residual approximation error, so a sliding part was designed to cancel such error. This technique allows achieving the control objective despite parameter variations and external disturbances that take place in the dynamics; on the other hand, the ANC can adjust its neural parameters to reduce the dynamics variations of the WMR and thus improve the trajectory tracking control. Problems of convergence and stability are treated and design rules based on Lyapunov's theorem are given. Fil: Capraro Fuentes, Flavio Andres. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Rossomando, Francisco Guido. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina

In this work, original results, concerning the application of a discrete-time adaptive PID neural controller in mobile robots for trajectory tracking control, are reported. In this control strategy, the exact dynamical model of the robot does not need to be known, but a neural network is used to identify the dynamic model. To implement this strategy, two controllers are implemented separately: a kinematic controller and an adaptive neural PID controller. The uncertainty and variations in the robot dynamics are compensated by an adaptive neural PID controller. It is efficient and robust in order to achieve a good tracking performance. The stability of the proposed technique, based on the discrete-time Lyapunov's theory, is proven. Finally, experiments on the mobile robot have been developed to show the performance of the proposed technique, including the comparison with a classical PID. Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina

An 83-year-old high-risk gentleman diagnosed with severe symptomatic aortic stenosis was scheduled for TAVR. A 31mm CoreValve was implanted but severe paravalvular leak was noted. A valve-in-valve procedure was performed. However, the valve frame was partially dislodged into de ascending aorta. We report our strategy to solve this severe leak after a failed valve-in-valve procedure.

In this work a neural indirect sliding mode control method for mobile robots is proposed. Due to the nonholonomic property and restricted mobility, the trajectory tracking of this system has been one of the research topics for the last ten years. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a practical design that combines an indirect neural adaptation technique with sliding mode control to compensate the dynamics of the robot. Using an online adaptation scheme, a neural sliding mode controller is used to approximate the equivalent control in the neighbourhood of the sliding manifold. A sliding control is appended to ensure that the neural sliding mode control can achieve a stable closed-loop system for the trajectory-tracking control of a mobile robot with unknown nonlinear dynamics. The proposed design simultaneously guarantees the stability of the adaptation of the neural nets and obtains suitable equivalent control when the parameters of the robot model are unknown in advance. The robust adaptive scheme is applied to a mobile robot and shown to be able to guarantee that the output tracking error will converge to zero. Fil: Rossomando, Francisco Guido. Gobierno de San Juan. Ministerio de Producción y Desarrollo Económico. Subsecretaría de Ciencia y Técnica; Argentina Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina

La caída del Che en Bolivia —a nuestro modo de ver- significó un punto de viraje de la historia latinoamericana, en la segunda mitad de este Siglo xx. Quizá podría situarse como el acontecimiento que marca el punto de inflexión de la efervescencia revolucionaria iniciada con la Revolución Cubana de 1959. Tendencialmente, su muerte marca el camino de procesos políticos y sociales regresivos que se desplegaron después, y prosiguen hasta hoy en día. La personalidad del Che, como pocas en este si...

This study proposes an inverse non-linear controller combined with an adaptive neural network proportional integral (PI) sliding mode using an on-line learning algorithm. The neural network acts as a compensator for a conventional inverse controller in order to improve the control performance when the system is affected by variations on their dynamics and kinematics. Also, the proposed controller can reduce the steady-state error of a non-linear inverse controller using the on-line adaptive technique based on Lyapunov's theory. Experimental results show that the proposed method is effective in controlling dynamic systems with unexpected large uncertainties.

El sistema penitenciario en el país está a cargo del Instituto Nacional Penitenciario (INPE), que administra un total de 66 establecimientos, organizados en ocho Oficinas Regionales (OR). De acuerdo con el artículo 139 la Constitución Política, este organismo público descentralizado del Ministerio de Justicia y Derechos Humanos tiene, como ente rector del sistema penitenciario nacional, la responsabilidad de hacer que los internos ocupen establecimientos adecuados (inciso 21) y que alcancen la reeducación, rehabilitación y reincorporación a la sociedad (inciso 22). Ambas responsabilidades, sin embargo, son claramente incumplidas. Las cárceles padecen hoy de sobrepoblación y hacinamiento sorprendentes, y es más, de condiciones adecuadas para impulsar seriamente el complejo proceso de reeducación, rehabilitación y reincorporación. Lo peor es que la sobrepoblación ya se hace incontrolable. El último año, de junio del 2011 a junio del 2012, la población de internos, según informe del INPE, llegó a 58 019, y alcanzó un asombroso crecimiento de 19,4%, es decir, 9 433 presos más. Las razones de todo este problema, sin duda, son tan diversas, que inclusive van más allá de las decisiones del propio organismo. Es conocido que esta situación es dramática en las cárceles de Lima y Callao, pero no deja de ser preocupante en el interior del país. Los autores - la mayoría - estando desempeñandonos en la Policía Nacional del Perú y siendo a la vez estudiantes de Derecho, quisimos conocer esta realidad en las cárceles en Huancayo, conformantes de la Oficina Regional Centro, y por está razón se comprometió en apoyar a las internas a través de un proceso de asesoría legal, previo estudio sobre la situación del Establecimiento Penitenciario de Mujeres de Concepción, una de la ocho cárceles de mujeres existentes en el país y la única en la zona centro. Su capacidad de albergue es para 55 internas. Está ubicada en la provincia de Concepción, a 21 kilómetros de la ciudad de Huancayo, región Junín, y funciona desde 1998, hoy regida por la directora Irma Pretell Santillana. Esta investigación, realizada entre febrero y junio del presente año, tuvo la finalidad de elaborar un diagnóstico de la situación de las internas del referido establecimiento para contribuir en las decisiones orientadas a impulsar el proceso de reeducación, rehabilitación y reincorporación de estas personas a la sociedad, como fin de la pena. En este diagnóstico, identificamos aspectos relacionados al nivel educativo, estado de salud y la situación legal de las internas, entre otros, porque consideramos que se trata de información fundamental para asumir decisiones en bien de dicho proceso, que nos interesa fomentar su cumplimiento como estudiantes de Derecho. Y es que toda pena que se limita a la simple sanción o castigo, resulta injusta y atentatoria contra los derechos humanos. Como lo establece el Código Penal, consideramos que la pena tiene la función preventiva, protectora y resocializadora (2). La pena es definida como una sanción que produce la pérdida o restricción de derechos personales, contemplada en la ley e impuesta por el órgano jurisdiccional, mediante un proceso, al individuo responsable de la comisión de un delito (3). Es impuesta en función a la gravedad del delito. La pena privativa de la libertad, como pena mayor, aún sigue siendo la más adecuada en nuestro país. Por eso, la Comisión Revisora del Código Penal, a pesar de reconocer la potencia criminógena de la prisión, considera que la pena privativa de la libertad mantiene todavía su actualidad como respuesta para los delitos que son incuestionablemente graves (2). Sin embargo, la pena no solo debe responder a una simple sanción, sino además perseguir fines que a la postre ayuden a los penados a un cambio, mediante la reeducación, rehabilitación y reincorporación social, que es el objeto de la ejecución penal, tal como lo reafirma también el propio Código de Ejecución Penal (4). Este trato humano es respaldado asimismo por la normatividad internacional en materia de derechos humanos que nuestro país ha suscrito ante las Naciones Unidas y que hoy tiene rango constitucional y por lo tanto es de cumplimiento obligatorio (5); también, el Pacto Internacional de Derechos Civiles y Políticos, que uno de los convenios fundamentales, defiende el trato digno a las internos y alienta a que el régimen penitenciario promueva la “reforma y readaptación social” del mismo (6). Por esta razón, el presente estudio es muy útil. La investigación, no obstante, fue ardua. Establecimos coordinación permanente con los directivos del mencionado establecimiento, mediante cartas, para acceder a las instalaciones. Visitamos a la internas y levantamos la información del caso de manera directa y personalizada. Para ello, aplicamos un cuestionario estructurado con el fin de obtener datos sobre la situación socioeconómica, de salud y situación legal de las Internas del penal de Concepción, que nos permitió registrar valiosa información y que a continuación destacamos.

In the present paper, it will be reported original results concerning the application of Neural Networks (NN) in mobile robot in trajectory tracking control. This work combines a feedback linearization based on a nominal model and an NN adaptive dynamic compensation. In mobile robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematic controller and an inverse dynamic controller. The uncertainty in the nominal dynamic model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The learning laws were deduced by Lyapunov's stability analysis. Finally, the performance of the control system is verified through experiments.

SUMMARYIn this work, a vision-based control interface for commanding a robotic wheelchair is presented. The interface estimates the orientation angles of the user's head and it translates these parameters in command of maneuvers for different devices. The performance of the proposed interface is evaluated both in static experiments as well as when it is applied in commanding the robotic wheelchair. The interface calculates the orientation angles and it translates the parameters as the reference inputs to the robotic wheelchair. Control architecture based on the dynamic model of the wheelchair is implemented in order to achieve safety navigation. Experimental results of the interface performance and the wheelchair navigation are presented.

To establish recommendations for wetland management that promote wildlife diversity in Mediterranean habitats we examined the factors that determine feeding habitat selection by the black stork Ciconia nigra in ponds. The black stork is considered an umbrella species because it is threatened, requires large foraging ranges in priority areas, is selective in its choice of diet and nesting sites, and inhabits a characteristic biological community with endemic and threatened taxa. Eighty-five ponds were monitored in central and western Spain to detect the stork feeding. At the same time, pond variables that could affect black stork feeding preferences were periodically evaluated. Generalized linear mixed models were used to analyse principal components obtained from groups of factors related to structural, location and ecological conditions. The black stork selects ponds distant from roads, with a large surface area, high water level, shallow shores, low turbidity, few traces of wild ungulates on the shores, a high diversity of fish and amphibian species, and a vegetated perimeter, in flat and open areas. Potential factors affecting feeding behaviour are discussed. We suggest measures for pond construction and management that could favour this species in particular and biodiversity in general in the Mediterranean environment.

This paper presents an approach to adaptive trajectory tracking of mobile robots which combines a feedback linearization based on a nominal model and a RBF-NN adaptive dynamic compensation. For a robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematics controller and an inverse dynamics controller. The uncertainty in the nominal dynamics model is compensated by a neural adaptive feedback controller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. The analysis of the RBF-NN approximation error on the control errors is included. Finally, the performance of the control system is verified through experiments.

[ES] En este trabajo se presenta un control de seguimiento de trayectorias de robots móviles. La estructura de control propuesta combina una linealización por realimentación basada en el modelo cinemático nominal, y una red neuronal directa para el control dinámico adaptable. La dinámica del robot es aprendida por una red neuronal basada en funciones de base radial (RN-FBR) en un lazo de realimentación adaptable, ajustando el peso y las funciones de base radial. Se muestra un análisis de estabilidad del sistema de neuro-control adaptable. Se comprueba que los errores de control están limitados en función del error de aproximación de la RN-FBR. El funcionamiento del controlador también se verifica experimentalmente., [EN] This paper presents an adaptive trajectory tracking control for mobile robots for which stability conditions and performance evaluation are given. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a direct neural network-based adaptive dynamics control. The control system design is done considering uncertain dynamic parameters in the dynamic model of the robot. The uncertainty in the dynamics model is learned by a RBF neural network in an adaptive feedback loop, adjusting the weight and the radial basis functions. The proposed RBF-NN scheme is computationally more efficient than the case of using the learning capabilities of the neural network to be adapted, as that used in feedback architectures that need to back propagate the control errors through the model (or network model) to adjust the neurocontroller. The resulting adaptive controller is efficient and robust in the sense that it succeeds to achieve a good tracking performance with a small computational effort. Stability result for the adaptive neuro-control system is given. It is proved that control errors are ultimately bounded as a function of the approximation error of the RBF-NN. Experimental results show the practical feasibility and performance of the proposed approach to mobile robots.

We studied the factors that determine the presence of the cinereous vulture Aegypius monachus at 134 carcasses experimentally distributed in Special Protection Areas for Birds (SPA) in western and central Spain. Our goals were to assess the use of these carcasses and by-products in order to find out the cinereous vulture's food preferences and thus provide recommendations for the management of specific vulture restaurants for this species. Our results suggest that the number of cinereous vultures that come to feed on the carcasses is related to the quantity of biomass present and to the types of pieces of the provided food. Cinereous vultures prefer individual, medium-sized muscular pieces and small peripheral scraps of meat and tendon. The time that elapses before the cinereous vultures begin to consume a carcass depends on the biomass delivered, the number of pieces into which it is divided, and the type categories of the provided food. The population density of the species in our study area and the breeding stage seem to determine the time invested in feeding at the carcasses. These results may help managers to optimise the creation of vulture restaurants and favour their use by cinereous vultures., Our study was carried out within the framework of the monitoring programme of the LIFE 03/ NAT/E/0050 project ’Conservación del águila imperial ibérica, buitre negro y cigüeña negra’ (Conservation of the Spanish imperial eagle, cinereous vulture and black stork), implemented by the Fundación CBD-Habitat in conjunction with the autonomous communities of Castilla-La Mancha, Extremadura and Madrid, and the Ministerio de Medio Ambiente y Medio Rural y Marino (Ministry of the Environment and Rural and Marine Affairs). It was co-funded by the European Commission.

Flat membranes of polysulfone (PSf)/zirconium oxide (ZrO2) with several oxide percentages were synthesized by the phase inversion process adding ZrO2 to the casting solution. The effect of inorganic material concentration on the pore mean diameter, on the hydraulic permeability and on the decline of permeate flow in the ultrafiltration of an oil emulsion was analyzed. The results indicate that mean pore radius increases with zirconium oxide content. The presence of zirconium oxide in the casting solution produces membranes with a higher hydraulic permeability. There is an optimum oxide concentration for which the stationary permeate flow is 30% higher than that of an oxide-free membrane.

In this paper, a visual servo control for a mobile robot evolving in intensive farming environments consisting of rows of fruit trees is presented. The calculation of the current position of the robot is based on the perspective lines that define the navigation's path. These lines are obtained through the processing of visual images captured by the robot. The image is segmented using statistical techniques based on the analysis of the color characteristics and the spatial distribution of the descriptive points of the path. The perspective lines are determined through the Hough transform, which describe mathematically the navigation environment. Based on these lines, the relative position of the vehicle in the grove alleyway is calculated and a kinematics control algorithm is designed for the autonomous navigation along the corridor. The stability of the resulting control system is proved based on the Lyapunov theory. The experimental results in an environment of growing olive trees shows a good p...

A biocompatible polymer has been used to functionalize 45–50 nm diameter γ-alumina nanoparticles. Because the target was to use these systems in real applications, polyvinylpirrolidone (PVP) was chosen due to the characteristics of non-toxicity, biocompatibility, and feasibility of this polymer to form complexes with many cations and chemical species. This approach allows the use of these materials in medicine and food, textile, or pharmaceutical industry. The functionalization process required a previous attachment of an active group on the surface of the nanoparticles. Subsequently, a polymer chain was generated in situ, using vinyltrimethoxysilane (VTMS) and 1-vinyl-2-pyrrolidone (VP) as reactives. The morphology and topology of the nanocompound has been characterized in aqueous suspensions, attending to possible applications in this medium. The results obtained from the different techniques show that the polymer chain was successfully grafted to the nanoparticle surface, and allow an estimation of the size of the modified particle. Their electrical and conformational behavior have also been studied in different aqueous chemical environments.

The customary recommendation is that oral anticoagulation be withdrawn a few months after cryoablation for atrial fibrillation, independently of left atrial mechanical contraction in patients in sinus rhythm. Recently, a 5-fold increase in stroke has been described in sinus-rhythm patients who lack atrial mechanical contraction. One aim of this study was to evaluate the efficacy of oral anticoagulation in preventing postoperative stroke in such patients. This prospective study divided 154 sinus-rhythm patients into 2 groups, depending on the presence (108 patients) or absence (46 patients) of left atrial mechanical contraction at 6 months after surgery, and monitored them annually for 5 years. Those without left atrial contraction were maintained on acenocumarol. The primary endpoint was the occurrence of ischemic stroke. The median follow-up period was 29 ± 16 months; 4 patients (2.5%), all belonging to the group with preserved atrial contraction, had ischemic stroke; the group of patients without left atrial contraction had no episodes of stroke during follow-up. Logistic binary regression analyses showed no evidence of factors independently predictive of stroke. Among anticoagulated patients in sinus rhythm without left atrial contraction, we found the incidence of stroke to be zero. In a small, nonrandomized group such as this, we cannot discount the element of chance, yet we suggest that maintaining anticoagulation might lower the incidence of stroke in this population.