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The paper presents an approach for the identification of the parameters of an Unmanned Aerial Vehicle (UAV), specifically a quadrotor using experiments in a CAD environment. A linearized control model is proposed to create a global model that operates in all operation range. Usually, in this type of systems a linear time invariant (LTI) controller is used, and then a lineal control model around each operating point is needed to the design of the controller. In this study, a linear control model suitable in each operating point is developed and identified. This serial of LTI control model can be combined and provides a global control model. Therefore, through this global control model can be designed a global controller suitable for all the operating range.

Wastewater plants, mainly with secondary treatments, discharge polluted water to environment that cannot be used in any human activity. When those dumps are in the sea it is expected that most of the biological pollutants die or almost disappear before water reaches human range. This natural withdrawal of bacteria, viruses and other pathogens is due to some conditions such as the salt water of the sea and the sun effect, and the dumps areas are calculated taking into account these conditions. However, under certain meteorological phenomena water arrives to the coast without the full disappearance of pollutant elements. In Mediterranean Sea there are some periods of adverse climatic conditions that pollute the coast near the wastewater dumping. In this paper, authors present an automatic control that prevents such pollution episodes using two mathematical models, one for the pollutant transportation and the other for the pollutant removal in wastewater spills.

Family members of people with Borderline Personality Disorder (BPD) often experience high levels of psychological symptoms such as depression, anxiety, or burden. Family Connections (FC) is a pioneer program designed for relatives of people with BPD, and it is the most empirically supported treatment thus far. The aim of this study was to carry out a randomized clinical trial to confirm the differential efficacy of FC versus an active treatment as usual (TAU) in relatives of people with BPD in a Spanish population sample. The sample consisted of 121 family members (82 family units) and a total of 82 patients who participated in a two‐arm randomized controlled trial (RCT). The primary outcome was burden of illness. Secondary outcomes were depression, anxiety, stress, family empowerment, and quality of life. This is the first study to evaluate relatives and patients in an RCT design comparing two active treatment conditions of similar durations. Although no statistically significant differences were found between conditions. However, the adjusted posttest means for FC were systematically better than for TAU, and the effect sizes were larger in burden, stress, depression, family functioning, and quality of life in the FC intervention. Patients of caregivers who received the FC condition showed statistically significant improvements in stress, depression, and anxiety. Results indicated that FC helped both patients and relatives pointing to the importance of involving families of patients with severe psychological disorders. [ABSTRACT FROM AUTHOR]

Introduction: The overvaluation of weight and shape is a diagnostic criterion in eating disorders, except in binge eating disorder (BED), where it has received less attention. This aspect is also not usually analyzed in people with overweight or obesity without an eating disorder. This research aims to identify the indicators of symptomatology, as well as those of self-construction and cognitive structure, that are associated with overvaluation in obesity, either alone or in conjunction with BED. Method: A sample of 102 overweight or obese participants was accessed. The sample was divided into four groups: one without overvaluation or BED (n = 33); a second with overvaluation and without BED (n = 21); a third with BED, but without overvaluation (n = 15), and a fourth with BED and overvaluation (n = 33). The groups completed instruments regarding eating symptomatology, anxiety, depression, and stress. In addition, they were administered the Repertory Grid Technique, a semi-structured interview to evaluate the cognitive structure involved in the construal of the self and others. Results: The factors of overvaluation and the presence of BED independently explained eating symptomatology, and the latter also showed a tendency to influence anxiety, depression, and stress. In terms of cognitive structure, weight polarization was explained by overvaluation, while BED was associated with a high presence of cognitive conflicts. In self-construction, BED was the factor that explained the differences, particularly in Self-Ideal discrepancy. Discussion: The results highlight the importance of overvaluation in obesity, even in the absence of BED. Its evaluation and treatment are recommended. Furthermore, in the case of BED, it is also advisable to evaluate the overvaluation of weight and shape since it can be a severity specifier. [ABSTRACT FROM AUTHOR]

The eastern Ebro basin is composed of an extensive irrigated plain, surrounded by rainfed slopes and wooden mountain ranges and open to the west to the agricultural western Ebro basin. The sea breeze generated at the coast is able to surmount the Catalan prelitoral range through its lowest heights, reaching the basin by its easternmost part. It is a well‐known feature in the region, called Marinada. A network of Automatic Weather Stations is used here to analyse a period of 19 years (2003–2021). A filtering procedure is developed which selects the events when the Marinada is present, based on detecting clear sky, weak wind conditions and the wind direction from the coast in the afternoon. The analysis of these days show that the Marinada propagates along the basin in the afternoon meanwhile observations of the specific humidity show a sudden increase as the temperature cools down, resulting on a cold and humid advection. It is also found that the timing of the arrival of the Marinada depends on the mesoscale/synoptical circulations already present in the region (westerlies or a thermal low). [ABSTRACT FROM AUTHOR]

Underwater images often suffer from degradation due to scattering and absorption. With the development of artificial intelligence, fully supervised learning-based models have been widely adopted to solve this problem. However, the enhancement performance is susceptible to the quality of the reference images, which is more pronounced in underwater image enhancement tasks because the ground truths are not available. In this paper, we propose a light-enhanced pixel fusion network (LEPF-Net) to solve this problem. Specifically, we first introduce a novel light enhancement block (LEB) based on the residual block (RB) and the light enhancement curve (LE-Curve) to restore the cast color of the images. The RB is adopted to learn and obtain the feature maps from an original input image, and the LE-Curve is used to renovate the color cast of the learned images. To realize the superb detail of the repaired images, which is superior to the reference images, we develop a pixel fusion subnetwork (PF-SubNet) that adopts a pixel attention mechanism (PAM) to eliminate noise from the underwater image. The PAM adapts weight allocation to different levels of a feature map, which leads to an enhancement in the visibility of severely degraded areas. The experimental results show that the proposed LEPF-Net outperforms most of the existing underwater image enhancement methods. Furthermore, among the five classic no-reference image quality assessment (NRIQA) indicators, the enhanced images obtained by LEPF-Net are of higher quality than the ground truths from the UIEB dataset. [ABSTRACT FROM AUTHOR]