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Abraham Efraim Rodríguez-Mata,Ivan González-Hernández,Jesus Gabriel Rangel-Peraza,Sergio Salazar,Rogelio Lozano Leal 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2
Wind is considered a strong disturbance for quadrotor aircrafts (UAV) when an outdoor task at a fixed point is carried out. The effect of wind produces a distortion on the attitude of the vehicle which is reflected on undesired longitudinal movements. This paper addresses a real-time implementation and design of a robust embedded control-observer based on a type high-gain observer algorithm for on-line estimation and compensation of external disturbances produced by wind gusts on an autonomous quadrotor aircraft. A real-time experimental implementation of embedded Residual High Gain algorithm control is proposed in order to eliminate the effects of real perturbations in the hover position of the UAV. A Lyapunov function was used to practical stability analysis the system. Also numerical simulations were carried out to estimate wind behavior by the use of Drydel mathematical wind model. The main contribution of this work is the implementation of a Residual High Gain Observer in an outdoor real-time experiment in presence of real wind gusts perturbations. The proposed embedded algorithm control improves the stabilization of an UAV in the presence of real wind gusts with average of 8 m/s. The proposed algorithm improved the UAV behavior as shown by the GPS position experimental results, decreasing the wind effect on the translational movement of the aircraft.
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Abraham Efraim Rodríguez-Mata,Leonel Ernesto Amabilis-Sosa,Adriana Roé-Sosa,José Manuel Barrera-Andrade,Jesús Gabriel Rangel-Peraza,María G. Salinas-Juárez 한국화학공학회 2019 Korean Journal of Chemical Engineering Vol.36 No.3
This article proposes the use of mathematical models obtained by the Pearson correlation between the concentration of various recalcitrant organic compounds (ROCs) measured by chromatographic analysis (ChrA) and experimental chemical oxygen demand (COD). The aim is to reduce the number of samples processed by the ChrA, diminishing the economic costs of analysis. Ten ROCs, including pesticides, colorants, aromatic hydrocarbons and pharmaceuticals compounds, were introduced into four advanced oxidation processes operated at different residence times. Every ROC was tested at each residence time by COD determination and by quantification of concentrations with ChrA. Furthermore, chemical equations for the COD reaction of every ROC were formulated. A linear model was obtained for all the ROCs, after corroborating that the correlation between theoretical and experimental COD was >0.99, which established the ROC concentration from the experimental COD, omitting the ChrA. Results indicated that it is possible to know concentrations in most of the ROCs by means of the experimental COD with a >99±0.01% of accuracy, which leads to a cost decrease and even to evaluate methods in developing countries, which often do not have chromatographs and where pollution issues are meaningful.
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Mathematical modeling of uvaia byproduct drying and evaluation of quality parameters
Kazumi Kawasaki Ramos,Bruna Candiani Lessio,Ana Luisa Barac¸al Mece,Priscilla Efraim 한국식품과학회 2017 Food Science and Biotechnology Vol.26 No.3
Uvaia (Eugenia pyriformis) frozen pulp processing generates a solid byproduct that can potentially contain important components of human nutrition. In this study, the drying of uvaia byproduct was studied. Two different drying treatments were tested: drying of wet waste and drying of waste with prior removal of water by centrifugation. Three drying temperatures were used: 40, 60, and 80 C. Eight models were applied to fit the drying curves: Page, Lewis, Modified Page, Logarithmic, Midilli, Wang and Singh, Henderson and Pabis, and Weibull. Midilli presented an excellent fit to the curves. The effective moisture diffusivity of the uvaia byproduct ranged between 8.52 9 10-10 and 3.22 9 10-9 m2/s. The activation energy was 25.65 and 24.97 kJ/mol for non-centrifuged and centrifuged assays, respectively. The dried byproducts had a reduction of 3–21% of the total phenolic content against the control. The assay performed at 40 C with centrifugation presented the lowest total color difference value.
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Eduard Zalyesov,Inna Shugaev,Yanna Prokopov,Ron Shahory,Stefan Chirmicci,Efraim Aizen 대한노인병학회 2020 Annals of geriatric medicine and research Vol.24 No.3
Background: Red cell distribution width (RDW) is a prognostic marker in vascular diseases. While increased RDW predicts mortality and outcomes after ischemic stroke, evidence regarding its prognostic significance in stroke rehabilitation is lacking. Thus, the present study investigated the relationship of RDW with stroke, orthopedic, and deconditioning rehabilitation outcomes. Methods: This prospective comparative study included three groups (stroke, orthopedic, and deconditioning) of older adult patients hospitalized for rehabilitation. The patients in each group were divided into two subgroups according to whether they had high (>14.5%) or normal (≤14.5%) RDW levels on admission. Functional outcome was assessed by total and motor FIM (Functional Independence Measure) score changes and efficiency at admission and on discharge. Results: Of the 234 eligible patients, 108 (46.2%) had high RDW. Of the 50 stroke rehabilitation patients, 13 (26%) had high RDW. FIM change and efficiency scores were significantly lower in patients with high RDW only in the stroke rehabilitation group. However, multiple linear regression analysis showed that high RDW was not independently associated with total and motor FIM gain or total and motor FIM efficiency. Conclusion: High RDW levels on admission to rehabilitation were associated with poor rehabilitation outcome in stroke patients but were not an independent risk factor for rehabilitation outcomes.
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