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Modular design and control of an upper limb exoskeleton
Javier Garrido,Wen Yu,Xiaoou Li 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.5
In this paper, we use modular design method to construct an upper limb exoskeleton. This new design method is more simple and easy for exoskeletons than the other techniques, and it is facility to be extended into more joints robots. We also propose a novel admittance control, which works in task space. The admittance control has PID form, and does not need the inverse kinematic and the dynamic model of the exoskeleton. The experimental results show that both the design and the controller work well for the upper limb exoskeleton.
Francisco Javier Garrido-Jiménez,Francesc Magrinyà,María Consuelo del Moral-Ávila 서울시립대학교 도시과학연구원 2022 도시과학국제저널 Vol.26 No.3
Research has shown the existence of strong links between physical configuration of the urban settlements and the economic metabolism of public services. However, this relationship has a different intensity depending on the nature of each service, resting exclusively on the services ‘to property’, that is, those ensuring smooth functionality of the buildings and public spaces. In such services, the operating cost per unit developed area largely depends on representative variables of the urban pattern. For instance, the length of roads per unit developed area impacts the operating costs of linear services, such as street lighting, street cleaning and, together with housing density, on the operating costs of water cycle, waste collection and disposal. Moreover, the maintenance costs of pavements, parks, and gardens are directly proportional to the dimension of the public space. Therefore, the economic weight of services ‘to property’ in the current budget of public administration highlights how vulnerable these budgets are against changes in the urban pattern and determines the expected maximum economic impact of any measure adopted through urban planning. Thus, the main objective of this study is to define, from a theoretical perspective, an indicator representative of the economic weight of the operating cost of the services ‘to property’ upon public administration budgets, capable of delimiting the relationship between the budgets and urban patterns. In addition, to show its utility, this urban-economic indicator has been computed for a sample of medium-sized Spanish cities, showing that, on an average, a quarter of the operating cost of urban public services is directly linked to urban patterns, highlighting the potential impact of urban planning decisions on the economic sustainability of urban settlements.
Simple Linear Models for Plasma Control in Tokamak Reactors
Aitor J. Garrido,Izaskun Garrido,Oscar Barambones,Patxi Alkorta,F. Javier Maseda 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
The control of plasma in nuclear fusion has been revealed as a promising application of Control Engineering, with increasing interest in the control community during last years. In this paper it is outlined a control-oriented linear model for the control of plasma current. For this purpose, it is firstly provided a summary of the background necessary to deal with control problems in tokamak-based nuclear fusion reactors as it is the case of the future ITER tokamak. Besides, it is also given a review of the most used simulators and plasma models, with the aim of providing an adequate background for control engineers to derive their own control-oriented model or to choose the appropriate existing one. Finally, a simple linear model based on loop control voltage is derived.
Mechanisms of Liver Cirrhosis through the Regulation by MCRS1
( Amanda Garrido ),( Eunjeong Kim ),( Ana Teijeiro ),( Paula Sánchez Sánchez ),( Rosa Gallo ),( Ajay Nair ),( María Matamala Montoya ),( Cristian Perna ),( Guillermo P Vicent ),( Javier Muñoz ),( Ramó 대한간학회 2024 춘·추계 학술대회 (The Liver Week) Vol.2024 No.1
José Arnold González-Garrido,José Rubén García-Sánchez,Carlos Javier López-Victorio,Adelma Escobar-Ramírez,Ivonne María Olivares-Corichi 한국영양학회 2023 Nutrition Research and Practice Vol.17 No.2
BACKGROUND/OBJECTIVES: Cocoa consumption is associated with health benefits due to its high content of polyphenols. However, the effects of short-term cocoa consumption remain unclear. We aimed to determine the effects generated by cocoa consumption (for 7 days) in young adults in normoweight and class II obesity. SUBJECTS/METHODS: Before-and-after study was carried out in normoweight (NW) (n = 15) and class II obesity (CIIO) (n = 15) young adults. The NW and CIIO participants consumed 25 and 39 g of cocoa, respectively, per day for 7 days. The effect of cocoa consumption was evaluated on the lipid profile, insulin resistance (IR), and inflammation. Oxidative damage was also examined by assessing the biomarkers of oxidative damage in plasma. In addition, recombinant human insulin was incubated with blood obtained from the participants, and the molecular damage to the hormone was analyzed. RESULTS: Cocoa consumption resulted in decreased low-density lipoprotein-cholesterol in both groups (P = 0.04), while the total cholesterol, high-density lipoprotein cholesterol, and triglycerides were maintained at the recommended levels. Initially, IR was detected in the CIIO group (homeostasis model assessment [HOMA] = 4.78 ± 0.4), which is associated with molecular damage to insulin. Interestingly, intervention with cocoa resulted in improved IR (HOMA = 3.14 ± 0.31) (P = 0.0018) as well as molecular damage to insulin. Finally, cocoa consumption significant decreased the arginase activity (P = 0.0249) in the CIIO group; this is a critical enzymatic activity in the inflammatory process associated with obesity. CONCLUSIONS: The short-term consumption of cocoa improves the lipid profile, exerts antiinflammatory effects, and protects against oxidative damage. Results of this study indicate that cocoa consumption can potentially improve IR and restore a healthy redox status.
Poster Session : PS 0633 ; Respiratory Medicine ; COPD and Percutaneous Coronary Intervention
( Pavel Alexei Chisholm Sanchez ),( Javier De Miguel Diez ),( Diego Jose Castrillon Rodriguez ),( Rodrigo Jimenez Garcia ),( Valentin Hernandez Barrera ),( Pilar Carrasco Garrido ),( Ana Lopez De Andr 대한내과학회 2014 대한내과학회 추계학술발표논문집 Vol.2014 No.1
Background: To compare trends in the use and outcomes of PCI in patients COPD and non COPD patients in Spain from 2001 to 2011. Methods: We identifi ed all patients who had undergone PCI, using national hospital discharge data. Discharges were divided, according to history of COPD, in 2 groups: COPD and non COPD. The incidence of discharges attributed to percutaneous coronary intervention were calculated and stratifi ed by COPD status. We calculated comorbidity Charlson Comorbidity Index (CCI), length of stay (LOS) and in-hospital mortality (IHM). Results: From 2001 to 2011, 434,108 PCI´s were performed. The incidence of use of PCI increased over time in both groups (p<0.05), COPD and non COPD, from 4.94 per 100,000 inhabitants in 2001 to 11.76 in 2011 in COPD, and from 87.74 to 177.56 in non COPD. Comorbidity increased signifi cantly in both groups (p<0.05). The average LOS decreased signifi cantly over time, from 9 (IQR 10) days in 2001 to 6 (IQR 6) days in COPD patients, and from 6 (IQR 9) days in 2001 to 5 (IQR 6) days in patients without COPD. IHM changed signifi cantly over the entire study period among patients with COPD (from 2.65% in 2001 to 2.66% in 2011, p<0,05, x2 linear trend analysis) and non COPD (from 1.92% in 2001 to 1.85% in 2011, p<0,05, x2 linear trend analysis). Conclusions: The incidence of use of PCI procedures increased over time in COPD and non COPD patients. Increasing comorbidity can be associated with a higher use of PCI procedures. LOS and IHM were higher in patients with COPD than in those without this disease.
Jonathan Delgado,María del Pilar Terrón,María Garrido,Carmen Barriga,Sergio Damián Paredes,Javier Espino,Beatriz Rodríguez 한국식품영양과학회 2012 Journal of medicinal food Vol.15 No.8
A chronic subclinical inflammatory status that coexists with immune dysfunction is commonly found in the elderly population. Consumption of foods rich in antioxidants (e.g., cherries) is an attractive strategy to reduce risk from chronic diseases. Based on previous studies showing the antioxidant effect of a Jerte Valley cherry derivative product in humans, the objective of this work was to evaluate the effect of the intake of a Jerte Valley cherry-based beverage on inflammatory load in both young and old ringdoves (Streptopelia risoria). To this purpose, circulating levels of proinflammatory and anti-inflammatory cytokines as well as serum levels of different acute-phase proteins were measured before and after a 10-day treatment with the Jerte Valley cherry-based beverage. Thus, the 10-day treatment with the cherry-based beverage modulated the balance of pro- and anti-inflammatory cytokines in both young and old ringdoves by down-regulating the levels of pro-inflammatory cytokines (interleukin [IL]-1b, tumor necrosis factor-a, and interferon-c) and up-regulating the levels of anti-inflammatory cytokines (IL-4, IL-2, and IL-10). Moreover, the 10-day treatment with the Jerte Valley cherrybased product reduced the levels of several proteins involved in acute-phase responses, such as C-reactive protein, haptoglobin,a2-macroglobulin, and serum amyloid P component. On the other hand, old birds showed imbalanced levels of inflammatory markers toward a pro-inflammatory status, thereby underlining the fact that aging is usually accompanied by systemic inflammation and inflammation-related chronic diseases. To sum up, the data suggest a potential health benefit by consuming the cherry-based beverage, especially in aged populations, through their anti-inflammatory properties.
Félix Téllez-Ávila,Josué Barahona-Garrido,Sandra García-Osogobio,Gustavo López-Arce,Jesús Camacho-Escobedo,Angela Saúl,Salvador Herrera-Gómez,Javier Elizondo-Rivera,Rafael Barreto-Zúñiga 대한소화기내시경학회 2014 Clinical Endoscopy Vol.47 No.1
Background/Aims: No clear data have been established and validated regarding whether rectal retroflexion has an important and therapeutic impact. The aim of the present study was to evaluate the diagnostic yield and therapeutic impact of rectal retroflexion compared with straight view examination. Methods: A prospective single-blind study was conducted. Consecutive patients evaluated between October 2011 and April 2012 were included. Results: A total of 934 patients (542 women [58%]) were included. The mean age was 57.4±14.8 years. Retroflexion was successful in 917 patients (98.2%). Distinct lesions in the anorectal area were detected in 32 patients (3.4%), of which 10 (1%) were identified only on retroflex view and 22 (2.4%) on both straight and retroflex views. Of the 32 identified lesions, 16 (50%) were polyps, nine (28.1%) were angiodysplasias, six (18.8%) were ulcers, and one (3.1%) was a flat lesion. All 10 patients (1%) in whom lesions were detected only by rectal retroflexion showed a therapeutic impact. Conclusions: Rectal retroflexion has minimal diagnostic yield and therapeutic impact. However, its low rate of major complications and the possibility of detecting lesions undetectable by straight viewing justify its use.