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A framework to develop and test a model-free motion control system for a forestry crane

Biomimetic Intelligence & Robotics 2023年第4期3卷 75-87页

作者： Pedro La Hera omar mendoza-trejo Hakan Lideskog Daniel Ortíz Morales Swedish University of Agricultural Sciences Department of Forest Biomaterials and TechnologyUmea90183Sweden Lulea University of Technology Department of Engineering Sciences and MathematicsLulea 97187Sweden CRANAB AB Vindeln 92232Sweden

This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry *** control algorithm is based on functional analysis and differential algebra,under the concepts of a new type of approach known as model-free intelligent PID control(iPID).As it can be unsafe to test this form of control directly on real hardware,our main contribution is to introduce a framework for developing and testing control *** framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one,which we design and manufactured using *** downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks,prior to the actual testing on the real *** results demonstrate that this development framework is useful to safely test control software for heavy-duty systems,and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.

关键词： Model-free control Hydraulic manipulator Forestry crane control Intelligent PID control Forestry automation Controller implementation

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Sarcopenia in patients with colorectal cancer:A comprehensive review

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World Journal of Clinical Cases 2020年第7期8卷 1188-1202页

作者： omar Vergara-Fernandez Mario trejo-Avila Noel Salgado-Nesme Department of Colorectal Surgery Instituto Nacional de Ciencias Medicas y Nutrición“Salvador Zubirán”Mexico 14080Mexico

Colorectal cancer(CRC)is the third most commonly diagnosed cancer globally and the second cancer in terms of *** prevalence of sarcopenia in patients with CRC ranges between 12%-60%.Sarcopenia comes from the Greek“sarx”for flesh,and“penia”for *** is considered a phenomenon of the aging process and precedes the onset of frailty(primary sarcopenia),but sarcopenia may also result from pathogenic mechanisms and that disorder is termed secondary *** diagnosis is confirmed by the presence of low muscle quantity or *** parameters need to be measured:muscle strength,muscle quantity and physical *** standard method to evaluate muscle mass is by analyzing the tomographic total cross-sectional area of all muscle groups at the level of lumbar 3rd *** may negatively impact on the postoperative outcomes of patients with colorectal cancer undergoing surgical *** has been described an association between sarcopenia and numerous poor short-term CRC outcomes like increased perioperative mortality,postoperative sepsis,prolonged length of stay,increased cost of care and physical *** may also negatively impact on overall survival,disease-free survival,recurrence-free survival,and cancerspecific survival in patients with non-metastatic and metastatic colorectal ***,patients with sarcopenia seem prone to toxic effects during chemotherapy,requiring dose deescalations or treatment delays,which seems to reduce treatment efficacy.A multimodal approach including nutritional support(dietary intake,high energy,high protein,and omega-3 fatty acids),exercise programs and anabolic-orexigenic agents(ghrelin,anamorelin),could contribute to muscle mass *** of sarcopenia screening to the established clinical-pathological scores for patients undergoing oncological treatment(chemotherapy,radiotherapy or surgery)seems to be the next step for the best of care of CRC pati

关键词： Colorectal cancer Sarcopenia Nutrition Muscle mass loss Oncologic outcomes Survival

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Predictors of dehydration and acute renal failure in patients with diverting loop ileostomy creation after colorectal surgery

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World Journal of Clinical Cases 2019年第14期7卷 1805-1813页

作者： omar Vergara-Fernández Mario trejo-Avila Oscar Santes Danilo Solórzano-Vicu?a Noel Salgado-Nesme Department of Colorectal Surgery Instituto Nacional de Ciencias Médicas y Nutrición "Salvador Zubirán"

BACKGROUND Despite the potential benefits of fecal diversion after low pelvic anastomosis in colorectal surgery, diverting loop ileostomy construction is related to significant rates of complications. AIM To determine potential predictors of high output related complications in patients with diverting loop ileostomy creation after colorectal surgery. METHODS Patients who underwent open and laparoscopic colorectal surgery requiring a diverting loop ileostomy from January 2010 to March 2018 were retrospectively analyzed. We included patients older than 18 years, who underwent colorectal surgery with primary low pelvic anastomosis, and with the creation of a diverting loop ileostomy, at elective or emergency settings for the treatment of benign or malignant conditions. Univariate and multivariate logistic regression analysis was used to determine the effect of the potential predictors on the rate of high output related complications. The high output related complications were dehydration and acute renal failure that required visits to the emergency department and hospitalizations. RESULTS Of the 102 patients included in the study, 23.5%(n = 24) suffered high output related complications. In this group of patients at least one visit to the emergency department (mean 1.6), and at least one readmission to the hospital was needed. The factors associated with high-output ileostomy, in the univariate analysis, were: urgent surgical intervention (OR = 2.6;P = 0.047), the development of postoperative complications (OR = 3;P = 0.024), have ulcerative colitis (OR = 4.8;P = 0.017), use of steroids (OR = 4.3;P = 0.010), mean output at discharge greater than 1000 mL/24 h (OR = 3.2;P = 0.016), and use of loperamide at discharge (OR = 2.8;P = 0.032). Multivariate logistic regression analysis identified two independent risk factors for high output related complications: ulcerative colitis [OR = 7.6 (95%CI: 1.81-31.95);P = 0.006], and ileostomy output at discharge ≥ 1000 mL/24 h [OR =

关键词： Loop ileostomy High-output ileostomy Loop ileostomy complications Dehydration Colorectal surgery

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