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Output feedback adaptive super twisting sliding mode control for quadrotor UAVs

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Control Theory and Technology 2024年第1期22卷 92-105页

作者： Oscar Salas-Peña Jesus DeLeón-morales Susana V.Gutiérrez-Martínez École Centrale de Nantes-LS2N UMR 6004 CNRS44300NantesFrance Facultad de Ingeniería Mecánica y Eléctrica Universidad Autónoma de Nuevo León66451San Nicolás de Los GarzaMexico

In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.

关键词： Adaptive super twisting controller High-order sliding modes observer UAV

Systemic Inflammation Response Index and weight loss as prognostic factors in metastatic pancreatic cancer: A concept study from the PANTHEIA-SEOM trial

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World Journal of Gastrointestinal Oncology 2024年第2期16卷 386-397页

作者： Vilma Pacheco-Barcia Sara Custodio-Cabello Fatima Carrasco-Valero Magda Palka-Kotlowska Axel Mariño-Mendez Alberto Carmona-Bayonas Javier Gallego A J Muñoz Martín Paula Jimenez-Fonseca Luis Cabezon-Gutierrez Department of Medical Oncology Hospital Universitario de TorrejonMadrid 28850Spain Department of Internal Medicine Hospital Universitario de TorrejonMadrid 28850Spain Department of Medical Oncology Hospital Universitario Central de AsturiasOviedo 33011Spain Department of Medical Oncology Hospital Universitario Morales MeseguerUniversity of MurciaMurcia 30001Spain Department of Medical Oncology Hospital General Universitario de ElcheElche 03202Spain Department of Medical Oncology Hospital General Universitario Gregorio MarañónUniversidad Complutense MadridMadrid 28007Spain Universidad Francisco de Vitoria Madrid 28223Spain

BACKGROUND The prognostic value of the Systemic Inflammation Response Index(SIRI)in advanced pancreatic cancer is recognized,but its correlation with patients´nutritional status and outcomes remains *** To study the prognostic significance of SIRI and weight loss in metastatic pancreatic *** The PANTHEIA-Spanish Society of Medical Oncology(SEOM)study is a multicentric(16 Spanish hospitals),observational,longitudinal,non-interventional initiative,promoted by the SEOM Real World-Evidence work *** pilot study sought to analyze the association between weight loss and inflammatory status as defined by *** cohort stems from a proof-of-concept pilot study conducted at one of the coordinating *** with pathologically confirmed metastatic pancreatic adenocarcinoma,treated from January 2020 to January 2023,were *** index was calculated using the product of neutrophil and monocyte counts,divided by lymphocyte counts,obtained within 15 days before initiation *** study evaluated associations between overall survival(OS),SIRI and weight *** A total of 50 patients were included.66%of these patients were male and the median age was 66 *** sites:36%liver,12%peritoneal carcinomatosis,10%lung,and 42%multiple *** the first line palliative chemotherapy treatments:50%received gemcitabine plus nab-paclitaxel;28%,modified fluorouracil,leucovorin,irinotecan and oxaliplatin,and 16%were administered gemcitabine.42%had a weight loss>5%in the three months(mo)preceding diagnosis.21 patients with a SIRI≥2.3×10^(3)/L exhibited a trend towards a lower median OS compared to those with a SIRI5%weight loss before diagnosis,the median OS was 6 mo,in contrast to 19 mo for those who did not experience such weight loss(P=0.003).Patients with a weight loss>5%showed higher SIRI *** difference was statistically significant(P<0.000).For pat

关键词： Pancreatic cancer Nutrition Prognostic factor Inflammation Advanced cancer Systemic inflammatory response index Weight loss

Glucocorticosteroid therapy in inflammatory bowel diseases: From clinical practice to molecular biology

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World Journal of Gastroenterology 2017年第36期23卷 6628-6638页

作者： Karen Dubois-Camacho Payton A Ottum Daniel Franco-Munoz Marjorie De la Fuente Alejandro Torres-Riquelme David Díaz-Jiménez Mauricio Olivares-morales Gonzalo Astudillo Rodrigo Quera Marcela A Hermoso Innate Immunity Laboratory Immunology ProgramInstitute of Biomedical SciencesFaculty of MedicineUniversidad de Chile Neuroimmunology Laboratory Immunology ProgramInstitute of Biomedical SciencesFaculty of MedicineUniversidad de Chile Division of Research Clínica Las Condes Gastroenterology Department Inflammatory Bowel Disease ProgramClínica Las Condes

Inflammatory bowel diseases(IBDs),such as ulcerative colitis and Crohn's disease,are chronic pathologies associated with a deregulated immune response in the intestinal mucosa,and they are triggered by environmental factors in genetically susceptible *** glucocorticoids(GCs)are widely used as anti-inflammatory therapy in *** the past,patients with moderate or severe states of inflammation received GCs as a first line therapy with an important effectiveness in terms of reduction of the disease activity and the induction of ***,this treatment often results in detrimental side *** downside drove the development of second generation GCs and more precise(non-systemic)drugdelivery *** clinical trials show that most of these new treatments have similar effectiveness to first generation GCs with fewer adverse *** remaining challenge in successful treatment of IBDs concerns the refractoriness and dependency that some patients encounter during GCs treatment.A deeper understanding of the molecular mechanisms underlying GC response is key to personalizing drug choice for IBDs patients to optimize their response to *** this review,we examine the clinical characteristics of treatment with GCs,followed by an in depth analysis of the proposed molecular mechanisms involved in its resistance and dependence associated with *** thorough analysis of current clinical and biomedical literature may help guide physicians in determining a course of treatment for IBDs patients and identifies important areas needing further study.

关键词： Inflammatory bowel diseases Ulcerative colitis Crohn's disease Glucocorticoid dependence Glucocorticoid resistance

Experience with the surgical treatment of hepatic hydatidosis: Case series with follow-up

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World Journal of Gastroenterology 2010年第26期16卷 3305-3309页

作者： Hector Losada morales Luis Burgos San Juan Jorge Silva Abarca Cesar Muoz Castro Department of Surgery Universidad de La Frontera Hepato Pancreatic and Biliary Surgery Hospital Hernán Henríquez Aravena Department of Surgery Clínica Alemana de Temuco

AIM: To describe patient characteristics and the results of surgical treatment for hepatic hydatidosis (HH) in the Hospital Hernán Henríquez Aravena from December 2001 to March 2005. METHODS: Subjects older than 16 years with suspected HH were included based on the clinical picture and radiological studies. Variables examined included clinical and laboratory aspects, outcome, features of the parasite and surgical aspects. Descriptive statistics were used, calculating central tendency, dispersion and extreme tendency. RESULTS: The series was comprised of 122 patients, with an average age of 44 ± 16.9 years. The most frequently used surgical technique was subtotal cys-tectomy in 90% of the patients, followed by hepatic resection (hepatectomy, segmentectomy and subsegmentectomy) in 5%. In 2%, a combination of subtotal cystectomy and segmentectomy was performed. In addition, 28% of the series presented complications in the postoperative period and mortality was 2%. CONclUSION: The most frequently used surgical technique for HH was subtotal cystectomy and the morbidity and mortality rates in this Chilean series are comparable to other national and international series.

关键词： Echinococcosis of liver Surgery Cases series Mortality Morbidity

Hygrometry behavior during high-flow nasal oxygen therapy and non-invasive mechanical ventilation:A narrative review of bench to clinical studies

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Journal of Intensive Medicine 2024年第4期4卷 433-441页

作者： Sanjay Singhal Mohan Gurjar Jun Duan Salvatore Notaro Antonio M.Esquinas Department of Pulmonary Medicine All India Institute of Medical ScienceRajkotGujaratIndia Department of Critical Care Medicine Sanjay Gandhi Post Graduate Institute of Medical Sciences(SGPGIMS)LucknowIndia Department of Respiratory and Critical Care Medicine The First Affiliated Hospital of Chongqing Medical UniversityChongqingChina Intensive Care Unit and ECMO A.O.R.N.“Dei Colli”Monaldi HospitalNaplesItaly Intensive Care Unit Hospital Morales MeseguerMurciaSpain

Recently,there has been growing interest in knowing the best hygrometry level during high-flow nasal oxygen and non-invasive ventilation(NIV)and its potential influence on the *** studies have shown that breathing cold and dry air results in excessive water loss by nasal mucosa,reduced mucociliary clearance,in-creased airway resistance,reduced epithelial cell function,increased inflammation,sloughing of tracheal epithe-lium,and submucosal *** the Coronavirus Disease 2019 pandemic,using high-flow nasal oxygen with a heated humidifier has become an emerging form of non-invasive support among ***,we cannot always assume stable ***,there are no clear guidelines for using humidification dur-ing NIV,although humidification of inspired gas during invasive ventilation is an accepted standard of *** disturbs the normal physiological system that warms and humidifies inspired *** NIV is supplied through an intensive care unit ventilator that utilizes anhydrous gases from compressed wall air and oxygen,the risk of dry-ness *** addition,patients with acute respiratory failure tend to breathe through the mouth during NIV,which is a less efficient route than nasal breathing for adding heat and moisture to the inspired *** sleep apnea syndrome is one of the most important indications for chronic use of NIV at *** data suggest that up to 60%of patients with obstructive sleep apnea syndrome who use continuous positive airway pressure therapy experience nasal congestion and dryness of the mouth and ***,humidifying the inspired gas in NIV may be essential for patient comfort and compliance with *** aimed to review the available bench and clinical studies that addressed the utility of hygrometry in NIV and nasal high-flow oxygen and discuss the technical limitations of different humidification systems for both systems.

关键词： Acute respiratory failure Hygrometry Non-invasive mechanical ventilation High flow nasal oxygen Oxygenation Heated humidifier

Simultaneous pars plana vitrectomy,panretinal photocoagulation,cryotherapy,and Ahmed valve implantation for neovascular glaucoma

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International Journal of Ophthalmology(English edition) 2021年第9期14卷 1396-1401页

作者： Carolina Bernal-morales Marina Dotti-Boada Alvaro Olate-Perez Manuel J.Navarro-Angulo Laura Pelegrín Marc Figueras-Roca Institut clínic d’Oftalmologia(ICOF) Hospital ClínicBarcelona 08028Spain August Pi i Sunyer Biomedical Research Institute(IDIBAPS) Barcelona 08028Spain

AIM:To describe and evaluate the efficacy of Ahmed glaucoma valve implantation(AGV)combined with pars plana vitrectomy(PPV)in a single surgical act for the treatment of advanced neovascular glaucoma(NVG).METHODS:Retrospective observational case series included 51 eyes from 50 patients with severe NVG treated with PPV,AGV,and panretinal photocoagulation and/or cryotherapy in a single surgical act during a 13-year period(2005-2018).Preoperative,intraoperative and postoperative data at day 1 and months 1,3,6,21,and 24 were systematically *** of surgical success was stablished at IOP between 6 and 21 mm Hg with or without topical ***:Main indications for surgery were NVG secondary to proliferative diabetic retinopathy(39.2%)and central retinal vein occlusion(37.3%).Mean(±SD)preoperative IOP was 42.0±11.2 mm Hg decreasing to 15.5±7.1 mm Hg at 12 mo and 15.8±9.1 mm Hg at 24 mo of follow *** incidence of success of IOP control was 76.0%at first postoperative month,reaching 88.3%at 6 *** of successful IOP control at long term was 74.4%at 12 mo and 71.4%at 24 *** evisceration for unsuccessful NVG management was required in 1 case(2.0%).CONclUSION:Combination of AGV implantation and PPV in a single act may be a suitable option for severe forms of NVG in a case-by-case basis for effective IOP control and a complete panretinal photocoagulation.

关键词： neovascular glaucoma Ahmed valve pars plana vitrectomy panretinal photocoagulation cryotherapy

Evidences supporting the vascular etiology of post-double balloon enteroscopy pancreatitis: Study in porcine model

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World Journal of Gastroenterology 2017年第34期23卷 6201-6211页

作者： Rafael Latorre Octavio López-Albors Federico Soria Esther Morcillo Pilar Esteban Enrique Pérez-Cuadrado-Robles Enrique Pérez-Cuadrado-Martínez Department of Anatomy and Comparative Pathology University of Murcia Minimally Invasive Surgery Centre Jesús Usón Department of Gastroenterology Small Bowel UnitMorales Meseguer Hospital

Double balloon enteroscopy(DBE) is an endoscopic technique broadly used to diagnose and treat small bowel diseases. Among the associated complications of the oral DBE, post-procedure pancreatitis has taken the most attention due to its gravity and the thought that it might be associated to the technique itself and anatomical features of the pancreas. However, as the etiology has not been clarified yet, this paper aims to review the published literature and adds new results from a porcine animal model. Biochemical markers, histological sections and the vascular perfusion of the pancreas were monitored in the pig during DBE practice. A reduced perfusion of the pancreas and bowel, the presence of defined hypoxic areas and disseminated necrotic zones were found in the pancreatic tissue of pigs. All these evidences contribute to support a vascular distress as the most likely etiology of the post-DBE pancreatitis.

关键词： Double balloon enteroscopy Pancreas Animal model Pancreatitis Pig

Red cell distribution width in patients with HIV infection

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Open Journal of Internal Medicine 2012年第1期2卷 7-10页

作者： María L.Gallego Isabel A.Pérez-Hernández Rosario Palacios Josefa Ruiz-morales Enrique Nuno Manuel Márquez Jesús Santos Unidad de Gestión clínica de Enfermedades Infecciosas Hospital Universitario Virgen de la VictoriaMálagaSpain

Objective: To examine the association between elevated levels of red cell distribution width (RDW) and cardiovascular risk factors (CVRF) and metabolic syndrome (MS) in HIV-patients. Methods: Cross-sectional study including all asymptomatic HIV-outpatients under follow-up during 2007. Patients completed a questionnaire about CVRF, underwent a physical examination, and an 8-hour fasting blood analysis. Elevated RDW was defined as ≥75th percentile. Patients with and without an elevated RDW were compared. Results: 666 patients (79.3% men) were included: mean age 44.7 years, mean CD4 506/mm3 and 87.5% on antiretroviral therapy (85.3% with undetectable viral load). Mean RDW was 13.7% (range: 7.7% - 33.6%;75th percentile, 14.1%). The prevalence per quartile of MS was 15.7%, 9.3%, 18.8% and 16.6% and of patients with CVRF > 20% was 8.4%, 4.0%, 4.4%, and 6.4%, respectively (p > 0.05);23.4% of the patients had an elevated RDW (>14.1%). The top percentile of RDW was associated with AIDS (OR 1.6;95% CI, 1.0 - 2.4;p = 0.02), detectable viral load (OR 1.5;95% CI, 1.01 - 2.4;p = 0.04) and hypertension (OR 2.3;95% CI, 1.4 - 4.0;p = 0.001). Conclusions: In HIV-outpatients, higher RDW is related with detectable viral load and with AIDS. Although it was associated with hypertension, we found no relation with MS nor with higher cardiovascular risk.

关键词： HIV Red Cell Distribution Width Cardiovascular Risk Metabolic Syndrome

Contribution to the understanding of the performance differences between commercial current collectors in Li–S batteries

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Journal of Energy Chemistry 2021年第11期30卷 295-306,I0007页

作者： A.Benitez F.Luna-Lama ACaballero E.Rodriguez-Castellon J.morales Dpto.Química Inorgánica e Ingeniería Química Instituto Universitario de Nanoquímica(IUNAN)Universidad de Córdoba14071 CórdobaSpain Dpto.de Química Inorgánica Cristalografía y MineralogíaFacultad de CienciasUniversidad de Málaga29071 MálagaSpain

Lithium–sulfur batteries have been recognised as highly promising next-generation batteries, due to their low cost and high theoretical energy density. Despite numerous advances in this technology over the last decade, its commercialisation is still a challenge that has not yet been achieved. Many efforts have been made to improve the problems that these batteries present, mainly by investigating different cathode manufacturing strategies, testing novel Li anodes, new additives in the electrolytes, and modified separators or interlayers. However, the characteristics of the current collectors used in the preparation of the electrodes have been rarely addressed. Three commercial collectors are commonly used in basic research on Li–S batteries: Al foil, carbon coated Al foil (Al-C), and carbon paper (gas diffusion layer, GDL). In this work, a detailed study of the electrochemical response of these commercial collectors has been carried out. The tests were carried out on two S composites formed by carbons of a different natures, commercial carbon black and synthetic N-doped graphene. In addition, the S impregnation method was different, using either melt diffusion at 155 ℃ or ethylenediamine as S solvent, respectively. In both systems, the results were similar – the electrodes supported on GDL delivered higher specific capacities than those supported on Al and Al-C, with minimal differences between the two. Of the different collector properties examined to explain this behaviour, namely Al corrosion, electrical conductivities, surface-level composition, and surface texture, only the latter had a significant effect in the performance of GDL-based electrodes. SEM images revealed a rough and cracked surface formed by the agglomerated carbon particles that give rise to a complex pore system, predominantly consisting of macropores. All of these features are beneficial for a better anchoring of the active material on the collector surface, in addition to enhancing the wettabi

关键词： Current collector Carbon paper Aluminum foil Lithium–sulfur battery