Abstract
Due to the difficulty of building and making control tests in real robots, it is usual to first have a simulated model that provides a good approach of a real robot's behaviour. The importance of a good control system in execution of a planned trajectory inspired this work, whose purpose is to design a control system for a quadruped robot and test its performance.

Abstract
Aging is a natural process inherent in being human. During the aging process a person's physical and mental condition will degrade, imposing limitations on their life, which can have a great impact on their well-being. Although they are common to all humans, the consequences of aging can be aggravated by the decline in social relations and contact with family and friends. It is therefore of the utmost importance to maintain these relationships throughout life. In this sense, we intend to develop a system to support these people, allowing them to overcome their limitations, promoting and reinforcing the bonds between the user and the elements of his family and group of friends, using the technology. In this article we discuss the prototyping of a support system for the elderly to combat the lack of interaction between these individuals and their social group. With the use of prototyping it s intended a previous validation of the concept and functionalities of this system. The user is placed within the development process and, in this way, it is possible to evaluate the Human-Machine Interaction component and to detect possible problems so that they can be solved in a timely manner. This is an iterative process in which the system is constantly evaluated and readjusted until it is validated.

Abstract

Abstract

Abstract
Purpose: To investigate the frequency, localizing significance, and intensity characteristics of ictal vocalization in different focal epilepsy syndromes. Methods: Up to four consecutive focal seizures were evaluated in 277 patients with lesional focal epilepsy, excluding isolated auras and subclinical EEG seizure patterns. Vocalization was considered to be present if observed in at least one of the analyzed seizures and not being of speech quality. Intensity features of ictal vocalization were analyzed in a subsample of 17 patients with temporal and 19 with extratemporal epilepsy syndrome. Results: Ictal vocalization was observed in 37% of the patients (102/277) with similar frequency amongst different focal epilepsy syndromes. Localizing significance was found for its co-occurrence with ictal automatisms, which identified patients with temporal seizure onset with a sensitivity of 92% and specificity of 70%. Quantitative analysis of vocalization intensity allowed to distinguish seizures of frontal from temporal lobe origin based on the intensity range (p = 0.0003), intensity variation (p < 0.0001), as well as the intensity increase rate at the beginning of the vocalization (p = 0.003), which were significantly higher in frontal lobe seizures. No significant difference was found for mean intensity and mean vocalization duration. Conclusions: Although ictal vocalization is similarly common in different focal epilepsies, it shows localizing significance when taken into account the co-occurring seizure semiology. It especially increases the localizing value of automatisms, predicting a temporal seizure onset with a sensitivity of 92% and specificity of 70%. Quantitative parameters of the intensity dynamic objectively distinguished frontal lobe seizures, establishing an observer independent tool for semiological seizure evaluation.

Abstract
Renewable energy sources are environmentally appealing in electrical power grids. However, distributed energy resources (DER) are typically connected to the grid through converters that do not have the same properties as synchronous generators which have high participation in power generation. Some of these properties like inertial response are important and must not be lost with higher DER penetration. The present paper analyses two converter control algorithms that are capable of emulating inertial response in DER: the Virtual Synchronous Generator control (VSG) and the Synchronverter. Both algorithms are described, implemented and tested in a practical experiment and a comparison of both algorithms is assessed in terms of frequency nadir achieved, settling time and implementation complexity. The findings can give useful insights to help decide which algorithm should be implemented in a future real application.