Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation

This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints. The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.Unión Europea H2020-ICT-2014- 644271Ministerio de Economía y Competitividad DPI2015-71524-RMinisterio de Economía y Competitividad DPI2017-89790-

Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications

This paper considers the problem of fault detection and identification (FDI) in applications carried out by a group of unmanned aerial vehicles (UAVs) with visual cameras. In many cases, the UAVs have cameras mounted onboard for other applications, and these cameras can be used as bearing-only sensors to estimate the relative orientation of another UAV. The idea is to exploit the redundant information provided by these sensors onboard each of the UAVs to increase safety and reliability, detecting faults on UAV internal sensors that cannot be detected by the UAVs themselves. Fault detection is based on the generation of residuals which compare the expected position of a UAV, considered as target, with the measurements taken by one or more UAVs acting as observers that are tracking the target UAV with their cameras. Depending on the available number of observers and the way they are used, a set of strategies and policies for fault detection are defined. When the target UAV is being visually tracked by two or more observers, it is possible to obtain an estimation of its 3D position that could replace damaged sensors. Accuracy and reliability of this vision-based cooperative virtual sensor (CVS) have been evaluated experimentally in a multivehicle indoor testbed with quadrotors, injecting faults on data to validate the proposed fault detection methods.Comisión Europea H2020 644271Comisión Europea FP7 288082Ministerio de Economia, Industria y Competitividad DPI2015-71524-RMinisterio de Economia, Industria y Competitividad DPI2014-5983-C2-1-RMinisterio de Educación, Cultura y Deporte FP

Food habits, lifestyle, genetic background in tumor initiation and progression of the reproductive system

This study is focused on the comprehension and understanding of the progression phases linked to food supplements in tumors of the female reproductive system (specifically triple-negative breast and ovarian cancers). In this context, the present research project aimed to investigate the antitumoral properties of a non-edible part of the olive tree, which supposes one of the most representative sources of the Mediterranean Diet components: the Olive leaf. One of the primordial goals was to study the impact of an Olive leaf extract (OLE) and its compounds in the mitochondrial metabolism and the overall oxidative stress signaling, potentially attributable to their polyphenol content and that may result interesting in the cancer pathogenesis. The nutraceutical was used in two in vitro malignant triple-negative human breast cancer (TNBC) cell lines, MDA-MB-231 and MDA-MB-468, and on a couple of highly pernicious human ovarian cancer cell lines (OVCAR-3 and OVCAR-8). Eventual toxicity was also tested in a healthy human corneal epithelial cell line (HCEpiC) to reveal the safe use of OLE in normal cells of epithelial origin. On these tumor models -two with the most elevated risk of developing metastasis, bad prognosis, and low survival rates- the pathways involved in the control of cell proliferation, cell cycle progression, and death/apoptosis have been investigated, as well as the effects of these extracts on the energetic cellular metabolism and redox status

High-speed autonomous navigation system for heavy vehicles

This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has two main functions: vehicle position estimation and generation of the steering commands for the vehicle to follow a given path autonomously. Position estimation is based on fusion of measurements from a carrier-phase differential GPS system and odometric sensors using fuzzy logic. A Takagi-Sugeno fuzzy controller is used for steering commands generation, to cope with different road geometry and vehicle velocity. The presented system has been implemented in a 13 tons truck, and fully tested in very demanding conditions, i.e. high velocity and large curvature variations in paved and unpaved roads

AA. VV. David Carrizo Aguado y Pablo Quinzá Redondo (Coords.). Derecho del comercio internacional. Casos prácticos resueltos y razonados

Este artículo reseña: AA. VV. David Carrizo Aguado y Pablo Quinzá Redondo (Coords.). Derecho del comercio internacional. Casos prácticos resueltos y razonados. Madrid, Colex, 2022, 256 pp. ISBN: 978-84-1359-584-

Collision Avoidance for Multiple UAVs using Rolling-horizon Policy

This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method based on a Legendre pseudospectral collocation in order to compute the solution trajectories and guarantee that the safety distance between them is always maintained. The method uses a rolling horizon policy in which trajectories are planned up to a given time horizon, thus considering a much smaller problem space. Then, the system is applied iteratively. Studies have been performed to set the values of the look-ahead time and the number of collocations points. The computational load and scalability of the method are also studied in randomly generated scenarios to test its application in real time. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (Seville, Spain)Comisión europea FP7 ICTMinisterio de Ciencia e Innovación DPI2011-28937-C02-0

PLASMA-lab: A Flexible, Distributable Statistical Model Checking Library

International audienceWe present PLASMA-lab, a statistical model checking (SMC) library that provides the functionality to create custom statistical model checkers based on arbitrary discrete event modelling languages. PLASMA-lab is written in Java for maximum cross-platform compatibility and has already been incorporated in various performance-critical software and embedded hardware platforms. Users need only implement a few simple methods in a simulator class to take advantage of our efficient SMC algorithms. PLASMA-lab may be instantiated from the command line or from within other software. We have constructed a graphical user interface (GUI) that exposes the functionality of PLASMA-lab and facilitates its use as a standalone application with multiple 'drop-in' modelling languages. The GUI adds the notion of projects and experiments, and implements a simple, practical means of distributing simulations using remote clients

El potencial político de la logofagia en la obra de Rogelio López Cuenca

This paper begins by considering those artistic processes described as «logophagyc» by Professor Túa Blesa (1998; 2011). Logophagy’s theoretical roots are hence described as well as its typology, by linking it to Jacques Derrida’s philosophical project and specifically to his work Plato’s Pharmacy. The viability of analysing some of Rogelio Lopez Cuenca’s works in the light of these theories is then studied; special attention is taken to those works which are conveyed through a challenging of writing techniques and its political implications. It is finally shown how the «silence» of logophagy’s techniques has both political roots and expressions in the visual artist’s works.El artículo parte de un análisis de las prácticas logofágicas descritas por el profesor Túa Blesa (1998; 2011). Se analizan sus raíces teóricas y su tipología, vinculándolas al proyecto derridiano y a la propuesta de La farmacia de Platón. Posteriormente, se estudia la viabilidad de esta terminología para analizar algunas obras del malagueño Rogelio López Cuenca, prestando especial atención a aquellas que se vehiculan a través del cuestionamiento de la escritura y sus implicaciones políticas, mostrando así cómo el «silencio» de las prácticas logofágicas tiene una raíz y una expresión políticas en la obra del artista visual

Documents sur l’insurrection des esclaves de Saint-Domingue : lettres de Biassou, Fayette

Une autre image de BiassouSi on essaye de comprendre l’insurrection des esclaves de Saint-Domingue en se plaçant de leur côté, les quatre lettres de Biassou à l’abbé  Delahaye, curé du Dondon, sont infiniment précieuses, et d’autant plus que s’y associent Toussaint et Belair. Certes, ces documents que complètent une lettre de Fayette, commandant au Dondon, au même Delahaye, un permis accordé aussi à Delahaye, enfin le codicille à son testament, concernent les  principaux dirigeants de l’insur..

The political potential of logophagy in Rogelio Lopez Cuenca’s work

El artículo parte de un análisis de las prácticas logofágicas descritas por el profesor Túa Blesa (1998; 2011). Se analizan sus raíces teóricas y su tipología, vinculándolas al proyecto derridiano y a la propuesta de La farmacia de Platón. Posteriormente, se estudia la viabilidad de esta terminología para analizar algunas obras del malagueño Rogelio López Cuenca, prestando especial atención a aquellas que se vehiculan a través del cuestionamiento de la escritura y sus implicaciones políticas, mostrando así cómo el «silencio» de las prácticas logofágicas tiene una raíz y una expresión políticas en la obra del artista visualThis paper begins by considering those artistic processes described as «logophagyc» by Professor Túa Blesa (1998; 2011). Logophagy’s theoretical roots are hence described as well as its typology, by linking it to Jacques Derrida’s philosophical project and specifically to his work Plato’s Pharmacy. The viability of analysing some of Rogelio Lopez Cuenca’s works in the light of these theories is then studied; special attention is taken to those works which are conveyed through a challenging of writing techniques and its political implications. It is finally shown how the «silence» of logophagy’s techniques has both political roots and expressions in the visual artist’s work