A pedagogical approach to data fusion and kalman filter

International audienc

Marejadas rurales y luchas por la vida, vol. iv: permanencias, resistencias y luchas por la vida

Volumen 4. Permanencias, resistencias y luchas por la vida, coordinado por: Elisabeth A. Mager Hois, Miguel Ángel Paz Frayre y Carla Zamora Lomelí, integra 15 capítulos y está dividido en tres secciones, la primera denominada Permanencia, contiene 5 capítulos que intentan establecer como eje común la lucha continua en las comunidades campesinas para continuar con la vida rural. La segunda, Identidad y resistencia, está compuesta por 4 capítulos que reflexionan sobre varios procesos de resistencia de la vida rural ante los cambios globales e internos en su propio proceso de vida, otros trabajos intentan encontrar aquellos elementos que generan y mantienen alguna forma de identidad, y la tercera sección, Lucha por la vida, contiene 6 trabajos que demuestran todas aquellas posibilidades que existen en el medio rural para sostenerse y mantenerse, generando diferentes formas y estrategias que los une en la continua lucha por vivir con pocas pretensiones y con difíciles perspectivas pero siempre encontrando alternativas.ASOCIACIÓN MEXICANA DE ESTUDIOS RURALES, INSTITUTO DE CIENCIAS AGROPECUARIAS Y RURALES (ICAR), UNIVERSIDAD DE GUADALAJARA, FACULTAD DE ESTUDIOS SUPERIORES ACATLÁN-UNAM, ECOSUR, CUCOSTA SUR GRANA, EL COLEGIO DE MICHOACÁN A.C., UNIVERSIDAD MICHOACANA DE SAN NICOLAS HIDALG

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries

Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow Regulation

International audienceThis paper deals with the issue of autonomous indoors navigation related to Unmanned Aerial Vehicles. Here, we simulatedtwo hexarotors: a fully-actuated one that maintains level its attitude, and therefore that of the visual sensors; and an under-actuatedone. Both vehicles were meant to fly forwards in a tunnel while reacting to the irregularities of the terrain, adopting a bee-likebehavior based on a nonlinear optic flow regulation. The dynamic models are provided by means of the Newton-Euler equations,nonetheless, the unit quaternion representation is used for a suitable treatment of the rotational motion. The attitude stabilizationdepends on the knowledge of the quaternion itself, moreover, and due to the non-linearities related to the translational optic flows,visual guidance relies on the implementation of adaptive integral sliding mode controllers to accomplish a triple direct regulation(forward, side and lift commands). We compared both vehicles performance using detailed numerical simulations, validating theconcept that a fully actuated hexarotor permits to improve the optic flow based navigation task

Corridor 3D Navigation of a Fully-Actuated Multirotor by Means of Bee-Inspired Optic Flow Regulation

International audienceThis paper deals with the issue of autonomous indoors navigation related to Unmanned Aerial Vehicles. Here, we simulatedtwo hexarotors: a fully-actuated one that maintains level its attitude, and therefore that of the visual sensors; and an under-actuatedone. Both vehicles were meant to fly forwards in a tunnel while reacting to the irregularities of the terrain, adopting a bee-likebehavior based on a nonlinear optic flow regulation. The dynamic models are provided by means of the Newton-Euler equations,nonetheless, the unit quaternion representation is used for a suitable treatment of the rotational motion. The attitude stabilizationdepends on the knowledge of the quaternion itself, moreover, and due to the non-linearities related to the translational optic flows,visual guidance relies on the implementation of adaptive integral sliding mode controllers to accomplish a triple direct regulation(forward, side and lift commands). We compared both vehicles performance using detailed numerical simulations, validating theconcept that a fully actuated hexarotor permits to improve the optic flow based navigation task

Time-Delay Control of Quadrotor Unmanned Aerial Vehicles: A Multiplicity-Induced-Dominancy Based Approach

International audienceThe current work exploits the effects of time-delays on the stability of Unmanned Aerial Vehicles (UAVs). In this regard, the main contribution is a symbolic/numeric application of the Multiplicity-Induced-Dominancy (MID) property in the control of UAVs rotorcrafts featuring time-delays. The MID property is considered to address two of the most representative aerial robotic platforms: a classical quadrotor vehicle and a quadrotor vehicle endowed with tilting-rotors. The aforementioned property leads to an effective delayed feedback control design (MID tuning criteria), allowing the system to meet prescribed behavior conditions based on the placement of the rightmost root of the corresponding closed-loop characteristic function/quasipolynomial. Lastly, the results of detailed numerical simulations, including the linear and non-linear dynamics of the vehicle, are presented and discussed to validate the proposal

Time-Delay Control of Quadrotor Unmanned Aerial Vehicles: A Multiplicity-Induced-Dominancy Based Approach

The current work exploits the effects of time-delays on the stability of Unmanned Aerial Vehicles (UAVs). In this regard, the main contribution is a symbolic/numeric application of the Multiplicity-Induced-Dominancy (MID) property in the control of UAVs rotorcrafts featuring time-delays. The MID property is considered to address two of the most representative aerial robotic platforms: a classical quadrotor vehicle and a quadrotor vehicle endowed with tilting-rotors. The aforementioned property leads to an effective delayed feedback control design (MID tuning criteria), allowing the system to meet prescribed behavior conditions based on the placement of the rightmost root of the corresponding closed-loop characteristic function/quasipolynomial. Lastly, the results of detailed numerical simulations, including the linear and non-linear dynamics of the vehicle, are presented and discussed to validate the proposal

Disturbances and Coupling Compensation for Trajectory Tracking of a Multi-link Aerial Robot

International audienceThe actual paper presents the concept of a multi-link unmanned aerial system (ML-UAS) intended to transport multi-cargo payload. The mathematical model is obtained through the Euler-Lagrange energy-based while the controller relies on a classical linear scheme. The system is composed of three rotorcrafts attached by two bar like links. As the system is highly coupled, due to its inherent dynamics and cargo influences, a dynamic extension of the equations of motion to apply a Linear Kalman filter is proposed to meet the trajectory tracking specification. The suggested state observer is validated via close to reality numerical simulations

Nonlinear Control of a Multi-Link Aerial System and ASEKF-Based Disturbances Compensation

International audienceThe actual paper presents the modeling and control of a multi-link unmanned aerial system whose dynamics is computed by means of the Euler-Lagrange energy-based approach. The aforementioned system is subjected to lumped disturbances which comprise external disturbances and parametric uncertainties. An Augmented-State Extended Kalman Filter intended to estimate endogenous and exogenous uncertainties is conceived and trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal