3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers

This work proposes an innovative app navigation path-planning problem exploration rovers by including terrain characteristics. The objective is to enhance the typical 2D arithmetical cost function by adding 3D information computed from the laser-scanned terrain such as terrain height, slopes, shadows, orientation and terrain roughness. This paper describes the algorithm developed by UPM and GMV and the tests made at the GMV outdoor test facilities using the Moon-Hound rover. This rover is a 50 Kg rover including a Sick laser mounted on a pan&tilt unit for generation of 3D Digital Elevation Models (DEM’s). Experimental results have shown the effectiveness of the proposed approach

Study of extraordinary transmission in a circular waveguide system

Extraordinary transmission through periodic distributions of sub-wavelength holes made in opaque screens has been demonstrated and exhaustively studied along the last decade. More recently, extraordinary transmission has also been predicted and experimentally observed through electrically small diaphragms located inside hollow pipe waveguides. This last phenomenon cannot be explained in terms of surface waves excited along the periodic system (the so-called surface plasmon polaritons). Transverse resonances can be invoked, however, as a sound explanation for extraordinary transmission in this kind of systems. In this paper, a simple waveguide system, exhibiting exactly the same behavior previously observed in periodic 2-D arrays of holes, is analyzed in depth. Analogies and differences with the periodic case are discussed. The theoretical and experimental results reported in this paper provide strong evidence in favor of the point of view emphasizing the concept of impedance matching versus surface wave excitation. The role of material losses is discussed as an important practical issue limiting the maximum achievable subwavelength transmission level. Most of our conclusions can be applied to both periodic arrays of holes and diaphragms in closed waveguides.Ministerio de Ciencia e Innovación TEC2007-65376, CSD2008-00066Junta de Andalucía TIC-459

Experimental verification of extraordinary transmission without surface plasmons

This article may be downloaded for personal use only. Any other use requires prior permission of the author and the American Institute of Physics.This letter provides an experimental demonstration of extraordinary transmission in a closed waveguide system loaded with an electrically small diaphragm. This is a situation where the standard surface plasmon polariton SPP theory does not apply. The theoretical explanation is then based on the concept of impedance matching. This concept has previously been applied by some of the authors to account for enhanced transmission in situations where surface plasmon theory can be used: periodic arrays of small holes or slits in flat metal screens. The experiment in this letter supports the impedance matching model, valid for when SPPs are present or not. © 2009 American Institute of PhysicsThe authors would like to acknowledge the support of this research by the Spanish Ministry of Science and Innovation and European Union Feder Funds Grant Nos. TEC2007-65376 and Consolider Ingenio 2010 CSD2008- 00066 and by the Spanish Junta de Andalucía Project No. TIC-25

Experimental verification of extraordinary transmission without surface plasmons

This letter provides an experimental demonstration of extraordinary transmission in a closed waveguide system loaded with an electrically small diaphragm. This is a situation where the standard surface plasmon polariton (SPP) theory does not apply. The theoretical explanation is then based on the concept of impedance matching. This concept has previously been applied by some of the authors to account for enhanced transmission in situations where surface plasmon theory can be used: periodic arrays of small holes or slits in flat metal screens. The experiment in this letter supports the impedance matching model, valid for when SPPs are present or not.Ministerio de Ciencia e Innovación TEC2007-65376, CSD2008- 00066Junta de Andalucía TIC-25

Wireless sensor web for rover planetary exploration

Together with the “traditional“ approach, during the last years a new concept of planetary surface exploration has been introduced and investigated by the space community, including the European Space Agency (ESA). The concept consists in deploying a number of sensors communicating among themselves in a wireless networked architecture (WSN). These sensors, altogether, constitute a distributed instrument with the potential of broadening the capabilities of making science on and around a planetary body. When compared to big and monolithic planetary probes, with payloads able to obtain high-quality local measurements (e.g. by imaging or sampling), wireless sensor networks allow mapping larger planetary surfaces and/or volumes over a large time span. This concept is particularly suitable to retrieve localised simple measurements such as pressure, temperature, humidity or gas type, which could support the major interests of space exploration: 1) determine if life ever arose on a certain celestial body, 2) characterise the geology and topology of the body surface, 3) characterise its climate, and 4) prepare for human exploration. In line with this trend ESA initiated the RF-WIPE project (RF Wireless for Planetary Exploration), with GMV leading a consortium completed by SUPSI (University of Applied Sciences and Arts of Southern Switzerland) and UPM (Technical University of Madrid

“Publishing Is Mystical”: The Latinx Caucus Bibliography, Top-Tier Journals, and Minority Scholarship

In 2014, members of the NCTE/CCCC Latinx Caucus began contributing citations to a shared Google Document (GDoc) that suggested a relatively significant contribution of scholarship to the field of Rhetoric and Composition studies. Scholars of color have argued that rhetoric and composition scholarship fails to represent diversity in academic publications (Baca; Banks; Jones Royster; Pimentel; Ruíz). This study examines statistical data arrived at through analysis of the NCTE/CCCC Latinx Caucus Bibliography, with survey and interview data from Latinx scholars providing important context about publishing for people of color

Small but strong: Socioeconomic and ecological resilience of a small European fishing community affected by a submarine volcanic eruption

[Abstract] Small-scale coastal fishing communities are facing many new challenges, such as rapid ecological changes created by anthropogenic and natural events like earthquakes or volcanic eruptions. This paper explores how a coastal population has responded to such an event and highlights the diverse coping strategies used to tackle it. This research was conducted on the island of El Hierro (Spain), where a submarine volcanic eruption occurred in 2011, affecting a multiple-use Marine Protected Area (MPA) and the nearby fishing community of La Restinga. Our study illustrates how the local population coped with this situation by combining multiple monetary and non-monetary activities (e.g., informal exchanges) as well as the role of institutions in increasing local resilience by supporting fishers' demands and allowing their participation in the decision-making process in the immediate wake of a catastrophic event. Local families also exploited various natural resources in and near the MPA, thus ensuring access to crucial marine resources and continued recreational/cultural services. The results suggest that collective action played a key role in the recovery process after the eruption, creating some advantages for different local groups despite the hazardous nature of the event.This was supported by the Cajacanarias Foundation and Fundación Bancaria “La Caixa'' [grant number 2017REC23], and the Ramón Areces Foundation through the XVII Call for Social Research Grant [grant number CISP17A5887]. Some specific research activities were also supported by the INTURMAR project supported by the ‘Smart Specialization Strategy of the Canary Islands RIS-3 co-financed by the Operational Program FEDER Canarias 2014–2020’ [grant number ProID2017010128]. RCM, JPF, JAG and AST would also like to acknowledge the Macarofood project (Interreg-MAC/2.3d/015), with the support of the European Regional Development Fund. CPC and RBL received funding from Xunta de Galicia (Axudas para a consolidación e estruturación de unidades de investigación competitivas do SUG, grants ED431D 2017/20, ED431B 2018/49). CPC received financial support from Xunta de Galicia “Axudas de apoio á etapa de formación posdoutoral” (grant ED481B-2021/095). We acknowledge the collaboration of the Network of Marine Reserves of the General Secretary of Fisheries, Ministry of Agriculture, Food and Environment of Spain, as well as the participation of several families and small-scale fishers from La Restinga in this study. We also thank Inés Chinea-Mederos, Jeramin Herra and Alejandro Rodríguez-Pais for their collaboration during the fieldwork and data voids, also Eilyn Pérez-Amores and Nemesio Pérez in preparing some figuresFundación CajaCanarias; 2017REC23Fundación Bancaria "la Caixa"; 2017REC23Fundación Ramón Areces; CISP17A5887Xunta de Galicia; ED431D 2017/20Xunta de Galicia; ED431B 2018/49Xunta de Galicia; ED481B-2021/09

Nonadiabatic charged spherical gravitational collapse

We present a complete set of the equations and matching conditions required for the description of physically meaningful charged, dissipative, spherically symmetric gravitational collapse with shear. Dissipation is described with both free-streaming and diffusion approximations. The effects of viscosity are also taken into account. The roles of different terms in the dynamical equation are analyzed in detail. The dynamical equation is coupled to a causal transport equation in the context of Israel-Stewart theory. The decrease of the inertial mass density of the fluid, by a factor which depends on its internal thermodynamic state, is reobtained, with the viscosity terms included. In accordance with the equivalence principle, the same decrease factor is obtained for the gravitational force term. The effect of the electric charge on the relation between the Weyl tensor and the inhomogeneity of energy density is discussed.Comment: 23 pages, Latex. To appear in Phys. Rev. D. Some references correcte

Materiales utilizados en la policromía de la fachada de Pedro I (Real Alcázar de Sevilla, España)

This research has been conducted on the architectural decoration of the façade of the Palace of King Pedro I (The Royal Alcazar of Seville, Spain). The stratigraphic study of pictorial layers has revealed numerous interventions made on the polychrome decorations that have been related to those referenced in historical documents. Mineralogical and compositional studies of the natural and synthetic pigments and their alteration have provided an independent chronology for the polychrome decorations. Finally, this study has revealed the importance of colour of the decorative elements over the history of the palace.El estudio de la fachada del palacio de Pedro I ha puesto de manifiesto la existencia de un gran número de policromías realizadas con una amplia variedad de pigmentos de diferentes cronologías. Mediante diversas técnicas analíticas han sido diferenciadas y caracterizadas química y mineralógicamente. El estudio estratigráfico detallado de las diferentes policromías ha permitido relacionarlas con las sucesivas intervenciones documentadas, comprobando así la gran importancia que el color ha tenido en todas las épocas o momentos históricos del Palacio

Infección por SARS-CoV-2 y la lactancia materna en las gestantes. Trujillo, 2020-2021

SARS-CoV-2 is a respiratory syndrome that affects the entire population. This report focuses on pregnant women infected with SARS-CoV-2 and the relationship with breastfeeding. The general objective is to determine the relationship between SARS-COV-2 infection and breastfeeding in pregnant women. For this, it was possible to collect data from the Control Notebook of a hospital to 99 female patients with possible infection to SARS-CoV-2 in Trujillo, which were collected in the period from November 16, 2020 to April 04, 2021, by means of a census sampling. These data were collected by the Observation technique and two instruments were made called: SARS-COV-2 Observation Guide and Breastfeeding Observation Guide. Then contingency tables were elaborated and some statistical measures were calculated to describe the data set, for which the Microsoft Excel program was used. Finally, in the general objective in the results, it was possible to estimate with a significance value that was P = 0.7005> 0.05, which accepts the null hypothesis. In conclusion, SARS-CoV-2 infection is not significantly related to breastfeeding in pregnant women, Trujillo, 2020-2021.El SARS-CoV-2 es un síndrome respiratorio que afecta a toda la población. Este informe se centra en las mujeres embarazadas que están infectadas por SARS-CoV-2 y la relación con la lactancia materna. Esta presente investigación sostuvo como objetivo general determinar la relación entre la infección por SARS-COV-2 y la lactancia materna en mujeres gestantes. Para ello se logró hacer la recolección de datos del Cuaderno de control de un hospital a 99 pacientes femeninas con posible infección a SARS-CoV-2 en Trujillo, lo cual fueron recolectadas en el periodo del 16 de noviembre del 2020 a 04 abril del 2021, mediante un muestreo censal. Estos datos fueron recogidos por la técnica de Observación y se logró hacer dos instrumentos llamados: Guía de observación de SARS-COV-2 y Guía de observación de Lactancia Materna. Luego se elaboraron tablas de contingencia y se calcularon algunas medidas estadísticas para describir el conjunto de datos, para lo cual se empleó la herramienta Microsoft Excel. Finalmente, en el objetivo general en los resultados realizados se logró estimar con un valor de significancia fue P=   0.7005 >    0.05, lo cual se acepta la hipótesis nula. En conclusión, la Infección por SARS-CoV-2 no se relaciona significativamente con la lactancia materna en las gestantes, Trujillo, 2020-2021