Solving Complex Multi-UAV Mission Planning Problems using Multi-objective Genetic Algorithms

Due to recent booming of UAVs technologies, these are being used in many fields involving complex tasks. Some of them involve a high risk to the vehicle driver, such as fire monitoring and rescue tasks, which make UAVs excellent for avoiding human risks. Mission Planning for UAVs is the process of planning the locations and actions (loading/dropping a load, taking videos/pictures, acquiring information) for the vehicles, typically over a time period. These vehicles are controlled from Ground Control Stations (GCSs) where human operators use rudimentary systems. This paper presents a new Multi-Objective Genetic Algorithm for solving complex Mission Planning Problems (MPP) involving a team of UAVs and a set of GCSs. A hybrid fitness function has been designed using a Constraint Satisfaction Problem (CSP) to check if solutions are valid and Pareto-based measures to look for optimal solutions. The algorithm has been tested on several datasets optimizing different variables of the mission, such as the makespan, the fuel consumption, distance, etc. Experimental results show that the new algorithm is able to obtain good solutions, however as the problem becomes more complex, the optimal solutions also become harder to find.Comment: This is a preprint version of the article submitted and published in Soft Computin

Temperature Effects in the Composition of Metal Halide Perovskite thin Films

Metal halide perovskites have shown to be a structure with great promise as an efficient photovoltaic, but at the same time it is affected by instability problems that degrade their performance. Degradation mechanisms vary with temperature, moisture, oxidation, and energy conversion during light exposure. We study performance loss due to temperature by probing diffusion of elemental composition across the thickness of films produced by spin coating and for temperatures ranging from 20 to 200°C. X-ray reflectivity was used to identify the electron density, composition, and quality of the films, aided with X-ray fluorescence and X-ray photoelectron spectroscopy studies to obtain information about degradation of the organic phase of the films

Large excess of heavy nitrogen in both hydrogen cyanide and cyanogen from comet 17P/Holmes

From millimeter and optical observations of the Jupiter-family comet 17P/Holmes performed soon after its huge outburst of October 24, 2007, we derive 14 N/15N = 139 +/- 26 in HCN, and 14N/15N = 165 +/- 40 in CN, establishing that HCN has the same non-terrestrial isotopic composition as CN. The same conclusion is obtained for the long-period comet C/1995 O1 (Hale-Bopp) after a reanalysis of previously published measurements. These results are compatible with HCN being the prime parent of CN in cometary atmospheres. The 15N excess relative to the Earth atmospheric value indicates that N-bearing volatiles in the solar nebula underwent important N isotopic fractionation at some stage of Solar System formation. HCN molecules never isotopically equilibrated with the main nitrogen reservoir in the solar nebula before being incorporated in Oort-cloud and Kuiper-belt comets. The 12C/13C ratios in HCN and CN are measured to be consistent with the terrestrial value.Comment: Accepted for publication in the Astrophysical Journal (Letters) 4 page

Physicochemical Characterization And Sources Of The Thoracic Fraction Of Road Dust In A Latin American Megacity

Road dust has been identified as one of the main sources of outdoor PM10 in Bogota (a Latin American megacity), but there are no studies that have analyzed the physicochemical characteristics and origins of its respirable fraction. A characterization of inorganic compounds (water soluble ions, major and trace elements, organic and elemental carbon) and an analysis of source contributions to the PM10 fraction of road dust were carried out in this study. A total of twenty road dust samples, selected from representative industrial, residential and commercial areas, were swept and resuspended to obtain the thoracic fraction. Size distribution by laser diffraction and individual particle morphology by Scanning Electron Microscopy were also evaluated. The data obtained revealed that the volume (%) of thoracic particles was higher in samples from industrial zones where heavy vehicular traffic, industrial emissions and deteriorated pavements predominated. Crustal elements were the most abundant species, accounting for 49–62% of the thoracic mass, followed by OC (13–29%), water-soluble ions (1.4–3.8%), EC (0.8–1.9%) and trace elements (0.2–0.5%). The Coefficient of Divergence was obtained to identify the spatial variability of the samples. A source apportionment analysis was carried out considering the variability of chemical profiles, enrichment factors and ratios of Fe/Al, K/Al, Ca/Al, Ti/Al, Cu/Sb, Zn/Sb, OC/TC and OC/EC. By means of a PCA analysis, five components were identified, including local soils and pavement erosion (63%), construction and demolition activities (13%), industrial emissions (6%), brake wear (5%) and tailpipe emissions (4%). These components accounted for 91% of the total variance. The results provide data to understand better one of the main sources of PM10 emissions in Bogota, such as road dust. These data will be useful to optimize environmental policies, and they may be used in future studies of human health and air quality modeling

Co-operative Kondo Effect in the two-channel Kondo Lattice

We discuss the possibility of a co-operative Kondo effect driven by channel interference in a Kondo lattice where local moments are coupled to a single Fermi sea via two orthogonal scattering channels. In this situation, the channel quantum number is not conserved. We argue that the absence of channel conservation causes the Kondo effect in the two channels to constructively interfere, giving rise to a superconducting condensate of composite pairs, formed between the local moments and the conduction electrons. Our arguments are based on the observation that a heavy Fermi surface gives rise to zero modes for Kondo singlets to fluctuate between screening channels of different symmetry, producing a divergent composite pair susceptibility. Secondary screening channels couple to these divergent fluctuations, promoting an instability into a state with long-range composite order. We present detailed a detailed mean-field theory for this superconducting phase, and discuss the possible implications for heavy fermion physics.Comment: 23 double column pages. 9 fig

Magnetic properties of the frustrated AFM spinel ZnCr_2O_4 and the spin-glass Zn_{1-x}Cd_xCr_2O_4 (x=0.05,0.10)

The $T$-dependence (2- 400 K) of the electron paramagnetic resonance (EPR), magnetic susceptibility, $\chi (T)$, and specific heat, $C_{v}(T)$, of the $normal$ antiferromagnetic (AFM) spinel ZnCr$_{2}$O$_{4}$ and the spin-glass (SG) Zn$_{1-x}$Cd$_{x}$Cr$_{2}$O$_{4}$ ($x=0.05,0.10$) is reported. These systems behave as a strongly frustrated AFM and SG with $$ $\approx T_{G}\approx 12$ K and -400 K $\gtrsim \Theta_{CW}\gtrsim -500$ K. At high-$T$ the EPR intensity follows the $\chi (T)$ and the $g$-value is $T$-independent. The linewidth broadens as the temperature is lowered, suggesting the existence of short range AFM correlations in the paramagnetic phase. For ZnCr$_{2}$O$_{4}$ the EPR intensity and $\chi (T)$ decreases below 90 K and 50 K, respectively. These results are discussed in terms of nearest-neighbor Cr$^{3+}$ (S $=3/2$%) spin-coupled pairs with an exchange coupling of $| J/k| \approx$ 50 K. The appearance of small resonance modes for $T\lesssim 17$ K, the observation of a sharp drop in $\chi (T)$ and a strong peak in $C_{v}(T)$ at $T_{N}=12$ K confirms, as previously reported, the existence of long range AFM correlations in the low-$T$ phase. A comparison with recent neutron diffraction experiments that found a near dispersionless excitation at 4.5 meV for $T\lesssim T_{N}$ and a continuous gapless spectrum for $T\gtrsim T_{N}$, is also given.Comment: 17 pages, 8 figures, 1 Table. Submitted to Physical Review

Structural variability in M2+ 2-hydroxyphosphonoacetate moderate proton conductors

The structural variability of two series of Mg2+- and Zn2+- 2-hydroxyphosphonoacetates have been studied in the range of 25–80 °C and 95 % relative humidity in order to correlate the structure with the proton conductivity properties. In addition to selected previously reported 1D, 2D and 3D materials, a new compound, KZn6(OOCCH(OH)PO3)4(OH)·5H2O (KZn6-HPAA-3D), has been prepared and thoroughly characterized. The crystal structure of this solid, solved ab initio from synchrotron X-ray powder diffraction data, consists of a negatively charged 3D framework with K+ ions, as compensating counterions. It also contains water molecules filling the cavities in contrast to the potassium-free 3D anhydrous NH4Zn(OOCCH(OH)PO3) (NH4Zn-HPAA-3D). In the range of temperature studied, the 1D materials exhibit a 1D → 2D solid-state transition. At 80 °C and 95 % RH, the 2D solids show moderate proton conductivities, between 2.1 × 10 − 5 S·cm − 1 and 6.7 × 10− 5 S·cm− 1. The proton conductivity is slightly increased by ammonia adsorption up to 2.6 × 10 − 4 S·cm − 1, although no ammonia intercalation was observed. As synthesized KZn6-HPAA-3D exhibits a low proton conductivity, 1.6 × 10− 6 S·cm− 1, attributed to the basic character of the framework and a low mobility of water molecules. However, this solid transforms to the 2D phase, Zn(OOCCH(OH)PO3H)·2H2O, upon exposure to dry HCl(g), which enhances the proton conductivity with respect to the as-synthesized 2D material (4.5 × 10− 4 S·cm− 1). On the other hand, NH4Zn-HPAA-3D exhibited a higher proton conductivity, 1.4 × 10− 4 S·cm− 1, than the K+ analog.Proyecto MAT2013-41836-R del MINECO y proyecto P12-FQM-1656 de la Junta de Andalucí

Estimating travel reduction associated with the use of telemedicine by patients and healthcare professionals: proposal for quantitative synthesis in a systematic review

<p>Abstract</p> <p>Background</p> <p>A major benefit offered by telemedicine is the avoidance of travel, by patients, their carers and health care professionals. Unfortunately, there is very little published information about the extent of avoided travel. We propose to undertake a systematic review of literature which reports credible data on the reductions in travel associated with the use of telemedicine.</p> <p>Method</p> <p>The conventional approach to quantitative synthesis of the results from multiple studies is to conduct a meta analysis. However, too much heterogeneity exists between available studies to allow a meaningful meta analysis of the avoided travel when telemedicine is used across all possible settings. We propose instead to consider all credible evidence on avoided travel through telemedicine by fitting a linear model which takes into account the relevant factors in the circumstances of the studies performed. We propose the use of stepwise multiple regression to identify which factors are significant.</p> <p>Discussion</p> <p>Our proposed approach is illustrated by the example of teledermatology. In a preliminary review of the literature we found 20 studies in which the percentage of avoided travel through telemedicine could be inferred (a total of 5199 patients). The mean percentage avoided travel reported in the 12 store-and-forward studies was 43%. In the 7 real-time studies and in a single study with a hybrid technique, 70% of the patients avoided travel. A simplified model based on the modality of telemedicine employed (i.e. real-time or store and forward) explained 29% of the variance. The use of store and forward teledermatology alone was associated with 43% of avoided travel. The increase in the proportion of patients who avoided travel (25%) when real-time telemedicine was employed was significant (<it>P </it>= 0.014). Service planners can use this information to weigh up the costs and benefits of the two approaches.</p