Assisting dependent people at home through autonomous unmanned aerial vehicles

This work describes a proposal of autonomous unmanned aerial vehicles (AUAVs) for home assistance of dependent people. AUAVs will monitor and recognize human activities during flight to improve their quality of life. However, before bringing such AUAV assistance to real homes, several challenges must be faced to make them viable and practical. Some challenges are technical and some others are related to human factors. In particular, several technical aspects are described for AUAV assistance: (1) flight control, based on our active disturbance rejection control algorithm, (2) flight planning (navigation in obstacle environments), and, (3) processing signals, acquired both from flight-control and monitoring sensors. From the assisted person’s viewpoint, our research focuses on three cues: (1) the user’s perception about AUAV assistance, (2) the influence on human acceptance of AUAV appearance and behavior at home, and (3) the human-robot interaction between assistant AUAV and assisted person. Finally, virtual reality environments are proposed to carry out preliminary tests and user acceptance evaluations.This work has been partially supported by Spanish Ministerio de Ciencia, Innovación y Universidades, Agencia Estatal de Investigaci´on (AEI) / European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant, and by CIBERSAM of the Instituto de Salud Carlos III. Lidia M. Belmonte holds FPU014/05283 scholarship from Spanish Ministerio de Educaci´on y Formación Profesional

Trajectory planning of a quadrotor to monitor dependent people

This article introduces a framework for assisting dependent people at home through a vision-based autonomous unmanned aerial vehicle (UAV). Such an aircraft equipped with onboard cameras can be useful for monitoring and recognizing a dependent's activity. This work is focused on the problem of planning the flight path of a quadrotor to perform monitoring tasks. The objective is to design a trajectory planning algorithm that allows the UAV to position itself for the sake of capturing images of the dependent person's face. These images will be later treated by a base station to evaluate the persons emotional state, together with his/her behavior, this way determining the assistance needed in each situation. Numerical simulations have been carried out to validate the proposed algorithms. The results show the effectiveness of the trajectory planner to generate smooth references to our previously designed GPI (generalized proportional integral) controller. This demonstrates that a quadrotor is able to perform monitoring flights with a high motion precision.- This work has been partially supported by Spanish Ministerio de Ciencia, Innovacion y Universidades, Agencia Estatal de Investigacion (AEI)/European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant. Lidia M. Belmonte holds FPU014/05283 scholarship from Spanish Ministerio de Educacion y Formacion Profesional

Advanced trajectory generator for two carts with RGB-D sensor on circular rail

This paper presents a motorised circular rail that generates the motion of two carts with an RGB-D sensor each. The objective of both carts' trajectory generation is to track a person's physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints. The person is moving freely his/her position and posture within the circle drawn by the motorised rail. More specifically, this paper describes the calculation of trajectories for safe motion of the two carts on the motorised circular rail in detail. Lastly, a study case is offered to show the performance of the described control algorithms for trajectory generation.- This work was partially supported by Ministerio de Ciencia, Innovacion y Universidades, Agencia Estatal de Investigacion (AEI) / European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant

Measurement of the Depth of Maximum of Extensive Air Showers above 10^18 eV

We describe the measurement of the depth of maximum, Xmax, of the longitudinal development of air showers induced by cosmic rays. Almost four thousand events above 10^18 eV observed by the fluorescence detector of the Pierre Auger Observatory in coincidence with at least one surface detector station are selected for the analysis. The average shower maximum was found to evolve with energy at a rate of (106 +35/-21) g/cm^2/decade below 10^(18.24 +/- 0.05) eV and (24 +/- 3) g/cm^2/decade above this energy. The measured shower-to-shower fluctuations decrease from about 55 to 26 g/cm^2. The interpretation of these results in terms of the cosmic ray mass composition is briefly discussed.Comment: Accepted for publication by PR

The Pierre Auger Observatory III: Other Astrophysical Observations

Astrophysical observations of ultra-high-energy cosmic rays with the Pierre Auger ObservatoryComment: Contributions to the 32nd International Cosmic Ray Conference, Beijing, China, August 201

Operations of and Future Plans for the Pierre Auger Observatory

Technical reports on operations and features of the Pierre Auger Observatory, including ongoing and planned enhancements and the status of the future northern hemisphere portion of the Observatory. Contributions to the 31st International Cosmic Ray Conference, Lodz, Poland, July 2009.Comment: Contributions to the 31st ICRC, Lodz, Poland, July 200

Highlights from the Pierre Auger Observatory

The Pierre Auger Observatory is the world's largest cosmic ray observatory. Our current exposure reaches nearly 40,000 km$^2$ str and provides us with an unprecedented quality data set. The performance and stability of the detectors and their enhancements are described. Data analyses have led to a number of major breakthroughs. Among these we discuss the energy spectrum and the searches for large-scale anisotropies. We present analyses of our X$_{max}$ data and show how it can be interpreted in terms of mass composition. We also describe some new analyses that extract mass sensitive parameters from the 100% duty cycle SD data. A coherent interpretation of all these recent results opens new directions. The consequences regarding the cosmic ray composition and the properties of UHECR sources are briefly discussed.Comment: 9 pages, 12 figures, talk given at the 33rd International Cosmic Ray Conference, Rio de Janeiro 201

Anisotropy and chemical composition of ultra-high energy cosmic rays using arrival directions measured by the Pierre Auger Observatory

The Pierre Auger Collaboration has reported evidence for anisotropy in the distribution of arrival directions of the cosmic rays with energies $E>E_{th}=5.5\times 10^{19}$ eV. These show a correlation with the distribution of nearby extragalactic objects, including an apparent excess around the direction of Centaurus A. If the particles responsible for these excesses at $E>E_{th}$ are heavy nuclei with charge $Z$, the proton component of the sources should lead to excesses in the same regions at energies $E/Z$. We here report the lack of anisotropies in these directions at energies above $E_{th}/Z$ (for illustrative values of $Z=6,\ 13,\ 26$). If the anisotropies above $E_{th}$ are due to nuclei with charge $Z$, and under reasonable assumptions about the acceleration process, these observations imply stringent constraints on the allowed proton fraction at the lower energies

A search for point sources of EeV photons

Measurements of air showers made using the hybrid technique developed with the fluorescence and surface detectors of the Pierre Auger Observatory allow a sensitive search for point sources of EeV photons anywhere in the exposed sky. A multivariate analysis reduces the background of hadronic cosmic rays. The search is sensitive to a declination band from -85{\deg} to +20{\deg}, in an energy range from 10^17.3 eV to 10^18.5 eV. No photon point source has been detected. An upper limit on the photon flux has been derived for every direction. The mean value of the energy flux limit that results from this, assuming a photon spectral index of -2, is 0.06 eV cm^-2 s^-1, and no celestial direction exceeds 0.25 eV cm^-2 s^-1. These upper limits constrain scenarios in which EeV cosmic ray protons are emitted by non-transient sources in the Galaxy.Comment: 28 pages, 10 figures, accepted for publication in The Astrophysical Journa