A vehicle routing model with split delivery and stop nodes

In this work, a new variant of the Capacitated Vehicle Routing Problem (CVRP) is presented where the vehicles cannot perform any route leg longer than a given length L (although the routes can be longer). Thus, once a route leg length is close to L, the vehicle must go to a stop node to end the leg or return to the depot. We introduce this condition in a variation of the CVRP, the Split Delivery Vehicle Routing Problem, where multiple visits to a customer by different vehicles are allowed. We present two formulations for this problem which we call Split Delivery Vehicle Routing Problem with Stop Nodes: a vehicle flow formulation and a commodity flow formulation. Because of the complexity of this problem, a heuristic approach is developed. We compare its performance with and without the stop nodesSplit delivery vehicle routing problem, Stop node, Granular neighborhood, Tabu search

Resurrection of the sea pen genus Ptilella Gray, 1870 and description of Ptilella grayi n. sp. from the NE Atlantic (Octocorallia: Pennatulacea)

The order Pennatulacea covers a group of specialized and morphologically distinct octocorals found in all oceans from intertidal areas to more than 6000 m in depth. Sea pens constitute an important structural component in marine soft-bottom communities by increasing the complexity of these environments. Despite being both morphologically distinctive and ecologically important, the taxonomy and systematics of sea pens is still poorly understood. Recent molecular studies have shown the existence of convergent morphological features, making the current familial distribution of genera unstable. The genus Pennatula Linnaeus, 1758 was one of the first described octocoral genera. It is the type genus of its family, Pennatulidae. Colonies of this genus have a characteristic morphology. Recent sampling efforts in the northeastern Atlantic have provided a number of colonies initially attributable to the genus Pennatula. Both morphological and molecular (mtMutS, Cox1 and 28S genes) study of this material supports the polyphyletic nature of this genus and the need to resurrect the genus Ptilella Gray, 1870 to accommodate these and other species. A new species, Ptilella grayi n. sp., is described and illustrated. The species Pennatula bayeri is proposed to be a junior synonym of Pennatula bellissima (here also considered in the genus Ptilella)

Methods for autonomous wristband placement with a search-and-rescue aerial manipulator

A new robotic system for Search And Rescue (SAR) operations based on the automatic wristband placement on the victims’ arm, which may provide identification, beaconing and remote sensor readings for continuous health monitoring. This paper focuses on the development of the automatic target localization and the device placement using an unmanned aerial manipulator. The automatic wrist detection and localization system uses an RGB-D camera and a convolutional neural network based on the region faster method (Faster R-CNN). A lightweight parallel delta manipulator with a large workspace has been built, and a new design of a wristband in the form of a passive detachable gripper, is presented, which under contact, automatically attaches to the human, while disengages from the manipulator. A new trajectory planning method has been used to minimize the torques caused by the external forces during contact, which cause attitude perturbations. Experiments have been done to evaluate the machine learning method for detection and location, and for the assessment of the performance of the trajectory planning method. The results show how the VGG-16 neural network provides a detection accuracy of 67.99%. Moreover, simulation experiments have been done to show that the new trajectories minimize the perturbations to the aerial platform.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech