USV based automatic deployment of booms along quayside mooring ships: scaled experiments and simulations

This article explores possible uses of marine Unmanned Surface Vehicles (USV) for the fully automatic deployment of containment booms along quayside mooring ships. The task of the USV is to tow the boom along adequate trajectories. The target is the prevention of contaminant spills in harbors or near the coast, for example during crude transfers. Surrounding ships with booms is becoming a common practice. This scenario belongs to the target of our research: to transfer robotic techniques to marine applications. The article experimentally shows that the USV based automatic deployment can be done, in accordance with a suitable planning in terms of waypoints. Actually, the article presents a successful automatic deployment, with a scale USV and a 50 m long experimental light boom. For the purposes of the research a set of models, of the boom, cables, and the USV dynamics, have been established. Based on these models, a simulation platform has been developed. The platform has been employed for analyzing and planning of experiments, and for the simulation of a real scale boom deployment scenario described in the article. Some recommendations are included in the final section

Signal conditioning for the Kalman filter: application to satellite attitude estimation with magnetometer and sun sensors

Most satellites use an on-board attitude estimation system, based on available sensors. In the case of low-cost satellites, which are of increasing interest, it is usual to use magnetometers and Sun sensors. A Kalman filter is commonly recommended for the estimation, to simultaneously exploit the information from sensors and from a mathematical model of the satellite motion. It would be also convenient to adhere to a quaternion representation. This article focuses on some problems linked to this context. The state of the system should be represented in observable form. Singularities due to alignment of measured vectors cause estimation problems. Accommodation of the Kalman filter originates convergence difficulties. The article includes a new proposal that solves these problems, not needing changes in the Kalman filter algorithm. In addition, the article includes assessment of different errors, initialization values for the Kalman filter; and considers the influence of the magnetic dipole moment perturbation, showing how to handle it as part of the Kalman filter framework

La influencia de la familia en el rendimiento académico y la desigualdad social en el aula

La familia y la escuela son las dos grandes instituciones educativas de las que disponen los niños para desarrollarse como personas. Ambas deben tener un objetivo común que es el desarrollo global del niño, y por tanto, tienen que realizar un trabajo conjunto. Por ello, este Trabajo Fin de Grado pretende analizar la importancia de las familias en el rendimiento académico de los alumnos y conocer las consecuencias de la desigualdad social en el ámbito escolar. Para cumplir estos objetivos se analizan diferentes variables que son la relación que tienen la escuela y la familia, la implicación de las familias en el ámbito escolar, el nivel educativo-cultural que tienen las familias, los recursos económicos de los que disponen familias, las familias inmigrantes en el ámbito escolar, el abandono escolar prematuro y la COVID-19 y la desigualdad social. Además de la creación de un objeto de estudio propio, enfocado a docentes de todas las etapas, con el que se pretende conocer la percepción de los mismos sobre las variables citadas anteriormente.<br /

Modelo dinámico para el despliegue automático de una barrera de contención de vertidos marinos

[Resumen] El presente trabajo presenta un modelo dinámico para el estudio del movimiento de una barrera de contención de vertidos marinos, cuando es remolcada por un par de barcos. Se describen los fundamentos seguidos en el modelado de la barrera, así como en el de los barcos remolcadores. A continuación, se presentan algunos escenarios básicos de remolque de las barreras, así como las implicaciones para el control del movimiento coordinado de los barcos que la remolcan. Por último, se presentan algunas conclusiones y posibles líneas de trabajo futuras.Los autores agradecen la financiación recibida de los proyectos: DPI2013-46665-C02-1-R y DPI2013-46665-C02-2-R: “Sistema Autónomo para la Localización y Actuación ante Contaminantes en el Mar", de la que es parte el presente trabajohttps://doi.org/10.17979/spudc.978849749808

A multiobjective optimization issue: genetic control planning or trajectories.

Part of a research project on cooperative marine robotics is the scenario of a submarine rendez-vous. This paper considers this case, where a high-manoeuvrability AUV (autonomous underwater vehicle) should meet a submarine platform for energy, samples and data service. Since the AUV is equipped with a set of thrusters, the problem of an adequate command of the thrusters appears. Given initial and final points for the AUV underwater trajectory, the question is to determine the set of forces and times to be exerted by the thrusters to get an adequate trajectory. Several constraints and simultaneous objectives to be optimized must be considered. Given the complexity of the multi-objective optimisation problem, it seems opportune to use Genetic Algorithms. The paper describes the problem to be solved, then explains how the GA were applied, and presents results for a set of cases considered, including obstacle avoidance

Enabling technologies to automate cianobacterial blooms monitoring

[Resumen] Los blooms de cianobacterias son procesos biológicos dinámicos, peligrosos para los habitantes y usuarios de los recursos hídricos, ya que reducen el oxigeno y el alcance de la luz de las masas del agua, y pueden producir toxinas altamente dañinas. La monitorización y la predicción automática de los blooms pueden permitir a las autoridades detectarlos y anticipar la toma de decisiones para mitigar los riesgos que éstos conllevan. El uso de tecnologías como el Modelado & Simulación, los Vehículos Autónomos de Superficie inteligentes, el Internet de las Cosas con computación en el borde, los Gemelos Digitales y la Inteligencia Artificial facilita tanto la monitorización como la predicción y la gestión basada en el conocimiento de la situación real de las masas de agua. Este artículo presenta diferentes avances y proyectos de investigación en estos campos del grupo de Ingeniería de Sistemas, Control, Automatización y Robótica de la Universidad Complutense de Madrid.[Abstract] Cyanobacterial blooms are dynamic biological processes, dangerous for inhabitants and users of water resources, as they reduce the oxygen and light reach in water bodies, and can produce highly harmful toxins. Automatic monitoring and prediction of the blooms can enable authorities to detect them and anticipate their decisions to mitigate the risks that they pose. The use of technologies such as Modeling & Simulation, intelligent Autonomous Surface Vehicles, Internet of Things with edge computing, Digital Twins and Artificial Intelligence facilitates monitoring, prediction and knowledge-based management of the real situation of water bodies. This article presents different advances and research projects in these fields by the Systems Engineering, Control, Automation and Robotics group of the Complutense University of Madrid.Gobierno de la Comunidad de Madrid; Y2020/TCS-6420Ministerio de Ciencia e Innovación; TED2021-130123B-I0

Melanomas in the elderly: clinical and epidemiological features

El melanoma es un tumor muy agresivo derivado de los melanocitos con una incidencia creciente y unas tasas altas de mortalidad en la población anciana. Se ha diseñado un estudio retrospectivo para conocer las características clínicas y epidemiológicas de los melanomas intervenidos en la población de pacientes mayores de 65 años en el Hospital San Cecilio de Granada durante el año 2009. El valor medio del espesor de Breslow observado en los pacientes ancianos ha sido muy elevado (2,6 mm) lo que ensombrece el pronóstico de esta enfermedad. Es muy importante la sospecha diagnostica por parte de los médicos de atención primaria y geriatras para realizar una derivación precoz a unidades especializadas para iniciar un tratamiento adecuado.Melanoma is an aggressive tumor derived from melanocytes with increasing incidence and high mortality rates in the elderly population. We have designed a retrospective study to know the clinical and epidemiological features of melanoma in patients aged more than 65 years old undergoing surgery in Hospital Clinic in Granada (Spain) in 2009. Mean Breslow thickness observed in elderly patients has been very high (2.6 mm) which worsens prognosis of this disease. It is very important to the suspected diagnosis by primary care physicians and geriatricians for an early referral to specialized units to initiate appropriate treatments

Ships confining an oil spill over: A scenario for automatized cooperation

Cooperation between robots is an important contemporary issue. This can be translated to the marine environment, either using marine robots or introducing automatics in the operations of ships. A general research on this kind of problems has started in our group, after several years of developing autonomous robotized ships. Several scenarios have been proposed for the study of cooperation details. This paper focus in a very interesting case, which is representative of other cases: several ships towing booms for oil spill over confinement. It turns out that the cooperation problem is not trivial. Along the operation several phases can be distinguished, and several coordination problems and needs appear. A computer simulation has been developed, after physics based analysis, and some initial coordinated control strategies have been proposed and tested. These strategies are supposed to be applied through verbal orders to captains. Along the operation phases the role of captains change, for an adaptive coordination. The paper introduces the research topic, then describes the scenario and its simulation, then focus on the cooperation problems emerging from the operation phases and the control and coordination solutions that have been proposed, and finally draws some conclusions

Cutaneous manifestations of scleroderma: a therapeutic challenge

La esclerodermia es una conectivopatía crónica y multisistémica con alta morbi-mortalidad y de patogenia desconocida. Los principales síntomas son consecuencia del depósito de colágeno y el daño endotelial a nivel de corazón, pulmón, tubo digestivo, riñón y piel. La afectación cutánea puede llegar a ser muy incapacitante y empeorar de forma marcada la calidad de vida de los pacientes. En la presente revisión se repasan las principales manifestaciones dermatológicas de esta enfermedad, su diagnóstico y las posibilidades de tratamiento.Scleroderma is a chronic and multisystemic connective tissue disease with high morbidity and mortality and unknown pathogenesis. The main symptoms are a result of collagen deposition and endothelial damage at heart, lung, gastrointestinal tract, kidney and skin. The skin involvement can become disabling and markedly worsen the quality of life of patients. The present article reviews the main cutaneous manifestations of this disease, its diagnosis and treatment options

Application of teams of usvs for cyanobacteria monitoring: initial steps

Reservoirs and other water masses could suffer dangerous situations because cyanobacteria blooms. It is convenient for public safety, and for research purposes, to be able to detect the presence of this bacterium in the water, and to monitor its evolution along time. When possible, it would be useful to predict a bloom in the near future. And, in case of having a bloom, it would be relevant to have an eye on its dynamics Our research proposes the use of a specialized team of USVs for these objectives. A series of initial steps has been accomplished, for having microbiology experts on board, and for developing strategies and infrastructure for this project. Standard lawn-mower procedures were precluded: it is more a scenario for intelligent methods, based on models and data-driven explorations of water masses. Some studies in simulation, and experiments with USVs have been initiated