Path Planning Acceleration with GPU for an Omnidirectional Mobile Robot

Vol. 11 Núm. 19 (2024): Número Especial de la Revista Aristas: Investigación Básica y Aplicada. Universidad Autonóma de Baja CaliforniaPath planning in a state space using the iterative deepening method is a complex problem that can be accelerated using a GPU. In this approach, the state space is divided into smaller subspaces and iterative depth search is applied to each of these. The parallel capabilities of the GPU are utilized to process several subspaces concurrently. Furthermore, the shared memory in the GPU can be leveraged to store relevant data and reduce access time to the global memory. Implementing this approach on the GPU can provide significant acceleration compared to CPU execution. However, careful optimization and parameter tuning are required to utilize the GPU’s capacity fully. In addition to a detailed description of the proposed methodology, experimental results are presented that demonstrate the superiority of our approach compared to traditional CPU-based methods. These results highlight the potential of GPUs to transform trajectory planning in mobile robots, offering a route to faster and more efficient solutions. Trajectory planning in state spaces represents a significant challenge in mobile robotics, particularly in applications that demand fast and efficient responses in dynamic and complex environments. This work introduces a novel method to accelerate route planning in an omnidirectional mobile robot fusing advances in hardware with sophisticated algorithmic techniques, a new paradigm is established in path planning for omnidirectional mobile robots, marking an important milestone in the search for more agile and capable robotic systems. RESUMEN La planificación de rutas en un espacio de estados utilizando el método de profundización iterativa es un problema complejo que puede acelerarse utilizando una GPU. En este enfoque, el espacio de estados se divide en subespacios más pequeños y se aplica una búsqueda en profundidad iterativa a cada uno de ellos. Las capacidades paralelas de la GPU se utilizan para procesar varios subespacios al mismo tiempo. Además, la memoria compartida en la GPU se puede aprovechar para almacenar datos relevantes y reducir el tiempo de acceso a la memoria global. La implementación de este enfoque en la GPU puede proporcionar una aceleración significativa en comparación con la ejecución de la CPU. Sin embargo, se requiere una cuidadosa optimización y ajuste de parámetros para utilizar plenamente la capacidad de la GPU. Además de una descripción detallada de la metodología propuesta, se presentan resultados experimentales que demuestran la superioridad de nuestro enfoque en comparación con los métodos tradicionales basados ​​en CPU. Estos resultados resaltan el potencial de las GPU para transformar la planificación de trayectorias en robots móviles, ofreciendo una ruta hacia soluciones más rápidas y eficientes. La planificación de trayectorias en espacios de estados representa un desafío importante en la robótica móvil, particularmente en aplicaciones que exigen respuestas rápidas y eficientes en entornos dinámicos y complejos. Este trabajo presenta un método novedoso para acelerar la planificación de rutas en un robot móvil omnidireccional, fusionando avances en hardware con técnicas algorítmicas sofisticadas, se establece un nuevo paradigma en la planificación de rutas para robots móviles omnidireccionales, marcando un hito importante en la búsqueda de robots más ágiles y capaces. sistemas.http://revistaaristas.tij.uabc.mx/index.php/revista_aristas/article/view/38

Historia y perspectivas del modelo GGAVATT (Grupos Ganaderos de Validación y Transferencia de Tecnología)

In this document, the aim was to gather the experiences obtained with the GGAVATT model since its creation. The results, experiences, and impacts of the development and implementation of this model, reported in secondary sources, were evaluated. Five stages were identified: laying the foundations (1970 - 1982), model development (1983 - 1989), model validation (1990 - 1996), national expansion (1997 - 2007), and adaptation and survival (2008 - to date). Here present the results obtained in each of these stages and the participation in different projects associated with official programs in the different Mexican States. In all the projects where the GGAVATT methodology has been appropriately applied, the technical, economic, social, and ecological results have been positive. At this point, it is know the success factors that provide good results. Therefore, it has a strategy that could be very useful in improving the current situation of small and medium-scale livestock producers in Mexico.El objetivo del presente documento es revisar las experiencias obtenidas con el GGAVATT desde su formación. Para lo cual se llevó a cabo una revisión de fuentes secundarias que reportan resultados, experiencias e impactos del desarrollo e implementación del modelo. Se identificaron cinco etapas: de 1970-1982, poniendo los cimientos; de 1983-1989 formación del modelo; de 1990-1996 validación del modelo; de 1997-2007 expansión nacional; de 2008 a la fecha adaptación y sobrevivencia. Se presentan los resultados obtenidos en cada una de estas etapas y la participación en diferentes proyectos asociados a los programas oficiales del sector en diferentes estados del país. En todos los proyectos en donde la metodología GGAVATT se ha aplicado adecuadamente, los resultados técnicos, económicos, sociales y ecológicos, han sido positivos. Se conoce ahora cuales son los factores de éxito que proporcionan buenos resultados y se dispone de una estrategia que puede ser de gran utilidad para mejorar la situación de los pequeños y medianos productores pecuarios de México

Albiglutide and cardiovascular outcomes in patients with type 2 diabetes and cardiovascular disease (Harmony Outcomes): a double-blind, randomised placebo-controlled trial

Background: Glucagon-like peptide 1 receptor agonists differ in chemical structure, duration of action, and in their effects on clinical outcomes. The cardiovascular effects of once-weekly albiglutide in type 2 diabetes are unknown. We aimed to determine the safety and efficacy of albiglutide in preventing cardiovascular death, myocardial infarction, or stroke. Methods: We did a double-blind, randomised, placebo-controlled trial in 610 sites across 28 countries. We randomly assigned patients aged 40 years and older with type 2 diabetes and cardiovascular disease (at a 1:1 ratio) to groups that either received a subcutaneous injection of albiglutide (30–50 mg, based on glycaemic response and tolerability) or of a matched volume of placebo once a week, in addition to their standard care. Investigators used an interactive voice or web response system to obtain treatment assignment, and patients and all study investigators were masked to their treatment allocation. We hypothesised that albiglutide would be non-inferior to placebo for the primary outcome of the first occurrence of cardiovascular death, myocardial infarction, or stroke, which was assessed in the intention-to-treat population. If non-inferiority was confirmed by an upper limit of the 95% CI for a hazard ratio of less than 1·30, closed testing for superiority was prespecified. This study is registered with ClinicalTrials.gov, number NCT02465515. Findings: Patients were screened between July 1, 2015, and Nov 24, 2016. 10 793 patients were screened and 9463 participants were enrolled and randomly assigned to groups: 4731 patients were assigned to receive albiglutide and 4732 patients to receive placebo. On Nov 8, 2017, it was determined that 611 primary endpoints and a median follow-up of at least 1·5 years had accrued, and participants returned for a final visit and discontinuation from study treatment; the last patient visit was on March 12, 2018. These 9463 patients, the intention-to-treat population, were evaluated for a median duration of 1·6 years and were assessed for the primary outcome. The primary composite outcome occurred in 338 (7%) of 4731 patients at an incidence rate of 4·6 events per 100 person-years in the albiglutide group and in 428 (9%) of 4732 patients at an incidence rate of 5·9 events per 100 person-years in the placebo group (hazard ratio 0·78, 95% CI 0·68–0·90), which indicated that albiglutide was superior to placebo (p<0·0001 for non-inferiority; p=0·0006 for superiority). The incidence of acute pancreatitis (ten patients in the albiglutide group and seven patients in the placebo group), pancreatic cancer (six patients in the albiglutide group and five patients in the placebo group), medullary thyroid carcinoma (zero patients in both groups), and other serious adverse events did not differ between the two groups. There were three (<1%) deaths in the placebo group that were assessed by investigators, who were masked to study drug assignment, to be treatment-related and two (<1%) deaths in the albiglutide group. Interpretation: In patients with type 2 diabetes and cardiovascular disease, albiglutide was superior to placebo with respect to major adverse cardiovascular events. Evidence-based glucagon-like peptide 1 receptor agonists should therefore be considered as part of a comprehensive strategy to reduce the risk of cardiovascular events in patients with type 2 diabetes. Funding: GlaxoSmithKline

Efecto de la inmunización contra testosterona sobre las características testiculares de toros cebú

The primary aim of this study was to evaluate the testicular size and sperm production in adult bulls, immunized against testosterone during the prepubertal age. Zebu crossbred bulls (n=4 per group) were immunized prepubertally with ovalbumin (OVA), or with 5 mg (T5), or 10 mg (T10) of a testosterone-ovalbumin conjugate. Non-immunized bulls were used as a control group. At castration (29 months of age), the scrotal circumference (SC) was recorded and seminal quality was evaluated. Testes and epididymides were collected from each bull, and their weight recorded, as well as the testis parenchyma weight. Testicular tissue samples were collected for histology studies and daily sperm production quantification. Bulls from T5 group had larger SC (P0.05) for epididymis weight, Leydig cell density, diameter of seminiferous tubules, semen characteristics, and LH and testosterone concentrations. In conclusion, immunization with the small dose of the testosteroneovalbumin conjugate in prepubertal bulls increased testicular size and daily sperm production in the adult animal, with no apparent effect on seminal quality and body weight.El objetivo fue conocer el efecto de la inmunización contra testosterona en toros prepúberes, sobre el tamaño testicular y la producción espermática durante la edad adulta. Se usaron toros encastados de Cebú (n=4 por grupo) que habían sido inmunizados antes de la pubertad contra ovoalbúmina (OVO), o con 5 mg (T5) o 10 mg (T10) de un conjugado de testosterona y ovoalbúmina. Toros sin inmunizar fueron usados como grupo testigo. A los 29 meses de edad se les midió la circunferencia escrotal (CE) y se evaluó la calidad seminal. Se colectaron los testículos y epidídimos de cada animal, se registró el peso de cada órgano y del parénquima testicular. Los testículos fueron procesados para estudios histológicos y para la estimación de la producción espermática diaria. Los toros del grupo T5 tuvieron una mayor CE y mayor peso testicular y del parénquima (P0.05) en el peso de los epidídimos, la densidad de células de Leydig, el diámetro de los túbulos seminíferos, las características seminales y las concentraciones de LH y testosterona. Se concluye que la inmunización contra testosterona, con la dosis baja del inmunógeno en toros prepúberes aumentó el tamaño testicular y la producción espermática en el animal adulto sin afectar la calidad seminal y el crecimiento corporal

Sustentabilidad económica a nivel de empresa: aplicación a unidades familiares de producción de leche en méxico

The objective of this study was to assess economic sustainability of family milk production systems in Mexico. The sustainability indicators were estimated through a weak sustainability model. Ecological net added value was calculated for four family systems: milk in backyard (MinB), milk in grazing (MinG), dual purpose cattle private ownership (DPP) and dual purpose cattle communal ownership (DPC) and for two technology levels: traditional and improved. Data on beef and milk production, costs, investment and income were captured in farms in the States of Guanajuato, Tabasco and Veracruz. Secondary data referred to natural resources degradation and exhaustion was used. Sustainability indicators obtained for MinB, MinG, DPP and DPC were 486, 870, 678 y 633 pesos respectively, for farms applying improved technology and 289, 215, -2 y 74 pesos respectively, for farms using traditional technology. This study indicates that milk production in family enterprises is economically sustainable when improved technology is applied.Con el objetivo de evaluar la sustentabilidad económica de los sistemas familiares de producción de leche en México, se integró información de producción de leche y carne, cantidad de alimento utilizado, ingresos, costos de insumos e inversión, en unidades de producción de los estados de Guanajuato, Tabasco y Veracruz, así como información estadística de datos de agotamiento y degradación de los recursos naturales. Con esa información se generaron indicadores de sustentabilidad para los sistemas de producción familiar con dos variantes: pastoreo (PLFP) y traspatio (PLFT), y para el sistema doble propósito, con dos variantes, ejidal (PDPE) y pequeña propiedad (PDPP), en cada variante se evaluaron dos niveles tecnológicos, tradicional y mejorado. El método empleado fue el de sustentabilidad débil, que ajusta el valor agregado neto descontando los costos ambientales. Los resultados indican que el valor agregado neto ajustado ambientalmente por vaca en producción por año, para las variantes PLFP, PLFT, PDPP y PDPE fue respectivamente de 289, 215, -2 y 74 pesos, para los ranchos con tecnología tradicional y de 486, 870, 678 y 633 pesos, para los de la tecnología mejorada, por lo tanto la producción de leche con esta tecnología es económicamente sustentable, en cambio para la tecnología tradicional no lo es, en la variante de pequeña propiedad del sistema doble propósito

Global variation in postoperative mortality and complications after cancer surgery: a multicentre, prospective cohort study in 82 countries

© 2021 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY-NC-ND 4.0 licenseBackground: 80% of individuals with cancer will require a surgical procedure, yet little comparative data exist on early outcomes in low-income and middle-income countries (LMICs). We compared postoperative outcomes in breast, colorectal, and gastric cancer surgery in hospitals worldwide, focusing on the effect of disease stage and complications on postoperative mortality. Methods: This was a multicentre, international prospective cohort study of consecutive adult patients undergoing surgery for primary breast, colorectal, or gastric cancer requiring a skin incision done under general or neuraxial anaesthesia. The primary outcome was death or major complication within 30 days of surgery. Multilevel logistic regression determined relationships within three-level nested models of patients within hospitals and countries. Hospital-level infrastructure effects were explored with three-way mediation analyses. This study was registered with ClinicalTrials.gov, NCT03471494. Findings: Between April 1, 2018, and Jan 31, 2019, we enrolled 15 958 patients from 428 hospitals in 82 countries (high income 9106 patients, 31 countries; upper-middle income 2721 patients, 23 countries; or lower-middle income 4131 patients, 28 countries). Patients in LMICs presented with more advanced disease compared with patients in high-income countries. 30-day mortality was higher for gastric cancer in low-income or lower-middle-income countries (adjusted odds ratio 3·72, 95% CI 1·70–8·16) and for colorectal cancer in low-income or lower-middle-income countries (4·59, 2·39–8·80) and upper-middle-income countries (2·06, 1·11–3·83). No difference in 30-day mortality was seen in breast cancer. The proportion of patients who died after a major complication was greatest in low-income or lower-middle-income countries (6·15, 3·26–11·59) and upper-middle-income countries (3·89, 2·08–7·29). Postoperative death after complications was partly explained by patient factors (60%) and partly by hospital or country (40%). The absence of consistently available postoperative care facilities was associated with seven to 10 more deaths per 100 major complications in LMICs. Cancer stage alone explained little of the early variation in mortality or postoperative complications. Interpretation: Higher levels of mortality after cancer surgery in LMICs was not fully explained by later presentation of disease. The capacity to rescue patients from surgical complications is a tangible opportunity for meaningful intervention. Early death after cancer surgery might be reduced by policies focusing on strengthening perioperative care systems to detect and intervene in common complications. Funding: National Institute for Health Research Global Health Research Unit

Effects of hospital facilities on patient outcomes after cancer surgery: an international, prospective, observational study

© 2022 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY 4.0 licenseBackground: Early death after cancer surgery is higher in low-income and middle-income countries (LMICs) compared with in high-income countries, yet the impact of facility characteristics on early postoperative outcomes is unknown. The aim of this study was to examine the association between hospital infrastructure, resource availability, and processes on early outcomes after cancer surgery worldwide. Methods: A multimethods analysis was performed as part of the GlobalSurg 3 study—a multicentre, international, prospective cohort study of patients who had surgery for breast, colorectal, or gastric cancer. The primary outcomes were 30-day mortality and 30-day major complication rates. Potentially beneficial hospital facilities were identified by variable selection to select those associated with 30-day mortality. Adjusted outcomes were determined using generalised estimating equations to account for patient characteristics and country-income group, with population stratification by hospital. Findings: Between April 1, 2018, and April 23, 2019, facility-level data were collected for 9685 patients across 238 hospitals in 66 countries (91 hospitals in 20 high-income countries; 57 hospitals in 19 upper-middle-income countries; and 90 hospitals in 27 low-income to lower-middle-income countries). The availability of five hospital facilities was inversely associated with mortality: ultrasound, CT scanner, critical care unit, opioid analgesia, and oncologist. After adjustment for case-mix and country income group, hospitals with three or fewer of these facilities (62 hospitals, 1294 patients) had higher mortality compared with those with four or five (adjusted odds ratio [OR] 3·85 [95% CI 2·58–5·75]; p<0·0001), with excess mortality predominantly explained by a limited capacity to rescue following the development of major complications (63·0% vs 82·7%; OR 0·35 [0·23–0·53]; p<0·0001). Across LMICs, improvements in hospital facilities would prevent one to three deaths for every 100 patients undergoing surgery for cancer. Interpretation: Hospitals with higher levels of infrastructure and resources have better outcomes after cancer surgery, independent of country income. Without urgent strengthening of hospital infrastructure and resources, the reductions in cancer-associated mortality associated with improved access will not be realised. Funding: National Institute for Health and Care Research