A Ground Control Station for Collaborative Unmanned Surface Vehicles

[ES] El Centro de Control de Tierra (CCT) es uno de los elementos imprescindibles para la supervisión y control de vehículos autónomos que realizan misiones complejas. En la actualidad cada vez hay más aplicaciones donde se utilizan múltiples vehículos autónomos y el tradicional Centro de Control está evolucionando para ser capaz de gestionar diversos vehículos y operadores. Este artículo presenta las características más relevantes de un CCT adaptable y versátil, especialmente diseñado para que un equipo heterogéneo de operadores puedan monitorizar y supervisar el funcionamiento colaborativo de un conjunto heterogéneo de vehículos autónomos. Entre estas características destacan la posibilidad de, según las necesidades de los operadores y de la misión, 1) reconfigurar cuál (y cómo) es la información que se muestra de cada vehículo a cada operador, 2) definir alarmas que atraigan la atención de los operadores ante determinados eventos (y liberen su carga de trabajo mientras estos no se den) y 3) re-asignar en tiempo real la gestión de los vehículos a los diferentes operadores. Para alcanzarlas, se ha realizado un cuidadoso diseño de la arquitectura software del CCT, que se detalla en el artículo y que se encuentra formada por: un módulo de comunicaciones; un módulo planificador de alto nivel; un módulo (replicable en tantos equipos como se desee) de monitorización y supervisión de vehículos; y tantos módulos comandadores como vehículos diferentes existan en la misión. Este CCT ha sido desarrollado dentro del proyecto de investigación SALACOM (Sistema Autónomo de Localización y Actuación ante Contaminantes en el Mar), en el que dos barcos autónomos maniobran de forma colaborativa para desplegar una barrera para la contención de un vertido contaminante en el mar ydonde la incorporación del operador en la supervisión y control de las maniobras de los vehículos es un requisito imprescindible para dar seguridad y confianza a la operación realizada. Finalmente, se presenta un caso de uso del Centro de Control de Tierra donde se realiza una maniobra de seguimiento entre dos vehículos autónomos de superficie.[EN] The Ground Control Station (GCS) is one of the essential elements to supervise and control autonomous vehicles performing complex missions. The increasing number of systems that involve multiple autonomous vehicles is making traditional GCSs evolve to let them handle dierent vehicles and operators. In this article, we present the more relevant properties of a versatile adaptable GCS that has been especially designed to let multiple operators, each using a dierent computer equipment, be in charge of controlling a heterogeneous team of autonomous vehicles. Its main properties are the possibility of 1) reconfiguring which information is displayed to each operator, 2) defining alarms to draw the operators attention when required, and 3) re-assigning, in real-time, the vehicles to dierent operators. These properties are supported by a distributed design of the GCS software architecture, presented in the paper and consistent of: a communication module, a high level planner, replicable monitoring and supervising units, and as many commanders as vehicles within each mission. This GCS has been developed within SALACOM (an autonomous system for locating and acting against sea spills), where two Unmanned Surface Vehicles (USVs) cooperate to collect a sea spill under the supervision of several operators that are responsible of the security of the mission. Finally, this paper also presents a case of use of the GCS within a real-world experiment involving two USVs performing leader-follower formation maneouvres.Los autores del art´ıculo quieren agradecer al Ministerio de Econom´ıa y Competitividad español su apoyo a través del proyecto SALACOM (DPI2013-46665-C2-1-R).Bonache Seco, J.; Dormido Canto, J.; Montalvo Martinez, M.; López-Orozco, J.; Besada Portas, E.; De La Cruz Garcia, J. (2017). Centro de Control de Tierra para Colaboración de Vehículos Autónomos Marinos. Revista Iberoamericana de Automática e Informática industrial. 15(1):1-11. https://doi.org/10.4995/riai.2017.8737OJS111151ASTM, 2017. Committee F41 on unmanned maritime vehicle systems (umvs). 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Journal On Advances in Telecommunications, IARIA 3 (3), 152-161.Burmeister, H.-C., Bruhn, W., Rødseth, Ø. J., Porathe, T., 2014. Autonomous unmanned merchant vessel and its contribution towards the e-navigation implementation: The munin perspective. International Journal of e-Navigation and Maritime Economy 1, 1-13.Cummings, M. L., How, J. P., Whitten, A., Toupet, O., 2012. The impact of human-automation collaboration in decentralized multiple unmanned vehicle control. Proceedings of the IEEE 100 (3), 660-671. https://doi.org/10.1109/JPROC.2011.2174104de la Cruz, J. M., Lopez-Orozco, A, J., Besada Portas, E., Aranda Almansa, J., 2016. Control de formaciones de vehículos marinos de superficie con restricciones de entrada. CEA, pp. 1044-1051.de la Cruz, J. M., Lopez-Orozco, A, J., Besada Portas, E., Moreno Salinas, D., Aranda Almansa, J., 2014. Seguimiento de caminos para formaciones de vehículos marinos de superficie.de la Cruz, J. M., Lopez-Orozco, J. A., Besada-Portas, E., Aranda-Almansa, J., 2015. A streamlined nonlinear path following kinematic controller. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 6394-6401. https://doi.org/10.1109/ICRA.2015.7140097Heo, J., Kim, S., Kwon, Y., 2016. Design of ground control station for operation of multiple combat entities. Journal of Computer and Communications 4, 66-71. https://doi.org/10.4236/jcc.2016.45010Lalish, E., Morgansen, K. A., 2008. Decentralized reactive collision avoidance for multivehicle systems. In: Proceedings of the 47th IEEE Conference on Decision and Control. IEEE, pp. 1218-1224. https://doi.org/10.1109/CDC.2008.4738894Lapierre, L., Soetanto, D., 2007. Nonlinear path-following control of an auv. Ocean engineering 34 (11), 1734-1744. https://doi.org/10.1016/j.oceaneng.2006.10.019LibrePilot, 2015. Software suite to control multicopter and other rc-models. [Online] https://www.librepilot.org/site/index.html, accedido en marzo de 2017.Lindemuth, M., Murphy, R., Steimle, E., Armitage, W., Dreger, K., Elliot, T., Hall, M., Kalyadin, D., Kramer, J., Palankar, M., et al., 2011. Sea robot assisted inspection. IEEE robotics & automation magazine 18 (2), 96-107. https://doi.org/10.1109/MRA.2011.940994MAVLINK, 2017. Micro air vehicle communication protocol. [Online] http://qgroundcontrol.org/mavlink/start, accedido en Marzo, 2017.Moreno-Salinas, D., Besada-Portas, E., López-Orozco, J., Chaos, D., de la Cruz, J., Aranda, J., 2015. Symbolic regression for marine vehicles identification. IFAC-PapersOnLine 48 (16), 210-216. https://doi.org/10.1016/j.ifacol.2015.10.282Mupparapu, S. S., Chappell, S. G., Komerska, R. J., Blidberg, D. R., Nitzel, R., Benton, C., Popa, D. O., Sanderson, A. C., 2004. Autonomous systems monitoring and control (asmac)-an auv fleet controller. In: Autonomous Underwater Vehicles, 2004 IEEE/OES. IEEE, pp. 119-126.Murphy, R. R., Steimle, E., Griffin, C., Cullins, C., Hall, M., Pratt, K., 2008. Cooperative use of unmanned sea surface and micro aerial vehicles at hurricane wilma. Journal of Field Robotics 25 (3), 164-180. https://doi.org/10.1002/rob.20235Park, S., Deyst, J., How, J. P., 2007. Performance and lyapunov stability of a nonlinear path following guidance method. Journal of Guidance, Control, and Dynamics 30 (6), 1718-1728. https://doi.org/10.2514/1.28957Patterson, M. C., Mulligan, A., Boiteux, F., 2013. Safety and security applications for micro-unmanned surface vessels. In: 2013 OCEANS-San Diego. IEEE, pp. 1-6.QGroundControl, 2017. A uav control station. [Online] http://qgroundcontrol.com/, accedido en Marzo de 2017.Ribas, D., Palomeras, N., Ridao, P., Carreras, M., Mallios, A., 2012. Girona 500 auv: From survey to intervention. IEEE ASME Transactions on Mechatronics 17 (1), 46-53. https://doi.org/10.1109/TMECH.2011.2174065STANAG4586, 2012. Standard interfaces of uav control system (ucs) for nato uav interoperability, ed. 3. NATO standardization agency (nsa). [Online] http://nso.nato.int/nso/nsdd/listpromulg.html.Sutton, R., Sharma, S., Xao, T., 2011. Adaptive navigation systems for an unmanned surface vehicle. Journal of Marine Engineering & Technology 10 (3), 3-20.Walter, B. E., Knutzon, J. S., Sannier, A. V., Oliver, J. H., 2004. Virtual uav ground control station. In: AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit. https://doi.org/10.2514/6.2004-6320WGSM, 2017. Wave glider management system. [Online] https://www.liquidrobotics.com/platform/software/

Characterization of the peripheral thyroid system of gilthead seabream acclimated to different ambient salinities

Thyroid hormones are involved in many developmental and physiological processes, including osmoregulation. The regulation of the thyroid system by environmental salinity in the euryhaline gilthead seabream (Sparus aurata) is still poorly characterized. To this end seabreams were exposed to four different environmental salinities (5, 15, 40 and 55 ppt) for 14 days, and plasma free thyroid hormones (fT3, ff4), outer ring deiodination and Na+/K+ -ATPase activities in gills and kidney, as well as other osmoregulatory and metabolic parameters were measured. Low salinity conditions (5 ppt) elicited a significant increase in fT3 (29%) and ff4 (184%) plasma concentrations compared to control animals (acclimated to 40 ppt, natural salinity conditions in the Bay of Cadiz, Spain), while the amount of pituitary thyroid stimulating hormone subunit 13 (tshb) transcript abundance remained unchanged. In addition, plasma fT4 levels were positively correlated to renal and branchial deiodinase type 2 (dio2) mRNA expression. Gill and kidney T4-outer ring deiodination activities correlated positively with dio2 mRNA expression and the highest values were observed in fish acclimated to low salinities (5 and 15 ppt). The high salinity (55 ppt) exposure caused a significant increase in tshb expression (65%), but deiodinase gene expression (diol and dio2) and activity did not change and were similar to controls (40 ppt). In conclusion, acclimation to different salinities led to changes in the peripheral regulation of thyroid hormone metabolism in seabream. Therefore, thyroid hormones are involved in the regulation of ion transport and osmoregulatory physiology in this species. The conclusions derived from this study may also allow aquaculturists to modulate thyroid metabolism in seabream by adjusting culture salinity. (C) 2016 Elsevier Inc. All rights reserved.Socrates/Erasmus Grant from the European UnionUniversity of Cadiz [UCA 2009-074-FPI]Ministerio de Education y Ciencia, Spain [AGL2007-61211/ACU]FEDER, Spain [AGL2007-61211/ACU]Proyecto de Excelencia (Junta de Andalucia) [PO7-RNM-02843]Science Foundation (FCT) of Portugal [SFRH/BPD/89889/2012, SFRH/BPD/84033/2012]info:eu-repo/semantics/acceptedVersio

Consenso colombiano de atención, diagnóstico y manejo de la infección por SARS-COV-2/COVID-19 en establecimientos de atención de la salud Recomendaciones basadas en consenso de expertos e informadas en la evidencia

The “Asociación Colombiana de Infectología” (ACIN) and the “Instituto de Evaluación de Nuevas Tecnologías de la Salud” (IETS) created a task force to develop recommendations for Covid 19 health care diagnosis, management and treatment informed, and based, on evidence. Theses reccomendations are addressed to the health personnel on the Colombian context of health services. © 2020 Asociacion Colombiana de Infectologia. All rights reserved

GWAS for Systemic Sclerosis Identifies Multiple Risk Loci and Highlights Fibrotic and Vasculopathy Pathways

Systemic sclerosis (SSc) is an autoimmune disease that shows one of the highest mortality rates among rheumatic diseases. We perform a large genome-wide association study (GWAS), and meta-analysis with previous GWASs, in 26,679 individuals and identify 27 independent genome-wide associated signals, including 13 new risk loci. The novel associations nearly double the number of genome-wide hits reported for SSc thus far. We define 95% credible sets of less than 5 likely causal variants in 12 loci. Additionally, we identify specific SSc subtype-associated signals. Functional analysis of high-priority variants shows the potential function of SSc signals, with the identification of 43 robust target genes through HiChIP. Our results point towards molecular pathways potentially involved in vasculopathy and fibrosis, two main hallmarks in SSc, and highlight the spectrum of critical cell types for the disease. This work supports a better understanding of the genetic basis of SSc and provides directions for future functional experiments.Funding: This work was supported by Spanish Ministry of Economy and Competitiveness (grant ref. SAF2015-66761-P), Consejeria de Innovacion, Ciencia y Tecnologia, Junta de Andalucía (P12-BIO-1395), Ministerio de Educación, Cultura y Deporte through the program FPU, Juan de la Cierva fellowship (FJCI-2015-24028), Red de Investigación en Inflamación y Enfermadades Reumaticas (RIER) from Instituto de Salud Carlos III (RD16/0012/0013), and Scleroderma Research Foundation and NIH P50-HG007735 (to H.Y.C.). H.Y.C. is an Investigator of the Howard Hughes Medical Institute. PopGen 2.0 is supported by a grant from the German Ministry for Education and Research (01EY1103). M.D.M and S.A. are supported by grant DoD W81XWH-18-1-0423 and DoD W81XWH-16-1-0296, respectively

Total and Subtypes of Dietary Fat Intake and Its Association with Components of the Metabolic Syndrome in a Mediterranean Population at High Cardiovascular Risk

Background: The effect of dietary fat intake on the metabolic syndrome (MetS) and in turn on cardiovascular disease (CVD) remains unclear in individuals at high CVD risk. Objective: To assess the association between fat intake and MetS components in an adult Mediterranean population at high CVD risk. Design: Baseline assessment of nutritional adequacy in participants (n = 6560, men and women, 55-75 years old, with overweight/obesity and MetS) in the PREvención con DIeta MEDiterránea (PREDIMED)-Plus randomized trial. Methods: Assessment of fat intake (total fat, monounsatured fatty acids: MUFA, polyunsaturated fatty acids: PUFA, saturated fatty acids: SFA, trans-fatty acids: trans-FA, linoleic acid, α-linolenic acid, and ω-3 FA) using a validated food frequency questionnaire, and diet quality using 17-item Mediterranean dietary questionnaire and fat quality index (FQI). Results: Participants in the highest quintile of total dietary fat intake showed lower intake of energy, carbohydrates, protein and fiber, but higher intake of PUFA, MUFA, SFA, TFA, LA, ALA and ω-3 FA. Differences in MetS components were found according to fat intake. Odds (5th vs. 1st quintile): hyperglycemia: 1.3-1.6 times higher for total fat, MUFA, SFA and ω-3 FA intake; low high-density lipoprotein cholesterol (HDL-c): 1.2 higher for LA; hypertriglyceridemia: 0.7 lower for SFA and ω-3 FA intake. Conclusions: Dietary fats played different role on MetS components of high CVD risk patients. Dietary fat intake was associated with higher risk of hyperglycemia

The European Solar Telescope

The European Solar Telescope (EST) is a project aimed at studying the magnetic connectivity of the solar atmosphere, from the deep photosphere to the upper chromosphere. Its design combines the knowledge and expertise gathered by the European solar physics community during the construction and operation of state-of-the-art solar telescopes operating in visible and near-infrared wavelengths: the Swedish 1m Solar Telescope, the German Vacuum Tower Telescope and GREGOR, the French Télescope Héliographique pour l'Étude du Magnétisme et des Instabilités Solaires, and the Dutch Open Telescope. With its 4.2 m primary mirror and an open configuration, EST will become the most powerful European ground-based facility to study the Sun in the coming decades in the visible and near-infrared bands. EST uses the most innovative technological advances: the first adaptive secondary mirror ever used in a solar telescope, a complex multi-conjugate adaptive optics with deformable mirrors that form part of the optical design in a natural way, a polarimetrically compensated telescope design that eliminates the complex temporal variation and wavelength dependence of the telescope Mueller matrix, and an instrument suite containing several (etalon-based) tunable imaging spectropolarimeters and several integral field unit spectropolarimeters. This publication summarises some fundamental science questions that can be addressed with the telescope, together with a complete description of its major subsystems

SUPLEMENTO DEL XV CONGRESO INTERNACIONAL DE ACTIVIDAD FÍSICA Y DEPORTE. 17,18 y 19 DE OCTUBRE DEL 2018. ENSENADA, BAJA CALIFORNIA, MÉXICO

Compendio, en formato artículo, de los mejores trabajos presentados en el XV CONGRESO INTERNACIONAL DE ACTIVIDAD FÍSICA Y DEPORTE celebrado los días  17,18 y 19 de octubre del 2018 en la Universidad Autónoma de Baja California en la ciudad de Ensenada, Baja California, México:La nutrición en la actividad física y deportiva: alimentos funcionales con nanotecnología, aplicaciones potenciales. González González, K.Y.; Huerta Plaza, B.A.; Amaya Parra, G. (118-130)Perfil antropométrico, físico y hábitos alimentarios en escolares indígenas de Tijuana México. Avendaño Cano, D.L.; Gómez Miranda, L.M.; Aburto Corona, J.A. (131-142)Relación entre el clima de aprendizaje en Educación Física y la percepción de los estudiantes en las competencias del profesorado. Baños, R; Ortiz-Camacho, M.M.; Baena-Extremera, A.; Granero-Gallegos, A.; Machado-Parra, J.P.; Rentería, I.; Acosta, I.; Ramírez, L. (143-153)Valoración de capacidades físicas, composición corporal y consumo de vitaminas en una competencia de Crossfit. Cervantes-Hernández, N.; Hernández Nájera, N.; Carrasco Legleu, C.E.; Candia Lujan, R.; Enríquez Del Castillo, L.A. (154-164)Relación de la actividad física, características antropométricas y VO2máx en jóvenes universitarios: características por género. Enríquez-del Castillo, L.A.; Cervantes-Hernández, N.; Carrasco-Legleu, C.E.; Candia Luján, R. (165-174)Entrenamiento vibratorio de cuerpo completo y sus efectos sobre la composición corporal en jóvenes universitarios. Flores-Chico, B.; Bañuelos-Teres, L.E.; Buendía Lozada, E.R.P. (175-183)Actualización curricular, plan 2016 de la Licenciatura en Cultura Física de la BUAP. Flores-Chico, B.; Flores-Flores, A.; López de La Rosa, LE.; Aguilar-Enríquez, R.I.; Caballero Gómez, JM; Villanueva-Huerta, JA. (184-192)Evaluación psicológica y de la musculatura isquiosural de basquetbolistas universitarias en distintas etapas deportivas. Moranchel-Charros, R.; Martínez-Velázquez, E.S. (193-203)Efecto del ejercicio físico sobre la fuerza, resistencia y riesgo de caída en mujeres adultas. Ortiz Ortiz, M; Espinoza Gutiérrez, R; Gómez Miranda, LM.; Guzmán Gutiérrez, EC.; Calleja Núñez, JJ. (204-212)Desigualdad vs igualdad numérica y su efecto en la técnica de jugadores de fútbol infantil. Vega-Orozco, SI; Gavotto Nogales, OI; Bernal Reyes, F; Horta Gim, MA; Sarabia Sainz, HM. (213-224

Atlas de las praderas marinas de España

Knowledge of the distribution and extent of seagrass habitats is currently the basis of management and conservation policies of the coastal zones in most European countries. This basic information is being requested through European directives for the establishment of monitoring programmes and the implementation of specific actions to preserve the marine environment. In addition, this information is crucial for the quantification of the ecological importance usually attributed to seagrass habitats due to, for instance, their involvement in biogeochemical cycles, marine biodiversity and quality of coastal waters or global carbon budgets. The seagrass atlas of Spain represents a huge collective effort performed by 84 authors across 30 Spanish institutions largely involved in the scientific research, management and conservation of seagrass habitats during the last three decades. They have contributed to the availability of the most precise and realistic seagrass maps for each region of the Spanish coast which have been integrated in a GIS to obtain the distribution and area of each seagrass species. Most of this information has independently originated at a regional level by regional governments, universities and public research organisations, which explain the elevated heterogeneity in criteria, scales, methods and objectives of the available information. On this basis, seagrass habitats in Spain occupy a total surface of 1,541,63 km2, 89% of which is concentrated in the Mediterranean regions; the rest is present in sheltered estuarine areas of the Atlantic peninsular regions and in the open coastal waters of the Canary Islands, which represents 50% of the Atlantic meadows. Of this surface, 71.5% corresponds to Posidonia oceanica, 19.5% to Cymodocea nodosa, 3.1% to Zostera noltii (=Nanozostera noltii), 0.3% to Zostera marina and 1.2% to Halophila decipiens. Species distribution maps are presented (including Ruppia spp.), together with maps of the main impacts and pressures that has affected or threatened their conservation status, as well as the management tools established for their protection and conservation. Despite this considerable effort, and the fact that Spain has mapped wide shelf areas, the information available is still incomplete and with weak precision in many regions, which will require an investment of major effort in the near future to complete the whole picture and respond to demands of EU directives