Fast moving of a population of robots through a complex scenario

Swarm robotics consists in using a large number of coordinated autonomous robots, or agents, to accomplish one or more tasks, using local and/or global rules. Individual and collective objectives can be designed for each robot of the swarm. Generally, the agents' interactions exhibit a high degree of complexity that makes it impossible to skip nonlinearities in the model. In this paper, is implemented both a collective interaction using a modified Vicsek model where each agent follows a local group velocity and the individual interaction concerning internal and external obstacle avoidance. The proposed strategies are tested for the migration of a unicycle robot swarm in an unknown environment, where the effectiveness and the migration time are analyzed. To this aim, a new optimal control method for nonlinear dynamical systems and cost functions, named Feedback Local Optimality Principle - FLOP, is applied

Testing Relativity at High Energies Using Spaceborne Detectors

(ABRIDGED) The Gamma-ray Large Area Space Telescope (GLAST) will measure the spectra of distant extragalactic sources of high energy gamma-rays. GLAST can look for energy dependent propagation effects from such sources as a signal of Lorentz invariance violation (LIV). Such sources should also exhibit high energy spectral cutoffs from pair production interactions with low energy photons. The properties of such cutoffs can also be used to test LIV. Detectors to measure gamma-ray polarization can look for the depolarizing effect of space-time birefingence predicted by loop quantum gravity. A spaceborne detector array looking down on Earth to study extensive air showers produced by ultrahigh energy cosmic rays can study their spectral properties and look for a possible deviation from the predicted GZK effect as another signal of LIV.Comment: 14 pages, Text of invitated talk presented at the "From Quantum to Cosmos: Fundamental Physics Studies from Space" meeting. More references adde

Valence instability of cerium under pressure in the Kondo-like perovskite La0.1_{0.1}Ce0.4_{0.4}Sr0.5_{0.5}MnO3_3

Effect of hydrostatic pressure and magnetic field on electrical resistance of the Kondo-like perovskite manganese oxide, La$_{0.1}$Ce$_{0.4}$Sr$_{0.5}$MnO$_3$ with a ferrimagnetic ground state, have been investigated up to 2.1 GPa and 9 T. In this compound, the Mn-moments undergo double exchange mediated ferromagnetic ordering at $T_{\rm C}$ $\sim$ 280 K and there is a resistance maximum, $T_{\rm max}$ at about 130 K which is correlated with an antiferromagnetic ordering of {\it cerium} with respect to the Mn-sublattice moments. Under pressure, the $T_{\rm max}$ shifts to lower temperature at a rate of d$T_{max}$/d$P$ = -162 K/GPa and disappears at a critical pressure $P_{\rm c}$ $\sim$ 0.9 GPa. Further, the coefficient, $m$ of $-logT$ term due to Kondo scattering decreases linearly with increase of pressure showing an inflection point in the vicinity of $P_{\rm c}$. These results suggest that {\it cerium} undergoes a transition from Ce$^{3+}$ state to Ce$^{4+}$/Ce$^{3+}$ mixed valence state under pressure. In contrast to pressure effect, the applied magnetic field shifts $T_{\rm max}$ to higher temperature presumably due to enhanced ferromagnetic Mn moments.Comment: to be published in Phys. Rev. B (rapid commun

Spin self-rephasing and very long coherence times in a trapped atomic ensemble

We perform Ramsey spectroscopy on the ground state of ultra-cold 87Rb atoms magnetically trapped on a chip in the Knudsen regime. Field inhomogeneities over the sample should limit the 1/e contrast decay time to about 3 s, while decay times of 58 s are actually observed. We explain this surprising result by a spin self-rephasing mechanism induced by the identical spin rotation effect originating from particle indistinguishability. We propose a theory of this synchronization mechanism and obtain good agreement with the experimental observations. The effect is general and susceptible to appear in other physical systems.Comment: Revised version; improved description of the theoretical treatmen

A Novel Low-Cost Sensor Prototype for Nocturia Monitoring in Older People

Indexación: Scopus.This work was supported in part by CORFO - CENS 16CTTS-66390 through the National Center on Health Information Systems, in part by the National Commission for Scientific and Technological Research (CONICYT) through the program STIC-AMSUD 17STIC-03: ‘‘e-MONITOR âĂŞ Chronic Disease: Ambient Assisted Living and vital teleMONOTORing for e-health,’’ FONDEF ID16I10449 ‘‘Sistema inteligente para la gestión y análisis de la dotación de camas en la red asistencial del sector público,’’ and MEC80170097 ‘‘Red de colaboración científica entre universidades nacionales e internacionales para la estructuración del doctorado y magister en informática médica en la Universidad de Valparaíso.’’ The work of V. H. C. de Albuquerque was supported by the Brazilian National Council for Research and Development (CNPq) under Grant #304315/2017-6.Nocturia is frequently defined as the necessity to get out of bed at least one time during the night to urinate, with each of these episodes being preceded and continued by sleep. Several studies suggest that an increase of nocturia is seen with the onset of age, occurring in around 70% of adults over the age of 70. Its appearance is associated with detrimental quality of life for those who present nocturia, since it leads to daytime sleepiness, cognitive dysfunction, among others. Currently, a voiding diary is necessary for nocturia assessment; these are prone to bias due to their inherent subjectivity. In this paper, we present the design of a low-cost device that automatically detects micturition events. The device obtained 73% in sensibility and 81% in specificity; these results show that systems such as the proposed one can be a valuable tool for the medical team when evaluating nocturia. © 2013 IEEE.https://ieeexplore.ieee.org/document/845445

A novel monitoring system for fall detection in older people

Indexación: Scopus.This work was supported in part by CORFO - CENS 16CTTS-66390 through the National Center on Health Information Systems, in part by the National Commission for Scientific and Technological Research (CONICYT) through the Program STIC-AMSUD 17STIC-03: ‘‘MONITORing for ehealth," FONDEF ID16I10449 ‘‘Sistema inteligente para la gestión y análisis de la dotación de camas en la red asistencial del sector público’’, and in part by MEC80170097 ‘‘Red de colaboración científica entre universidades nacionales e internacionales para la estructuración del doctorado y magister en informática médica en la Universidad de Valparaíso’’. The work of V. H. C. De Albuquerque was supported by the Brazilian National Council for Research and Development (CNPq), under Grant 304315/2017-6.Each year, more than 30% of people over 65 years-old suffer some fall. Unfortunately, this can generate physical and psychological damage, especially if they live alone and they are unable to get help. In this field, several studies have been performed aiming to alert potential falls of the older people by using different types of sensors and algorithms. In this paper, we present a novel non-invasive monitoring system for fall detection in older people who live alone. Our proposal is using very-low-resolution thermal sensors for classifying a fall and then alerting to the care staff. Also, we analyze the performance of three recurrent neural networks for fall detections: Long short-term memory (LSTM), gated recurrent unit, and Bi-LSTM. As many learning algorithms, we have performed a training phase using different test subjects. After several tests, we can observe that the Bi-LSTM approach overcome the others techniques reaching a 93% of accuracy in fall detection. We believe that the bidirectional way of the Bi-LSTM algorithm gives excellent results because the use of their data is influenced by prior and new information, which compares to LSTM and GRU. Information obtained using this system did not compromise the user's privacy, which constitutes an additional advantage of this alternative. © 2013 IEEE.https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=842305

Enhancement of Optical Coherence Tomography Images of the Retina by Normalization and Fusion

This paper describes an image processing method applied to Optical Coherence Tomography (OCT) images of the retina. The aim is to achieve improved OCT images from the fusion of sequential OCT scans obtained at identical retinal locations. The method is based on the normalization of the acquired images and their fusion. As a result, a noise reduction and an image enhancement are reached. Thanks to the resulting improvement in retinal imaging, clinical specialists are able to evaluate more efficiently eyes pathologies and anomalies. This paper presents the proposed method and gives some evaluation results

The Role of Fission in Neutron Star Mergers and Its Impact on the r-Process Peaks

Comparing observational abundance features with nucleosynthesis predictions of stellar evolution or explosion simulations, we can scrutinize two aspects: (a) the conditions in the astrophysical production site and (b) the quality of the nuclear physics input utilized. We test the abundance features of r-process nucleosynthesis calculations for the dynamical ejecta of neutron star merger simulations based on three different nuclear mass models: The Finite Range Droplet Model, the (quenched version of the) Extended Thomas Fermi Model with Strutinsky Integral, and the Hartree-Fock-Bogoliubov mass model. We make use of corresponding fission barrier heights and compare the impact of four different fission fragment distribution models on the final r-process abundance distribution. In particular, we explore the abundance distribution in the second r-process peak and the rare-earth sub-peak as a function of mass models and fission fragment distributions, as well as the origin of a shift in the third r-process peak position. The latter has been noticed in a number of merger nucleosynthesis predictions. We show that the shift occurs during the r-process freeze-out when neutron captures and β-decays compete and an (n,γ)-(γ,n) equilibrium is no longer maintained. During this phase neutrons originate mainly from fission of material above A = 240. We also investigate the role of β-decay half-lives from recent theoretical advances, which lead either to a smaller amount of fissioning nuclei during freeze-out or a faster (and thus earlier) release of fission neutrons, which can (partially) prevent this shift and has an impact on the second and rare-earth peak as well.Peer reviewe

A-site Randomness Effect on Structural and Physical Properties of Ba-based Perovskite Manganites

The discovery of novel structural and physical properties in the $A$-site ordered manganite $R$BaMn$_{2}$O$_{6}$ ($R$ = Y and rare earth elements) has demanded new comprehension about perovskite manganese oxides. In the present study, the $A$-site disordered form, $R_{0.5}$Ba$_{0.5}$MnO$_{3}$, has been investigated and compared with both $R$BaMn$_{2}$O$_{6}$ and $R_{0.5}A_{0.5}$MnO$_{3}$ ($A$: Sr, Ca) in the structures and electromagnetic properties. $R_{0.5}$Ba$_{0.5}$MnO$_{3}$ has a primitive cubic perovskite cell in the structure and magnetic glassy states are dominant as its ground state, in contrast to the ordinary disordered $R_{0.5}A_{0.5}$MnO$_{3}$ ($A$: Sr, Ca). In Pr-compounds with various degrees of Pr/Ba randomness at the $A$-sites, the $A$-site disorder gradually suppresses both ferromagnetic and A-type antiferromagnetic transitions and finally leads to a magnetic glassy state in Pr$_{0.5}$Ba$_{0.5}$MnO$_{3}$. A peculiar behavior, multi-step magnetization and resistivity change, has been observed in Pr$_{0.5}$Ba$_{0.5}$MnO$_{3}$. These properties could be closely related to any spatial heterogeneity caused by the random distribution of Ba$^{2 +}$ and $R^{3 +}$ with much different ionic radius.Comment: 9 pages, to be published in J. Phys. Soc. Jpn. 73 Aug. (2004