From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art

Research in the field of social robotics is allowing service robots to operate in environments with people. In the aim of realizing the vision of humans and robots coexisting in the same environment, several solutions have been proposed to (1) perceive persons and objects in the immediate environment; (2) predict the movements of humans; as well as (3) plan the navigation in agreement with socially accepted rules. In this work, we discuss the different aspects related to social navigation in the context of our experience in an indoor environment. We describe state-of-the-art approaches and experiment with existing methods to analyze their performance in practice. From this study, we gather first-hand insights into the limitations of current solutions and identify possible research directions to address the open challenges. In particular, this paper focuses on topics related to perception at the hardware and application levels, including 2D and 3D sensors, geometric and mainly semantic mapping, the prediction of people trajectories (physics-, pattern- and planning-based), and social navigation (reactive and predictive) in indoor environments

IRIS: Efficient Visualization, Data Analysis and Experiment Management for Wireless Sensor Networks

The design of ubiquitous computing environments is challenging, mainly due to the unforeseeable impact of real-world environments on the system performance. A crucial step to validate the behavior of these systems is to perform in-field experiments under various conditions. We introduce IRIS, an experiment management and data processing tool allowing the definition of arbitrary complex data analysis applications. While focusing on Wireless Sensor Networks, IRIS supports the seamless integration of heterogeneous data gathering technologies. The resulting flexibility and extensibility enable the definition of various services, from experiment management and performance evaluation to user-specific applications and visualization. IRIS demonstrated its effectiveness in three real-life use cases, offering a valuable support for in-field experimentation and development of customized applications for interfacing the end user with the system

Van Der Waals Heteroepitaxy of GaSe and InSe, Quantum Wells and Superlattices

Bandgap engineering and quantum confinement in semiconductor heterostructures provide the means to fine-tune material response to electromagnetic fields and light in a wide range of the spectrum. Nonetheless, forming semiconductor heterostructures on lattice-mismatched substrates has been a challenge for several decades, leading to restrictions for device integration and the lack of efficient devices in important wavelength bands. Here, we show that the van der Waals epitaxy of two-dimensional (2D) GaSe and InSe heterostructures occur on substrates with substantially different lattice parameters, namely silicon and sapphire. The GaSe/InSe heterostructures were applied in the growth of quantum wells and superlattices presenting photoluminescence and absorption related to interband transitions. Moreover, we demonstrate a self-powered photodetector based on this heterostructure on Si that works in the visible-NIR wavelength range. Fabricated at wafer-scale, these results pave the way for an easy integration of optoelectronics based on these layered 2D materials in current Si technology.Comment: 16 Pages, 5 figures. Supplementary Information included in the end (+10 pages, +10 Figures, + 2 Tables). Partially presented at 21st ICMBE - September 202

Photoreflectance analysis of a GaInP/GaInAs/Ge multijunction solar cell

We have analyzed the photoreflectance spectra of a GaInP/GaInAs/Ge triple junction solar cell. The spectra reveal signatures from the window layer and middle and top subcells included in the stack. Additional contributions from the multilayer buffer introduced between the mismatched bottom and middle cells have been detected. Franz–Keldysh oscillations (FKOs) dominate the spectra above the fundamental bandgaps of the GaInP and GaInAs absorbers. From the FKO analysis, we have estimated the dominant electric fields within each subcell. In light of these results, photoreflectance is proposed as a useful diagnostic tool for quality assessment of multijunction structures prior to completion of the device or at earlier stages during its processing

Development of a Fixed-Wing Drone System for Aerial Insect Sampling

Most current insect research techniques are ground-based and provide scarce information about flying insects in the planetary boundary layer (PBL), which remains a poorly studied ecological niche. To address this gap, we developed a new insect-sampling method consisting of a fixed-wing drone platform with net traps attached to the fuselage, a mobile design that has optimal aerodynamic characteristics for insect capture in the PBL. We tested the proposed device on 16 flights in Doñana National Park (Spain) with two different trap designs fitted on the fuselage nose and wing. We collected 34 insect specimens belonging to four orders with a representation of twelve families at mean altitudes below 23 m above ground level and sampling altitudes between 9 and 365 m. This drone insect-sampling design constitutes a low-cost and low-impact method for insect monitoring in the PBL, especially in combination with other remote sensing technologies that directly quantify aerial insect abundance but do not provide taxonomic information, opening interesting possibilities for ecology and entomological research, with the possibility of transfer to economically important sectors, such as agriculture and health

La estructura sísmica de la corteza de la Zona de Ossa Morena y su interpretación geológica

El experimento de sísmica de reflexión profunda IBERSEIS ha proporcionado una imagen de la corteza del Orógeno Varisco en el sudoeste de Iberia. Este artículo se centra en la descripción de la corteza de la Zona de Ossa Morena (OMZ), que está claramente dividida en una corteza superior, con reflectividad de buzamiento al NE, y una corteza inferior de pobre reflectividad. Las estructuras geológicas cartografiadas en superficie se correlacionan bien con la reflectividad de la corteza superior, y en la imagen sísmica se ven enraizar en la corteza media. Ésta está constituida por un cuerpo muy reflectivo, interpretado como una gran intrusión de rocas básicas. La imagen de las suturas que limitan la OMZ muestra el carácter fuertemente transpresivo de la colisión orogénica varisca registrada en el sudoeste de Iberia. La Moho actual es plana y, en consecuencia, no se observa la raíz del orógeno

IBPOWER Project, Intermediate band materials and solar cells for photovoltaics with high efficiency and reduced cost

IBPOWER is a Project awarded under the 7th European Framework Programme that aims to advance research on intermediate band solar cells (IBSCs). These are solar cells conceived to absorb below bandgap energy photons by means of an electronic energy band that is located within the semiconductor bandgap, whilst producing photocurrent with output voltage still limited by the total semiconductor bandgap. IBPOWER employs two basic strategies for implementing the IBSC concept. The first is based on the use of quantum dots, the IB arising from the confined energy levels of the electrons in the dots. Quantum dots have led to devices that demonstrate the physical operation principles of the IB concept and have allowed identification of the problems to be solved to achieve actual high efficiencies. The second approach is based on the creation of bulk intermediate band materials by the insertion of an appropriate impurity into a bulk semiconductor. Under this approach it is expected that, when inserted at high densities, these impurities will find it difficult to capture electrons by producing a breathing mode and will cease behaving as non-radiative recombination centres. Towards this end the following systems are being investigated: a) Mn: In1-xGax N; b) transition metals in GaAs and c) thin films

Assessment of interactions between 205 breast cancer susceptibility loci and 13 established risk factors in relation to breast cancer risk, in the Breast Cancer Association Consortium.

BACKGROUND: Previous gene-environment interaction studies of breast cancer risk have provided sparse evidence of interactions. Using the largest available dataset to date, we performed a comprehensive assessment of potential effect modification of 205 common susceptibility variants by 13 established breast cancer risk factors, including replication of previously reported interactions. METHODS: Analyses were performed using 28 176 cases and 32 209 controls genotyped with iCOGS array and 44 109 cases and 48 145 controls genotyped using OncoArray from the Breast Cancer Association Consortium (BCAC). Gene-environment interactions were assessed using unconditional logistic regression and likelihood ratio tests for breast cancer risk overall and by estrogen-receptor (ER) status. Bayesian false discovery probability was used to assess the noteworthiness of the meta-analysed array-specific interactions. RESULTS: Noteworthy evidence of interaction at ≤1% prior probability was observed for three single nucleotide polymorphism (SNP)-risk factor pairs. SNP rs4442975 was associated with a greater reduction of risk of ER-positive breast cancer [odds ratio (OR)int = 0.85 (0.78-0.93), Pint = 2.8 x 10-4] and overall breast cancer [ORint = 0.85 (0.78-0.92), Pint = 7.4 x 10-5) in current users of estrogen-progesterone therapy compared with non-users. This finding was supported by replication using OncoArray data of the previously reported interaction between rs13387042 (r2 = 0.93 with rs4442975) and current estrogen-progesterone therapy for overall disease (Pint = 0.004). The two other interactions suggested stronger associations between SNP rs6596100 and ER-negative breast cancer with increasing parity and younger age at first birth. CONCLUSIONS: Overall, our study does not suggest strong effect modification of common breast cancer susceptibility variants by established risk factors