Cooperative Sensor Fault Recovery in Multi-UAV Systems

IEEE International Conference on Robotics and Automation (ICRA), 16-21 May 2016 Stockholm, SwedenThis paper presents the design and experimental validation of a Fault Detection, Identification and Recovery (FDIR) system intended for multi-UAV applications. The system exploits the information provided by internal position, attitude and visual sensors onboard the UAVs of the fleet for detecting faults in the measurements of the position and attitude sensors of any of the member vehicles. Considering the observations provided by two or more UAVs in a cooperative way, it is possible to identify the source of the fault, but also implement a Cooperative Virtual Sensor (CVS) which provides a redundant position and velocity estimation of the faulty UAV that can be used for replacing its internal sensor. The vision-based FDIR system has been validated experimentally with quadrotors in an indoor testbed. In particular, fault detection and identification has been evaluated injecting a fault pattern offline on the position measurements, while the CVS has been applied in real time for the recovery phase.Ministerio de Educación Cultura y Deporte ICT-2011-28808

Parlamentary elections in the Republic of Moldova

Polis. - ISSN 0872-8208. - S. 2, n. 4 (Julho-Dezembro 2021). - p. 179-183

Transesophageal pulmonary lobectomy with single transthoracic port assistance: study with survival assessment in a porcine model

BACKGROUND AND STUDY AIMS: Thoracoscopic pulmonary lobectomy is being performed in an increasing number of patients. The aims of the current study were to assess natural orifice transluminal endoscopic surgery (NOTES) as an alternative to transthoracic endoscopic surgery, and to test the feasibility of peroral transesophageal right upper pulmonary lobectomy with the assistance of a single transthoracic trocar. METHODS: In 10 acute and 4 survival pigs, right upper pulmonary lobectomy was performed using a forward-viewing double-channel gastroscope and an operative thoracoscope with a 5-mm working channel inserted through a single transthoracic 12-mm) port. Time, safety, and feasibility of the following steps were recorded in all animals: esophagotomy, hilar dissection, individual ligation of the hilum elements, pulmonary lobectomy, and specimen retrieval. In the survival experiments, esophagotomy was closed using a reticulated laparoscopy suture device and an esophageal stent was placed. These animals were kept alive and monitored for 2 weeks. RESULTS: Esophagotomy was performed safely in all animals (mean procedure duration 5.4 ± 1.7 minutes). Dissection of the right upper lobe hilum elements (bronchus, arteries, and veins) was carried out without adverse events. Individual ligation of the hilum elements was performed in all but two cases (time for dissection and ligation 44.2 ± 14.8 minutes). Lobectomy and specimen retrieval were completed in all animals (9.5 ± 3.1 minutes). Esophagotomy closure and stent placement were carried out in 20.0 ± 2.8 minutes in the survival animals. These animals fed normally and gained weight postoperatively without signs of disease. Endoscopic examination before necropsy revealed a pseudo-diverticulum in one animal, and wound dehiscence with confined collection/recess in the remaining animals. CONCLUSIONS: Transesophageal right upper pulmonary lobectomy using single transthoracic trocar assistance is feasible and may represent a step towards scar-free pulmonary lobectomy.This project was funded by the FCT Grants project PTDC/SAUOSM/105578/2008

Left atrial appendage ligation with single transthoracic port assistance : a study of survival assessment in a porcine model (with videos)

Background: Left atrial appendage (LAA) exclusion is a well-known procedure for the prevention of stroke in high-risk patients with atrial fibrillation and contraindication to long-term oral anticoagulant therapy. Objective: To evaluate a natural orifice transluminal endoscopic surgery (NOTES) approach for LAA ligation. Design: In 4 acute and 6 survival pigs, we performed LAA by using a forward-viewing, single-channelgastroscope and an operative thoracoscope with a 3-mm working channel (introduced through an 8-mm single transthoracic port). Setting: Animal laboratory. Interventions: The gastroscope was introduced in the thoracic cavity through an esophageal submucosal tunnel. An end loop introduced through the gastroscope was used to legate the LAA. In the survival experiments, the esophageal mucosa was closed using hemoclips. Main Outcome Measurements: The time, safety, and feasibility of the procedure were recorded. In the survival experiments, endoscopy and postmortem examination were performed on postoperative day 14. Results: Creation of a submucosal tunnel and esophagotomy were safely performed in all animals without incidents. The mean time for esophagotomy was 17.0 6.3 minutes. Pericardial dissection and LAA ligation were performed in all animals but 1. The mean time for LAA ligation was 34.4 19.1 minutes. No adverse events occurred during the survival period. Endoscopy showed complete esophageal closure. Postmortem examination revealed pleural adhesions on the site of pericardial dissection, and the LAA was fibrotic with the endoloop in place. Limitations: Animal study. Conclusions: LAA ligation with single transthoracic trocar assistance is feasible and may be an alternative to anticoagulant therapy or to permanent intracardiac implants in patients with atrial fibrillation.This project was funded by the Grants FCT project PTDC/SAU-OSM/105578/2008

Sistema de información catastral adaptado a la realidad del gobierno local en Ecuador. El caso de la parroquia Vilcabamba (Loja)

El catastro constituye un elemento básico para administrar el territorio. Actualmente, las municipalidades de Ecuador empiezan a incursionar en este tema, pero a menudo la falta de experiencia produce el estancamiento de procesos y agotamiento de recursos. Para aportar en el fortalecimiento de estas iniciativas, el presente proyecto de cooperación interuniversitaria tuvo una doble finalidad: capacitar a técnicos locales en la creación e implementación de Sistemas de Información Geográfica Catastral (SIGC) y aplicar los conocimientos adquiridos mediante la puesta en marcha de un proyecto piloto a nivel local. Una vez analizada la realidad catastral y realizada la capacitación, se realizó e implantó el SIGC para la parroquia Vilcabamba (Ecuador). Se pudo concluir que es posible establecer SIGC eficientes en municipios con pocos recursos, si bien la sostenibilidad en el tiempo no queda garantizada.Peer Reviewe

Cartesian Aerial Manipulator with Compliant Arm

Nº ArtÍculo: 1001This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy of the end effector with respect to robotic arms with revolute joints, where each coordinate of the Cartesian position depends on all the joint angles. The Cartesian base reduces the inertia of the manipulator and the energy consumption since it does not need to lift its own weight. Consequently, the required torque is lower and, thus, the weight of the actuators. The linear and angular deflection sensors of the arm allow the estimation, monitoring and control of the interaction wrenches exerted in two axes (XZ) at the end effector. The kinematic and dynamic models are derived and compared with respect to a revolute-joint arm, proposing a force-position control scheme for the aerial robot. A battery counterweight mechanism is also incorporated in the X–axis linear guide to partially compensate for the motion of the manipulator. Experimental results indoors and outdoors show the performance of the robot, including object grasping and retrieval, contact force control, and force monitoring in grabbing situations.Ministerio de Economía, Industria y Competitividad Proyecto ARTIC RTI2018-102224- B-I00Comisión Europea Proyecto AERIAL-CORE H2020-2019-871479Comisión Europea Proyecto HYFLIERS H2020- ICT-25-2017-77941

Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

Este artículo presenta el primer robot manipulador aéreo con dos brazos antropomórficos diseñado para aplicarse en tareas de inspección y mantenimiento en entornos industriales de difícil acceso para operarios humanos. El robot consiste en una plataforma aérea multirrotor equipada con dos brazos antropomórficos ultraligeros, así como el sistema de control integrado de la plataforma y los brazos. Una de las principales características del manipulador es la flexibilidad mecánica proporcionada en todas las articulaciones, lo que aumenta la seguridad en las interacciones físicas con el entorno y la protección del propio robot. Para ello se ha introducido un compacto y simple mecanismo de transmisión por muelle entre el eje del servo y el enlace de salida. La estructura en aluminio de los brazos ha sido cuidadosamente diseñada de forma que los actuadores estén aislados frente a cargas radiales y axiales que los puedan dañar. El manipulador desarrollado ha sido validado a través de experimentos en base fija y en pruebas de vuelo en exteriores.MINECO Retos AEROMAIN DPI2014-5983-C2-1- RMINECO proyecto AEROARMS (AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance), contrato 644271Ministerio de Educación, Cultura y Deporte (España) programa FP

A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control

Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities allows them to perch in inaccessible places and perform some tasks with the body perched. This work presents a first prototype of lightweight manipulator to be mounted to an ornithopter and a new control methodology to balance them while they are perched and following a desired path with the end effector imitating their beaks. This allows for several possible applications, such as contact inspection following a path with an ultrasonic sensor mounted in the end effector. The manipulator prototype imitates birds with two-link legs and a body link with an actuated limb, where the links are all active except for the first passive one with a grabbing mechanism in its base, imitating a claw. Unlike standard manipulators, the lightweight requirement limits the frame size and makes it necessary to use micro motors. Successful experimental results with this prototype are reported.European Research Council 78824

LA EXTERIORIZACIÓN Y TRANSFERENCIA DE CONOCIMIENTO EXPLICITO EN GRUPOS Y CENTROS DE INVESTIGACIÓN UNIVERSITARIOS

RESUMEN Los grupos y centros de investigación universitarios al igual que otras organizaciones, deben tener dentro de sus principales procesos, uno que se ocupe de la administración de su conocimiento. Este artículo, propone un modelo para la difusión del conocimiento a nivel de grupos y centros de investigación universitarios, basado en dos importantes conceptos: la exteriorización y transferencia del conocimiento explícito. Por último se presenta una descripción de la instanciación tecnológica, la cual está soportada en las estrategias planteadas por el modelo, que se concentran en una aplicación para Internet. PALABRAS RELEVANTES          ·      Gestión de conocimiento·      Grupos y centros de investigación·      Exteriorización·      Desarrollo web·      Transferencia·      Estrategias

LA EXTERIORIZACIÓN Y TRANSFERENCIA DE CONOCIMIENTO EXPLICITO EN GRUPOS Y CENTROS DE INVESTIGACIÓN UNIVERSITARIOS

RESUMEN Los grupos y centros de investigación universitarios al igual que otras organizaciones, deben tener dentro de sus principales procesos, uno que se ocupe de la administración de su conocimiento. Este artículo, propone un modelo para la difusión del conocimiento a nivel de grupos y centros de investigación universitarios, basado en dos importantes conceptos: la exteriorización y transferencia del conocimiento explícito. Por último se presenta una descripción de la instanciación tecnológica, la cual está soportada en las estrategias planteadas por el modelo, que se concentran en una aplicación para Internet. PALABRAS RELEVANTES          ·      Gestión de conocimiento·      Grupos y centros de investigación·      Exteriorización·      Desarrollo web·      Transferencia·      Estrategias