Multi-UAV trajectory planning problem using the difference of convex function programming

The trajectory planning problem for a swarm of multiple UAVs is known as a challenging nonconvex optimization problem, particularly due to a large number of collision avoidance constraints required for individual pairs of UAVs in the swarm. In this paper, we tackle this nonconvexity by leveraging the difference of convex function (DC) programming. We introduce the slack variables to relax and reformulate the collision avoidance conditions and employ the penalty function term to equivalently convert the problem into a DC form. Consequently, we construct a penalty DC algorithm in which we sequentially solve a set of convex optimization problems obtained by linearizing the collision avoidance constraint. The algorithm iteratively tightens the safety condition and reduces the objective cost of the planning problem and the additional penalty term. Numerical results demonstrate the effectiveness of the proposed approach in planning a large number of UAVs in congested space.Comment: This paper has been accepted for presentation at the 62nd IEEE Conference on Decision and Control (CDC 2023

INCLUDING INDIGENOUS AND LOCAL KNOWLEDGE IN THE WORK OF THE INTERGOVERNMENTAL SCIENCE-POLICY PLATFORM ON BIODIVERSITY AND ECOSYSTEM SERVICES (IPBES) GLOBAL ASSESSMENT : Outcomes and lessons for the future

This chapter makes a strong case for greater inclusion of Indigenous and Local Knowledge (ILK) in global environmental policy fora and in science-policy interfaces. The chapter specifically looks at the IPBES Global Assessment which has developed one of the first global-scale mechanisms for operationalizing ILK in sustainability decision-making. The types of knowledges that have been successfully integrated into this assessment include ways in which ILK can help (1) to assess ecosystem change and associated human vulnerability; (2) to inform the achievement of global goals like the Sustainable Development Goals and Aichi Targets; and (3) to inform policy-relevant options for decision-makers. It is argued that other global initiatives seeking to engage ILK in their endeavours can learn from the ILK approach of the IPBES Global Assessment.Peer reviewe

The assessment report of the Intergovernmental Science-Policy Platform on Biodiversity and Ecosystem Services on pollinators, pollination and food production

The thematic assessment of pollinators, pollination and food production carried out under the auspices of the Intergovernmental Science-Policy Platform on Biodiversity and Ecosystem Services aims to assess animal pollination as a regulating ecosystem service underpinning food production in the context of its contribution to nature’s gifts to people and supporting a good quality of life. To achieve this, it focuses on the role of native and managed pollinators, the status and trends of pollinators and pollinator-plant networks and pollination, drivers of change, impacts on human well-being, food production in response to pollination declines and deficits and the effectiveness of responses

Near-infrared Emission Spectrum of WASP-103b Using Hubble Space Telescope/Wide Field Camera 3

We present here our observations and analysis of the dayside emission spectrum of the hot Jupiter WASP-103b. We observed WASP-103b during secondary eclipse using two visits of the Hubble Space Telescope with the G141 grism on Wide Field Camera 3 in spatial scan mode. We generated secondary eclipse light curves of the planet in both blended white-light and spectrally binned wavechannels from 1.1-1.7 µm and corrected the light curves for flux contamination from a nearby companion star. We modeled the detector systematics and secondary eclipse spectrum using Gaussian process regression and found that the near-IR emission spectrum of WASP-103b is featureless across the observed near-IR region to down to a sensitivity of 175 ppm, and shows a shallow slope toward the red. The atmosphere has a single brightness temperature of T_B = 2890 K across this wavelength range. This region of the spectrum is indistinguishable from isothermal, but may not manifest from a physically isothermal system, i.e., pseudo-isothermal. A solar-metallicity profile with a thermal inversion layer at 10^(−2) bar fits the spectrum of WASP-103b with high confidence, as do an isothermal profile with solar metallicity and a monotonically decreasing atmosphere with C/O > 1. The data rule out a monotonically decreasing atmospheric profile with solar composition, and we rule out a low-metallicity decreasing profile as unphysical for this system. The pseudo-isothermal profile could be explained by a thermal inversion layer just above the layer probed by our observations, or by clouds or haze in the upper atmosphere. Transmission spectra at optical wavelengths would allow us to better distinguish between potential atmospheric models

Summary for policymakers of the thematic assessment on pollinators, pollination and food production

The thematic assessment of pollinators, pollination and food production carried out under the auspices of the Intergovernmental Science-Policy Platform on Biodiversity and Ecosystem Services aims to assess animal pollination as a regulating ecosystem service underpinning food production in the context of its contribution to nature’s gifts to people and supporting a good quality of life. To achieve this, it focuses on the role of native and managed pollinators, the status and trends of pollinators and pollinator-plant networks and pollination, drivers of change, impacts on human well-being, food production in response to pollination declines and deficits and the effectiveness of responses. The chapters and their executive summaries of this assessment are available as document IPBES/4/INF/1/Rev.2 (www.ipbes.net). The present document is a summary for policymakers of the information presented in these chapters

Experiences of refugees and asylum seekers in general practice: a qualitative study

Background: There has been much debate regarding the refugee health situation in the UK. However most of the existing literature fails to take account of the opinions of refugees themselves. This study was established to determine the views of asylum seekers and refugees on their overall experiences in primary care and to suggest improvements to their care. Methods: Qualitative study of adult asylum seekers and refugees who had entered the UK in the last 10 years. The study was set in Barnet Refugee Walk in Service, London. 11 Semi structured interviews were conducted and analysed using framework analysis. Results: Access to GPs may be more difficult for failed asylum seekers and those without support from refugee agencies or family. There may be concerns amongst some in the refugee community regarding the access to and confidentiality of professional interpreters. Most participants stated their preference for GPs who offered advice rather than prescriptions. The stigma associated with refugee status in the UK may have led to some refugees altering their help seeking behaviour. Conclusion: The problem of poor access for those with inadequate support may be improved by better education and support for GPs in how to provide for refugees. Primary Care Trusts could also supply information to newly arrived refugees on how to access services. GPs should be aware that, in some situations, professional interpreters may not always be desired and that instead, it may be advisable to reach a consensus as to who should be used as an interpreter. A better doctor-patient experience resulting from improvements in access and communication may help to reduce the stigma associated with refugee status and lead to more appropriate help seeking behaviour. Given the small nature of our investigation, larger studies need to be conducted to confirm and to quantify these results

The effectiveness of peer health coaching in improving glycemic control among low-income patients with diabetes: protocol for a randomized controlled trial

<p>Abstract</p> <p>Background</p> <p>Although self-management support improves diabetes outcomes, it is not consistently provided in health care settings strained for time and resources. One proposed solution to personnel and funding shortages is to utilize peer coaches, patients trained to provide diabetes education and support to other patients. Coaches share similar experiences about living with diabetes and are able to reach patients within and beyond the health care setting. Given the limited body of evidence that demonstrates peer coaching significantly improves chronic disease care, this present study examines the impact of peer coaching delivered in a primary care setting on diabetes outcomes.</p> <p>Methods/Design</p> <p>The aim of this multicenter, randomized control trial is to evaluate the effectiveness of utilizing peer coaches to improve clinical outcomes and self-management skills in low-income patients with poorly controlled diabetes. A total of 400 patients from six primary health centers based in San Francisco that serve primarily low-income populations will be randomized to receive peer coaching (n = 200) or usual care (n = 200) over 6 months. Patients in the peer coach group receive coaching from patients with diabetes who are trained and mentored as peer coaches. The primary outcome is change in HbA1c. Secondary outcomes include change in: systolic blood pressure, body mass index (BMI), LDL cholesterol, diabetes self-care activities, medication adherence, diabetes-related quality of life, diabetes self-efficacy, and depression. Clinical values (HbA1c, LDL cholesterol and blood pressure) and self-reported diabetes self-efficacy and self-care activities are measured at baseline and after 6 months for patients and coaches. Peer coaches are also assessed at 12 months.</p> <p>Discussion</p> <p>Patients with diabetes, who are trained as peer health coaches, are uniquely poised to provide diabetes self management support and education to patients. This study is designed to investigate the impact of peer health coaching in patients with poorly controlled diabetes. Additionally, we will assess disease outcomes in patients with well controlled diabetes who are trained and work as peer health coaches.</p> <p>Trial Registration</p> <p>ClinicalTrials.gov identifier: <a href="http://www.clinicaltrials.gov/ct2/show/NCT01040806">NCT01040806</a></p

Defining and unpacking the core concepts of pharmacology education

Pharmacology education currently lacks a research-based consensus on which core concepts all graduates should know and understand, as well as a valid and reliable means to assess core conceptual learning. The Core Concepts in Pharmacology Expert Group (CC-PEG) from Australia and New Zealand recently identified a set of core concepts of pharmacology education as a first step toward developing a concept inventory—a valid and reliable tool to assess learner attainment of concepts. In the current study, CC-PEG used established methodologies to define each concept and then unpack its key components. Expert working groups of three to seven educators were formed to unpack concepts within specific conceptual groupings: what the body does to the drug (pharmacokinetics); what the drug does to the body (pharmacodynamics); and system integration and modification of drug–response. First, a one-sentence definition was developed for each core concept. Next, sub-concepts were established for each core concept. These twenty core concepts, along with their respective definitions and sub-concepts, can provide pharmacology educators with a resource to guide the development of new curricula and the evaluation of existing curricula. The unpacking and articulation of these core concepts will also inform the development of a pharmacology concept inventory. We anticipate that these resources will advance further collaboration across the international pharmacology education community to improve curricula, teaching, assessment, and learning.Marina Santiago, Elizabeth A. Davis, Tina Hinton, Thomas A. Angelo, Alison Shield, Anna-Marie Babey, Barbara Kemp-Harper, Gregg Maynard, Hesham S. Al-Sallami, Ian F. Musgrave, Lynette B. Fernandes, Suong N. T. Ngo, Arthur Christopoulos, Paul J. Whit