Distributed time-critical coordination strategies for unmanned aerial systems in cluttered environments

This thesis addresses the problem of cooperative motion planning and control for a group of cooperating unmanned aerial systems through cluttered and uncertain environments, subject to a broad range of coordination and temporal constraints. The proposed solution expands the type of time-critical missions that can be automated using cooperative motion control frameworks. This work introduces the use of novel geometric queries to aid a sample-based motion-planning algorithm guide the growth of a rapidly-exploring random tree through the narrow passages in cluttered and uncertain scenarios. To this effect, specific silhouette and tolerance verification queries are designed for the geometric objects that represent vehicle motion and environmental obstacles. The combination of the silhouette-informed path planner with a CNC-inspired path-smoothing method, and a centralized cooperative speed-assignment algorithm yields a set of C2 continuous trajectories that maintain safe separation with all uncertain obstacles and cooperating peers, meet desired mission constraints, and satisfy a set of simplified dynamic constraints. The vehicles are then tasked to follow their assigned paths and coordinate online to meet mission objectives, desired inter-agent spacing constraints, and temporal constraints—such as a time of arrival or a window of arrival. The thesis introduces two types of inter-agent spacing constraints—tight and loose coordination—and three types of temporal constraints—unenforced, relaxed, and strict—that result in six general time-critical coordination strategies. This thesis presents six distributed coordination protocols to enforce this range of constraints. These coordination protocols rely on a lossy communication network that can be disconnected pointwise in time at all times, but is connected in an integral sense over a sliding temporal window. This work derives transient and steady-state performance bounds for the tight coordination protocols. Simulation results through a cluttered urban-like environment, where vehicles are subject to wind disturbances, corroborate the theoretical results

Time-Coordination Strategies and Control Laws for Multi-Agent Unmanned Systems

Time-critical coordination tools for unmanned systems can be employed to enforce the type of temporal constraints required in terminal control areas, ensure minimum distance requirements among vehicles are satisfied, and successfully perform coordinated missions. In comparison with previous literature, this paper presents an ampler spectrum of coordination and temporal specifications for unmanned systems, and proposes a general control law that can enforce this range of constraints. The constraint classification presented con- siders the nature of the desired arrival window and the permissible coordination errors to define six different types of time-coordination strategies. The resulting decentralized coordination control law allows the vehicles to negotiate their speeds along their paths in response to information exchanged over the communication network. This control law organizes the different members in the fleet hierarchically per their behavior and informational needs as reference agent, leaders, and followers. Examples and simulation results for all the coordination strategies presented demonstrate the applicability and efficacy of the coordination control law for multiple unmanned systems

Silhouette-Informed Trajectory Generation Through a Wire Maze for Small UAS

Current rapidly-exploring random tree (RRT) algorithms rely on proximity query packages that often include collision checkers, tolerance verification, and distance computation algorithms for the generation of safe paths. In this paper, we broaden the information available to the path-planning algorithm by incorporating silhouette information of nearby obstacles in conflict. A silhouette-informed tree (SIT) is generated through the flight-safe region of a wire maze for a single unmanned aerial system (UAS). The silhouette is used to extract local geometric information of nearby obstacles and provide path alternatives around these obstacles. Thus, focusing the search for the generation of new tree branches near these obstacles, and decreasing the number of samples required to explore the narrow corridors within the wire maze. The SIT is then processed to extract a path that connects the initial location of the UAS with the goal, reduce the number of line segments in this path if possible, and smooth the resulting path using Pythagorean Hodograph Bezier curves. To ensure that the smoothed path remains in the flight-safe region of the configuration space, a tolerance verification algorithm for Bezier curves and convex polytopes in three dimensions is proposed. Lastly, temporal specifications are imposed on the smoothed path in the shape of an arbitrary speed profile

Knowledge and attitudes of Spanish adolescent girls towards human papillomavirus infection: where to intervene to improve vaccination coverage

Background: HPV vaccine coverage is far from ideal in Valencia, Spain, and this could be partially related to the low knowledge about the disease and the vaccine, therefore we assessed these, as well as the attitude towards vaccination in adolescent girls, and tried to identify independently associated factors that could potentially be modified by an intervention in order to increase vaccine coverage. Methods: A cross sectional study was conducted in a random selection of schools of the Spanish region of Valencia. We asked mothers of 1278 girls, who should have been vaccinated in the 2011 campaign, for informed consent. Those that accepted their daughters’ participation, a questionnaire regarding the Knowledge of HPV infection and vaccine was passed to the girls in the school. Results: 833 mothers (65.1%) accepted participation. All their daughters’ responded the questionnaire. Of those, 89.9% had heard about HPV and they associated it to cervical cancer. Only 14% related it to other problems like genital warts. The knowledge score of the girls who had heard about HPV was 6.1/10. Knowledge was unrelated to the number of contacts with the health system (Pediatrician or nurse), and positively correlated with the discussions with classmates about the vaccine. Adolescents Spanish in origin or with an older sister vaccinated, had higher punctuation. 67% of the girls thought that the vaccine prevented cancer, and 22.6% felt that although prevented cancer the vaccine had important safety problems. 6.4% of the girls rejected the vaccine for safety problems or for not considering themselves at risk of infection. 71.5% of the girls had received at least one vaccine dose. Vaccinated girls scored higher knowledge (p = 0.05). Conclusion: Knowledge about HPV infection and vaccine was fair in adolescents of Valencia, and is independent to the number of contacts with the health system, it is however correlated to the conversations about the vaccine with their peers and the vaccination status. An action to improve HPV knowledge through health providers might increase vaccine coverage in the adolescents.This study was sponsored by Sanofi Pasteur – MSD

A Safe Cooperative Framework for Atmospheric Science Missions with Multiple Heterogeneous UAS using Piecewise Bezier Curves

Autonomous operation of UAS holds promise for greater productivity of atmospheric science missions. However, several challenges need to be overcome before such missions can be made autonomous. This paper presents a framework for safe autonomous operations of multiple vehicles, particularly suited for atmospheric science missions. The framework revolves around the use of piecewise Bezier curves for trajectory representation, which in conjunction with path-following and time-coordination algorithms, allows for safe coordinated operations of multiple vehicles

HIV-1 Tropism Testing in Subjects Achieving Undetectable HIV-1 RNA : Diagnostic Accuracy, Viral Evolution and Compartmentalization

Technically, HIV-1 tropism can be evaluated in plasma or peripheral blood mononuclear cells (PBMCs). However, only tropism testing of plasma HIV-1 has been validated as a tool to predict virological response to CCR5 antagonists in clinical trials. The preferable tropism testing strategy in subjects with undetectable HIV-1 viremia, in whom plasma tropism testing is not feasible, remains uncertain. We designed a proof-of-concept study including 30 chronically HIV-1-infected individuals who achieved HIV-1 RNA <50 copies/mL during at least 2 years after first-line ART initiation. First, we determined the diagnostic accuracy of 454 and population sequencing of gp120 V3-loops in plasma and PBMCs, as well as of MT-2 assays before ART initiation. The Enhanced Sensitivity Trofile Assay (ESTA) was used as the technical reference standard. 454 sequencing of plasma viruses provided the highest agreement with ESTA. The accuracy of 454 sequencing decreased in PBMCs due to reduced specificity. Population sequencing in plasma and PBMCs was slightly less accurate than plasma 454 sequencing, being less sensitive but more specific. MT-2 assays had low sensitivity but 100% specificity. Then, we used optimized 454 sequence data to investigate viral evolution in PBMCs during viremia suppression and only found evolution of R5 viruses in one subject. No de novo CXCR4-using HIV-1 production was observed over time. Finally, Slatkin-Maddison tests suggested that plasma and cell-associated V3 forms were sometimes compartmentalized. The absence of tropism shifts during viremia suppression suggests that, when available, testing of stored plasma samples is generally safe and informative, provided that HIV-1 suppression is maintained. Tropism testing in PBMCs may not necessarily produce equivalent biological results to plasma, because the structure of viral populations and the diagnostic performance of tropism assays may sometimes vary between compartments. Thereby, proviral DNA tropism testing should be specifically validated in clinical trials before it can be applied to routine clinical decision-making

BRAF activation by metabolic stress promotes glycolysis sensitizing NRASQ61-mutated melanomas to targeted therapy

NRAS-mutated melanoma lacks a specific line of treatment. Metabolic reprogramming is considered a novel target to control cancer; however, NRAS-oncogene contribution to this cancer hallmark is mostly unknown. Here, we show that NRAS(Q61)-mutated melanomas specific metabolic settings mediate cell sensitivity to sorafenib upon metabolic stress. Mechanistically, these cells are dependent on glucose metabolism, in which glucose deprivation promotes a switch from CRAF to BRAF signaling. This scenario contributes to cell survival and sustains glucose metabolism through BRAF-mediated phosphorylation of 6-phosphofructo-2-kinase/fructose-2,6-bisphosphatase-2/3 (PFKFB2/PFKFB3). In turn, this favors the allosteric activation of phosphofructokinase-1 (PFK1), generating a feedback loop that couples glycolytic flux and the RAS signaling pathway. An in vivo treatment of NRAS(Q61) mutant melanomas, including patient-derived xenografts, with 2-deoxy-D-glucose (2-DG) and sorafenib effectively inhibits tumor growth. Thus, we provide evidence for NRAS-oncogene contributions to metabolic rewiring and a proof-of-principle for the treatment of NRAS(Q61)-mutated melanoma combining metabolic stress (glycolysis inhibitors) and previously approved drugs, such as sorafenib. Targeted therapeutic options for NRAS-mutant melanoma are limited. Here, the authors show that under metabolic stress NRAS-mutant melanoma cells activate a BRAF-dependent glycolysis pathway for survival, leading to improve efficacy of sorafenib when combined with glycolysis inhibitors

Cirurgia Endoscòpica i Laparoscòpica combinada per al tractament de pòlips colònics benignes complexos

La cirurgia endoscòpica i laparoscòpica combinada (CELS) s'ha desenvolupat extraordinàriament en els últims 10-15 anys com una alternativa mínimament invasiva a la resecció quirúrgica de còlon per al tractament de pòlips benignes. Aquest estudi mostra algunes de les tècniques més utilitzades i n'avalua la viabilitat, la seguretat i els resultats a curt termini en els primers 15 pacients intervinguts a l'Hospital Parc Taulí, un dels primers centres a introduir aquesta tècnica a Espanya.La cirugía endoscópica y laparoscópica combinada (CELS) se ha desarrollado extraordinariamente en los últimos 10-15 años como una alternativa mínimamente invasiva a la resección quirúrgica de colon para el tratamiento de pólipos benignos. Este estudio muestra algunas de las técnicas más utilizadas y evalúa la viabilidad, la seguridad y los resultados a corto plazo en los primeros 15 pacientes intervenidos en el Hospital Parc Taulí, uno de los primeros centros en introducir esta técnica en España

Epidemiology of invasive candidiasis in a surgical intensive care unit: an observational study

Background: Invasive candidiasis (IC) is a frequent and life-threatening infection in critically ill patients. The aim of this study was to evaluate the epidemiology of IC and the antifungal susceptibility of etiological agents in patients admitted to our surgical intensive care unit (SICU) in Spain. Methods: We designed a prospective, observational, single center, population-based study in a SICU. We included all consecutive adult patients (≥18 years old) who had documented IC, either on admission or during their stay, between January 2012 and December 2013. Results: There were a total of 22 episodes of IC in the 1149 patients admitted during the 24-month study. The overall IC incidence was 19.1 cases per 1000 admissions. Thirteen cases of IC (59.1 %) were intra-abdominal candidiasis (IAC) and 9 (40.9 %) were candidemias. All cases of IAC were patients with secondary peritonitis and severe sepsis or septic shock. The overall crude mortality rate was 13.6 %; while, it was 33 % in patients with candidemia. All patients with IAC survived, including one patient with concomitant candidemia. The most common species causing IC was Candida albicans (13; 59.1 %) followed by Candida parapsilosis (5; 22.7 %), and Candida glabrata (2; 9.1 %). There was also one case each (4.5 %) of Candida krusei and Candida tropicalis. Thus, the ratio of non-C. albicans (9) to C. albicans (13) was 1:1.4. There was resistance to fluconazole and itraconazole in 13.6 % of cases. Resistance to other antifungals was uncommon. Conclusions: Candida parapsilosis was the second most common species after C. albicans, indicating the high prevalence of non-C. albicans species in the SICU. Resistance to azoles, particularly fluconazole, should be considered when starting an empirical treatment. Although IAC is a very frequent form of IC in critically ill surgical patients, prompt antifungal therapy and adequate source control appears to lead to a good outcome. However, our results are closely related to our ICU and any generalization must be taken with caution. Therefore, further investigations are needed. Keywords: Intensive care unit, Invasive candidiasis, Candidemia, Antifungal susceptibilit