Trajectory planning of a quadrotor to monitor dependent people

This article introduces a framework for assisting dependent people at home through a vision-based autonomous unmanned aerial vehicle (UAV). Such an aircraft equipped with onboard cameras can be useful for monitoring and recognizing a dependent's activity. This work is focused on the problem of planning the flight path of a quadrotor to perform monitoring tasks. The objective is to design a trajectory planning algorithm that allows the UAV to position itself for the sake of capturing images of the dependent person's face. These images will be later treated by a base station to evaluate the persons emotional state, together with his/her behavior, this way determining the assistance needed in each situation. Numerical simulations have been carried out to validate the proposed algorithms. The results show the effectiveness of the trajectory planner to generate smooth references to our previously designed GPI (generalized proportional integral) controller. This demonstrates that a quadrotor is able to perform monitoring flights with a high motion precision.- This work has been partially supported by Spanish Ministerio de Ciencia, Innovacion y Universidades, Agencia Estatal de Investigacion (AEI)/European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant. Lidia M. Belmonte holds FPU014/05283 scholarship from Spanish Ministerio de Educacion y Formacion Profesional

Phase mapping of aging process in InN nanostructures: oxygen incorporation and the role of the zincblende phase

Uncapped InN nanostructures undergo a deleterious natural aging process at ambient conditions by oxygen incorporation. The phases involved in this process and their localization is mapped by Transmission Electron Microscopy (TEM) related techniques. The parent wurtzite InN (InN-w) phase disappears from the surface and gradually forms a highly textured cubic layer that completely wraps up a InN-w nucleus which still remains from original single-crystalline quantum dots. The good reticular relationships between the different crystals generate low misfit strains and explain the apparent easiness for phase transformations at room temperature and pressure conditions, but also disable the classical methods to identify phases and grains from TEM images. The application of the geometrical phase algorithm in order to form numerical moire mappings, and RGB multilayered image reconstructions allows to discern among the different phases and grains formed inside these nanostructures. Samples aged for shorter times reveal the presence of metastable InN:O zincblende (zb) volumes, which acts as the intermediate phase between the initial InN-w and the most stable cubic In2O3 end phase. These cubic phases are highly twinned with a proportion of 50:50 between both orientations. We suggest that the existence of the intermediate InN:O-zb phase should be seriously considered to understand the reason of the widely scattered reported fundamental properties of thought to be InN-w, as its bandgap or superconductivity.Comment: 18 pages 7 figure

Cubic and hexagonal InGaAsN dilute arsenides by unintentional homogeneous incorporation of As into InGaN

Arsenic alloying is observed for epitaxial layers nominally intended to be In0.75Ga0.25N. Voids form beneath their interfaces with GaAs substrates, acting as sources of Ga + As out-diffusion into the growing epilayers. As a result, heteroepitaxial single-phase quaternary InxGa1-xAsyN1-y, films are formed with x similar to 0.55 and 0.05 menor que y menor que 0,10. While an undoped epilayer retains the wurtzite structure, a Mn-doped sample showed randomly spaced dopant segregations, which, together with a slightly higher As concentration, led to a transformation from the hexagonal to the twinned cubic phase

Association Between the Use of a Mobile Health Strategy App and Biological Changes in Breast Cancer Survivors: Prospective Pre-Post Study

The objectives of this study were to: (1) check whether it is feasible to find changes in inflammation biomarkers through an mHealth strategy app as a delivery mechanism of an intervention to monitor energy balance; and (2) discover potential predictors of change of these markers in breast cancer survivors (BCSs). Analyzing changes in inflammatory biomarker concentrations after using the mHealth app, differences between preassessment CRP (4899.04 pg/ml; SD 1085.25) and IL-6 (87.15 pg/ml; SD 33.59) and postassessment CRP (4221.24 pg/ml; SD 911.55) and IL-6 (60.53 pg/ml; SD 36.31) showed a significant decrease in both markers, with a mean difference of –635.25 pg/ml (95% CI –935.65 to –334.85; P<.001) in CRP and –26.61 pg/ml (95% CI –42.51 to –10.71; P=.002) in IL-6. Stepwise regression analyses revealed that changes in global quality of life, as well as uMARS score and hormonal therapy, were possible predictors of change in CRP concentration after using the mHealth app. In the same way, the type of tumor removal surgery conducted, as well as changes in weight and pain score, were possible predictors of change in IL-6 concentration after using the app. In conclusion, through the results of this study, we hypothesize that there is a possible association between an mHealth energy balance monitoring strategy and biological changes in BCSs. These changes could be explained by different biopsychosocial parameters, such as the use of the application itself, quality of life, pain, type of tumor removal surgery, hormonal treatment or obesity.The study was funded by the Spanish Ministry of Economy and Competitiveness (Plan Estatal de I+D+I 2013-2016), Fondo de Investigación Sanitaria del Instituto de Salud Carlos III (PI14/01627), Fondos Estructurales de la Unión Europea (FEDER), and by the Spanish Ministry of Education (FPU14/01069 and FPU17/00939)

Peer tutoring: Wiki as a tool for learning in the pedagogues training

Esta comunicación presenta los resultados de un trabajo de investigación desarrollado en la Facultad de Ciencias de la Educación (US) por un equipo de profesores y alumnos adscritos al departamento de Didáctica y Organización Educativa, dentro de las asignatura Prácticum I y II de la Licenciatura de Pedagogía. Bajo el objetivo principal de detectar las necesidades formativas de los/as alumnos/as de Pedagogía sobre las condiciones académicas requeridas en las asignaturas Practicum I y II, se elaboró en cursos anteriores, un Programa de Acción Tutorial entre Iguales (PATI) en el que quedaron plasmadas las principales carencias formativas que los alumnos encontraron en sus prácticas externas. Para ello se administró un Cuestionario sobre detección de necesidades formativas del alumnado del prácticum de Pedagogía a una muestra de 104 estudiantes. Una vez recogidos los datos y analizados los resultados, se construyó de manera colaborativa un wiki (http://proyectopati.wikispaces.com). Durante el curso académico 2010-2011, continuando con la segunda fase del proyecto, los alumnos de quinto de Pedagogía han elaborado el wiki, bajo la supervisión de sus tutores, y se ha establecido un sistema de tutoría entre iguales con los alumnos de tercero de Pedagogía. Nuestro espacio wiki puede ser considerado como una biblioteca dónde compartir información, recoger, añadir notas o responder a preguntas de sus compañeros.This paper presents the results of a research work developed at the Faculty of Educational Sciences (U.S.) developed by a team of teachers and students assigned to the Department of Didactics and Educational Organization, within the subject Practicum I and II of the Degree of Education. Under the main objective to identify the training needs of the pupil of Pedagogy on the academic conditions required subjects Practicum I and II, was developed in previous courses, a Program of Action Tutorial Peer (PATI ), which were embodied the main training gaps were students when developing their placement. This questionnaire was administered on identification of training needs of students of pedagogy practicum in a sample of 104 students. Once data are collected and analyzed the results, the program was developed and built a wiki to collaboratively (http://proyectopati.wikispaces.com). During the 2010-2011 academic year, continuing the second phase of the project, students in grades 5 of Education have developed the wiki, under the supervision of their tutors, and has established a system of peer tutoring with students in 3 of pedagogy. Our wiki space has been like a library where we have shared information and consequently the students of 3 rd have used it to obtain information and gather ideas and students in grades 5 have been able to add notes or answer questions from their peers

Advanced trajectory generator for two carts with RGB-D sensor on circular rail

This paper presents a motorised circular rail that generates the motion of two carts with an RGB-D sensor each. The objective of both carts' trajectory generation is to track a person's physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints. The person is moving freely his/her position and posture within the circle drawn by the motorised rail. More specifically, this paper describes the calculation of trajectories for safe motion of the two carts on the motorised circular rail in detail. Lastly, a study case is offered to show the performance of the described control algorithms for trajectory generation.- This work was partially supported by Ministerio de Ciencia, Innovacion y Universidades, Agencia Estatal de Investigacion (AEI) / European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant

Identification of vaginal microbiome associated with IVF pregnancy

The factors that cause a preterm birth (PTB) are not completely understood up to date. Moreover, PTB is more common in pregnancies achieved by in-vitro fertilization (IVF) than in spontaneous pregnancies. Our aim was to compare the composition of vaginal microbiome at 12 weeks of gestation between women who conceived naturally or through IVF in order to study whether IVF PTB-risk could be related to vaginal microbiome composition. We performed an observational, prospective and multicentre study among two public hospitals and a fertility private clinic in Spain. Vaginal swabs from 64 pregnant women at 12 weeks of gestation were collected to analyse the microbiome composition by sequencing the V3–V4 region of the 16S rRNA. Our results showed that the vaginal microbiome signature at 12 weeks of pregnancy was different from women who conceived naturally or through IVF. The beta diversity and the genus composition were different between both cohorts. Gardnerella, Neisseria, Prevotella, and Staphylococcus genus were enriched genus in the vaginal microbiome from the IVF group, allowing us to create a balance model to predict both cohorts. Moreover, at species level the L. iners abundance was higher and L. gasseri was lower in the IVF group. As a conclusion, our findings were consistent with a proposed framework in which IVF pregnancy are related to risk for preterm birth (PTB) suggesting vaginal microbiome could be the reason to the relation between IVF pregnancy and risk for PTB

Assisting dependent people at home through autonomous unmanned aerial vehicles

This work describes a proposal of autonomous unmanned aerial vehicles (AUAVs) for home assistance of dependent people. AUAVs will monitor and recognize human activities during flight to improve their quality of life. However, before bringing such AUAV assistance to real homes, several challenges must be faced to make them viable and practical. Some challenges are technical and some others are related to human factors. In particular, several technical aspects are described for AUAV assistance: (1) flight control, based on our active disturbance rejection control algorithm, (2) flight planning (navigation in obstacle environments), and, (3) processing signals, acquired both from flight-control and monitoring sensors. From the assisted person’s viewpoint, our research focuses on three cues: (1) the user’s perception about AUAV assistance, (2) the influence on human acceptance of AUAV appearance and behavior at home, and (3) the human-robot interaction between assistant AUAV and assisted person. Finally, virtual reality environments are proposed to carry out preliminary tests and user acceptance evaluations.This work has been partially supported by Spanish Ministerio de Ciencia, Innovación y Universidades, Agencia Estatal de Investigaci´on (AEI) / European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant, and by CIBERSAM of the Instituto de Salud Carlos III. Lidia M. Belmonte holds FPU014/05283 scholarship from Spanish Ministerio de Educaci´on y Formación Profesional

Study of the plutino object (208996) 2003 AZ84 from stellar occultations: size, shape and topographic features

We present results derived from four stellar occultations by the plutino object (208996) 2003~AZ$_{84}$, detected at January 8, 2011 (single-chord event), February 3, 2012 (multi-chord), December 2, 2013 (single-chord) and November 15, 2014 (multi-chord). Our observations rule out an oblate spheroid solution for 2003~AZ$_{84}$'s shape. Instead, assuming hydrostatic equilibrium, we find that a Jacobi triaxial solution with semi axes $(470 \pm 20) \times (383 \pm 10) \times (245 \pm 8)$~km % axis ratios $b/a= 0.82 \pm 0.05$ and $c/a= 0.52 \pm 0.02$, can better account for all our occultation observations. Combining these dimensions with the rotation period of the body (6.75~h) and the amplitude of its rotation light curve, we derive a density $\rho=0.87 \pm 0.01$~g~cm$^{-3}$ a geometric albedo $p_V= 0.097 \pm 0.009$. A grazing chord observed during the 2014 occultation reveals a topographic feature along 2003~AZ$_{84}$'s limb, that can be interpreted as an abrupt chasm of width $\sim 23$~km and depth $> 8$~km or a smooth depression of width $\sim 80$~km and depth $\sim 13$~km (or an intermediate feature between those two extremes)