Formal mission specification and execution mechanisms for unmanned aircraft systems

Unmanned Aircraft Systems (UAS) are rapidly gaining attention due to the increasing potential of their applications in the civil domain. UAS can provide great value performing environmental applications, during emergency situations, as monitoring and surveillance tools, and operating as communication relays among other uses. In general, they are specially well suited for the so-called D-cube operations (Dirty, Dull or Dangerous).Most current commercial solutions, if not remotely piloted, rely on waypoint based flight control systems for their navigation and are unable to coordinate UAS flight with payload operation. Therefore, automation capabilities and the ability for the system to operate in an autonomous manner are very limited. Some motivators that turn autonomy into an important requirement include limited bandwidth, limits on long-term attention spans of human operators, faster access to sensed data, which also results in better reaction times, as well as benefits derived from reducing operators workload and training requirements.Other important requirements we believe are key to the success of UAS in the civil domain are reconfigurability and cost-effectiveness. As a result, an affordable platform should be able to operate in different application scenarios with reduced human intervention.To increase capabilities of UAS and satisfy the aforementioned requirements, we propose adding flight plan and mission management layers on top of a commercial off-the-shelf flight control system. By doing so, a high level of autonomy can be achieved while taking advantage of available technologies and avoiding huge investments. Reconfiguration is made possible by separating flight and mission execution from its specification.The flight and mission management components presented in this thesis integrate into a wider hardware/software architecture being developed by the ICARUS research group.This architecture follows a service oriented approach where UAS subsystems are connected together through a common networking infrastructure. Components can be added and removed from the network in order to adapt the system to the target mission.The first contribution of this thesis consists, then, in a flight specification language that enables the description of the flight plan in terms of legs. Legs provide a higher level of abstraction compared to plain waypoints since they not only specify a destination but also the trajectory that should be followed to reach it. This leg concept is extended with additional constructs that enable specification of alternative routes, repetition and generation of complex trajectories from a reduced number of parameters.A Flight Plan Manager (FPM) service has been developed that is responsible for the execution of the flight plan. Since the underlying flight control system is still waypoint based, additional intermediate waypoints are automatically generated to adjust the flight to the desired trajectory.In order to coordinate UAS flight and payload operation a Mission Manager (MMa) service has also been developed. The MMa is able to adapt payload operation according to the current flight phase, but it can also act on the FPM and make modifications on the flight plan for a better adaption to the mission needs. To specify UAS behavior, instead of designing a new language, we propose using an in-development standard for the specification of state machines called State Chart XML.Finally, validation of the proposed specification and execution elements is carried out with two example missions executed in a simulation environment. The first mission mimics the procedures required for inspecting navigation aids and shows the UAS performance in a complex flight scenario. In this mission only the FPM is involved. The second example combines operation of the FPM with the MMa. In this case the mission consists in the detection of hotspots on a given area after a hypothetical wildfire. This second simulation shows how the MMa is able to modify the flight plan in order to adapt the trajectory to the mission needs. In particular, an eight pattern is flown over each of the dynamically detected potential hot spots

Rate splitting in MIMO RIS-assisted systems with hardware impairments and improper signaling

In this paper, we propose an optimization framework for rate splitting (RS) techniques in multiple-input multiple-output (MIMO) reconfigurable intelligent surface (RIS)-assisted systems, possibly with I/Q imbalance (IQI). This framework can be applied to any optimization problem in which the objective and/or constraints are linear functions of the rates and/or transmit covariance matrices. Such problems include minimum-weighted and weighted-sum rate maximization, total power minimization for a target rate, minimum-weighted energy efficiency (EE) and global EE maximization. The framework may be applied to any interference-limited system with hardware impairments. For the sake of illustration, we consider a multicell MIMO RIS-assisted broadcast channel (BC) in which the base stations (BSs) and/or the users may suffer from IQI. Since IQI generates improper noise, we consider improper Gaussian signaling (IGS) as an interference-management technique that can additionally compensate for IQI. We show that RS when combined with IGS can substantially improve the spectral and energy efficiency of overloaded networks (i.e., when the number of users per cell is larger than the number of transmit/receive antennas).The work of Ignacio Santamaria has been partly supported by the project ADELE PID2019-104958RB-C43, funded by MCIN/AEI/10.13039/501100011033. The work of Eduard Jorswieck was supported in part by the Federal Ministry of Education and Research (BMBF, Germany) in the program of “Souver¨an. Digital. Vernetzt.” joint project 6G-RIC, project identification number: 16KISK020K and 16KISK031

NOMA-based improper signaling for multicell MISO RIS-assisted broadcast channels

In this paper, we study the performance of reconfigurable intelligent surfaces (RISs) in a multicell broadcast channel (BC) that employs improper Gaussian signaling (IGS) jointly with non-orthogonal multiple access (NOMA) to optimize either the minimum-weighted rate or the energy efficiency (EE) of the network. We show that although the RIS can significantly improve the system performance, it cannot mitigate interference completely, so we have to employ other interference-management techniques to further improve performance. We show that the proposed NOMA-based IGS scheme can substantially outperform proper Gaussian signaling (PGS) and IGS schemes that treat interference as noise (TIN) in particular when the number of users per cell is larger than the number of base station (BS) antennas (referred to as overloaded networks). In other words, IGS and NOMA complement to each other as interference management techniques in multicell RIS-assisted BCs. Furthermore, we consider three different feasibility sets for the RIS components showing that even a RIS with a small number of elements provides considerable gains for all the feasibility sets.The associate editor coordinating the review of this manuscript and approving it for publication was Prof. Sangarapillai Lambotharan. The work of Ignacio Santamaria was supported by the Project ADELE funded by MCIN/ AEI /10.13039/501100011033, under Grant PID2019-104958RB-C43. The work of Eduard Jorswieck was supported by the Federal Ministry of Education and Research (BMBF, Germany) through the Program of Souverän. Digital. Vernetzt.” joint Project 6G-RIC, under Grants 16KISK020K and 16KISK031

SNR maximization in beyond diagonal RIS-assisted single and multiple antenna links

Reconfigurable intelligent surface (RIS) architectures not limited to diagonal phase shift matrices have recently been considered to increase their flexibility in shaping the wireless channel. One of these beyond-diagonal RIS or BD-RIS architectures leads to a unitary and symmetric RIS matrix. In this letter, we consider the problem of maximizing the signal-to-noise ratio (SNR) in single and multiple antenna links assisted by a BD-RIS. The Max-SNR problem admits a closed-form solution based on the Takagi factorization of a certain complex and symmetric matrix. This allows us to solve the max-SNR problem for SISO, SIMO, and MISO channels.The work of Ignacio Santamaria was supported by the Ministerio de Ciencia e Innovación and AEI (10.13039/501100011033), under Grant PID2019-104958RB C43 (ADELE). The work of Eduard Jorswieck was supported by the Federal Ministry of Education and Research (BMBF, Germany) through the Program of Souverän. Digital. Vernetzt. joint Project 6G-RIC, under Grants 16KISK020K and 16KISK031

Psicoeducación en padres y madres de familia para la prevención de abuso sexual infantil

Curso de Especial interés: Psicología y SexualidadEste proyecto es una página web didáctica que busca promover la prevención de abuso sexual infantil en niños, niñas y adolescentes, mediante la psicoeduación dirigida a los padres y madres de familia, donde se les permitirá tener herramientas de apoyo para la identificación y educación en los diferentes casos de abuso sexual que se registran en la actualidad en la población infantil.RESUMEN JUSTIFICACIÓN 1. MARCO TEÓRICO 2. OBJETIVOS 3. METODOLOGÍA 4. RESULTADOS 5. DISCUSIÓN 6. CONCLUSIONES Y RECOMENDACIONES 7. ESTUDIO DE MERCADEO 8. JUSTIFICACIÓN DEL ESTUDIO DE MERCADEO 9. OBJETIVOS DEL ESTUDIO DE MERCADEO 10. PRODUCTO 11. CLIENTES 12. CANALES DE DISTRIBUCIÓN – COMUNICACIÓN 13. REFERENCIASPregradoPsicólog

Presentaciones orales a un coste razonable

La ponencia describe cómo se ha incorporado en nuestras asignaturas de programación el desarrollo de la competencia de comunicación oral. Sobre la base de una organización docente basada en proyectos que usa la técnica del puzle para el aprendizaje de varios temas, cada alumno debe preparar un vídeo con una presentación oral del tema que le ha sido adjudicado en el puzle. Ese vídeo es entregado a sus compañeros, que deben aprender los contenidos de la presentación y realizar una evaluación formal de su calidad de acuerdo con unos criterios. Cada alumno debe realizar una versión mejorada del vídeo teniendo en cuenta las evaluaciones recibidas. La versión mejorada es calificada por parte de los profesores. La ponencia describe los procedimientos utilizados y algunos resultados de la experiencia

Follow-up and feedback processes in the EHEA

In the present paper, we describe the work being carried out by a group of professors so as to implement the follow-up and feedback processes of the activities students do throughout the first academic years in their Engineering studies. Not to mention, this project is within the EHEA (European Higher Education Area) framework. Our results show that these processes are key to enhance students learning, they can also have an impact in their academic performance and can be optimized in such a way that professors can assume the time it requires.Peer Reviewe

La técnica del Puzzle al servicio del aprendizaje de la programación de ordenadores

La ponencia describe una experiencia de aprendizaje cooperativo mediante la utilización de la metodología del Puzzle. En concreto se utiliza el Puzzle como herramienta de soporte en unas asignaturas dedicadas a la enseñanza de la programación de ordenadores, y organizadas de acuerdo con la estrategia de aprendizaje basado en proyectos

La evaluación en el contexto del Espacio Europeo de Educación Superior

Evaluation is always an element of concern to all involved in the educational process (teachers, students, academic, etc.). However, evaluation is a very broad concept with many different facets, and not all these facets are given the same attention. Evaluate, of course, is to assign a grade that reflects the level of learning. But evaluate is also to identify what needs to be improved for the next course. In our article, based on Donald Kirkpatrick's model of the different dimensions of evaluation, we describe the strategies and techniques currently used to deploy a system of comprehensive evaluation in the context of the adaptation process of our first year engineering courses to the requirements of the European Higher Education Area (EHEA). Precisely in the context of EHEA dimensions of evaluation that normally receive little attention, such as the monitoring of student activity (or lack of activity) acquire a very important significance.La evaluación es un elemento que preocupa siempre a todos los implicados en el proceso educativo (profesores, alumnos, responsables académicos, etc.). Sin embargo, la evaluación es un concepto muy amplio y no todas sus facetas preocupan de igual manera ni reciben la misma atención. Evaluar, desde luego, es asignar una calificación que refleje el nivel de aprendizaje. Pero evaluar es también identificar lo que debe mejorarse de cara al curso siguiente. En nuestro artículo, partiendo del modelo de Donald Kirkpatrick sobre los diferentes enfoques de la evaluación, describimos las estrategias y técnicas que utilizamos en la actualidad para desplegar un sistema de evaluación de amplio alcance, en el contexto del proceso de adaptación de nuestras asignaturas de primeros cursos de ingeniería a los requerimientos del Espacio Europeo de Educación Superior (EEES). Precisamente en el contexto del EEES algunos enfoques de la evaluación a los que normalmente se presta poca atención, como es el caso de la evaluación del seguimiento de la actividad del alumno, adquieren una relevancia muy importante

Cómo congeniar los exámenes y los proyectos en asignaturas PBL

La ponencia describe un nuevo método de evaluación para asignaturas diseñadas siguiendo la metodología del aprendizaje basado en proyectos (PBL). En asignaturas PBL con frecuencia los alumnos nos sorprenden con sus proyectos, pero nos decepcionan con sus exámenes. El método de evaluación que proponemos pretende que exámenes y proyectos coexistan de forma armoniosa en asignaturas PBL. Para ello, proponemos que uno los elementos del método de evaluación sean las pruebas de mínimos en vez de los exámenes tradicionales. En las pruebas de mínimos los alumnos han de demostrar que han adquirido unos ciertos conocimientos mínimos que han sido definidos a partir de los objetivos mínimos de aprendizaje que se han de alcanzar en la asignatura