Accurate navigation applied to landing maneuvers on mobile platforms for unmanned aerial vehicles

Drones are quickly developing worldwide and in Europe in particular. They represent the future of a high percentage of operations that are currently carried out by manned aviation or satellites. Compared to fixed-wing UAVs, rotary wing UAVs have as advantages the hovering, agile maneuvering and vertical take-off and landing capabilities, so that they are currently the most used aerial robotic platforms. In operations from ships and boats, the final approach and the landing maneuver are the phases of the operation that involves a higher risk and where it is required a higher level of precision in the position and velocity estimation, along with a high level of robustness in the operation. In the framework of the EC-SAFEMOBIL and the REAL projects, this thesis is devoted to the development of a guidance and navigation system that allows completing an autonomous mission from the take-off to the landing phase of a rotary-wing UAV (RUAV). More specifically, this thesis is focused on the development of new strategies and algorithms that provide sufficiently accurate motion estimation during the autonomous landing on mobile platforms without using the GNSS constellations. In one hand, for the phases of the flights where it is not required a centimetric accuracy solution, here it is proposed a new navigation approach that extends the current estimation techniques by using the EGNOS integrity information in the sensor fusion filter. This approach allows improving the accuracy of the estimation solution and the safety of the overall system, and also helps the remote pilot to have a more complete awareness of the operation status while flying the UAV In the other hand, for those flight phases where the accuracy is a critical factor in the safety of the operation, this thesis presents a precise navigation system that allows rotary-wing UAVs to approach and land safely on moving platforms, without using GNSS at any stage of the landing maneuver, and with a centimeter-level accuracy and high level of robustness. This system implements a novel concept where the relative position and velocity between the aerial vehicle and the landing platform can be calculated from a radio-beacon system installed in both the UAV and the landing platform or through the angles of a cable that physically connects the UAV and the landing platform. The use of a cable also incorporates several extra benefits, like increasing the precision in the control of the UAV altitude. It also facilitates to center the UAV right on top of the expected landing position and increases the stability of the UAV just after contacting the landing platform. The proposed guidance and navigation systems have been implemented in an unmanned rotorcraft and a large number of tests have been carried out under different conditions for measuring the accuracy and the robustness of the proposed solution. Results showed that the developed system allows landing with centimeter accuracy by using only local sensors and that the UAV is able to follow a mobile landing platform in multiple trajectories at different velocities

Executive functions and sport agents

El objetivo de la presente revisión es investigar la producción científica de artículos que relacionen a los agentes deportivos (deportistas, entrenadores, árbitros) con las funciones ejecutivas (FE). Para ello, se realizó una búsqueda en WoS que arrojó 703 resultados. Un cribado de las referencias siguiendo las directrices PRISMA dejó 94 artículos con los que se llevó a cabo un análisis bibliométrico y revisión de los temas subyacentes que son FE de dominio general y específico en relación con el deportista, FE y tipo de deporte, detección de talentos, relación entre FE y habilidades específicas en el deporte, FE y posición en el terreno de juego, paradigma del experto/deportista de élite y las FE, FE y otros agentes deportivos y deportistas de élite con discapacidad y FE. En vista de los resultados, si bien parece haber un consenso sobre la importancia de las FE en el deporte, se requieren más estudios longitudinales que certifiquen su valor. Estudios recientes parecen indicar que no es trascendental en la detección de talentos. De la misma manera, existen indicios sobre su rol en deportistas que practican disciplinas abiertas y de oposición y sobre las diferencias existentes entre deportistas y no deportistas o expertos y noveles. Junto con lo expuesto anteriormente, se requieren pruebas que evalúen las FE con validez ecológica y de constructo y es necesario que el valor de las FE se traslade a la investigación con otros agentes deportivos como entrenadores o árbitros.The present review aims at investigating the scientific production with respect to the link between executive functions (EF) and sport agents (athletes, players, coaches, umpires). For that purpose, a series of searches were carried out on WoS that yielded 703 references. Upon a screening process following the PRISMA guidelines, a total of 94 papers were used to complete a bibliometric analysis together with a scoping review. Some underlying themes were detected, namely, domain-general vs domain-specific EF tests in sport, EF and type of sport, talent detection, EF and sport-specific skills, EF and position on the field/court, expert/elite paradigm and EF, EF and other sport agents and high-performance athletes with disabilities and the role of EF. In light of results, more longitudinal studies are required to confirm their value in athlete´s development, albeit the consensus with regard to their importance. Recent studies indicate the lack of predictive value of EF in talent detection. Likewise, there some indicators that point out to their role in open-skills, strategic sports as well as in the difference found between athletes and non-athletes and experts versus amateurs. In addition, domain-specific tasks are required to assess EF with both ecological and construct validity and EF should also be used to test other sport agents, such as coaches and referees/umpires

Open collaboration strategy of international retailers: an analysis of co-creator

Nowadays, online channels provide better distribution and communication strategies between companies and consumers. The importance of establishing online tools based on innovations and customer participation, is equally applicable to the international retail sector. Retail companies are able to reach consumers through their online channels, providing better ways to stand out from competitors. The options of joint open collaboration between international retails brands and its consumers implicate a transformation about the traditional communication between customers and companies. The objective of the present work is to analyze how the consumer experience is perceived after its participation in online co-creation actions, proposed by retail brands in the United Kingdom and Spain. The main purpose of this research is to consider how online co-creation initiatives, in the fashion industry sector, have a significant influence on co-creation experience, as well as, on relevant aspects, such as engagement or customer satisfaction.Ministerio de Economía y Competitividad. ECO 2014-55881-

Distributed motion misbehavior detection in teams of heterogeneous aerial robots

This paper addresses the problem of detecting possible misbehavior in a group of autonomous mobile robots, which coexist in a shared environment and interact with each other and coordinate according to a set of common interaction rules. Such rules specify what actions each robot is allowed to perform in order to interact with the other members of the group. The rules are distributed, i.e., they can be evaluated only starting from the knowledge of the individual robot and the information the robot gathers from neighboring robots. We consider misbehaving those robots which, because of either spontaneous failures or malicious tampering, do not follow the rules and whose behavior thus deviates from the nominal assigned one. The main contribution of the paper is to provide a methodology to detect such misbehavior by observing the congruence of actual behavior with the assigned rules as applied to the actual state of the system. The presented methodology is based on a consensus protocol on the events observed by robots. The methodology is fully distributed in the sense that it can be performed by individual robots based only on the local available information, it has been theoretically proven and validated with experiments involving real aerial heterogeneous robots

CARACTERIZACIÓN DE LA MOVILIDAD METROPOLITANA DE MÁLAGA MEDIANTE LA TELEFONÍA MÓVIL. ESTUDIO COMPARATIVO FRENTE A ENCUESTAS

[ES] El análisis de la movilidad en una determinada región es un aspecto esencial en las tareas de planificación del transporte, siendo vital manejar información actualizada a fin de que sus resultados sean más dinámicos y realistas. Recientemente se ha producido un gran desarrollo en la sensorización del tráfico, ligado tanto a la propia infraestructura como al vehículo, surgiendo cada vez más fuentes de datos provenientes de otras actividades que pueden enriquecer la información de movilidad existente. En este sentido la telefonía móvil se perfila como alternativa con alto potencial para la recopilación de datos de movilidad. El propio funcionamiento de estos sistemas genera ciertos registros espacio-temporales que, debidamente tratados y encriptados sin revelar información confidencial de sus abonados, permitiría inferir datos relativos a la dinámica de actividad humana de forma transparente. Sin embargo, esta fuente de información procede de una tecnología diseñada con otra finalidad, por lo que debe ser cuidadosamente analizada como paso previo a su uso en la caracterización completa de la movilidad de una zona. Esta comunicación evalúa el potencial de la información derivada de la telefonía móvil como complemento de las metodologías tradicionales en futuros estudios de transporte. El estudio piloto, desarrollado en el marco del proyecto DIURMOVIL (AOPJA, 2015), ha llevado a cabo un análisis detallado de la movilidad en el área urbana y metropolitana de Málaga mediante datos provenientes de la tecnología móvil, contrastando los resultados con fuentes tradicionales de información basadas en encuestas sobre el mismo área de estudio. Todo ello ha permitido identificar las potencialidades y limitaciones de esta tecnología, atendiendo a la situación actual del sector, valorando aspectos clave en la realización de estudios de transporte.Cáceres Sánchez, N.; Romero Pérez, L.; García Benítez, F.; Reyes Gutiérrez, A.; Ruiz De Alarcón Quintero, C.; Morales Sánchez, F. (2016). CARACTERIZACIÓN DE LA MOVILIDAD METROPOLITANA DE MÁLAGA MEDIANTE LA TELEFONÍA MÓVIL. ESTUDIO COMPARATIVO FRENTE A ENCUESTAS. En XII Congreso de ingeniería del transporte. 7, 8 y 9 de Junio, Valencia (España). Editorial Universitat Politècnica de València. 1171-1183. https://doi.org/10.4995/CIT2016.2016.4041OCS1171118

LAS ACTIVIDADES DE MANTENIMIENTO EN LOS CONTEXTOS FORTIFICADOS DE PEÑALOSA

In the following text we propose a different form of approaching to the study of the material culture and the organization of the space in prehistoric societies. We will use the concept of the maintenance activities, as the basic element to understand the social dynamics of the argaric settlement of Peñalosa.En el siguiente texto proponemos una forma diferente de aproximarnos al estudio de la cultura material y la articulación del espacio de las sociedades prehistóricas. Para ello utilizaremos el concepto de las actividades de mantenimiento, como elemento básico para entender la dinámica social del poblado argárico de Peñalosa

Amoxicillin and Clarithromycin Mucoadhesive Delivery System for Helicobacter pylori Infection in a Mouse Model: Characterization, Pharmacokinetics, and Efficacy

Helicobacter pylori is the main pathogen responsible for gastric ulcers and a predisposing factor of stomach cancer. Although current treatment is usually successful, it requires high doses and frequent administration. An innovative mucoadhesive system (Mucolast®) loaded with amoxicillin and clarithromycin is proposed to improve the efficacy of treatment against H. pylori. The drug product was optimized based on its viscoelastic properties to obtain long-term stability of the vehicle. The drug release mechanisms were different for both antibiotics based on their solubilization status. A systemic and stomach pharmacokinetic profile was obtained after three different doses were administered to mice, obtaining similar systemic exposure levels but an increase in drug concentration in the stomach. The efficacy results in mice infected with H. pylori also demonstrated the superiority of the antibiotics when administered in Mucolast®, as shown by the bacterial count in stomach tissue and under histopathological and biochemical evaluation. The proposed treatment was efficacious and safe and is presented as a realistic alternative to current treatment options to improve patient compliance and to reduce bacterial resistance.Ministerio de Ciencia e Innovación. Gobierno de España (programa RETOS)-RTC-2015-4437-

Low dietary inclusion of nutraceuticals from microalgae improves feed efficiency and modifies intermediary metabolisms in gilthead sea bream (Sparus aurata)

The aim of this work was to evaluate two functional feeds for the gilthead seabream, Sparus aurata, containing low inclusion of two microalgae-based products (LB-GREENboost, LBGb; and LB-GUThealth, LBGh). Fish (12-13 g) were fed for 13 weeks a control diet or one of the four diets supplemented with both products at 0.5% or 1%. LBGb and LBGh did not affect specific growth rate or survival, but increased feed efficiency by decreasing feed intake and enlarging the intestines. LBGb increased hepatosomatic index and reduced cortisol levels in plasma, while both products lowered plasma lactate. Extensive metabolite and metabolic enzyme profiling revealed that microalgae supplementations, especially 1% LBGh: (i) decrease plasma lactate and increase hepatic glycogen, (ii) reduce hepatic gluconeogenesis, (iii) enhance hepatic lipogenic activity and lipid secretion, (iv) led fish to double triglyceride content in muscle and to stimulate its lipid oxidative capacity, and (v) increase the content of monounsaturated fatty acids and the omega-3 alpha-linolenic acid in muscle. This study demonstrates that both microalgae-based products are suited to improve feed efficiency and orchestrate significant changes in the intermediary metabolism in gilthead seabream juveniles

Aprendizaje Servicio e Innovación Social desde la Universidad

El Aprendizaje Servicio es una estrategia docente necesaria para el desarrollo de iniciativas de emprendimiento e innovación social, que partan desde la Universidad, y que se puedan incorporar en las diferentes áreas de conocimiento de la UC

NUEVAS APORTACIONES AL ESTUDIO DEL CONTROL DEL AGUA EN LA EDAD DEL BRONCE. LA CISTERNA DE PEÑALOSA (BAÑOS DE LA ENCINA, JAÉN)

New excavations in Peñalosa (Baños de la Encina, Jaén) Bronze Age site has let us to research a great cistern located at the hill bottom. All the information about its features and relations is presented here. From this point structural sequence and its relation to Peñalosa settlement evolution is discussed. Finally cistern function according to data about other Late Prehistory similar structures is pursued, taking into account its size and its special situation at the site in every occupation phase.Las nuevas campañas de excavación en el yacimiento de la Edad del Bronce de Peñalosa (Baños de la Encina, Jaén) han permitido probar la existencia de una gran cisterna en la parte más baja de la colina. Se presenta aquí la información concerniente a las estructuras que la componen y su articulación. A partir de ella se discute la secuencia constructiva y su relación con las transformaciones en el poblado de Peñalosa. Finalmente se plantea la hipótesis sobre su función en el marco de las estructuras similares conocidas en la Prehistoria Reciente atendiendo a sus dimensiones y a su especial situación en el poblado en cada una de las fases de ocupación de éste