Comparative analysis of MPC controllers applied to Autonomous Driving

Este trabajo presenta el diseño de un sistema de evasión de obstáculos, aplicable en situaciones de emergencia. La solución propone un MPC multivariable para controlar la posición, orientación y velocidad del vehículo autónomo. El controlador considera las limitaciones físicas del vehículo, así como la morfología de la vía para conseguir minimizar los posibles daños que puedan afectar al sistema y en consecuencia a la pérdida de control del vehículo. Las restricciones principales están basadas en las fuerzas laterales que afectan a los neumáticos, obtenidas de la implementación de los modelos cinemático y dinámico de la planta. Inicialmente, el controlador hace que el sistema siga una trayectoria predefinida. No obstante, tomará las acciones de evasión necesarias cuando detecte obstáculos, para conseguir realizar trayectorias libres de colisiones. Los resultados obtenidos tras la validación del sistema se presentan con el simulador para conducción autónoma CARLA.This work presents the design of an obstacle avoidance system, employable in emergency situations. The solution proposes a multivariable Model Predictive Controller (MPC) to control the position, orientation and velocity of an autonomous vehicle. The controller considers the vehicle0s physical limitations, as well as the road morphology, to minimize any possible damage to the system and the loss of control of the vehicle. Its main constraints are based on the lateral tire forces, obtained from the implementation of a kinematic and dynamic plant model. The controller, initially following a predefined trajectory, will take the needed evasive actions in order to perform a collision-free trajectory, in case of an obstacle detection. The results obtained from the system validation are presented with CARLA open-source simulator for autonomous driving.Grado en Ingeniería en Electrónica y Automática Industria

Introduction of a continuous medical training activity and evaluation of its quality in the Primary Care Emergency Services of Cantabria, Spain

Objetivo: Evaluación de la puesta en marcha de una actividad formativa para profesionales delos servicios de urgencia de atención primaria (SUAP) que les dote de las herramientas necesariaspara la resolución in situ de los procesos urgentes, con los medios y recursos disponibles en cadacentro.Método: Cuestionario anónimo de valoración de la actividad realizada durante cada una de lassesiones del a?no 2015. Dicho cuestionario fue cumplimentado al final de cada sesión, permi-tiendo valorar a los docentes de manera individualizada.Resultados: La plantilla de los SUAP de Cantabria es de 123 médicos y 123 profesionales deenfermería. De ellos han asistido a las sesiones un total de 178 profesionales (72% de la plantilla).De los asistentes han cumplimentado la encuesta de valoración de la actividad una media de 143profesionales (80% del total de asistentes), 81% mujeres y 19% varones. El 58% de los asistenteseran médicos de familia y el 42% personal de enfermería. En cuanto a los resultados del programaresaltaban el interés del curso para su actividad profesional (96%), si recomendaría el curso asus compa?neros (94%) y la satisfacción de haber realizado el curso (94%).Conclusiones: La puesta en marcha de actividades formativas en los SUAP ha sido percibidacomo muy favorable por los profesionales encuestados.Objective: An evaluation was performed on the introduction of a training activity for professio-nals of the Primary Care Emergency Services (SUAP) in order to equip them with the necessarytools for the on-site resolution of urgent processes, and with the resources available in eachcentre.Method: An anonymous questionnaire was used to assess the activity performed during eachof the sessions of the year 2015. This questionnaire was completed at the end of each session,allowing the assessment of individual teachers.Results: The staff of the SUAP in Cantabria included 123 physicians and 123 nursing profes-sionals. A total of 178 professionals attended the sessions (72% of the workforce). A total of143 professionals (80% of the total attendees), 81% female and 19% male, were included in thesurvey. Just over half (58%) of the attendees were family physicians and 42% were nurses. Themajor results of the program were as follows: the interest of the course for their professionalactivity (96%), they would recommend the course to their colleagues (94%), and the satisfactionof having completed the course (94%).Conclusions: The introduction of training activities in the SUAP has been perceived as veryfavourable by the professionals surveye

Real-life outcomes in biotypes of psychotic disorders based on neurocognitive performance

Producción CientíficaAiming at discerning potential biotypes within the psychotic syndrome, we have recently reported the possible existence of two clusters or biotypes across schizophrenia and bipolar disorder characterized by their cognitive performance using the Brief Assessment of Cognition in Schizophrenia (BACS) instrument and validated with independent biological and clinical indexes (Fernández-Linsenbarth et al. in Schizophr Res 229:102–111, 2021). In this previous work, the group with larger cognitive deficits (N = 93, including 69 chronic schizophrenia, 17 first episodes (FE) of schizophrenia and 7 bipolar disorder patients) showed smaller thalamus and hippocampus volume and hyper-synchronic electroencephalogram than the group with milder deficits (N = 105, including 58 chronic schizophrenia, 25 FE and 22 bipolar disorder patients). We predicted that if these biotypes indeed corresponded to different cognitive and biological substrates, their adaptation to real life would be different. To this end, in the present work we have followed up the patients’ population included in that work at 1st and 3rd years after the date of inclusion in the 2021 study and we report on the statistical comparisons of each clinical and real-life outcomes between them. The first cluster, with larger cognitive deficits and more severe biological alterations, showed during that period a decreased capacity for job tenure (1st and 3rd years), more admissions to a psychiatric ward (1st year) and a higher likelihood for quitting psychiatric follow-up (3rd year). Patients in the second cluster, with moderate cognitive deficits, were less compliant with prescribed treatment at the 3rd year. The differences in real-life outcomes may give additional external validity to that yielded by biological measurements to the described biotypes based on neurocognition.Instituto de Salud Carlos III (grant ID PI18/00178)Dirección Regional de Salud de Castilla y León (grant ID GRS 2121/A/2020)Junta de Castilla y León - predoctoral grants from the Consejería de Educación and the European Social Fund (grant IDs VA-183-18 to IFL and VA- 223-19 to RMBRS)Publicación en abierto financiada por el Consorcio de Bibliotecas Universitarias de Castilla y León (BUCLE), con cargo al Programa Operativo 2014ES16RFOP009 FEDER 2014-2020 DE CASTILLA Y LEÓN, Actuación:20007-CL - Apoyo Consorcio BUCL

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements