Online Informative Path Planning for Active Classification on UAVs

We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy grid and generate plans according to information-theoretic objectives, enabling the UAV to gather data efficiently. We use a combination of global viewpoint selection and evolutionary optimization to refine the UAV's trajectory in continuous space while satisfying dynamic constraints. We validate our approach in simulation by comparing against standard "lawnmower" coverage, and study the effects of varying objectives and optimization strategies. We plan to evaluate our algorithm on a real platform in the immediate future.Comment: 7 pages, 4 figures, submission to International Symposium on Experimental Robotics 201

Sampling-based Motion Planning for Active Multirotor System Identification

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some states are only observable under a specific motion. These motions are often hard to find, especially for inexperienced users. Therefore, we consider system model identification in an active setting, where the vehicle autonomously decides what actions to take in order to quickly identify the model. Our algorithm approximates the belief dynamics of the system around a candidate trajectory using an extended Kalman filter (EKF). It uses sampling-based motion planning to explore the space of possible beliefs and find a maximally informative trajectory within a user-defined budget. We validate our method in simulation and on a real system showing the feasibility and repeatability of the proposed approach. Our planner creates trajectories which reduce model parameter convergence time and uncertainty by a factor of four.Comment: Published at ICRA 2017. Video available at https://www.youtube.com/watch?v=xtqrWbgep5

Coverage Path Planning with Real‐time Replanning and Surface Reconstruction for Inspection of Three‐dimensional Underwater Structures using Autonomous Underwater Vehicles

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/113717/1/rob21554.pd

Two steps Natural Actor Critic Learning for Underwater Cable Tracking

Abstract-This paper proposes a field application of a highlevel Reinforcement Learning (RL) control system for solving the action selection problem of an autonomous robot in a cable tracking task. The underwater vehicle ICT IN EU AU V learns to perform a visual based cable tracking task in a two step learning process. First, a policy is computed by means of simulation where a hydrodynamic model of the vehicle simulates the cable following task. Once the simulated results are accurate enough, in a second step, the learnedin-simulation policy is transferred to the vehicle where the learning procedure continues in a real environment, improving the initial policy. The natural actor-critic (NAC) algorithm has been selected to solve the problem in both steps. This algorithm aims to take advantage of policy gradient and value function techniques for fast convergence. Actor's policy gradient gives convergence guarantees under function approximation and partial observability while critic's value function reduces variance of the estimates update improving the convergence process

A Chamber for fruiting Volvariella volvacea in laboratory

Es presenta el disseny d'una cambra dirigida al cultiu de bolets termòfils en el laboratori. Els sistemes de control permeten regular de manera senzilla la temperatura, la humitat relativa, entre el 100% i el 85%, i la concentració de CO2 de l'aire, així com els intercanvis d'aire fresc i la il·luminació de la cambra de cultiu. Pel que fa al cultiu de bolets mesòfils, incloem un esquema de les modificacions que permeten un millor control de la temperatura, la humitat relativa i la ventilació. Les modificacions es centren en l'ús d'una unitat de refrigeració, que en aquest cas és una cèl·lula de Peltier.A chamber for fruiting thennophilic mushrooms in laboratory is described. This design allows an easy control of temperature, relative humidity (between 100% and 85%), CO2 levels, air exchange and illumination. Moreover, a diagram with further modifications is described. These improvements enable greater control of temperature, relative humidity and aur exchanges. They are focused on the use of a Peltier cell and allows mesophilic mushrooms growth.Se presenta el diseño de una cámara dirigida al cultivo de hongos termófilos en el laboratorio. Los sistemes de control permiten regular de manera sencilla la temperatura, la humedad relativa, entre el 100% y el 85%, y la concentración de CO2 del aire, así como los intercambios de aire fresco y la iluminación de la cámara de cultivo. Respecto al cultivo de hongos mesófilos, incluimos un esquema de las modificaciones que permiten un mayor control de la temperatura, la humedad relativa y la ventilación. Las modificaciones se centran en el uso de una unidad de refrigeración, que en este caso es una célula de Peltier

A Chamber for fruiting Volvariella volvacea in laboratory

Es presenta el disseny d'una cambra dirigida al cultiu de bolets termòfils en el laboratori. Els sistemes de control permeten regular de manera senzilla la temperatura, la humitat relativa, entre el 100% i el 85%, i la concentració de CO2 de l'aire, així com els intercanvis d'aire fresc i la il·luminació de la cambra de cultiu. Pel que fa al cultiu de bolets mesòfils, incloem un esquema de les modificacions que permeten un millor control de la temperatura, la humitat relativa i la ventilació. Les modificacions es centren en l'ús d'una unitat de refrigeració, que en aquest cas és una cèl·lula de Peltier.Se presenta el diseño de una cámara dirigida al cultivo de hongos termófilos en el laboratorio. Los sistemes de control permiten regular de manera sencilla la temperatura, la humedad relativa, entre el 100% y el 85%, y la concentración de CO2 del aire, así como los intercambios de aire fresco y la iluminación de la cámara de cultivo. Respecto al cultivo de hongos mesófilos, incluimos un esquema de las modificaciones que permiten un mayor control de la temperatura, la humedad relativa y la ventilación. Las modificaciones se centran en el uso de una unidad de refrigeración, que en este caso es una célula de Peltier.A chamber for fruiting thennophilic mushrooms in laboratory is described. This design allows an easy control of temperature, relative humidity (between 100% and 85%), CO2 levels, air exchange and illumination. Moreover, a diagram with further modifications is described. These improvements enable greater control of temperature, relative humidity and aur exchanges. They are focused on the use of a Peltier cell and allows mesophilic mushrooms growth

Online path planning for autonomous underwater vehicles in unknown environments

We present a framework for planning collision-free paths online for autonomous underwater vehicles (AUVs) in unknown environments. It is composed of three main modules (mapping, planning and mission handler) that incrementally explore the environment while solving start-to-goal queries. We use an octree-based representation of the environment and we extend the optimal rapidly-exploring random tree (RRT*) using concepts of anytime algorithms and lazy collision evaluation, thus including the capability to replan paths according to nearby obstacles perceived during the execution of the mission. To validate our approach, we plan paths for the SPARUS-II AUV, a torpedo-shaped vehicle performing autonomous missions in a 2-dimensional workspace. We demonstrate its feasibility with the SPARUS-II AUV in both simulation and real-world in-water trials

Update in collecting duct carcinoma: Current aspects of the clinical and molecular characterization of an orphan disease

Bellini carcinoma; Clear-cell carcinoma; Collecting ductCarcinoma de Bellini; Carcinoma de cèl·lules clares; Conducte col·lectorCarcinoma de Bellini; Carcinoma de células claras; Conducto colectorCollecting duct renal cell carcinoma (cdRCC), which until recently was thought to arise from the collecting ducts of Bellini in the renal medulla, is a rare and aggressive type of non-clear renal cell carcinoma (ncRCC), accounting for 1% of all renal tumors and with nearly 50% of patients being diagnosed with Stage IV disease. The median overall survival in this setting is less than 12 months. Several regimens of chemotherapies had been used based on morphologic and cytogenetic similarities with urothelial cell carcinoma described previously, although the prognosis still remains poor. The use of targeted therapies also did not result in favorable outcomes. Recent works using NGS have highlighted genomic alterations in SETD2, CDKN2A, SMARCB1, and NF2. Moreover, transcriptomic studies have confirmed the differences between urothelial carcinoma and cdRCC, the possible true origin of this disease in the distal convoluted tubule (DCT), differentiating from other RCC (e.g., clear cell and papillary) that derive from the proximal convoluted tubule (PCT), and enrichment in immune cells that may harbor insights in novel treatment strategies with immunotherapy and target agents. In this review, we update the current aspects of the clinical, molecular characterization, and new targeted therapeutic options for Collecting duct carcinoma and highlight the future perspectives of treatment in this setting