Design and development of a subcutaneous blood pressure monitor

En los últimos años las enfermedades cardiovasculares se han convertido en una de causas de muerte más comunes, y esta tasa se espera que crezca en los próximos años. Enfermedades como la hipertensión, entre otras, son fácilmente tratables si se lleva una correcta monitorización de la presión sanguínea, sin embargo no existen dispositivos capaces de realizar una monitorización ambulatoria continua para estos pacientes, y solo pueden utilizar soluciones puntual para la medición de este signo vital. El objetivo de este proyecto es el diseño de una solución implantarle capaz de realizar una medición continua de la presión sanguínea

3d model identification of a soft robotic neck

Soft robotics is becoming an emerging solution to many of the problems in robotics, such as weight, cost and human interaction. In order to overcome such problems, bio-inspired designs have introduced new actuators, links and architectures. However, the complexity of the required models for control has increased dramatically and geometrical model approaches, widely used to model rigid dynamics, are not enough to model these new hardware types. In this paper, different linear and non-linear models will be used to model a soft neck consisting of a central soft link actuated by three motor-driven tendons. By combining the force on the different tendons, the neck is able to perform a motion similar to that of a human neck. In order to simplify the modeling, first a system input¿output redefinition is proposed, considering the neck pitch and roll angles as outputs and the tendon lengths as inputs. Later, two identification strategies are selected and adapted to our case: set membership, a data-driven, nonlinear and non-parametric identification strategy which needs no input redefinition; and Recursive least-squares (RLS), a widely recognized identification technique. The first method offers the possibility of modeling complex dynamics without specific knowledge of its mathematical representation. The selection of this method was done considering its possible extension to more complex dynamics and the fact that its impact in soft robotics is yet to be studied according to the current literature. On the other hand, RLS shows the implication of using a parametric and linear identification in a nonlinear plant, and also helps to evaluate the degree of nonlinearity of the system by comparing the different performances. In addition to these methods, a neural network identification is used for comparison purposes. The obtained results validate the modeling approaches proposed.Funding: The research leading to these results has received funding from the project Desarrollo de articulaciones blandas para aplicaciones robóticas, with reference IND2020/IND-1739, funded by the Comunidad Autónoma de Madrid (CAM) (Department of Education and Research), and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, FaseIV; S2018/NMT-4331), funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU

FM2 path planner for UAV applications with curvature constraints: a comparative analysis with other planning approaches

This paper studies the Fast Marching Square (FM2) method as a competitive path planner for UAV applications. The approach fulfills trajectory curvature constraints together with a significantly reduced computation time, which makes it overperform with respect to other planning methods of the literature based on optimization. A comparative analysis is presented to demonstrate how the FM2 approach can easily adapt its performance thanks to the introduction of two parameters, saturation a and exponent b, that allow a flexible configuration of the paths in terms of curvature restrictions, among others. The main contributions of the method are twofold: first, a feasible path is directly obtained without the need of a later optimization process to accomplish curvature restrictions; second, the computation speed is significantly increased, up to 220 times faster than other optimization-based methods such as, for instance, Dubins, Euler–Mumford Elastica and Reeds–Shepp. Simulation results are given to demonstrate the superiority of the method when used for UAV applications in comparison with the three previously mentioned methods.This research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), grant number 861696-LABYRINTH

Coverage strategy for target location in marine environments using fixed-wing UAVs

In this paper, we propose a coverage method for the search of lost targets or debris on the ocean surface. The OSCAR data set is used to determine the marine currents and the differential evolution genetic filter is used to optimize the sweep direction of the lawnmower coverage and get the sweep angle for the maximum probability of containment. The position of the target is determined by a particle filter, where the particles are moved by the ocean currents and the final probabilistic distribution is obtained by fitting the particle positions to a Gaussian probability distribution. The differential evolution algorithm is then used to optimize the sweep direction that covers the highest probability of containment cells before the less probable ones. The algorithm is tested with a variety of parameters of the differential evolution algorithm and compared to other popular optimization algorithms.This research was funded by the European Commission: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696

Path planning and collision risk management strategy for multi-UAV systems in 3D environments

This article belongs to the Special Issue Smooth Motion Planning for Autonomous VehiclesMulti-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square¿for the planning phase¿and a simple priority-based speed control¿as the method for conflict resolution¿is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.This research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696

Multi UAV coverage path planning in urban environments

This article belongs to the Special Issue Efficient Planning and Mapping for Multi-Robot Systems.Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural disaster tracking, transport, and others. The aim of this paper is to design efficient coverage path planning collision-avoidance capable algorithms for single or multi UAV systems in cluttered urban environments. Two algorithms are developed and explored: one of them plans paths to cover a target zone delimited by a given perimeter with predefined coverage height and bandwidth, using a boustrophedon flight pattern, while the other proposed algorithm follows a set of predefined viewpoints, calculating a smooth path that ensures that the UAVs pass over the objectives. Both algorithms have been developed for a scalable number of UAVs, which fly in a triangular deformable leader-follower formation with the leader at its front. In the case of an even number of UAVs, there is no leader at the front of the formation and a virtual leader is used to plan the paths of the followers. The presented algorithms also have collision avoidance capabilities, powered by the Fast Marching Square algorithm. These algorithms are tested in various simulated urban and cluttered environments, and they prove capable of providing safe and smooth paths for the UAV formation in urban environments.This research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696

Gaussian processes and Fast Marching Square based informative path planning

The exploration of unknown environments is a challenge in robotics. The proposed method approaches this problem by combining the Fast Marching Square path planning technique with the machine learning method called Gaussian processes (GP). The Fast Marching Square method is used to determine the most unexplored areas of the environment and to plan the path of the vehicle from the current position to the selected point. The GP model is used to obtain predictions about the unexplored regions of the environment based on the collected data so far during the exploration. The use of Unmanned Aerial Vehicles (UAVs) for exploration and surveillance has increased exponentially in the recent years, due to their sensor equipment capabilities and their versatility for flying over difficult terrain. By defining the weight each method has on the selection of the next point to explore, we can focus the UAV on the points with more interesting data defined by the user (i.e. bodies of water), the most unexplored regions, or a combination of both. We present an study on the influence of these weights on the mean absolute error (MAE) and predictive variance obtained from the GP model and test the algorithm on a real environment obtained from a satellite image. We show that we are able to generate an accurate depiction of the environment way faster than traditional methods such as the Boustrophedon.This research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696

Geometrically constrained path planning for robotic grasping with Differential Evolution and Fast Marching Square

Corrigendum (2022). Robotica, 40(12), 4604: In the published version of the above paper, the URL for a video of the experiment was missing from the second paragraph of section 6.1 Experimental results. The paragraph should read as follows: In this experiment, a target position is given to the left arm of the robot. The path for the arm is then computed using the proposed algorithm. The resulting path can be seen in Fig. 14. For a recorded demonstration of the experiment see YouTube video at https://www.youtube.com/watch?v=gkArSOl3m9YThis paper presents a new approach for geometrically constrained path planning applied to the field of robotic grasping. The method proposed in this paper is based on the Fast Marching Square (FM 2) and a path calculation approach based on an optimization evolutionary filter named Differential Evolution (DE). The geometric restrictions caused by the link lengths of the kinematic chain composed by the robot arm and hand are introduced in the path calculation phase. This phase uses both the funnel potential of the surroundings created with FM 2 and the kinematic constraints of the robot as cost functions to be minimized by the evolutionary filter. The use of an optimization filter allows for a near-optimal solution that satisfies the kinematic restrictions, while preserving the characteristics of a path computed with FM 2 . The proposed method is tested in a simulation using a robot composed by a mobile base with two arms.This work was supported by the funding from HEROITEA: Heterogeneous Intelligent Multi-Robot Team for Assistance of Elderly People (RTI2018-095599-B-C21), funded by Spanish Ministerio de Economía y Competitividad

Medicina de Urgencias Tomo 2

Public health represents one of the greatest challenges in society, which is why it is essential to strengthen the links of scientific cooperation between the academy and the community under a common premise: guarantee the health of the population. In Ecuador, public health faces a historical challenge framed by two edges: the health crisis due to the Covid-19 pandemic and the shortcomings of the social system. This leads to thinking about both the importance of the problem and its possible solutions. Despite this, it is undeniable to affirm that all health personnel share a common ideology and the same commitment, guaranteeing the health of the population.   Obviously it is not an easy task due to social uncertainty and the possible appearance of new diseases; however, it is based on a common denominator: basing decisions on the available scientific evidence or what is known as evidence-based medicine. The generation of new knowledge and the use of the best available scientific evidence is the only hope for solving the health problems that afflict the population. In this way, Emergency Medicine seeks to be a timely and practical clinical-therapeutic reference point for emerging regional circumstances, using updated international management guidelines as references and emphasizing evidence-based medicine. We are sure that it will be an invaluable contribution for health professionals.   Emergency Medicine, in its two volumes, is a work carried out by teachers, students and medical and related specialists, from the Medicine and Nursing career of the Catholic University of Cuenca, Azogues Campus. In addition, it has the contribution of other medical specialists with extensive professional experience and contributes with 52 chapters that address clinical, surgical, pediatric, and gynecological-obstetric pathologies that require timely management in the emergency room. At the same time, this work addresses topics of current interest such as medicolegal aspects of emergency care, urgent complications in HIV infections, use of antimicrobials in emergencies, dose adjustment in patients with kidney failure; and, a special chapter on SARS-CoV-2: diagnostic-therapeutic management.La salud pública representa uno de los retos más grandes en la sociedad, razón por lo cual es fundamental que se robustezcan los vínculos de cooperación científica entre la academia y la colectividad bajo una premisa común: garantizar la salud de la población. En Ecuador, la salud pública afronta un reto histórico enmarcado en dos aristas: la crisis sanitaria debido a la pandemia por Covid-19 y las carencias del sistema social. Esto conduce a pensar tanto en la trascendencia del problema como en sus posibles soluciones. A pesar de aquello, resulta innegable afirmar que todo el personal sanitario comparte una ideología en común y el mismo compromiso, garantizar la salud de la población. Evidentemente no constituye una tarea fácil debido a la incertidumbre social y a la posible aparición de nuevas enfermedades; sin embargo, se basa en un denominador común: asentar las decisiones en la evidencia científica disponible o lo que se conoce como medicina basada en la evidencia. La generación de nuevo conocimiento y la utilización de la mejor evidencia científica disponible constituye la única esperanza para resolver los problemas de salud que aquejan a la población. De esta forma, Medicina de Urgencias busca ser un referente clínico- terapéutico, oportuno y práctico, de las circunstancias emergentes regionales, tomando como referencias guías de manejo internacionales actualizadas y haciendo hincapié en la medicina basada en la evidencia. Estamos seguros que será un aporte de carácter invaluable para los profesionales de la salud. Medicina de urgencias, en sus dos volúmenes, es una obra realizada por docentes, estudiantes y especialistas médicos y afines, de la carrera de Medicina y Enfermería de la Universidad Católica de Cuenca, Sede Azogues. Además, cuenta con el aporte de otros médicos especialistas con amplia trayectoria profesional y aporta con 52 capítulos que abordan patologías clínicas, quirúrgicas, pediátricas, y gíneco-obstétricas, que requieren manejo oportuno en la sala de emergencias.  Al mismo tiempo, la presente obra aborda temáticas de interés actual como aspectos médico legales de la atención en urgencias, complicaciones urgentes en las infecciones por VIH, uso de antimicrobianos en emergencias, ajuste de dosis en pacientes con insuficiencia renal; y, un capítulo especial sobre el SARS-CoV-2: manejo diagnóstico-terapéutico

Medicina de Urgencias Tomo 2

Public health represents one of the greatest challenges in society, which is why it is essential to strengthen the links of scientific cooperation between the academy and the community under a common premise: guarantee the health of the population. In Ecuador, public health faces a historical challenge framed by two edges: the health crisis due to the Covid-19 pandemic and the shortcomings of the social system. This leads to thinking about both the importance of the problem and its possible solutions. Despite this, it is undeniable to affirm that all health personnel share a common ideology and the same commitment, guaranteeing the health of the population.   Obviously it is not an easy task due to social uncertainty and the possible appearance of new diseases; however, it is based on a common denominator: basing decisions on the available scientific evidence or what is known as evidence-based medicine. The generation of new knowledge and the use of the best available scientific evidence is the only hope for solving the health problems that afflict the population. In this way, Emergency Medicine seeks to be a timely and practical clinical-therapeutic reference point for emerging regional circumstances, using updated international management guidelines as references and emphasizing evidence-based medicine. We are sure that it will be an invaluable contribution for health professionals.   Emergency Medicine, in its two volumes, is a work carried out by teachers, students and medical and related specialists, from the Medicine and Nursing career of the Catholic University of Cuenca, Azogues Campus. In addition, it has the contribution of other medical specialists with extensive professional experience and contributes with 52 chapters that address clinical, surgical, pediatric, and gynecological-obstetric pathologies that require timely management in the emergency room. At the same time, this work addresses topics of current interest such as medicolegal aspects of emergency care, urgent complications in HIV infections, use of antimicrobials in emergencies, dose adjustment in patients with kidney failure; and, a special chapter on SARS-CoV-2: diagnostic-therapeutic management.La salud pública representa uno de los retos más grandes en la sociedad, razón por lo cual es fundamental que se robustezcan los vínculos de cooperación científica entre la academia y la colectividad bajo una premisa común: garantizar la salud de la población. En Ecuador, la salud pública afronta un reto histórico enmarcado en dos aristas: la crisis sanitaria debido a la pandemia por Covid-19 y las carencias del sistema social. Esto conduce a pensar tanto en la trascendencia del problema como en sus posibles soluciones. A pesar de aquello, resulta innegable afirmar que todo el personal sanitario comparte una ideología en común y el mismo compromiso, garantizar la salud de la población. Evidentemente no constituye una tarea fácil debido a la incertidumbre social y a la posible aparición de nuevas enfermedades; sin embargo, se basa en un denominador común: asentar las decisiones en la evidencia científica disponible o lo que se conoce como medicina basada en la evidencia. La generación de nuevo conocimiento y la utilización de la mejor evidencia científica disponible constituye la única esperanza para resolver los problemas de salud que aquejan a la población. De esta forma, Medicina de Urgencias busca ser un referente clínico- terapéutico, oportuno y práctico, de las circunstancias emergentes regionales, tomando como referencias guías de manejo internacionales actualizadas y haciendo hincapié en la medicina basada en la evidencia. Estamos seguros que será un aporte de carácter invaluable para los profesionales de la salud. Medicina de urgencias, en sus dos volúmenes, es una obra realizada por docentes, estudiantes y especialistas médicos y afines, de la carrera de Medicina y Enfermería de la Universidad Católica de Cuenca, Sede Azogues. Además, cuenta con el aporte de otros médicos especialistas con amplia trayectoria profesional y aporta con 52 capítulos que abordan patologías clínicas, quirúrgicas, pediátricas, y gíneco-obstétricas, que requieren manejo oportuno en la sala de emergencias.  Al mismo tiempo, la presente obra aborda temáticas de interés actual como aspectos médico legales de la atención en urgencias, complicaciones urgentes en las infecciones por VIH, uso de antimicrobianos en emergencias, ajuste de dosis en pacientes con insuficiencia renal; y, un capítulo especial sobre el SARS-CoV-2: manejo diagnóstico-terapéutico