Diseño e implementación del control de un coche autónomo con comunicación externa

Aquest projecte es centra en el disseny i la implementació del control d’un vehicle autònom i en la comunicació entre aquest i un ordinador. Addicionalment, de manera independent, s'hi inclou el control manual amb un comandament extern Bluetooth. El principal objectiu és aconseguir desenvolupar un òptim algorisme capaç de manipular l'automòbil amb la finalitat de recórrer un circuit, acotat per dues línies, sense sortir-se'n i de manera completament autònoma. D'aquesta manera, es fa servir un sistema ultrasònic de navegació idoni per a la localització del vehicle en un pla 2D. Mitjançant un ordinador extern es processa la informació captada i es realitzen una sèrie de càlculs per tal de determinar la velocitat i la direcció pertinents. Per acabar, s'envien els resultats a una Raspberry Pi 4 Model B que s'encarrega d'actuar sobre els motors per obtenir el moviment desitjat. Cal destacar que tant els codis programats com la comunicació entre la Raspberry Pi i l'ordinador s'implementen en ROS (Robot Operating System), mitjançant el llenguatge de programació d'alt nivell Python.El presente proyecto se centra en el diseño y la implementación del control de un vehículo autónomo y en la comunicación entre éste y un ordenador. Adicionalmente, de manera independiente, se incluye el control manual con un mando externo Bluetooth. El principal objetivo es lograr desarrollar un óptimo algoritmo capaz de manipular al automóvil con la finalidad de recorrer un circuito, acotado por dos líneas, sin salirse y de manera completamente autónoma. Para tales efectos, se emplea un sistema ultrasónico de navegación idóneo para la localización del vehículo en un plano 2D. Mediante un ordenador externo al vehículo se procesa la información captada y se realizan una serie de cálculos con el fin de determinar la velocidad y la dirección pertinentes. Por último, se envían los resultados a una Raspberry Pi 4 Model B, a bordo del vehículo, que se encarga de actuar sobre los motores para obtener el movimiento deseado. Destacar que tanto los códigos programados como la comunicación entre la Raspberry Pi y el ordenador se implementan en ROS (Robot Operating System), mediante el lenguaje de programación de alto nivel Python.This project focuses on the design and the implementation of the control of an autonomous vehicle and the communication between it and a computer. Additionally, manual control is included with an external Bluetooth control. The main objective is to develop an optimal algorithm capable of manipulating the automobile in order to follow a track, bounded by two lines, without diverting and completely autonomously. In this way, an ultrasonic navigation system is used with the purpose of locating the vehicle on a 2D plane. An external computer processed the information captured by the sensors, executing the implemented algorithm so as to determine the relevant speed and direction. Finally, the results are sent to a Raspberry Pi 4 Model B on board the vehicle, which is responsible of acting on the motors to obtain the desired movement. The programmed codes and the communication between the Raspberry Pi and the computer are implemented in ROS (Robot Operating System), using the high-level programming language Python

Spatiotemporal Characteristics of the Largest HIV-1 CRF02_AG Outbreak in Spain: Evidence for Onward Transmissions

Background and Aim: The circulating recombinant form 02_AG (CRF02_AG) is the predominant clade among the human immunodeficiency virus type-1 (HIV-1) non-Bs with a prevalence of 5.97% (95% Confidence Interval-CI: 5.41–6.57%) across Spain. Our aim was to estimate the levels of regional clustering for CRF02_AG and the spatiotemporal characteristics of the largest CRF02_AG subepidemic in Spain.Methods: We studied 396 CRF02_AG sequences obtained from HIV-1 diagnosed patients during 2000–2014 from 10 autonomous communities of Spain. Phylogenetic analysis was performed on the 391 CRF02_AG sequences along with all globally sampled CRF02_AG sequences (N = 3,302) as references. Phylodynamic and phylogeographic analysis was performed to the largest CRF02_AG monophyletic cluster by a Bayesian method in BEAST v1.8.0 and by reconstructing ancestral states using the criterion of parsimony in Mesquite v3.4, respectively.Results: The HIV-1 CRF02_AG prevalence differed across Spanish autonomous communities we sampled from (p < 0.001). Phylogenetic analysis revealed that 52.7% of the CRF02_AG sequences formed 56 monophyletic clusters, with a range of 2–79 sequences. The CRF02_AG regional dispersal differed across Spain (p = 0.003), as suggested by monophyletic clustering. For the largest monophyletic cluster (subepidemic) (N = 79), 49.4% of the clustered sequences originated from Madrid, while most sequences (51.9%) had been obtained from men having sex with men (MSM). Molecular clock analysis suggested that the origin (tMRCA) of the CRF02_AG subepidemic was in 2002 (median estimate; 95% Highest Posterior Density-HPD interval: 1999–2004). Additionally, we found significant clustering within the CRF02_AG subepidemic according to the ethnic origin.Conclusion: CRF02_AG has been introduced as a result of multiple introductions in Spain, following regional dispersal in several cases. We showed that CRF02_AG transmissions were mostly due to regional dispersal in Spain. The hot-spot for the largest CRF02_AG regional subepidemic in Spain was in Madrid associated with MSM transmission risk group. The existence of subepidemics suggest that several spillovers occurred from Madrid to other areas. CRF02_AG sequences from Hispanics were clustered in a separate subclade suggesting no linkage between the local and Hispanic subepidemics

Gait speed measurement for elderly patients with risk of frailty

The ageing of the population poses a threat to both public and private health and social systems. In the last 50 years, life expectancy has increased by an average of 20 years, and by the year 2050, life expectancy will exceed 90 years of age. However, quality of life in the last years of life is not guaranteed due to conditions such as functional decline and frailty, ultimately progressing to disability. Thus, the detection of such a condition in time is of utmost importance. This paper presents an ultrasonic sensor-based gait speed measurement device controlled via a mobile interface, which permits patients to self-assess physical performance. The system was developed and validated in an iterative process involving a total of 28 subjects (21 in the first round and 7 in the second one). After first evaluation at Hospital Universitario de Getafe, some technical problems arose whereas usability testing was well evaluated. The second version addressing the identified issues was technically validated at university premises with good and promising results. Future work envisages deployment of the system developed at subjects? homes to be remotely and unobtrusively monitored

Spatiotemporal Characteristics of the Largest HIV-1 CRF02_AG Outbreak in Spain: Evidence for Onward Transmissions

Background and Aim: The circulating recombinant form 02_AG (CRF02_AG) is the predominant clade among the human immunodeficiency virus type-1 (HIV-1) non-Bs with a prevalence of 5.97% (95% Confidence Interval-CI: 5.41-6.57%) across Spain. Our aim was to estimate the levels of regional clustering for CRF02_AG and the spatiotemporal characteristics of the largest CRF02_AG subepidemic in Spain. Methods: We studied 396 CRF02_AG sequences obtained from HIV-1 diagnosed patients during 2000-2014 from 10 autonomous communities of Spain. Phylogenetic analysis was performed on the 391 CRF02_AG sequences along with all globally sampled CRF02_AG sequences (N = 3,302) as references. Phylodynamic and phylogeographic analysis was performed to the largest CRF02_AG monophyletic cluster by a Bayesian method in BEAST v1.8.0 and by reconstructing ancestral states using the criterion of parsimony in Mesquite v3.4, respectively. Results: The HIV-1 CRF02_AG prevalence differed across Spanish autonomous communities we sampled from (p < 0.001). Phylogenetic analysis revealed that 52.7% of the CRF02_AG sequences formed 56 monophyletic clusters, with a range of 2-79 sequences. The CRF02_AG regional dispersal differed across Spain (p = 0.003), as suggested by monophyletic clustering. For the largest monophyletic cluster (subepidemic) (N = 79), 49.4% of the clustered sequences originated from Madrid, while most sequences (51.9%) had been obtained from men having sex with men (MSM). Molecular clock analysis suggested that the origin (tMRCA) of the CRF02_AG subepidemic was in 2002 (median estimate; 95% Highest Posterior Density-HPD interval: 1999-2004). Additionally, we found significant clustering within the CRF02_AG subepidemic according to the ethnic origin. Conclusion: CRF02_AG has been introduced as a result of multiple introductions in Spain, following regional dispersal in several cases. We showed that CRF02_AG transmissions were mostly due to regional dispersal in Spain. The hot-spot for the largest CRF02_AG regional subepidemic in Spain was in Madrid associated with MSM transmission risk group. The existence of subepidemics suggest that several spillovers occurred from Madrid to other areas. CRF02_AG sequences from Hispanics were clustered in a separate subclade suggesting no linkage between the local and Hispanic subepidemics