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

¿Qué queda de mí?

Este libro es una reclamación a quienes hemos sido, somos o seremos docentes. A quienes no hemos respetado a las personas que se han puesto junto a nosotros y nosotras, confiando su bien más preciado: la libertad. Estas páginas denuncian cada vez que convertimos una visión en la visión, una emoción en la emoción, un saber en el saber, un comportamiento en el comportamiento. Es un grito contra la imposición, la normalización, la neutralización y la universalización de una perspectiva particular. Una pugna contra cada proceso que no se ha conectado con las vidas de los aprendices. Un texto colaborativo realizado por alumnado de Educación y Cambio Social en el Grado en Educación Infantil de la Universidad de Málaga y coordinado por Ignacio Calderón Almendros

Impact of COVID-19 on cardiovascular testing in the United States versus the rest of the world

Objectives: This study sought to quantify and compare the decline in volumes of cardiovascular procedures between the United States and non-US institutions during the early phase of the coronavirus disease-2019 (COVID-19) pandemic. Background: The COVID-19 pandemic has disrupted the care of many non-COVID-19 illnesses. Reductions in diagnostic cardiovascular testing around the world have led to concerns over the implications of reduced testing for cardiovascular disease (CVD) morbidity and mortality. Methods: Data were submitted to the INCAPS-COVID (International Atomic Energy Agency Non-Invasive Cardiology Protocols Study of COVID-19), a multinational registry comprising 909 institutions in 108 countries (including 155 facilities in 40 U.S. states), assessing the impact of the COVID-19 pandemic on volumes of diagnostic cardiovascular procedures. Data were obtained for April 2020 and compared with volumes of baseline procedures from March 2019. We compared laboratory characteristics, practices, and procedure volumes between U.S. and non-U.S. facilities and between U.S. geographic regions and identified factors associated with volume reduction in the United States. Results: Reductions in the volumes of procedures in the United States were similar to those in non-U.S. facilities (68% vs. 63%, respectively; p = 0.237), although U.S. facilities reported greater reductions in invasive coronary angiography (69% vs. 53%, respectively; p < 0.001). Significantly more U.S. facilities reported increased use of telehealth and patient screening measures than non-U.S. facilities, such as temperature checks, symptom screenings, and COVID-19 testing. Reductions in volumes of procedures differed between U.S. regions, with larger declines observed in the Northeast (76%) and Midwest (74%) than in the South (62%) and West (44%). Prevalence of COVID-19, staff redeployments, outpatient centers, and urban centers were associated with greater reductions in volume in U.S. facilities in a multivariable analysis. Conclusions: We observed marked reductions in U.S. cardiovascular testing in the early phase of the pandemic and significant variability between U.S. regions. The association between reductions of volumes and COVID-19 prevalence in the United States highlighted the need for proactive efforts to maintain access to cardiovascular testing in areas most affected by outbreaks of COVID-19 infection

Diseño para el desarrollo sustentable y la habitabilidad segura e incluyente

Este libro se divide en dos partes que permiten permear en el campo de la enseñanza del diseño; la primera se enfoca en temáticas que se desprenden del diseño en la educación para la sustentabilidad; en la segunda, se identifican las tendencias del diseño como un modo de verlo y sentirlo: va desde el diseño emocional hacia uno de conservación, reúso y reparación de objetos para reducir el consumo de recursos materiales

Precariedad, exclusión social y diversidad funcional (discapacidad): lógicas y efectos subjetivos del sufrimiento social contemporáneo (II). Innovación docente en Filosofía

El PIMCD "Precariedad, exclusión social y diversidad funcional (discapacidad): lógicas y efectos subjetivos del sufrimiento social contemporáneo (II). Innovación docente en Filosofía" se ocupa de conceptos generalmente eludidos por la tradición teórica (contando como núcleos aglutinantes los de la precariedad laboral, la exclusión social y diversidad funcional o discapacidad), cuyo análisis propicia nuevas prácticas en la enseñanza universitaria de filosofía, adoptando como meta principal el aprendizaje centrado en el estudiantado, el diseño de nuevas herramientas de enseñanza y el fomento de una universidad inclusiva. El proyecto cuenta con 26 docentes de la UCM y otros 28 docentes de otras 17 universidades españolas (UV, UNED, UGR, UNIZAR, UAH, UC3M, UCA, UNIOVI, ULL, EHU/UPV, UA, UAM, Deusto, IFS/CSIC, UCJC, URJC y Univ. Pontificia de Comillas), que permitirán dotar a las actividades programadas de un alcance idóneo para consolidar la adquisición de competencias argumentativas y dialécticas por parte de lxs estudiantes implicados en el marco de los seminarios previstos. Se integrarán en el PIMCD, aparte de PDI, al menos 26 estudiantes de máster y doctorado de la Facultad de Filosofía, a lxs que acompañarán durante el desarrollo del PIMCD 4 Alumni de la Facultad de Filosofía de la UCM, actualmente investigadores post-doc y profesorxs de IES, cuya experiencia será beneficiosa para su introducción en la investigación. Asimismo, el equipo cuenta con el apoyo de varixs profesorxs asociadxs, que en algunos casos son también profesores de IES. Varixs docentes externos a la UCM participantes en el PIMCD poseen una dilatada experiencia en la coordinación de proyectos de innovación de otras universidades, lo que redundará en beneficio de las actividades a desarrollar. La coordinadora y otrxs miembros del PIMCD pertenecen a la Red de Innovación Docente en Filosofia (RIEF), puesta en marcha desde la Universitat de València (http://rief.blogs.uv.es/encuentros-de-la-rief/), a la que mantendremos informada de las actividades realizadas en el proyecto. Asimismo, lxs 6 miembros del PAS permitirán difundir debidamente las actividades realizadas en el PIMCD entre lxs estudiantes Erasmus IN del curso 2019/20 en la Facultad de Filosofía, de la misma manera que orientar en las tareas de maquetación y edición que puedan ser necesarias de cara a la publicación de lxs resultados del PIMCD y en las tareas de pesquisa bibliográfica necesarias para el desarrollo de los objetivos propuestos. Han manifestado su interés en los resultados derivados del PIMCD editoriales especializadas en la difusión de investigaciones predoctorales como Ápeiron y CTK E-Books

Estudio comparativo de dos tipos de agujas en hemodiafiltración en línea de alta eficacia

La hemodiafi ltración on line post dilucional es la técnica más efi caz en la depuración de moléculas de diferentes pesos. El volumen convectivo y la dosis de diálisis pueden estar relacionado con la supervivencia del paciente. Ambos, parámetros están infl uenciados por el fl ujo sanguíneo, habiendo sido debatido el uso de diferentes calibres de aguja en lo referente a resultados deeficiencia y valoración de dolor. Objetivo: Comparar la efi cacia, seguridad, comodidad y sensación de dolor entre el catéter fístula y las agujas convencionales en el paciente en hemodiafi ltración en línea de alta eficacia. Estudio prospectivo cruzado sobre población prevalente en hemodiafiltración en línea posdilucional. Se analizan variables demográficas, hemodinámicas del acceso vascular, de seguridad y escala de dolor y comodidad pre-post para el enfermero en 1584 sesiones. Analisis estadistico SPSS 13.0. Signifi cación p< 0,05. No diferencias en Presion arterial, Presion venosa y recirculación. Sí en fl ujo sanguineo, siendo superior con las supercath. En efi cacia, diferencias signifi cativas en Kt (p=0,04), VTR (p=0,00) y litros de sangre dializada (p=0,01), supercath (63,1), (27,4), (113,1) versus convencional (60,9), (25,3), (108,5) respectivamente. Valoración enfermera de comodidad signifi cativamente (p=0,00) mejor con las agujas convencionales tanto en conexión como desconexión. Percepción de dolor para el paciente es mayor con supercath

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