An Incrementally Deployed Swarm of MAVs for Localization UsingUltra-Wideband

Knowing the position of a moving target can be crucial, for example when localizing a first responder in an emergency scenario. In recent years, ultra wideband (UWB) has gained a lot of attention due to its localization accuracy. Unfortunately, UWB solutions often demand a manual setup in advance. This is tedious at best and not possible at all in environments with access restrictions (e.g., collapsed buildings). Thus, we propose a solution combining UWB with micro air vehicles (MAVs) to allow for UWB localization in a priori inaccessible environments. More precisely, MAVs equipped with UWB sensors are deployed incrementally into the environment. They localize themselves based on previously deployed MAVs and on-board odometry, before they land and enhance the UWB mesh network themselves. We tested this solution in a lab environment using a motion capture system for ground truth. Four MAVs were deployed as anchors and a fifth MAV was localized for over 80 second at a root mean square (RMS) of 0.206 m averaged over five experiments. For comparison, a setup with ideal anchor position knowledge came with 20 % lower RMS, and a setup purely based on odometry with 81 % higher RMS. The absolute scale of the error with the proposed approach is expected to be low enough for applications envisioned within the scope of this paper (e.g., the localization of a first responder) and thus considered a step towards flexible and accurate localization in a priori inaccessible, GNSS-denied environments.acceptedVersio

Cultural Differences Among Psychologists in Pursuit of Self-Care

Psychologists experience a myriad of professional stressors and barriers to self-care that can affect their well-being and ability to offer effective care to patients. The purpose of this study was to examine the relationships between demographic variables, professional stressors, barriers to treatment and help-seeking behaviors among psychologists. Using a revised Bearse survey and the professional quality of life measurement, data were collected and analyzed using analysis of variance and hierarchical multiple regression. The 235 respondents comprised 74% women, 62.3% European American, and 56.2% reported having a PhD in psychology. Findings indicated significant differences between non-European American and European American ethnic groups in relation to seeking out psychotherapy. European American and Asian/Pacific Islander ethnic groups sought out psychotherapy nearly twice as often. Private practice and psychodynamic orientation increased the likelihood of seeking help, whereas government/industry settings and cognitive behavioral orientation decreased this. The professional stressors of burnout and countertransference were predictive for the number of psychotherapy courses of help-seeking participants but explained a small amount of the variance. Lack of time, difficulty finding a therapist, and the number of psychotherapy sessions performed per month were significant predictors for not seeking help. The results of this study could contribute to positive social change by encouraging psychotherapy when a perceived need is present. More research is needed to understand better why some ethnic groups seek out therapy more often when it is perceived to benefit them

Epidermal inclusion cyst of the breast . A literature review

An epidermal inclusion cyst (EIC) of the breast is a rare, benign condition that may potentially be malignant. The present study conducted a systematic review of the literature in order to identify pathological hypotheses, clinical characteristics, and diagnostic and treatment options. A search for relevant studies was conducted through the Scopus, Embase and Medline databases during September 2014. The search term employed was ῾epidermal inclusion cyst breast᾽. Studies were selected if they contained adequate information regarding symptoms at presentation, diagnostic tools, pathology, characteristics, type of procedure performed and follow-up routines. A total of 35 papers describing 91 patients affected by EIC of the breast were identified. Following this, a total of 82 patients, including an additional case supplied from the present study, were selected for further analysis. EIC of the breast typically occurs during the fifth decade of life. A palpable mass of the breast was present in 65 (79%) patients. Ultrasonographic imaging was consistently utilized as a diagnostic tool in all the cases analyzed, whereas fine-needle aspiration cytology was used in 70% of the cases and mammography in 65%. No tumor recurrence was reported at a mean follow-up time of 53 months. The present study demonstrated that elliptical excision is the preferred treatment for EIC of the breast, with pathological analysis required to exclude malignancy

Nuevas profesiones y técnicas de web data mining en Argentina: el caso del Data Scientist

Data science is an emerging and continuously growing field, which is particularly expanding in the context of business organizations through the demand of data scientists, professionals who are associated with that field of specialization. The article presents an analysis on this new profession, based on the extraction of unstructured data from a vertical search engine. It is an exploratory study focused on Argentina, where there is no information about this professional profile. The aim was to identify and reconstruct the profile of the data scientist in relation to the skills and technical-professional competencies demanded, using a methodology that demonstrates effectiveness in extracting useful information from virtual platforms on job offers.La ciencia de datos es un campo emergente y en crecimiento continuo, que se expande particularmente en el contexto de las organizaciones empresariales a través de la demanda del científico de datos, profesión asociada a ese campo. El artículo presenta un análisis sobre esta nueva profesión, basándose en la extracción de datos no estructurados realizada a partir de un motor de búsqueda vertical. Se trata de un estudio exploratorio focalizado en Argentina, país que carece de una base informativa sobre este perfil profesional. Se trató de identificar y reconstruir el perfil del científico de datos, en lo referido a las habilidades y competencias técnico-profesionales demandadas, utilizando una metodología que demuestra eficacia para extraer información útil de las plataformas virtuales sobre ofertas de empleo

Distributed MPC for Formation Path-Following of Multi-Vehicle Systems

The paper considers the problem of formation path-following of multiple vehicles and proposes a solution based on combining distributed model predictive control with parametrizations of the trajectories of the vehicles using polynomial splines. Introducing such parametrization leads indeed to two potential benefits: A) reducing the number of optimization variables, and b) enabling enforcing constraints on the vehicles in a computationally efficient way. Moreover, the proposed solution formulates the formation path-following problem as a distributed optimization problem that may then be solved using the alternating direction method of multipliers (ADMM). The paper then analyzes the effectiveness of the proposed method via numerical simulations with surface vehicles and differential drive robotspublishedVersio

Singularity-free Formation Path Following of Underactuated AUVs: Extended Version

This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide the vehicles. Compared to the existing literature, the algorithm includes both inter-vehicle and obstacle collision avoidance, and employs a scheme that keeps the vehicles within given operation limits. The algorithm is applied to a six degree-of-freedom model, using rotation matrices to describe the attitude to avoid singularities. Using the results of cascaded systems theory, we prove that the closed-loop system is uniformly semiglobally exponentially stable. We use numerical simulations to validate the results.Comment: Extended version of a paper, to appear in Proc. 2023 IFAC World Congress, 13 pages (9p + 4p appendices), 5 figure

Electromagnetic and electromechanical applications of graphene-based materials

This volume contains the extended abstracts of the contributions presented at the workshop Nanoscale Excitations in Emergent Materials (NEEM 2015) held in Rome from 12 to 14 October 2015, an event organized and supported in the framework of the Bilateral Cooperation Agreement between Italy and India within the project of major relevance "Investigating local structure and magnetism of cobalt nano-structures", funded by the Italian Ministry of Foreign Affairs and the Department of Science and Technology in India