Motion Planning and Controls with Safety and Temporal Constraints

Motion planning, or trajectory planning, commonly refers to a process of converting high-level task specifications into low-level control commands that can be executed on the system of interest. For different applications, the system will be different. It can be an autonomous vehicle, an Unmanned Aerial Vehicle(UAV), a humanoid robot, or an industrial robotic arm. As human machine interaction is essential in many of these systems, safety is fundamental and crucial. Many of the applications also involve performing a task in an optimal manner within a given time constraint. Therefore, in this thesis, we focus on two aspects of the motion planning problem. One is the verification and synthesis of the safe controls for autonomous ground and air vehicles in collision avoidance scenarios. The other part focuses on the high-level planning for the autonomous vehicles with the timed temporal constraints. In the first aspect of our work, we first propose a verification method to prove the safety and robustness of a path planner and the path following controls based on reachable sets. We demonstrate the method on quadrotor and automobile applications. Secondly, we propose a reachable set based collision avoidance algorithm for UAVs. Instead of the traditional approaches of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking control set design for the aircraft to avoid collision. We apply our approach to collision avoidance scenarios of quadrotors and fixed-wing aircraft. In the second aspect of our work, we address the high level planning problems with timed temporal logic constraints. Firstly, we present an optimization based method for path planning of a mobile robot subject to timed temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specifications such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications. Secondly, we also present a timed automaton based method for planning under the given timed temporal logic specifications. We use metric interval temporal logic (MITL), a member of the MTL family, to represent the task specification, and provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find an optimal motion (or path) sequence for the robot to complete the task.

Nutritional guide for a modern woman: a strategy for health education

"In the present article, we introduce a Health Education instrument that stems from a refection on the lay knowledge, salutogenic habits and daily nutritional practices of modern women in our current society. We developed a guide aimed at modern women, where the different food groups and food hygiene and safety measures are addressed. The guide includes eleven original pictograms that help the reader to locate and look up specific issues. The guide employs the label reading and interpretation principles, following the nutrition traffic-light internationally instituted, for it renders scientific information on nutrition clear and accessible to the general population. We believe that using this guide as a central strategy in health promotion will lead its users to adopt essential changes in their eating patterns and, in so doing, contribute to prevent diseases associated to bad eating habits. We also emphasize the role of mass media in spreading the conveyed information."

Trust and Leadership in Higher Education in the Downturn

This Leadership Academy Workshop presentation focused on 'Trust and Leadership in the Downturn', with particular reference to the public sector and to education. The presentation discussed a range of definitions of trust, including the view of Mayer, Davis and Schoorman (1995) that trust can be described as 'the willingness of a person to be vulnerable to the actions of another, based on the expectation that the other will perform a particular action important to the trustor, irrespective of the ability to monitor or control that action'. The presentation then focused on the reasons why this relational psychological state is important,particularly in an economic recession when people were facing job cuts and economic uncertainty in a wider political and social environment characterised by cynicism and a downturn in trust. If trust is defined in part as a belief in the honesty, competence and benevolence of others, it tends to act like 'social glue', cushioning difficult situations and enabling actions to take place easily that otherwise would not be permissible. A worrying state of affairs has recently been developing across the world, however, in the economic downturn, as reported in the Edelman Trust Barometer for 2009, in which there was a marked diminuition of trust in corporations, businesses and government, as a result of the credit crunch. While the US and parts of Europe was showing recovery from a generalised loss of trust by mid-year 2009, the UK had not. It seems that social attitudes in Britain may be hardening - it seems that from being a nation of sceptics we may be becoming a nation of cynics: for example, 69% of the population surveyed by Edelman trust the government less than six months ago. In this situation, there is a need to promote positive measures to build trust, including the establishment of more transparent and honest business practices and practices to ensure that employees are treated well. Following the presentation, a workshop was held to discuss the nature of a possible loss of trust in the downturn in the UK and its implications for leadership practices and development.

Evaluación de la exposición al ruido industrial en los trabajadores de una planta de asfalto, en la provincia del Azuay y propuesta de plan de control

El presente trabajo se realizó en una Planta de Hormigón Asfáltico, donde se realizó el estudio del ruido como factor de riesgo bajo las perspectivas de: Salud Ocupacional, Seguridad e Higiene Industrial. Este enfoque holístico, define la influencia que éste riesgo laboral ejerce sobre la pérdida de agudeza auditiva. Se estableció inicialmente el marco teórico y legal vigente sobre el ruido, posteriormente se describió la metodología de estudio, operatividad de variables, y la muestra a estudiar. Luego se procedió a la caracterización de la población y área estudiada, así como las actividades productivas. Dentro de la Higiene Industrial, se monitoreó la exposición del nivel de presión sonora, se realizó el comparativo con el nivel permisible (TWA 8 horas) establecido en el “Reglamento de Seguridad y Salud de los Trabajadores”, D.E. 2393. En términos de Seguridad Industrial, se analizó el equipo de protección personal EPP utilizado, y las variables determinantes. En el ámbito de Salud Ocupacional, se estudió: características personales de trabajadores, patologías relacionadas con sordera, y un cuestionario de exposición al ruido. Finalmente se determinó la existencia de sobreexposición a ruido laboral en la empresa objeto de estudio, mediante el estudio del estado de salud auditiva de los colaboradores se determinó la gran incidencia de personal sano y finalmente se determinó las medidas de control a implementarse enfatizadas a la realidad descubierta en el presente estudio, las que incluyen cambios en equipos y maquinaria, buenas prácticas de trabajo, planes de adiestramiento y capacitación en todo el personal entre otros.

Pool Irradiator Safety Review for Genesis-II Systems

This report examines the Genesis II irradiator made by Gray*Star Incorporated, Mississippi Department of Health radiation safety regulations, and Nuclear Regulatory Commission (NRC) inspection guidelines for irradiators. The purpose for this report is to evaluate any hazards which may lead to a catastrophic water loss, evaluate protective action distances during a reduced shielding situation, and evaluate the safety engineering measures incorporated by Mississippi and Federal regulations to ensure the mitigation of risk for pool irradiators. Due to safeguard controls prohibiting release of precise data on emergency response measures and radioactivity of the isotopes utilized this report will be focused on regulations mandating specific engineering controls and manufacturer recommended guidelines for best practices.

An Examination of Psychological Meaningfulness, Safety, and Availability as the Underlying Mechanisms linking Job Features and Personal Characteristics to Work Engagement

The present study tested a nomological net of work engagement that was derived from its extant research. Two of the main work engagement models that have been presented and empirically tested in the literature, the JD-R model and Kahn’s model, were integrated to test the effects that job features and personal characteristics can have on work engagement through the psychological conditions of meaningfulness, safety, and availability. In this study, safety refers to psychological perceptions of safety and not workplace safety behaviors. The job features that were tested in this model included person-job fit, autonomy, co-worker relations, supervisor support, procedural justice, and interactional justice, while the personal characteristics consisted of self-consciousness, self-efficacy, extraversion, and neuroticism. Thirty-four hypotheses and a conceptual model were tested in order to establish the viability of this nomological net of work engagement in which it was expected that meaningfulness would mediate the relationships between job features and work engagement, safety would mediate the relationships that job features and personal characteristics have with work engagement, and availability (physical, emotional, and cognitive resources) would mediate the relationships that personal characteristics have with work engagement. Furthermore, analyses were run in order to determine the factor structure of work engagement, assess whether or not it exhibits differential validity from organizational commitment and job satisfaction, and confirm that it is positively related to the outcome variable of organizational citizenship behavior (OCB). The final sample consisted of 500 workers from an online labor market who responded to a questionnaire composed of measures of all constructs included in this study. Findings show that work engagement is best represented as a three-factor construct, composed of vigor, dedication and absorption. Furthermore, support was found for the distinction of work engagement from the related constructs of organizational commitment and job satisfaction. With regard to the proposed model, meaningfulness proved to be the strongest predictor of work engagement. Results show that it partially mediates the relationships that all job features have with work engagement. Safety proved to be a partial mediator of the relationships that autonomy, co-worker relations, supervisor support, procedural justice, interactional justice, and self-efficacy have with work engagement, and fully mediate the relationship between neuroticism and work engagement. Findings also show that availability partially mediates the positive relationships that extraversion and self-efficacy have with work engagement, and fully mediates the negative relationship that neuroticism has with work engagement. Finally, a positive relationship was found between work engagement and OCB. Research and organizational implications are discussed.

The Academic-enterprise experiences framework as a guide for design education

The establishment of support platforms for the development of a new culture in design education, in order to achieve both research exploitation and its results, as an approach to the industrial community, challenges higher education institutions to rethink their functioning, divided between investigation on their own initiative or on demand, and its usefulness / practical application. At the same time, through design education, how can they be the engine that aggregates all these frequently antagonistic interests? Polytechnic institutes are predisposed to collaboration and interdisciplinarity. In our course of Technology and Design of Furniture, the availability of a production unit, testing laboratories, and expertise in engineering, design and marketing, encourage the development of a holistic project. In order to develop such knowledge, we adapt three important ways of thinking in designing interactions influenced by the traditional approach, namely, 1) identifying and understanding a design problem, i.e. a market need, 2) defining the design process and knowing what can be used for design education, i.e. opportunities for design education, and 3) sustainability of this framework and design projects' alignment with education in the same field. We explain our approach by arguing from the academicenterprise experiences perspective. This concept is proposed as a way to achieve those three ways of thinking in design education. Then, a set of interaction attributes is defined to explain how engineering and product design education can enhance meaningful relations with manufacturers, stakeholders and society in general. A final discussion is presented with the implications and benefits of this approach. The results suggest that through academic-enterprise partnerships in design, several goals such as students' motivation, product design innovation and potential for knowledge transfer to industries can be achieved.

NEIGHBORHOOD PERCEPTION OF SAFETY AND THE MOBILITY GAP BETWEEN MEN AND WOMEN IN OLD AGE

Thesis (Master, Community Health & Epidemiology) -- Queen's University, 2016-10-02 21:02:07.735

Niveles de actividad física y su relación con los desórdenes musculo esqueléticos en profesores de educación física en Bogotá - Colombia.

La actividad física regular desempeña un papel fundamental en la prevención y control de los desórdenes musculo esqueléticos, dentro de la actividad laboral del profesor de educación física. Objetivo: El propósito del estudio fue determinar la relación entre los niveles de actividad física y la prevalencia de los desórdenes musculo esqueléticos, en profesores de educación física de 42 instituciones educativas oficiales de Bogotá-Colombia. Métodos. Se trata de un estudio de corte transversal en 262 profesores de educación física, de 42 instituciones educativas oficiales de Bogotá - Colombia. Se aplicó de manera auto-diligenciada el Cuestionario Nórdico de desórdenes músculos esqueléticos y el Cuestionario IPAQ versión corta para identificar los niveles de actividad física. Se obtuvieron medidas de tendencia central y de dispersión para variables cuantitativas y frecuencias relativas para variables cualitativas. Se calculó la prevalencia de vida y el porcentaje de reubicación laboral en los docentes que habían padecido diferentes tipo de dolor. Para estimar la relación entre el dolor y las variables sociodemográficas de los docentes, se utilizó un modelo de regresión logística binaria simple. Los análisis fueron realizados en SPSS versión 20 y se consideró como significativo un valor p < 0.05 para el contraste de hipótesis y un nivel de confianza para la estimación de parámetros. Resultados: El porcentaje de respuesta fue del 83.9%, se consideraron válidos 262 registros, 22.5% eran de género femenino, la mayor cantidad de docentes de educación física se encuentraon entre 25 y 35 años (43,9%), frente a los desórdenes musculo esqueléticos, el 16.9% de los profesores reporto haberlos sufrido alguna vez molestias en el cuello, el 17,2% en el hombro, 27,9% espalda, 7.93% brazo y en mano el 8.4%. Los profesores con mayores niveles de actividad física, reportaron una prevalencia menor de alteraciones musculo esqueléticas de 16,9 % para cuello; 27.7% para dorsal/lumbar frente a los sujetos con niveles bajos de actividad física. La presencia de los desórdenes se asoció a los años de experiencia (OR 3.39 IC95% 1.41-7.65), a pertenecer al género femenino (OR 4.94 IC95% 1.94-12.59), a la edad (OR 5.06 IC95% 1.25-20.59), y al atender más de 400 estudiantes a cargo dentro de la jornada laboral (OR 4.50 IC95% 1.74-11.62). Conclusiones: En los profesores de Educación Física no sé encontró una relación estadísticamente significativa entre los niveles de actividad física y los desórdenes musculo esqueléticos medidos por auto reporte.

Evidencia sobre la eficacia de cannabinoides en el dolor neuropático oncológico

Contexto: La eficacia de los cannabinoides en el dolor neuropático es desconocida. El control del dolor es determinante en los pacientes ya que genera un impacto negativo en la calidad de vida de los pacientes. Objetivo: El presente trabajo pretende demostrar la evidencia sobre la eficacia de los medicamentos cannabinoides en el control del dolor neuropático oncológico, mediante la evaluación de la literatura disponible. Metodología: Se realizó una revisión sistemática de literatura incluyendo estudios experimentales, observacionales y revisiones sistemáticas en un periodo de 15 años. Se incluyeron todos los estudios desde el años 2000 con evidencia IB según la escala de evidencia de Oxford. Resultados: Cuatro estudios cumplieron criterios para su inclusión, sin embargo la evidencia es baja y no permite recomendar o descartar los cannabinoides como terapia coadyuvante en control del dolor neuropático oncológico. La combinación de THC/CDB (Sativex®) parece ser un medicamento seguro pues no se reportaron muertes asociadas a su uso, sin embargo la presentación de eventos adversos a nivel gastrointestinal y neurológico podría aumentar el riesgo de interacciones medicamentosas y tener un impacto negativo en la calidad de vida de los pacientes oncológicos. Conclusiones: No hay suficiente literatura y la evidencia no es suficiente para recomendar o descartar el uso de los cannabinoides en dolor neuropático oncológico. Futuros estudios deben realizarse para analizar el beneficio de estos medicamentos. Aunque ética y socialmente hay resistencia para el uso de los cannabinoides, actualmente hay una gran discusión política en el mundo y en Colombia para su aceptación como terapia en el control del dolor.

Resiliencia y desempeño organizacional

El cambio hoy se reconoce como el principal reto que enfrentan las empresas. Desde diversas ciencias como la biología, la psicología y la dirección se vienen estudiando las diferentes variables que tienen relación con los procesos de ajuste y adaptación que los individuos y las organizaciones desarrollan cuando disrupciones de diverso tipo se materializan en el entorno. En las últimas décadas se ha contemplado el estudio de la resiliencia como una característica que pueden desarrollar las organizaciones. Por ello, es un tema de estudio interesante, tanto desde los individuos como desde las organizaciones. Se revisan en este artículo los conceptos de resiliencia, resiliencia individual y organizacional, así como las relaciones que surgen entre dichos conceptos para explicar el desempeño organizacional.

Estado del arte sobre estrés laboral entre los años 2005 y 2016

El propósito de este estudio es realizar un estado del arte sobre estrés laboral entre los años 2005 y 2016 utilizando artículos publicados en las bases de datos Ebsco, Apa-Psychnet, Proquest, Psycodoc, Pubmed, Redalyc y Scielo las cuales están abaladas por la Universidad del Rosario. Se hallaron en total 2674 artículos utilizando 6 palabras claves como criterios de búsqueda los cuales fueron Estrés Laboral, Estrés ocupacional, Estrés en el Trabajo, Job Stress, Work Stress y Occupational Stress. El instrumento de recolección de información fue una ficha bibliográfica modificada la cual permitió sistematizar los datos de los artículos encontrados en diferentes dimensiones para así poder utilizar los artículos encontrados como unidades de análisis para la investigación. El análisis de los artículos arrojó una diferencia significativa entre el volumen de publicaciones hechas en español versus las hechas en inglés tanto de artículos empíricos como teóricos. También se encontraron indicadores que permiten ver como el estudio del estrés laboral ha aumentado desde el año 2012 hasta la actualidad, siendo este el lapso en el cual el 59% de los artículos han sido arbitrados y subidos a las diferentes bases de datos.