Towards Mapping of Rock Walls Using a UAV-Mounted 2D Laser Scanner in GPS Denied Environments

In geotechnical engineering, the stability of rock excavations and walls is estimated by using tools that include a map of the orientations of exposed rock faces. However, measuring these orientations by using conventional methods can be time consuming, sometimes dangerous, and is limited to regions of the exposed rock that are reachable by a human. This thesis introduces a 2D, simulated, quadcopter-based rock wall mapping algorithm for GPS denied environments such as underground mines or near high walls on surface. The proposed algorithm employs techniques from the field of robotics known as simultaneous localization and mapping (SLAM) and is a step towards 3D rock wall mapping. Not only are quadcopters agile, but they can hover. This is very useful for confined spaces such as underground or near rock walls. The quadcopter requires sensors to enable self localization and mapping in dark, confined and GPS denied environments. However, these sensors are limited by the quadcopter payload and power restrictions. Because of these restrictions, a light weight 2D laser scanner is proposed. As a first step towards a 3D mapping algorithm, this thesis proposes a simplified scenario in which a simulated 1D laser range finder and 2D IMU are mounted on a quadcopter that is moving on a plane. Because the 1D laser does not provide enough information to map the 2D world from a single measurement, many measurements are combined over the trajectory of the quadcopter. Least Squares Optimization (LSO) is used to optimize the estimated trajectory and rock face for all data collected over the length of a light. Simulation results show that the mapping algorithm developed is a good first step. It shows that by combining measurements over a trajectory, the scanned rock face can be estimated using a lower-dimensional range sensor. A swathing manoeuvre is introduced as a way to promote loop closures within a short time period, thus reducing accumulated error. Some suggestions on how to improve the algorithm are also provided.

GPs’ and community pharmacists’ opinions on medication management at transitions of care in Ireland

Objective. The aim of this study was to survey GPs and community pharmacists (CPs) in Ireland regarding current practices of medication management, specifically medication reconciliation, communication between health care providers and medication errors as patients transition in care.
Methods. A national cross-sectional survey was distributed electronically to 2364 GPs, 311 GP Registrars and 2382 CPs. Multivariable associations comparing GPs to CPs were generated and content analysis of free text responses was undertaken.
Results. There was an overall response rate of 17.7% (897 respondents—554 GPs/Registrars and 343 CPs). More than 90% of GPs and CPs were positive about the effects of medication reconciliation on medication safety and adherence. Sixty per cent of GPs reported having no formal system of medication reconciliation. Communication between GPs and CPs was identified as good/very good by >90% of GPs and CPs. The majority (>80%) of both groups could clearly recall prescribing errors, following a transition of care, they had witnessed in the previous 6 months. Free text content analysis corroborated the positive relationship between GPs and CPs, a frustration with secondary care communication, with many examples given of prescribing errors.
Conclusions. While there is enthusiasm for the benefits of medication reconciliation there are limited formal structures in primary care to support it. Challenges in relation to systems that support inter-professional communication and reduce medication errors are features of the primary/secondary care transition. There is a need for an improved medication management system. Future research should focus on the identified barriers in implementing medication reconciliation and systems that can improve it.

Medición con Sistema de Posicionamiento Global (GPS) de las distancias recorridas por puestos en competencias de rugby (URBA)

En el siguiente artículo se evidenciaran las distancias totales recorridas por jugadores de rugby, las cuales se desprenden de datos empíricos (cuantificación de las mismas a través de GPS) de un total de veintiún (N=21)jugadores pertenecientes al grupo I de la URBA. Los datos recogidos nos indican que, independientemente de su puesto dentro de la cancha, los jugadores recorren en promedio 5115 metros por partido. Sin embargo, los datos de mayor importancia, como se verán, son los valores registrados específicamente por cada puesto de juego, ya queel mínimo valor de desplazamiento requerido para un jugadoren este deporte, es el que registran los pilares, de 4092 mts y el mayor valor alcanzado, se da para los puestos de loswings y el full back, donde recorren 5856 mts. El GPS además, nos da la posibilidad de contabilizar las distancias registradas a velocidades de desplazamiento >a los 18 km/h, donde aquí también cada puesto mostrara distintos valores, como se veráen diferentes cuadros. Debido a que ?los requerimientos físicos del rugby son bien diferentes y variados para cada jugador? (Delovo, 2013: 4) ¿resulta necesario diferenciar los entrenamientos para cada puesto específico de este deporte?

On processing GPS tracking data of spatiotemporal car movements : a case study

The advancement of GPS technology has made it possible to use GPS devices as orientation and navigation tools, but also as tools to track spatiotemporal information. GPS tracking data can be broadly applied in location-based services, such as spatial distribution of the economy, transportation routing and planning, traffic management and environmental control. Therefore, knowledge of how to process the data from a standard GPS device is crucial for further use. Previous studies have considered various issues of the data processing at the time. This paper, however, aims to outline a general procedure for processing GPS tracking data. The procedure is illustrated step-by-step by the processing of real-world GPS data of car movements in Borlänge in the centre of Sweden.

GPS inferred velocity and strain rate fields in eastern Canada

La vallée du fleuve Saint-Laurent, dans l’est du Canada, est l’une des régions sismiques les plus actives dans l’est de l’Amérique du Nord et est caractérisée par de nombreux tremblements de terre intraplaques. Après la rotation rigide de la plaque tectonique, l’ajustement isostatique glaciaire est de loin la plus grande source de signal géophysique dans l’est du Canada. Les déformations et les vitesses de déformation de la croûte terrestre de cette région ont été étudiées en utilisant plus de 14 ans d’observations (9 ans en moyenne) de 112 stations GPS fonctionnant en continu. Le champ de vitesse a été obtenu à partir de séries temporelles de coordonnées GPS quotidiennes nettoyées en appliquant un modèle combiné utilisant une pondération par moindres carrés. Les vitesses ont été estimées avec des modèles de bruit qui incluent les corrélations temporelles des séries temporelles des coordonnées tridimensionnelles. Le champ de vitesse horizontale montre la rotation antihoraire de la plaque nord-américaine avec une vitesse moyenne de 16,8±0,7 mm/an dans un modèle sans rotation nette (no-net-rotation) par rapport à l’ITRF2008. Le champ de vitesse verticale confirme un soulèvement dû à l’ajustement isostatique glaciaire partout dans l’est du Canada avec un taux maximal de 13,7±1,2 mm/an et un affaissement vers le sud, principalement au nord des États-Unis, avec un taux typique de −1 à −2 mm/an et un taux minimum de −2,7±1,4 mm/an. Le comportement du bruit des séries temporelles des coordonnées GPS tridimensionnelles a été analysé en utilisant une analyse spectrale et la méthode du maximum de vraisemblance pour tester cinq modèles de bruit: loi de puissance; bruit blanc; bruit blanc et bruit de scintillation; bruit blanc et marche aléatoire; bruit blanc, bruit de scintillation et marche aléatoire. Les résultats montrent que la combinaison bruit blanc et bruit de scintillation est le meilleur modèle pour décrire la partie stochastique des séries temporelles. Les amplitudes de tous les modèles de bruit sont plus faibles dans la direction nord et plus grandes dans la direction verticale. Les amplitudes du bruit blanc sont à peu près égales à travers la zone d’étude et sont donc surpassées, dans toutes les directions, par le bruit de scintillation et de marche aléatoire. Le modèle de bruit de scintillation augmente l’incertitude des vitesses estimées par un facteur de 5 à 38 par rapport au modèle de bruit blanc. Les vitesses estimées de tous les modèles de bruit sont statistiquement cohérentes. Les paramètres estimés du pôle eulérien de rotation pour cette région sont légèrement, mais significativement, différents de la rotation globale de la plaque nord-américaine. Cette différence reflète potentiellement les contraintes locales dans cette région sismique et les contraintes causées par la différence des vitesses intraplaques entre les deux rives du fleuve Saint-Laurent. La déformation de la croûte terrestre de la région a été étudiée en utilisant la méthode de collocation par moindres carrés. Les vitesses horizontales interpolées montrent un mouvement cohérent spatialement: soit un mouvement radial vers l’extérieur pour les centres de soulèvement maximal au nord et un mouvement radial vers l’intérieur pour les centres d’affaissement maximal au sud, avec une vitesse typique de 1 à 1,6±0,4 mm/an. Cependant, ce modèle devient plus complexe près des marges des anciennes zones glaciaires. Basées selon leurs directions, les vitesses horizontales intraplaques peuvent être divisées en trois zones distinctes. Cela confirme les conclusions d’autres chercheurs sur l’existence de trois dômes de glace dans la région d’étude avant le dernier maximum glaciaire. Une corrélation spatiale est observée entre les zones de vitesses horizontales intraplaques de magnitude plus élevée et les zones sismiques le long du fleuve Saint-Laurent. Les vitesses verticales ont ensuite été interpolées pour modéliser la déformation verticale. Le modèle montre un taux de soulèvement maximal de 15,6 mm/an au sud-est de la baie d’Hudson et un taux d’affaissement typique de 1 à 2 mm/an au sud, principalement dans le nord des États-Unis. Le long du fleuve Saint-Laurent, les mouvements horizontaux et verticaux sont cohérents spatialement. Il y a un déplacement vers le sud-est d’une magnitude d’environ 1,3 mm/an et un soulèvement moyen de 3,1 mm/an par rapport à la plaque l’Amérique du Nord. Le taux de déformation verticale est d’environ 2,4 fois plus grand que le taux de déformation horizontale intraplaque. Les résultats de l’analyse de déformation montrent l’état actuel de déformation dans l’est du Canada sous la forme d’une expansion dans la partie nord (la zone se soulève) et d’une compression dans la partie sud (la zone s’affaisse). Les taux de rotation sont en moyenne de 0,011°/Ma. Nous avons observé une compression NNO-SSE avec un taux de 3.6 à 8.1 nstrain/an dans la zone sismique du Bas-Saint-Laurent. Dans la zone sismique de Charlevoix, une expansion avec un taux de 3,0 à 7,1 nstrain/an est orientée ENE-OSO. Dans la zone sismique de l’Ouest du Québec, la déformation a un mécanisme de cisaillement avec un taux de compression de 1,0 à 5,1 nstrain/an et un taux d’expansion de 1.6 à 4.1 nstrain/an. Ces mesures sont conformes, au premier ordre, avec les modèles d’ajustement isostatique glaciaire et avec la contrainte de compression horizontale maximale du projet World Stress Map, obtenue à partir de la théorie des mécanismes focaux (focal mechanism method).

GPS - PET : aplicación web para la geolocalización de mascotas

[ES]Este proyecto trata de desarrollar una aplicación web en Ruby on Rails, donde el usuario pueda visualizar en “tiempo real” la ubicación de su animal haciendo uso de su identificador con GPS (microchip con GPS), si existiera tal dispositivo, o un dispositivo de geolocalización GPS incrustado en el collar del perro, para hacer un seguimiento del mismo cuando otra persona que ha sido contratada lo pasea. Al no disponer de microchips o collares con GPS, así como los respectivos animales para hacer el estudio y, por tanto, su posterior seguimiento, se realizará una simulación del mismo, de ahí que el tiempo real esté puesto entre comillas.

Estimación del estado de flujo de tráfico mediante técnicas de preprocesamiento y minería de datos : aplicación a Dataset de posiciones GPS de taxis en Porto

[ES]Uno de los elementos de más importancia en la movilidad de las ciudades desarrolladas es la gestión del tráfico rodado. La movilidad tiene una influencia determinante en la calidad de vida de los ciudadanos por diversas razones, entre la que destacan la seguridad, la eficiencia y el impacto medioambiental. Por ello es preciso dotar a los gestores de esa movilidad de herramientas que les permitan disponer de una idea precisa de la situación actual y si es posible, estimaciones del estado futuro. Esas herramientas les facilitan la toma de decisiones y el planeamiento de la movilidad. En este punto concreto se enmarca este Trabajo Fin de Grado...

Automated Collection of Sign Inventory Information by Integrating Global Positioning System (GPS) with Videologging Data Collection Activities, 1995

Advances in communication, navigation and imaging technologies are expected to fundamentally change methods currently used to collect data. Electronic data interchange strategies will also minimize data handling and automatically update files at the point of capture. This report summarizes the outcome of using a multi-camera platform as a method to collect roadway inventory data. It defines basic system requirements as expressed by users, who applied these techniques and examines how the application of the technology met those needs. A sign inventory case study was used to determine the advantages of creating and maintaining the database and provides the capability to monitor performance criteria for a Safety Management System. The project identified at least 75 percent of the data elements needed for a sign inventory can be gathered by viewing a high resolution image.

What do GPs and Bereaved Parents Think About Paediatric Oncologists and Palliative Care?

Aim The aim of the study was to examine the experiences of bereaved parents and general practitioners (GPs) following the death of a child with cancer within the family home. This presenta-tion focuses on one of the findings; the parent and GP views on the hospital consultants’ involvement in the palliative care. Design A community based qualitative study.Setting West Midlands region, UK. Participants Purposeful sample of 18 GPs and 11 bereaved families. The sample was drawn from the families and GPs of children who had been treated for cancer at a regional childhood cancer centre and who subsequently died within the family home. Methods One-to-one semi-structured tape-recorded interviews were undertaken with GPs and bereaved parents following the death at home of a child with cancer. GPs were contacted three months after the death of the child and the parents at six months. Thematic analysis of the transcriptions was undertaken. Findings Parents described feeling abandoned at the transition to palliation when management of care transferred to the GP. Families did not perceive a seamless service of medical care between hospital and community. Where offered consultant contact was valued by families and GPs. Text and email were used by families as a means of asking the consultant questions. The GPs lacked role clarity where the consultant continued involvement in the care. Conclusions The transition to palliation and the transfer of care to community services needs to be sensitively and actively man-aged for the family and the GP. Medical care between tertiary andprimary care should be seen as a continuum. Improving GP: consultant communication could aid role clarity, identify mecha-nisms for support and advice, and promote the active engagement of the GP in the care. Exploring opportunities for integrated con-sultant: GP working could maximise mutual learning and support and enhance care provision. The level, access and duration of ongoing contact between consultants and families/GPs require clarity.

Providing Palliative Care for the Child with Cancer: The Experience of GPs

Background Childhood cancers are rare and general practitioners (GPs) have limited experience in caring for these children and even less in providing their palliative care. Most families prefer that their child is cared for at home in the palliative phase of their illness, with professional support from those known to them (Chambers and Oakhill 1995, Vickers and Carlisle 2000, Craft and Killen 2007). A community based qualitative study examined the experiences of ten GPs following their involvement in the care of a child with cancer receiving palliative care within the family home. Methods Data collection was through 1:1 in-depth interviews and facilitated case discussion supported by field notes and grounded theory analysis (chronological comparative data analysis identifying generated themes). Social worlds theory was used as a framework to aid examination, and facilitate critical understanding, of the experiences of the GPs. Findings This presentation focuses on five of the findings relating to the experiences of the GP; the impact of minimal contact; lack of knowledge and experience, uncertain role, out of hours service provision and the emotional toll. Findings highlighted that GPs often have to re-establish their role at the child’s transition to palliative care. Factors hindering the GP in this process include a deficit of specialist knowledge and experience of paediatric palliative care and lack of role clarity. Conclusions/points of interest Strategies for enhancing the role of the Macmillan team in supporting GPs have been identified by this study, such as enhanced collaborative working. Findings have also provided further confirmation of the substantial variation in out of hours medical palliative care provision; with evidence that some GPs work beyond their remit in providing informal out of hours care. This presentation details the findings of one aspect (the experiences of GPs) of a wider study that explored the experiences of 54 community based health professionals (GPs, community nurses and allied health professionals) who had been involved in caring for a dying with cancer receiving palliative care at home (Neilson 2009).

GPs Experience of Caring for Children with Cancer Receiving Palliative Care at Home

Background The study being undertaken builds on earlier work that found general practitioners (GPs) were at times uncertain of their role in paediatric palliative care and questioned whether their involvement had been beneficial to the child and family. The rarity of childhood cancer makes it difficult for GPs to develop or maintain palliative care knowledge and skills yet the GP is perceived by the family as the gatekeeper of care within the community. Aim The study is examining GPs perception of their role in caring for an individual child with cancer receiving palliative care and comparing this with families' perceptions of their GP's roles. Methodology The methodology incorporates tape-recorded semi-structured interviews, thematic framework analysis and Q methodology (QM) to capture the experiences of GPs who have cared for a child with cancer receiving palliative care as well as the perspectives of care experienced by the families. The semi-structured interview sample comprises 10 families (parents/guardians) whose child has been treated at a regional childhood cancer centre and their GPs. A further 40–60 GPs will be involved in the QM. Findings Findings detailing GP experiences from the initial study along with the preliminary findings of the semi-structured interviews with parents and GPs will be presented. Papers' contribution The results will identify and clarify GPs perceptions of their roles, and what families perceive their GPs role to be, enabling development of strategies to support GPs roles. It is anticipated that findings will inform the wider field of palliative care generally and the practice of both hospital and community paediatricians.

Undertaking Sensitive Interviews: a Researcher’s Experience of Interviewing Bereaved Parents and Family GPs

The presentation describes the researcher’s experience of undertaking sensitive interviews. Background The interviews form part of a current study that is examining bereaved parents’ experience of caring for their child at home as well as the experience of their GP. This study builds on earlier work that found general practitioners (GPs) were at times uncertain of their role in paediatric palliative care and questioned whether their involvement had been beneficial to the child and family. The rarity of childhood cancer deaths makes it difficult for GPs to develop or maintain palliative care knowledge and skills yet the GP is perceived as the gatekeeper for care within the community. Presentation aim To describe the process of both the preparation for, and undertaking of, sensitive interviews. Study methodology The methodology incorporates tape-recorded semi-structured interviews, thematic framework analysis and Q methodology (QM). QM will be used to capture the experiences of GPs who have cared for a child with cancer receiving palliative care as well the perspectives of care experienced by the families. The semi-structured interview sample comprises 10 families (parents/guardians) whose child has been treated at a regional childhood cancer centre and their GPs. A further 40-60 GPs will be involved in the QM. Findings The preparation for these interviews will be discussed and compared to the supportive bereavement visits undertaken within the researcher’s role as a paediatric Macmillan nurse. The experience of undertaking the interviews will be exemplified with findings from the initial and the current, study. Papers’ contribution The researcher’s experience of preparing for and undertaking sensitive interviews may prove beneficial to other researchers.

Do GPs Make Good Research Participants?

Background Childhood cancers cause the largest numbers of deaths by disease in children aged 0-14 years1 with more than 400 children a year dying from cancer in the UK.2 Parental preference for their child to die within the family home2 coupled with the speciality of children’s palliative care medicine being still in its infancy, highlights the importance of the GP’s role in this highly specialised area of clinical practice. An understanding of the GP’s role will help inform the development of this specialty and identify best collaborative practice. A NIHR/CAT CL funded study examined the role of the GP in paediatric oncology palliative and bereavement care from the perspective of both the GP and the bereaved parent. This presentation will detail how GPs were approached and recruited, the reasons GPs declined participation and factors influencing the actual data collection. Methods The mixed method study used both qualitative and quantitative data collection methods. Phase 1: Semi-structured interviews to explore the experiences of GPs and parents. Phase 2: Q methodology with GPs who had a child with cancer on their caseload. Q methodology is a research tool that uses statistical analysis to cluster participants’ experiences according to similarity of their viewpoint Results The method and effectiveness of recruiting GPs for both phases of the study will be presented. In addition factors influencing collecting such emotive and sensitive data will be discussed. Conclusions Researcher flexibility and perseverance in participant recruitment was rewarded by the rich data collected. Findings from this study have identified four different GP role viewpoints and have provided a new dimension in understanding GP viewpoints on their role in this arena.