This dataset contains data from different gliding flights with an ornithopter in low wind conditi... more This dataset contains data from different gliding flights with an ornithopter in low wind conditions. For each experiment, the inertial information is provided. Additionally, the flights have been recorded from three different points of view to track and triangulate its position. The videos are provided and the position of the camera has been determined using a Leica Total Station system with submillimeter accuracy. A sample of the 2D track of the ornithopter is provided for each video and experiment. The tracking along the three cameras are synchronized. ------Camera Pose structure------ Three cameras with four points: three to measure orientation and the last one the lens position. The last two points are the measured fall.<br> Camera 1 -> top left, bottom left and top right.<br> Camera 2 -> top left, top rigth and bottom right.<br> Camera 3 -> top left, bottom left and top right.<br> Then there are 14 rows. The pattern is: Point1, Point2, Point3 a...
In the present work, the advantages and limitation of the radio occultation techniques between GP... more In the present work, the advantages and limitation of the radio occultation techniques between GPS and low earth orbit (LEO) satellites are analyzed. In order to give a realistic measure of the energy associated to atmospherics waves, the limitation are highlighted. From a statistical point of view, whenever the method is applied to a sufficient number of temperature profiles, advantages are put in evidence. The relative geometric configuration between the ray trajectory of GPS signal and wave fronts during each occultation is discussed, as well as the different data processing techniques to separate the perturbation component from the temperature profiles. One of these data processing techniques is applied and discussed. Essentially, it consists in apply a band pass filter to each individual temperature profile before the average process. The obtained results were implemented to give a global and regional scale gravity waves climatology. Some previously known characteristics of the spatial-temporal distribution of wave activity in the stratosphere were observed. At global scale, gravity waves climatology were derived from GPS radio occultation data, obtained by CHAMP, GRACE and SAC-C missions between 2001 and 2009 years. At regional scale, data from the COSMIC mission were used, obtained between 2006 and 2009 years. The study of individual events with an apparent high wave activity, were complemented with numerical simulation from mesoescale models and the applications of wavelets techniques. In particular, the Cuyo region constitutes a natural laboratory where the main sources of gravity waves coexist: deep convection, topographic forcing and geostrophic adjustment. 2 2 Gravity waves, GPS Radio Occultation , Wave activity, Cuyo region x
2015 Third International Symposium on Computing and Networking (CANDAR), 2015
In this paper, we present an efficient parallel algorithm for calculating cumulative integration ... more In this paper, we present an efficient parallel algorithm for calculating cumulative integration based on Simpson's rule. The proposed parallel algorithm exploits two Blelloch's prefix sums. The first scan is used to calculate even-index, while the second scan is used to calculate odd-index cumulative integration. We implement the parallel algorithm on NVIDIA CUDA based GPUs. Performance of the proposed parallel algorithm is measured by calculating speedup. We also present accuracy performance of the proposed algorithm. Based on the performance measurements, we can conclude that the parallel proposed algorithm is faster than optimized CPU codes with 3 times speedup.
El proyecto de titulación detalla el diseño y construcción de una mezcladora industrial para la e... more El proyecto de titulación detalla el diseño y construcción de una mezcladora industrial para la elaboración de vino de frutas con capacidad de 2000 litros. Se estudian las características principales del vino de frutas, así como de los fenómenos de mezcla y ...
2019 Sixth International Conference on eDemocracy & eGovernment (ICEDEG), 2019
Nowadays, in a highly-globalized world, the understanding of causes and consequences involved in ... more Nowadays, in a highly-globalized world, the understanding of causes and consequences involved in the migration phenomena, and also the prediction of migration flows are important for development of national public policies and for urban resource planning. The high complexity of human im/emigration movements can not only be explained by economic causes but rather by the interaction among multiple additional factors (demographic, social, linguistic, among others). The application of Machine Learning techniques and Data Visualization models on high volumes of raw data from countries can provide good insight to understand how indicators from countries are related to migration causes, and also to make visible the migration flows between the sending and receiving countries. This paper describes a tool which includes supervised classification and visualization methods to analyze country indicators and aim to discover the connections among these attributes and the migration movements.
ROBOT 2017: Third Iberian Robotics Conference, 2017
The work presented focuses in the simulations and real experiments of perimeter surveillance unde... more The work presented focuses in the simulations and real experiments of perimeter surveillance under communication constraints, performed by teams of UAVs using a Bluetooth communication framework. When UAVs work in a colaborative manner, communication among them is essential to properly perform their task. Moreover, energy consumption and weight of the devices equipped in a UAV are important to be reduced at minimum possible, particularly in micro-UAVs. A coordination variables strategy is implemented to perform the perimeter division.
Arsenic is a metalloid present throughout the world, and the primary sources of exposure are thro... more Arsenic is a metalloid present throughout the world, and the primary sources of exposure are through air, soil, and water. Arsenic is currently ranked as the most hazardous substance among environmental toxicants, and is well recognized as a human carcinogen, as well as a contributor to metabolic and cardiovascular diseases. However, cardiovascular effects have been mostly evaluated in epidemiological studies, and the direct mechanisms of pathogenesis remain largely unknown. The scope of studies described in this dissertation characterizes the cardiovascular pathophysiology associated with exposure to environmentally-relevant arsenic concentrations (100 μg/L), and attempts to elucidate the molecular mechanisms behind impaired vascular function. The effects of chronic arsenic exposure on blood pressure regulation were examined using a mouse model exposed to 100 μg/L for 22 weeks. Chronic exposure to arsenic results in the development of hypertension and concentric left ventricular hy...
La presente investigacion determino que la baba y el mucilago de nopal son dos sustancias diferen... more La presente investigacion determino que la baba y el mucilago de nopal son dos sustancias diferentes. La dilucion de ambas, en porcentajes especificos y aplicados por aspersion, estabilizan la superficie deleznable de los adobes y la tierra, lo que se comprobo en el area de experimentacion en el relleno en las plataformas de la zona arqueologica de Teotihuacan.
Teotihuacan se caracteriza por sus monumentales basamentos piramidales del Sol, la Luna, la Calza... more Teotihuacan se caracteriza por sus monumentales basamentos piramidales del Sol, la Luna, la Calzada de los Muertos, la Ciudadela. Esta ultima es uno de los grandes conjuntos arquitectonicos urbanisticos, compuesto de un cuadrangulo de 400 m por lado, formado exteriormente por cuatro elevadas plataformas sobre las que se encuentran simetricamente distribuidas 15 piramides pequenas, ademas de templos, palacios y plazas.
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints desig... more This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints designed for aerial manipulation with a multirotor platform. Each arm provides four degrees of freedom (DOF) for end effector positioning in a kinematic configuration close to the human arm: shoulder pitch, roll and yaw, and elbow pitch. The aluminum frame structure of the arms has been designed with a double purpose: protecting the servo actuators against direct impacts and overloads, and allowing the integration of a compliant transmission mechanism with deflection measurement between the servo shaft and the output link. Mechanical joint compliance increases safety in the physical interactions with the environment, removing also joint overloads typical in closed kinematic chain configurations. The dual arm system has been integrated in a hexarotor platform with a visual servoing system for object grasping, evaluating its performance first in a fixed base test bench and later in outdoor flight tests.
International Journal of Advanced Robotic Systems, 2020
This article presents a software layer to abstract users of unmanned aerial vehicles from the spe... more This article presents a software layer to abstract users of unmanned aerial vehicles from the specific hardware of the platform and the autopilot interfaces. The main objective of our unmanned aerial vehicle abstraction layer (UAL) is to simplify the development and testing of higher-level algorithms in aerial robotics by trying to standardize and simplify the interfaces with the unmanned aerial vehicles. Unmanned aerial vehicle abstraction layer supports operation with PX4 and DJI autopilots (among others), which are current leading manufacturers. Besides, unmanned aerial vehicle abstraction layer can work seamlessly with simulated or real platforms and it provides calls to issue standard commands such as taking off, landing or pose, and velocity controls. Even though unmanned aerial vehicle abstraction layer is under continuous development, a stable version is available for public use. We showcase the use of unmanned aerial vehicle abstraction layer with a set of applications comi...
This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection ... more This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam-deflection analysis or measuring crack depth with an ultrasonic sensor. The proposed system takes advantage of the aerodynamic ceiling effect that arises when the multirotor gets close to the bridge surface. Moreover, this paper describes how a UAV can be used as a sensor that is able to fly and touch the bridge to take measurements during an inspection by contact. A practical application of the system involving the measurement of a bridge’s beam deflection using a laser tracking station is also presented. In order to validate our system, experiments on two different bridges involving the measurement of the deflection of their beams are shown.
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the r... more Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables a suitable position for in-flight manipulation. Their manipulation skills must be suitable for primarily natural, partially known environments, where UAVs mostly operate. We have developed an on-board object extraction method that calculates information necessary for autonomous grasping of objects, without the need to provide the model of the object's shape. A local map of the work-zone is generated using depth information, where object candidates are extracted by detecting areas different to our floor model. Their image projections are then evaluated using support vector machine (SVM) classification to recognize specific objects or reject bad candidates. Our method builds a sparse cloud representation of each object and calculates the object's centroid and the dominant axis. This information is then passed to a grasping module. Our method works under the assumption that objects are static and not clustered, have visual features and the floor shape of the work-zone area is known. We used low cost cameras for creating depth information that cause noisy point clouds, but our method has proved robust enough to process this data and return accurate results.
Xenobiotica; the fate of foreign compounds in biological systems, Jan 27, 2016
1. Quizartinib absorption, metabolism, and excretion were characterized in 6 healthy men receivin... more 1. Quizartinib absorption, metabolism, and excretion were characterized in 6 healthy men receiving a single oral dose of 60 mg (≈ 100 µCi) of [(14)C]-quizartinib. Blood, plasma, urine, and faeces were collected ≤ 336 hours postdose. 2. Four hours postdose, maximum mean ± SD blood radioactivity concentrations were 296 ± 67.4 ng equivalents/g. A mean ± SD of 1.64 ± 0.482% and 76.3 ± 6.23% of the dose was recovered in urine and faeces, respectively, within 336 hours postdose. 3. Radio-detector high-performance liquid chromatography (radio-HPLC) and liquid chromatography-mass spectrometry (LC-MS) showed 2 main radioactive peaks in plasma, unchanged quizartinib and mono-oxidative metabolite, AC886. Five additional metabolites in plasma were identified by LC-MS, but low levels prevented radio-HPLC detection. Although unchanged quizartinib was the main radioactive component in faeces (mean, 4.0% of administered dose), 15 metabolites representing a mean of 1.0% to 3.5% of administered dose ...
This dataset contains data from different gliding flights with an ornithopter in low wind conditi... more This dataset contains data from different gliding flights with an ornithopter in low wind conditions. For each experiment, the inertial information is provided. Additionally, the flights have been recorded from three different points of view to track and triangulate its position. The videos are provided and the position of the camera has been determined using a Leica Total Station system with submillimeter accuracy. A sample of the 2D track of the ornithopter is provided for each video and experiment. The tracking along the three cameras are synchronized. ------Camera Pose structure------ Three cameras with four points: three to measure orientation and the last one the lens position. The last two points are the measured fall.<br> Camera 1 -> top left, bottom left and top right.<br> Camera 2 -> top left, top rigth and bottom right.<br> Camera 3 -> top left, bottom left and top right.<br> Then there are 14 rows. The pattern is: Point1, Point2, Point3 a...
In the present work, the advantages and limitation of the radio occultation techniques between GP... more In the present work, the advantages and limitation of the radio occultation techniques between GPS and low earth orbit (LEO) satellites are analyzed. In order to give a realistic measure of the energy associated to atmospherics waves, the limitation are highlighted. From a statistical point of view, whenever the method is applied to a sufficient number of temperature profiles, advantages are put in evidence. The relative geometric configuration between the ray trajectory of GPS signal and wave fronts during each occultation is discussed, as well as the different data processing techniques to separate the perturbation component from the temperature profiles. One of these data processing techniques is applied and discussed. Essentially, it consists in apply a band pass filter to each individual temperature profile before the average process. The obtained results were implemented to give a global and regional scale gravity waves climatology. Some previously known characteristics of the spatial-temporal distribution of wave activity in the stratosphere were observed. At global scale, gravity waves climatology were derived from GPS radio occultation data, obtained by CHAMP, GRACE and SAC-C missions between 2001 and 2009 years. At regional scale, data from the COSMIC mission were used, obtained between 2006 and 2009 years. The study of individual events with an apparent high wave activity, were complemented with numerical simulation from mesoescale models and the applications of wavelets techniques. In particular, the Cuyo region constitutes a natural laboratory where the main sources of gravity waves coexist: deep convection, topographic forcing and geostrophic adjustment. 2 2 Gravity waves, GPS Radio Occultation , Wave activity, Cuyo region x
2015 Third International Symposium on Computing and Networking (CANDAR), 2015
In this paper, we present an efficient parallel algorithm for calculating cumulative integration ... more In this paper, we present an efficient parallel algorithm for calculating cumulative integration based on Simpson's rule. The proposed parallel algorithm exploits two Blelloch's prefix sums. The first scan is used to calculate even-index, while the second scan is used to calculate odd-index cumulative integration. We implement the parallel algorithm on NVIDIA CUDA based GPUs. Performance of the proposed parallel algorithm is measured by calculating speedup. We also present accuracy performance of the proposed algorithm. Based on the performance measurements, we can conclude that the parallel proposed algorithm is faster than optimized CPU codes with 3 times speedup.
El proyecto de titulación detalla el diseño y construcción de una mezcladora industrial para la e... more El proyecto de titulación detalla el diseño y construcción de una mezcladora industrial para la elaboración de vino de frutas con capacidad de 2000 litros. Se estudian las características principales del vino de frutas, así como de los fenómenos de mezcla y ...
2019 Sixth International Conference on eDemocracy & eGovernment (ICEDEG), 2019
Nowadays, in a highly-globalized world, the understanding of causes and consequences involved in ... more Nowadays, in a highly-globalized world, the understanding of causes and consequences involved in the migration phenomena, and also the prediction of migration flows are important for development of national public policies and for urban resource planning. The high complexity of human im/emigration movements can not only be explained by economic causes but rather by the interaction among multiple additional factors (demographic, social, linguistic, among others). The application of Machine Learning techniques and Data Visualization models on high volumes of raw data from countries can provide good insight to understand how indicators from countries are related to migration causes, and also to make visible the migration flows between the sending and receiving countries. This paper describes a tool which includes supervised classification and visualization methods to analyze country indicators and aim to discover the connections among these attributes and the migration movements.
ROBOT 2017: Third Iberian Robotics Conference, 2017
The work presented focuses in the simulations and real experiments of perimeter surveillance unde... more The work presented focuses in the simulations and real experiments of perimeter surveillance under communication constraints, performed by teams of UAVs using a Bluetooth communication framework. When UAVs work in a colaborative manner, communication among them is essential to properly perform their task. Moreover, energy consumption and weight of the devices equipped in a UAV are important to be reduced at minimum possible, particularly in micro-UAVs. A coordination variables strategy is implemented to perform the perimeter division.
Arsenic is a metalloid present throughout the world, and the primary sources of exposure are thro... more Arsenic is a metalloid present throughout the world, and the primary sources of exposure are through air, soil, and water. Arsenic is currently ranked as the most hazardous substance among environmental toxicants, and is well recognized as a human carcinogen, as well as a contributor to metabolic and cardiovascular diseases. However, cardiovascular effects have been mostly evaluated in epidemiological studies, and the direct mechanisms of pathogenesis remain largely unknown. The scope of studies described in this dissertation characterizes the cardiovascular pathophysiology associated with exposure to environmentally-relevant arsenic concentrations (100 μg/L), and attempts to elucidate the molecular mechanisms behind impaired vascular function. The effects of chronic arsenic exposure on blood pressure regulation were examined using a mouse model exposed to 100 μg/L for 22 weeks. Chronic exposure to arsenic results in the development of hypertension and concentric left ventricular hy...
La presente investigacion determino que la baba y el mucilago de nopal son dos sustancias diferen... more La presente investigacion determino que la baba y el mucilago de nopal son dos sustancias diferentes. La dilucion de ambas, en porcentajes especificos y aplicados por aspersion, estabilizan la superficie deleznable de los adobes y la tierra, lo que se comprobo en el area de experimentacion en el relleno en las plataformas de la zona arqueologica de Teotihuacan.
Teotihuacan se caracteriza por sus monumentales basamentos piramidales del Sol, la Luna, la Calza... more Teotihuacan se caracteriza por sus monumentales basamentos piramidales del Sol, la Luna, la Calzada de los Muertos, la Ciudadela. Esta ultima es uno de los grandes conjuntos arquitectonicos urbanisticos, compuesto de un cuadrangulo de 400 m por lado, formado exteriormente por cuatro elevadas plataformas sobre las que se encuentran simetricamente distribuidas 15 piramides pequenas, ademas de templos, palacios y plazas.
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints desig... more This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints designed for aerial manipulation with a multirotor platform. Each arm provides four degrees of freedom (DOF) for end effector positioning in a kinematic configuration close to the human arm: shoulder pitch, roll and yaw, and elbow pitch. The aluminum frame structure of the arms has been designed with a double purpose: protecting the servo actuators against direct impacts and overloads, and allowing the integration of a compliant transmission mechanism with deflection measurement between the servo shaft and the output link. Mechanical joint compliance increases safety in the physical interactions with the environment, removing also joint overloads typical in closed kinematic chain configurations. The dual arm system has been integrated in a hexarotor platform with a visual servoing system for object grasping, evaluating its performance first in a fixed base test bench and later in outdoor flight tests.
International Journal of Advanced Robotic Systems, 2020
This article presents a software layer to abstract users of unmanned aerial vehicles from the spe... more This article presents a software layer to abstract users of unmanned aerial vehicles from the specific hardware of the platform and the autopilot interfaces. The main objective of our unmanned aerial vehicle abstraction layer (UAL) is to simplify the development and testing of higher-level algorithms in aerial robotics by trying to standardize and simplify the interfaces with the unmanned aerial vehicles. Unmanned aerial vehicle abstraction layer supports operation with PX4 and DJI autopilots (among others), which are current leading manufacturers. Besides, unmanned aerial vehicle abstraction layer can work seamlessly with simulated or real platforms and it provides calls to issue standard commands such as taking off, landing or pose, and velocity controls. Even though unmanned aerial vehicle abstraction layer is under continuous development, a stable version is available for public use. We showcase the use of unmanned aerial vehicle abstraction layer with a set of applications comi...
This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection ... more This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam-deflection analysis or measuring crack depth with an ultrasonic sensor. The proposed system takes advantage of the aerodynamic ceiling effect that arises when the multirotor gets close to the bridge surface. Moreover, this paper describes how a UAV can be used as a sensor that is able to fly and touch the bridge to take measurements during an inspection by contact. A practical application of the system involving the measurement of a bridge’s beam deflection using a laser tracking station is also presented. In order to validate our system, experiments on two different bridges involving the measurement of the deflection of their beams are shown.
Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the r... more Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables a suitable position for in-flight manipulation. Their manipulation skills must be suitable for primarily natural, partially known environments, where UAVs mostly operate. We have developed an on-board object extraction method that calculates information necessary for autonomous grasping of objects, without the need to provide the model of the object's shape. A local map of the work-zone is generated using depth information, where object candidates are extracted by detecting areas different to our floor model. Their image projections are then evaluated using support vector machine (SVM) classification to recognize specific objects or reject bad candidates. Our method builds a sparse cloud representation of each object and calculates the object's centroid and the dominant axis. This information is then passed to a grasping module. Our method works under the assumption that objects are static and not clustered, have visual features and the floor shape of the work-zone area is known. We used low cost cameras for creating depth information that cause noisy point clouds, but our method has proved robust enough to process this data and return accurate results.
Xenobiotica; the fate of foreign compounds in biological systems, Jan 27, 2016
1. Quizartinib absorption, metabolism, and excretion were characterized in 6 healthy men receivin... more 1. Quizartinib absorption, metabolism, and excretion were characterized in 6 healthy men receiving a single oral dose of 60 mg (≈ 100 µCi) of [(14)C]-quizartinib. Blood, plasma, urine, and faeces were collected ≤ 336 hours postdose. 2. Four hours postdose, maximum mean ± SD blood radioactivity concentrations were 296 ± 67.4 ng equivalents/g. A mean ± SD of 1.64 ± 0.482% and 76.3 ± 6.23% of the dose was recovered in urine and faeces, respectively, within 336 hours postdose. 3. Radio-detector high-performance liquid chromatography (radio-HPLC) and liquid chromatography-mass spectrometry (LC-MS) showed 2 main radioactive peaks in plasma, unchanged quizartinib and mono-oxidative metabolite, AC886. Five additional metabolites in plasma were identified by LC-MS, but low levels prevented radio-HPLC detection. Although unchanged quizartinib was the main radioactive component in faeces (mean, 4.0% of administered dose), 15 metabolites representing a mean of 1.0% to 3.5% of administered dose ...
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Papers by Pablo Soria