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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.

Multi-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.

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.

New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.

In developing countries, intercropping is commonly used to boost land productivity and agricultural benefits. However, in the Yucatan region of Mexico, maize (Zea mays L.) yields remain low, despite consistent fertilizer and pesticide inputs in traditional intercropping systems. Furthermore, little is known about the photosynthetic mechanisms that occur when maize plants interact with legumes, and there is a lack of understanding of how intercropping systems affect other organisms in the system, such as beneficial and insect pest population dynamics. A field experiment was carried out on the Yucatan Peninsula in 2021 to assess the impact of maize–legume intercropping systems on maize yield, physiological characteristics as evaluated by gas exchange measurements, and the abundance of beneficial insects in traditional and novel maize intercropping systems. The experiment was carried out with a randomized complete block design with three replicates. Treatments included maize intercropped with a novel legume, crotalaria (Crotalaria juncea L.), maize intercropped with a traditional legume, cowpea (Vigna unguiculata (L.) Walp.), and sole maize as a control. Significant differences in plant height were shown at growth stages V12 (45 days after sowing) and VT (60 days after sowing). No differences were observed in stem diameter, leaf area index, or chlorophyll content. The maize/cowpea intercrop increased the photosynthesis rate by 12.9% and 9.84% in the maize/crotalaria and sole maize, respectively (p < 0.001), and transpiration rate by 6.5% and 8.5% in the maize intercropped with crotalaria and sole maize treatments, respectively (p < 0.001), of maize plants. No significant effects on stomatal conductance or water use efficiency were observed, but the carbon intercellular rate was reduced by 9.74% and 9.15 when compared to the maize/crotalaria and the sole maize treatments, respectively. Overall, intercropping treatments attracted more beneficial insects than sole maize. For predators, the families that stood out were Coccinelidae, Formicidae, Araneidae, Thomisidae, Syrphidae, Chrysomelidae, Oxypidae, Vespidae, Reduviidae, Carabidae, Asilidae, Salthicidae, Dolichopodidae, while among parasitoids, the most frequent families were Eurytomydae, Braconidae, Tachinidae, Pteromalidae, Scelionidae, and Figitidae. In comparison to the maize/cowpea and maize/crotalaria treatments, the sole maize treatment resulted in a grain yield increase of 24.5% and 32%, respectively. However, sole maize was not statistically different to that of maize/cowpea intercropping. In conclusion, our findings suggest that maize/cowpea intercropping could be a viable alternative to sole maize cropping systems for enhancing maize yield and the abundance of beneficial insects, without increasing interspecific competition with the maize crop. Therefore, the maize/cowpea intercropping system represents a sustainable planting alternative for promoting maize grain yield and also promoting edible legume production within the system. Furthermore, the outcomes of this study can serve as a theoretical framework for increasing maize–legume intercropping profitability under growing conditions on the Yucatan Peninsula.

The different stages in the conceptual evolution of actual infinity are analyzed. We show how this concept occurs in high-school students at a prior, or at best, at the same level, as in Bernard Bolzano's conceptualization (as defined in his work The Paradoxes of Infinity). Furthermore, in terms of the historical development of the concept, the students' conceptualization has intra-objectal stage characteristics. Within the same framework, we show how Cantor's work fits into the inter-objectal stage, as well as presenting the difficulties encountered by students in order to reach this stage, given the current curricular structure. We conclude that such evidence should bring about a reconsideration of Piagetian ideas in education.

To a large extent, criticisms to constructivists epistemologies, in particular to Piaget’s theory, have come from fields like psychology and didactics, not from epistemology itself. Our goal is to show that the power of piagetian theory comes from its epistemological contents. One must not look for this power in education for its own sake. This does not mean that epistemology and educational theories are unrelated but that each one has to define its domain of applicability.