4,755 research outputs found
Prescribing by mental health nurses: the UK perspective
No full textPURPOSE. This article aims to discuss the growth of mental health nurse (MHN) prescribing in the United Kingdom as an exemplar for readers to compare progress in their own countries and context. This study also aims to provide a historical overview of this process in the United Kingdom where MHNs prescribe safely and competently.
CONCLUSIONS. Finally, evidence has shown that MHNs with prescriptive authority are competent when prescribing when compared to psychiatrists.
PRACTICE IMPLICATIONS. Despite organizational barriers and educational concerns, MHN prescribing is becoming embedded in the healthcare context in the United Kingdo
USBL Integration and Assessment in a Multisensor Navigation Approach for AUVs 1 1This work is partially supported by Ministry of Economy and Competitiveness under contracts TIN2014-58662-R, DPI2014-57746-C3-2-R and FEDER funds.
No full textThis paper presents the design and assessment of an USBL-aided navigation approach for Autonomous Underwater Vehicles (AUV). The system integrates an Ultra-Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) navigation schema, which also includes the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a Visual Odometer (VO), a pressure sensor, and a Global Positioning System (GPS). In order to be integrated in the estimation filter, the precision of the USBL measurements is derived experimentally. Moreover, the accuracy of the system is evaluated using a ground truth (GT) trajectory produced by a visual Simultaneous Localization and Mapping (SLAM) approach. Experimental results are obtained from marine datasets gathered in the north coast of Mallorca with an AUV, model SPARUS II.</p
Jesuit Higher Education
No full textThis article describes how the author designed a mediation course applying the Ignatian Pedagogical Paradigm (IPP). Examples are shared of some of the assignments and activities as well as narratives of students evidencing how by combining the five tenets of IPP -- context, experience, reflection, action, and evaluation -- students achieve professional, spiritual, and personal growth.148-63
An USBL-aided multisensor navigation system for field AUVs
No full textThis paper presents the integration of an Ultra Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) multisensor navigation schema for an Autonomous Underwater Vehicle (AUV). The system consists of a first odometric EKF position estimator fed with the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a visual tracker and a pressure sensor, and a second corrective EKF that fuses the previous sensors with the Global Positioning System (GPS) and the corrected delayed-state Ultra Short Base Line (USBL) position data. The first filter is aimed to compute a highly reliable vehicle position estimation from the sensor suit that produces high frequency relative navigation data. This estimation is essential to correct the delay of the USBL position measurements. The objective of the second filter is to give the vehicle a global pose, eliminating the drift inherent to deadreckoning sensors by integrating absolute positions (GPS and USBL) provided at low frequencies. The effects of the USBL integration in the global localization module are evaluated in a simulated environment, and compared to a ground truth trajectory with the pose estimates given by the first EKF, the USBL raw data and the output of the second EKF, showing an effective reduction of the trajectory error
Towards a new methodology to evaluate the environmental impact of a marine outfall using a lightweight AUV
No full textLes lions ne font pas de jogging !
No full textDans la jungle, les lions ne font pas de jogging mais si leur mode de vie ressemblait au notre, il faudrait bien qu'ils s'y mettent. Et en petites foulées ! Le Dr Laurent Brondel nous présente un outil de recherche unique en Europe, les chambres de calorimétrie, et les travaux scientifiques qui y sont réalisés. Réalisation : Eric PAUL et Lionel MAILLOT - Images et montage : Eric PAUL - Moyens techniques : La Passerelle, Université de Bourgogne
Les lions ne font pas de jogging !
No full textDans la jungle, les lions ne font pas de jogging mais si leur mode de vie ressemblait au notre, il faudrait bien qu'ils s'y mettent. Et en petites foulées ! Le Dr Laurent Brondel nous présente un outil de recherche unique en Europe, les chambres de calorimétrie, et les travaux scientifiques qui y sont réalisés. Réalisation : Eric PAUL et Lionel MAILLOT - Images et montage : Eric PAUL - Moyens techniques : La Passerelle, Université de Bourgogne
Evaluating the impact of sewage discharges on the marine environment with a lightweight AUV
No full textEnvironmental studies that use small Autonomous Underwater Vehicles (AUVs) can survey wider and deeper areas, compared to traditional methods, at a reasonable cost. Thanks to the precise vehicle navigation systems, the data collected can be accurately geolocalized. Besides, lightweight vehicles can be deployed from the shore or from small boats and programmed by means of user-friendly graphical interfaces, thus reducing and simplifying the need of human resources and infrastructures. Based on such a technology, this paper presents a framework to assess the environmental impact of a marine sewage outfall set in the Bay of Palma (Mallorca, Spain). We report the results of the analysis of the images recorded in the course of six missions conducted with an AUV. The plan was designed after a microbiological analysis detected the presence of cyanobacteria in a sample of sand and water collected by scuba divers close to the sewer pipe mouth
Data-Driven Exploration of Benthic Environments with Autonomous Underwater Vehicles featuring Semantic Perception and Adaptive Navigation Intelligence
No full text[eng] Most of the land terrain on Earth is being constantly mapped using sub-meter resolution spaceborne
images. However, about eighty percent of the oceansŠ seaĆoor remains unexplored and most of the benthic
habitat and geological structure distribution continues unknown. The main problem is that the methods
that work on land are not applicable underwater. Remote sensing (RS) methods using spaceborne or
airborne images can be used to map shallow water environments up to 10m depth and acoustic RS
methods using multibeam echosounders are now providing increased resolutions on the backscatter data
that can be used for benthic habitat mapping (BHM). Nonetheless, the feature richness of data collected
with these types of methods is very limited. Most of the methods used for BHM require the use of in
situ (IS) data in order to validate or even train their mapping algorithms.
This Thesis aims to facilitate the acquisition of IS data by pushing the boundaries of autonomous underwater
vehicles (AUVs). Nowadays, AUVs are increasingly used to acquire ocean data, bridging the gap
between the use of remote operated vehicles (ROVs) and shipborne acoustic RS. However, their autonomy
is usually limited by the condition of following preprogrammed paths, their behavior is blind with
respect to benthic data collected and are autonomous only in the sense that they are not tethered and
are able to estimate their location and control their motion. This Thesis presents three novel methods
to (1) provide an online semantic perception of the environment by processing the online data Ćow and
building a probabilistic model of the benthic environment, (2) enlarge the decision-making autonomy of
AUVs providing an adaptive capacity to replan mission paths based on a semantic understanding of the
physical variable under study that depends on the objective of the campaign, (3) improve the autonomous
navigation for in situ image recording of AUVs.
All in all this thesis build a data-driven exploration architecture that automates the in situ sampling
process on unknown environments while maximizing data informativeness.
The algorithms described in this Thesis have been extensively validated in Ąeld using an AUV equipped
with a stereo camera rig used to gather images of the seabed partially covered by Posidonia oceanica
seagrass meadows.[cat] La major part del terreny terrestre es continuament cartograĄant mitjançant lŠús dŠimatges satelitals
de resolució submètrica. Tot i això, un vuitanta per cent del fons marí dels oceans encara no ha estat
explorat. El problema principal és que els mètodes que funcionen a terra no són aplicables sota lŠaigua.
Els mètodes basats en tècniques de Remote Sensing (RS) que utilitzen imatges satel·litàries o aèries
poden utilitzar-se per cartograĄar entorns dŠaigües poc profundes, i els mètodes de RS que utilitzen
ecosondes acústiques multifeix proporcionen una resolució suĄcient per cartograĄar hàbitats bentònics
(BHM) a majors profundidats. Tot i això, la riquesa de les dades recollides amb aquests tipus de mètodes
és molt limitada. La majoria dels mètodes utilitzats per a BHM requereixen lŠús de dades in situ (IS)
per validar o Ąns i tot entrenar els algorismes.
LŠobjectiu dŠaquesta tesi és facilitar lŠadquisició de dades IS millorant les característiques que ofereixen
els vehicles submarins autònoms (AUV) actuals. Avui dia, els AUVs sŠutilitzen cada cop més per adquirir
dades oceàniques, salvant la distància entre lŠús de vehicles operats a distància (ROVs) i mètodes de RS
acústics. No obstant això, la seva autonomia sol estar limitada per la necessitat de seguir trajectòries
preprogramades, el seu comportament no té en compte les dades bentòniques recollides durant la navegació.
Són autònoms tan sols en el sentit que no requereixen connexió cablejada i són capaços dŠestimar
la seva ubicació i controlar el seu moviment. Aquesta Tesi presenta tres nous desenvolupaments per a
(1) proporcionar una percepció semàntica de lŠentorn mitjançant el processament de dades recollides a
temps real i la construcció dŠun model probabilístic de lŠentorn bentònic, (2) ampliar lŠautonomia en
la presa de decisions dels AUVs proporcionant una capacitat dŠadaptació per replaniĄcar les rutes de
la missió basant-se en una comprensió semàntica de lŠentorn, i (3) millorar la navegació autònoma per
al gravat dímatges in situ dels AUVs. Finalment, els desenvolupaments esmentats sŠutilitzen per construir
una arquitectura dŠexploració adaptativa que automatitza el procés de mostreig in situ en entorns
desconeguts alhora que maximitza la informació de les dades recollides.
Els mètodes descrits en aquesta Tesi han estat àmpliament validats mitjançant assajos de camp utilitzant
un AUV equipat amb una càmera estereoscòpica utilitzada per recollir imatges del fons marí parcialment
cobert per praderies de Posidonia oceanica.[spa] La mayor parte del terreno terrestre es continuamente cartograĄado mediante el uso de imágenes
satelitales de resolución submétrica. Sin embargo, un ochenta por ciento del fondo marino de los océanos
aún no ha sido explorado. El principal problema es que los métodos que funcionan en tierra no son
aplicables bajo el agua. Los métodos basados en técnicas de Remote Sensing (RS) que utilizan imágenes
satelitales o aéreas pueden utilizarse para cartograĄar entornos de aguas poco profundas, y los métodos
de RS que utilizan ecosondas acústicas multihaz proporcionan una resolución suĄciente para cartograĄar
habitats bentónicos (BHM) a mayores profundidades. Sin embargo, la riqueza de los datos recogidos con
este tipo de métodos es muy limitada. La mayoría de los métodos utilizados para BHM requieren el uso
de datos in situ (IS) para validar o incluso entrenar los algoritmos.
El objetivo de esta tesis es facilitar la adquisición de datos IS mejorando las características que ofrecen
los vehículos submarinos autónomos (AUV) actuales. Hoy en día, los AUVs se utilizan cada vez más para
adquirir datos oceánicos, salvando la distancia entre el uso de vehículos operados a distancia (ROVs) y
métodos de RS acústicos. Sin embargo, su autonomía suele estar limitada por la necesidad de seguir
trayectorias preprogramadas, su comportamiento no tiene en cuenta los datos bentónicos recogidos durante
la navegación. Son autónomos tan solo en el sentido de que no requieren conexión cableada y son
capaces de estimar su ubicación y controlar su movimiento. Esta Tesis presenta tres novedosos desarrollos
para (1) proporcionar una percepción semántica del entorno mediante el procesamiento del datos
recojidos a tiempo real y la construcción de un modelo probabilístico del entorno bentónico, (2) ampliar
la autonomía en la toma de decisiones de los AUVs proporcionando una capacidad de adaptación para
re-planiĄcar las rutas de la misión basándose en una comprensión semántica del entorno, y (3) mejorar
la navegación autónoma para el grabado de imágenes in situ de los AUVs. Por último, los desarrollos
mencionados se utilizan para construir una arquitectura de exploración adaptativa que automatiza el
proceso de muestreo in situ en entornos desconocidos al tiempo que maximiza la información de los datos
recogidos.
Los métodos descritos en esta Tesis han sido ampliamente validados mediante ensayos de campo utilizando
un AUV equipado con una cámara estereoscópica utilizada para recoger imágenes del fondo marino
parcialmente cubierto por praderas de Posidonia oceanica
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