Oral tongue cancer in public hospitals in Madrid, Spain (1990-2008)

The cancer which appears in the mobile portion of the tongue is the most common neoplasm of the oral cavity. The objective of this study was to analyse oral tongue cancer epidemiology in a population of 610 patients diagnosed between 1990 and 2008 and detailed in the Tumour Registry of the Madrid region. A retrospective analysis based on the following variables provided in the Tumour Registry was achieved: age, gender, histology, stage, location, treatment. Descriptive and analytic statistics with these variables, using Pearson?s Chi-square test to study the relationship between the qualitative variables. Patients? mean age was 61.53±13.95 years, with a gender ratio of 2.09:1 (413 males vs 197 females). The lesion was mainly localized in the lateral border of tongue, with other sites (dorsal face, ventral face, lingual tonsil, contiguous sites, tongue NOS) represented at lower rates. Squamous cell carcinomas (94.9%) far outweighted other histologies (salivary gland tumours, soft tissue tumours, haematolymphoid tumours). 59% of the cases appeared in localized stages, versus 35.2% in regional and 4.8% in distant stages. Surgery was the most frequently used treatment, followed by surgery in combination with radiotherapy. Oral tongue cancer is a disease of the elderly, with a male predominance. It mainly appears in its lateral border, localized squamous cell carcinomas representing the great majority of lingual neoplasms

La investigación cualitativa en el fenómeno de las drogas: el caso del programa regional de capacitación en investigación para enfermeros en el estudio del fenómeno de las drogas en América Latina

El propósito fue presentar la trayectoria de la investigación cualitativa desarrollada en el Programa Regional de Capacitación en Investigación para Enfermeros en el Estudio del Fenómeno de las Drogas en América Latina. Se revisaron 35 artículos publicados en la Revista Latinoamericana de Enfermería en el periodo 2004-2008. Los estudios analizados proporcionan bases para desarrollar actividades de promoción de salud y diseño de políticas públicas sectoriales

The Influence of Autofocus Lenses in the Camera Calibration Process

Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model, assuming that with a reprojection error close to cero, camera parameters are correct. Since all camera parameters are unknown, computed results are considered true. However, the pin-hole model does not represent the camera behavior accurately if the focus is considered. Real cameras change the focal length slightly to obtain sharp objects in the image and this feature skews the calibration result if a unique pin-hole model is computed with a constant focal length. In this paper, a deep analysis of the camera calibration process is done to detect and strengthen its weaknesses. The camera is mounted in a robot arm to known extrinsic camera parameters with accuracy and to be able to compare computed results with the true ones. Based on the bias that exist between computed results and the true ones, a modification of the widely accepted camera calibration method using images of a planar template is presented. A pin-hole model with distance dependent focal length is proposed to improve the calibration process substantiall

Depth-Dependent High Distortion Lens Calibration

[EN] Accurate correction of high distorted images is a very complex problem. Several lens distortion models exist that are adjusted using different techniques. Usually, regardless of the chosen model, a unique distortion model is adjusted to undistort images and the camera-calibration template distance is not considered. Several authors have presented the depth dependency of lens distortion but none of them have treated it with highly distorted images. This paper presents an analysis of the distortion depth dependency in strongly distorted images. The division model that is able to represent high distortion with only one parameter is modified to represent a depth-dependent high distortion lens model. The proposed calibration method obtains more accurate results when compared to existing calibration methods.The Instituto de Automatica e Informatica Industrial (ai2) of the Universitat Politecnica de Valencia has financed the open access fees of this paper.Ricolfe Viala, C.; Esparza Peidro, A. (2020). Depth-Dependent High Distortion Lens Calibration. Sensors. 20(13):1-12. https://doi.org/10.3390/s20133695S1122013Ricolfe-Viala, C., & Sanchez-Salmeron, A.-J. (2010). Lens distortion models evaluation. Applied Optics, 49(30), 5914. doi:10.1364/ao.49.005914Wieneke, B. (2008). Volume self-calibration for 3D particle image velocimetry. Experiments in Fluids, 45(4), 549-556. doi:10.1007/s00348-008-0521-5Magill, A. A. (1955). Variation in Distortion with Magnification*. Journal of the Optical Society of America, 45(3), 148. doi:10.1364/josa.45.000148Fryer, J. G., & Fraser, C. S. (2006). ON THE CALIBRATION OF UNDERWATER CAMERAS. The Photogrammetric Record, 12(67), 73-85. doi:10.1111/j.1477-9730.1986.tb00539.xAlvarez, L., Gómez, L., & Sendra, J. R. (2010). Accurate Depth Dependent Lens Distortion Models: An Application to Planar View Scenarios. Journal of Mathematical Imaging and Vision, 39(1), 75-85. doi:10.1007/s10851-010-0226-2Ricolfe-Viala, C., Sanchez-Salmeron, A.-J., & Martinez-Berti, E. (2011). Accurate calibration with highly distorted images. Applied Optics, 51(1), 89. doi:10.1364/ao.51.000089Ricolfe-Viala, C., & Sánchez-Salmerón, A.-J. (2010). Robust metric calibration of non-linear camera lens distortion. Pattern Recognition, 43(4), 1688-1699. doi:10.1016/j.patcog.2009.10.003Devernay, F., & Faugeras, O. (2001). Straight lines have to be straight. Machine Vision and Applications, 13(1), 14-24. doi:10.1007/pl0001326

The Influence of Autofocus Lenses in the Camera Calibration Process

[EN] Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model, assuming that with a reprojection error close to zero, camera parameters are correct. Since all camera parameters are unknown, computed results are considered true. However, the pin-hole model does not represent the camera behavior accurately if the autofocus is considered. Real cameras with autofocus lenses change the focal length slightly to obtain sharp objects in the image, and this feature skews the calibration result if a unique pin-hole model is computed with a constant focal length. In this article, a deep analysis of the camera calibration process is done to detect and strengthen its weaknesses when autofocus lenses are used. To demonstrate that significant errors exist in computed extrinsic parameters, the camera is mounted in a robot arm to know true extrinsic camera parameters with an accuracy under 1 mm. It is also demonstrated that errors in extrinsic camera parameters are compensated with bias in intrinsic camera parameters. Since significant errors exist with autofocus lenses, a modification of the widely accepted camera calibration method using images of a planar template is presented. A pin-hole model with distance-dependent focal length is proposed to improve the calibration process substantially.Ricolfe Viala, C.; Esparza Peidro, A. (2021). The Influence of Autofocus Lenses in the Camera Calibration Process. IEEE Transactions on Instrumentation and Measurement. 70:1-15. https://doi.org/10.1109/TIM.2021.30557931157

El alumno/a de Primaria tras la ruptura familiar. Problemática y respuesta educativa

Existe un gran número de divorcios y rupturas al año en nuestro país. Este hecho hace que muchas familias se desestructuren y empiecen a tener una serie de consecuencias negativas que desestabilizan un equilibrio que anteriormente poseían. Es preciso empezar a intervenir cuanto antes sobre todos los miembros de la unidad familiar. Los niños, aunque no participan en el proceso de separación, también sufren algunos efectos desfavorables. Es por ello, que desde la escuela se tiene que hacer una prevención e intervención y deshacerse de aquellos miedos, cambios de conducta, estrés o ansiedad, entre otros, que les puede provocar la separación de sus padres. <br /

Sliding mode control for robust and smooth reference tracking in robot visual servoing

[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both sliding mode controls are extensively compared in a 3D-simulated environment with their equivalent well-known continuous controls, which can be found in the literature, to highlight their similarities and differences. The main advantages of the proposed method are smoothness, robustness, and low computational cost. The applicability and robustness of the proposed approach are substantiated by experimental results using a conventional 6R industrial manipulator (KUKA KR 6 R900 sixx [AGILUS]) for positioning and tracking tasks.Spanish Government, Grant/Award Number: BES-2010-038486; Generalitat Valenciana, Grant/Award Number: BEST/2017/029 and APOSTD/2016/044Muñoz-Benavent, P.; Gracia, L.; Solanes, JE.; Esparza, A.; Tornero, J. (2018). Sliding mode control for robust and smooth reference tracking in robot visual servoing. International Journal of Robust and Nonlinear Control. 28(5):1728-1756. https://doi.org/10.1002/rnc.3981S17281756285Hutchinson, S., Hager, G. D., & Corke, P. I. (1996). A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(5), 651-670. doi:10.1109/70.538972Chaumette, F., & Hutchinson, S. (2008). Visual Servoing and Visual Tracking. Springer Handbook of Robotics, 563-583. doi:10.1007/978-3-540-30301-5_25Corke, P. (2011). Robotics, Vision and Control. Springer Tracts in Advanced Robotics. doi:10.1007/978-3-642-20144-8RYAN, E. P., & CORLESS, M. (1984). Ultimate Boundedness and Asymptotic Stability of a Class of Uncertain Dynamical Systems via Continuous and Discontinuous Feedback Control. IMA Journal of Mathematical Control and Information, 1(3), 223-242. doi:10.1093/imamci/1.3.223Chaumette, F., & Hutchinson, S. (2006). Visual servo control. I. Basic approaches. IEEE Robotics &amp;amp;amp; Automation Magazine, 13(4), 82-90. doi:10.1109/mra.2006.250573Chaumette, F., & Hutchinson, S. (2007). Visual servo control. II. Advanced approaches [Tutorial]. IEEE Robotics & Automation Magazine, 14(1), 109-118. doi:10.1109/mra.2007.339609Bonfe M Mainardi E Fantuzzi C Variable structure PID based visual servoing for robotic tracking and manipulation 2002 Lausanne, Switzerland https://doi.org/10.1109/IRDS.2002.1041421Solanes, J. E., Muñoz-Benavent, P., Girbés, V., Armesto, L., & Tornero, J. (2015). On improving robot image-based visual servoing based on dual-rate reference filtering control strategy. Robotica, 34(12), 2842-2859. doi:10.1017/s0263574715000454Elena M Cristiano M Damiano F Bonfe M Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing 2003 Istanbul, Turkey https://doi.org/10.1109/CCA.2003.1223145Hashimoto, K., Ebine, T., & Kimura, H. (1996). Visual servoing with hand-eye manipulator-optimal control approach. IEEE Transactions on Robotics and Automation, 12(5), 766-774. doi:10.1109/70.538981Chan A Leonard S Croft EA Little JJ Collision-free visual servoing of an eye-in-hand manipulator via constraint-aware planning and control 2011 San Francisco, CA, USA https://doi.org/10.1109/ACC.2011.5991008Allibert, G., Courtial, E., & Chaumette, F. (2010). Visual Servoing via Nonlinear Predictive Control. Lecture Notes in Control and Information Sciences, 375-393. doi:10.1007/978-1-84996-089-2_20Kragic, D., & Christensen, H. I. (2003). Robust Visual Servoing. The International Journal of Robotics Research, 22(10-11), 923-939. doi:10.1177/027836490302210009Mezouar Y Chaumette F Path planning in image space for robust visual servoing 2000 San Francisco, CA, USA https://doi.org/10.1109/ROBOT.2000.846445Morel, G., Zanne, P., & Plestan, F. (2005). Robust visual servoing: bounding the task function tracking errors. IEEE Transactions on Control Systems Technology, 13(6), 998-1009. doi:10.1109/tcst.2005.857409Hammouda, L., Kaaniche, K., Mekki, H., & Chtourou, M. (2015). Robust visual servoing using global features based on random process. International Journal of Computational Vision and Robotics, 5(2), 138. doi:10.1504/ijcvr.2015.068803Yang YX Liu D Liu H Robot-self-learning visual servoing algorithm using neural networks 2002 Beijing, China https://doi.org/10.1109/ICMLC.2002.1174473Sadeghzadeh, M., Calvert, D., & Abdullah, H. A. (2014). Self-Learning Visual Servoing of Robot Manipulator Using Explanation-Based Fuzzy Neural Networks and Q-Learning. Journal of Intelligent & Robotic Systems, 78(1), 83-104. doi:10.1007/s10846-014-0151-5Lee AX Levine S Abbeel P Learning Visual Servoing With Deep Features and Fitted Q-Iteration 2017Fakhry, H. H., & Wilson, W. J. (1996). A modified resolved acceleration controller for position-based visual servoing. Mathematical and Computer Modelling, 24(5-6), 1-9. doi:10.1016/0895-7177(96)00112-4Keshmiri, M., Wen-Fang Xie, & Mohebbi, A. (2014). Augmented Image-Based Visual Servoing of a Manipulator Using Acceleration Command. IEEE Transactions on Industrial Electronics, 61(10), 5444-5452. doi:10.1109/tie.2014.2300048Edwards, C., & Spurgeon, S. (1998). Sliding Mode Control. doi:10.1201/9781498701822Zanne P Morel G Piestan F Robust vision based 3D trajectory tracking using sliding mode control 2000 San Francisco, CA, USAOliveira TR Peixoto AJ Leite AC Hsu L Sliding mode control of uncertain multivariable nonlinear systems applied to uncalibrated robotics visual servoing 2009 St. Louis, MO, USAOliveira, T. R., Leite, A. C., Peixoto, A. J., & Hsu, L. (2014). Overcoming Limitations of Uncalibrated Robotics Visual Servoing by means of Sliding Mode Control and Switching Monitoring Scheme. Asian Journal of Control, 16(3), 752-764. doi:10.1002/asjc.899Li, F., & Xie, H.-L. (2010). Sliding mode variable structure control for visual servoing system. International Journal of Automation and Computing, 7(3), 317-323. doi:10.1007/s11633-010-0509-5Kim J Kim D Choi S Won S Image-based visual servoing using sliding mode control 2006 Busan, South KoreaBurger W Dean-Leon E Cheng G Robust second order sliding mode control for 6D position based visual servoing with a redundant mobile manipulator 2015 Seoul, South KoreaBecerra, H. M., López-Nicolás, G., & Sagüés, C. (2011). A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views. IEEE Transactions on Robotics, 27(1), 175-183. doi:10.1109/tro.2010.2091750Parsapour, M., & Taghirad, H. D. (2015). Kernel-based sliding mode control for visual servoing system. IET Computer Vision, 9(3), 309-320. doi:10.1049/iet-cvi.2013.0310Xin J Ran BJ Ma XM Robot visual sliding mode servoing using SIFT features 2016 Chengdu, ChinaZhao, Y. M., Lin, Y., Xi, F., Guo, S., & Ouyang, P. (2016). Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System. Journal of Manufacturing Science and Engineering, 139(4). doi:10.1115/1.4034681Moosavian, S. A. A., & Papadopoulos, E. (2007). Modified transpose Jacobian control of robotic systems. Automatica, 43(7), 1226-1233. doi:10.1016/j.automatica.2006.12.029Sagara, S., & Taira, Y. (2008). Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix. Artificial Life and Robotics, 13(1), 355-358. doi:10.1007/s10015-008-0584-7Khalaji, A. K., & Moosavian, S. A. A. (2015). Modified transpose Jacobian control of a tractor-trailer wheeled robot. Journal of Mechanical Science and Technology, 29(9), 3961-3969. doi:10.1007/s12206-015-0841-3Utkin, V., Guldner, J., & Shi, J. (2017). Sliding Mode Control in Electro-Mechanical Systems. doi:10.1201/9781420065619Utkin, V. (2016). Discussion Aspects of High-Order Sliding Mode Control. IEEE Transactions on Automatic Control, 61(3), 829-833. doi:10.1109/tac.2015.2450571Romdhane, H., Dehri, K., & Nouri, A. S. (2016). Discrete second-order sliding mode control based on optimal sliding function vector for multivariable systems with input-output representation. International Journal of Robust and Nonlinear Control, 26(17), 3806-3830. doi:10.1002/rnc.3536Sharma, N. K., & Janardhanan, S. (2017). Optimal discrete higher-order sliding mode control of uncertain LTI systems with partial state information. International Journal of Robust and Nonlinear Control. doi:10.1002/rnc.3785LEVANT, A. (1993). Sliding order and sliding accuracy in sliding mode control. International Journal of Control, 58(6), 1247-1263. doi:10.1080/00207179308923053Levant, A. (2003). Higher-order sliding modes, differentiation and output-feedback control. International Journal of Control, 76(9-10), 924-941. doi:10.1080/0020717031000099029Bartolini, G., Ferrara, A., & Usai, E. (1998). Chattering avoidance by second-order sliding mode control. IEEE Transactions on Automatic Control, 43(2), 241-246. doi:10.1109/9.661074Siciliano, B., Sciavicco, L., Villani, L., & Oriolo, G. (2009). Robotics. Advanced Textbooks in Control and Signal Processing. doi:10.1007/978-1-84628-642-1Deo, A. S., & Walker, I. D. (1995). Overview of damped least-squares methods for inverse kinematics of robot manipulators. Journal of Intelligent & Robotic Systems, 14(1), 43-68. doi:10.1007/bf01254007WHEELER, G., SU, C.-Y., & STEPANENKO, Y. (1998). A Sliding Mode Controller with Improved Adaptation Laws for the Upper Bounds on the Norm of Uncertainties. Automatica, 34(12), 1657-1661. doi:10.1016/s0005-1098(98)80024-1Yu-Sheng Lu. (2009). Sliding-Mode Disturbance Observer With Switching-Gain Adaptation and Its Application to Optical Disk Drives. IEEE Transactions on Industrial Electronics, 56(9), 3743-3750. doi:10.1109/tie.2009.2025719Chen, X., Shen, W., Cao, Z., & Kapoor, A. (2014). A novel approach for state of charge estimation based on adaptive switching gain sliding mode observer in electric vehicles. Journal of Power Sources, 246, 667-678. doi:10.1016/j.jpowsour.2013.08.039Cong, B. L., Chen, Z., & Liu, X. D. (2012). On adaptive sliding mode control without switching gain overestimation. International Journal of Robust and Nonlinear Control, 24(3), 515-531. doi:10.1002/rnc.2902Taleb, M., Plestan, F., & Bououlid, B. (2014). An adaptive solution for robust control based on integral high-order sliding mode concept. International Journal of Robust and Nonlinear Control, 25(8), 1201-1213. doi:10.1002/rnc.3135Zhu, J., & Khayati, K. (2016). On a new adaptive sliding mode control for MIMO nonlinear systems with uncertainties of unknown bounds. International Journal of Robust and Nonlinear Control, 27(6), 942-962. doi:10.1002/rnc.3608Hafez AHA Cervera E Jawahar CV Hybrid visual servoing by boosting IBVS and PBVS 2008 Damascus, SyriaKermorgant O Chaumette F Combining IBVS and PBVS to ensure the visibility constraint 2011 San Francisco, CA, USACorke, P. I., & Hutchinson, S. A. (2001). A new partitioned approach to image-based visual servo control. IEEE Transactions on Robotics and Automation, 17(4), 507-515. doi:10.1109/70.954764Yang, Z., & Shen, S. (2017). Monocular Visual–Inertial State Estimation With Online Initialization and Camera–IMU Extrinsic Calibration. IEEE Transactions on Automation Science and Engineering, 14(1), 39-51. doi:10.1109/tase.2016.2550621Chesi G Hashimoto K Static-eye against hand-eye visual servoing 2002 Las Vegas, NV, USABourdis N Marraud D Sahbi H Camera pose estimation using visual servoing for aerial video change detection 2012 Munich, GermanyShademan A Janabi-Sharifi F Sensitivity analysis of EKF and iterated EKF pose estimation for position-based visual servoing 2005 USAMalis, E., Mezouar, Y., & Rives, P. (2010). Robustness of Image-Based Visual Servoing With a Calibrated Camera in the Presence of Uncertainties in the Three-Dimensional Structure. IEEE Transactions on Robotics, 26(1), 112-120. doi:10.1109/tro.2009.2033332Chen J Behal A Dawson D Dixon W Adaptive visual servoing in the presence of intrinsic calibration uncertainty 2003 USAMezouar Y Malis E Robustness of central catadioptric image-based visual servoing to uncertainties on 3D parameters 2004 Sendai, JapanMarchand, E., Spindler, F., & Chaumette, F. (2005). ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics & Automation Magazine, 12(4), 40-52. doi:10.1109/mra.2005.157702

Potential Use of Long Noncoding RNAs as Biomarkers for Astrocytoma

Noncoding RNAs represent a high proportion of the human genome and regulate gene expression by means of innumerable and unimaginable modes of action. Particularly, long noncoding RNAs have emerged as central regulators of gene expression and alterations on their function have been associated with many types of cancer, such as astrocytomas. Astrocytomas are the most common type of gliomas in the central nervous system, and glioblastoma multiforme is their most aggressive form. Although adult and pediatric astrocytomas exhibit certain molecular similarities, they are considered as distinct molecular entities. Since to date there is no effective treatments for these tumors, different efforts are being made to find molecular tools useful for this purpose. Studies have shown that both tumor and circulating expression of lncRNAs were altered in astrocytoma, which was useful to distinguish the patients with this neoplasia from those without cancer, as well as to determine different prognostic factors related to the disease. According to these studies, different “molecular signatures” of specific lncRNAs were established, and they have a potential use in the medical practice. From a system biological perspective, complex interaction networks, conformed by lncRNAs, microRNAs, mRNAs, and proteins, were elucidated and predicted to control many oncogenic processes

Neural networks in virtual reference tuning

This paper discusses the application of the virtual reference tuning (VRT) techniques to tune neural controllers from batch inputoutput data, by particularising nonlinear VRT and suitably computing gradients backpropagating in time. The flexibility of gradient computation with neural networks also allows alternative block diagrams with extra inputs to be considered. The neural approach to VRT in a closed-loop setup is compared to the linear VRFT one in a simulated crane example. © 2011 Elsevier Ltd. All rights reserved.A. Esparza is grateful to the project GVPRE/2008/116 financed by Generalitat Valenciana. The authors are also grateful to the financial support of Grants dpi2008-06731-c02-01, dpi2011-27845-c02-01 (Spanish Government) and prometeo/2008/088 (Generalitat Valenciana).Esparza Peidro, A.; Sala, A.; Albertos Pérez, P. (2011). Neural networks in virtual reference tuning. Engineering Applications of Artificial Intelligence. 24(6):983-995. https://doi.org/10.1016/j.engappai.2011.04.00398399524

Robust fulfillment of constraints in robot visual servoing

[EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints (camera fieldof-view and occlusions) for the image features of the detected object; to avoid exceeding the joint range limits and maximum joint speeds; and to avoid forbidden areas in the robot workspace. Moreover, another task with low-priority is considered to track the target object. The main advantages of the proposed approach are low computational cost, robustness and fully utilization of the allowed space for the constraints. The applicability and effectiveness of the proposed approach is demonstrated by simulation results for a simple 2D case and a complex 3D case study. Furthermore, the feasibility and robustness of the proposed approach is substantiated by experimental results using a conventional 6R industrial manipulator.This work was supported in part by the Spanish Government under grants BES-2010-038486 and Project DPI2013-42302-R, and the Generalitat Valenciana under grants VALi+d APOSTD/2016/044 and BEST/2017/029.Muñoz-Benavent, P.; Gracia Calandin, LI.; Solanes Galbis, JE.; Esparza Peidro, A.; Tornero Montserrat, J. (2018). Robust fulfillment of constraints in robot visual servoing. Control Engineering Practice. 71(1):79-95. https://doi.org/10.1016/j.conengprac.2017.10.017S799571