Expanding wavefront frontier detection: An approach for efficiently detecting frontier cells

Frontier detection is a key step in many robot exploration algorithms. The more quickly frontiers can be detected, the more efficiently and rapidly exploration can be completed. This paper proposes a new frontier detection algorithm called Expanding Wavefront Frontier Detection (EWFD), which uses the frontier cells from the previous timestep as a starting point for detecting the frontiers in the current timestep. As an alternative to simply comparing against the naive frontier detection approach of evaluating all cells in a map, a new benchmark algorithm for frontier detection is also presented, called Naive Active Area frontier detection, which operates in bounded constant time. EWFD and NaiveAA are evaluated in simulations and the results compared against existing state-of-the-art frontier detection algorithms, such as Wavefront Frontier Detection and Incremental-Wavefront Frontier Detection

Exploring in 3D with a climbing robot: Selecting the next best base position on arbitrarily-oriented surfaces

© 2016 IEEE. This paper presents an approach for selecting the next best base position for a climbing robot so as to observe the highest information gain about the environment. The robot is capable of adhering to and moving along and transitioning to surfaces with arbitrary orientations. This approach samples known surfaces, and takes into account the robot kinematics, to generate a graph of valid attachment points from which the robot can either move to other positions or make observations of the environment. The information value of nodes in this graph are estimated and a variant of A∗ is used to traverse the graph and discover the most worthwhile node that is reachable by the robot. This approach is demonstrated in simulation and shown to allow a 7 degree-of-freedom inchworm-inspired climbing robot to move to positions in the environment from which new information can be gathered about the environment

Efficient neighbourhood-based information gain approach for exploration of complex 3D environments

This paper presents an approach for exploring a complex 3D environment with a sensor mounted on the end effector of a robot manipulator. In contrast to many current approaches which plan as far ahead as possible using as much environment information as is available, our approach considers only a small set of poses (vector of joint angles) neighbouring the robot's current pose in configuration space. Our approach is compared to an existing exploration strategy for a similar robot. Our results demonstrate a significant decrease in the number of information gain estimation calculations that need to be performed, while still gathering an equivalent or increased amount of information about the environment. © 2013 IEEE

RobotAssist - A platform for human robot interaction research

This paper presents RobotAssist, a robotic platform designed for use in human robot interaction research and for entry into Robocup@Home competition. The core autonomy of the system is implemented as a component based software framework that allows for integration of operating system independent components, is designed to be expandable and integrates several layers of reasoning. The approaches taken to develop the core capabilities of the platform are described, namely: path planning in a social context, Simultaneous Localisation and Mapping (SLAM), human cue sensing and perception, manipulatable object detection and manipulation

A Fibreoptic Endoscopic Study of Upper Gastrointestinal Bleeding at Bugando Medical Centre in Northwestern Tanzania: a Retrospective Review of 240 Cases.

Upper gastrointestinal (GI) bleeding is recognized as a common and potentially life-threatening abdominal emergency that needs a prompt assessment and aggressive emergency treatment. A retrospective study was undertaken at Bugando Medical Centre in northwestern Tanzania between March 2010 and September 2011 to describe our own experiences with fibreoptic upper GI endoscopy in the management of patients with upper gastrointestinal bleeding in our setting and compare our results with those from other centers in the world. A total of 240 patients representing 18.7% of all patients (i.e. 1292) who had fibreoptic upper GI endoscopy during the study period were studied. Males outnumbered female by a ratio of 2.1:1. Their median age was 37 years and most of patients (60.0%) were aged 40 years and below. The vast majority of the patients (80.4%) presented with haematemesis alone followed by malaena alone in 9.2% of cases. The use of non-steroidal anti-inflammatory drugs, alcohol and smoking prior to the onset of bleeding was recorded in 7.9%, 51.7% and 38.3% of cases respectively. Previous history of peptic ulcer disease was reported in 22(9.2%) patients. Nine (3.8%) patients were HIV positive. The source of bleeding was accurately identified in 97.7% of patients. Diagnostic accuracy was greater within the first 24 h of the bleeding onset, and in the presence of haematemesis. Oesophageal varices were the most frequent cause of upper GI bleeding (51.3%) followed by peptic ulcers in 25.0% of cases. The majority of patients (60.8%) were treated conservatively. Endoscopic and surgical treatments were performed in 30.8% and 5.8% of cases respectively. 140 (58.3%) patients received blood transfusion. The median length of hospitalization was 8 days and it was significantly longer in patients who underwent surgical treatment and those with higher Rockall scores (P < 0.001). Rebleeding was reported in 3.3% of the patients. The overall mortality rate of 11.7% was significantly higher in patients with variceal bleeding, shock, hepatic decompensation, HIV infection, comorbidities, malignancy, age > 60 years and in patients with higher Rockall scores and those who underwent surgery (P < 0.001). Oesophageal varices are the commonest cause of upper gastrointestinal bleeding in our environment and it is associated with high morbidity and mortality. The diagnostic accuracy of fibreoptic endoscopy was related to the time interval between the onset of bleeding and endoscopy. Therefore, it is recommended that early endoscopy should be performed within 24 h of the onset of bleeding

Blood ammonia levels in liver cirrhosis: a clue for the presence of portosystemic collateral veins

<p>Abstract</p> <p>Background</p> <p>Portal hypertension leads to the formation of portosystemic collateral veins in liver cirrhosis. The resulting shunting is responsible for the development of portosystemic encephalopathy. Although ammonia plays a certain role in determining portosystemic encephalopathy, the venous ammonia level has not been found to correlate with the presence or severity of this entity. So, it has become partially obsolete. Realizing the need for non-invasive markers mirroring the presence of esophageal varices in order to reduce the number of endoscopy screening, we came back to determine whether there was a correlation between blood ammonia concentrations and the detection of portosystemic collateral veins, also evaluating splenomegaly, hypersplenism (thrombocytopenia) and the severity of liver cirrhosis.</p> <p>Methods</p> <p>One hundred and fifty three consecutive patients with hepatic cirrhosis of various etiologies were recruited to participate in endoscopic and ultrasonography screening for the presence of portosystemic collaterals mostly esophageal varices, but also portal hypertensive gastropathy and large spontaneous shunts.</p> <p>Results</p> <p>Based on Child-Pugh classification, the median level of blood ammonia was 45 mcM/L in 64 patients belonging to class A, 66 mcM/L in 66 patients of class B and 108 mcM/L in 23 patients of class C respectively (p < 0.001).</p> <p>The grade of esophageal varices was concordant with venous ammonia levels (rho 0.43, p < 0.001). The best area under the curve was given by ammonia concentrations, i, e., 0.78, when comparing areas of ammonia levels, platelet count and spleen longitudinal diameter at ultrasonography. Ammonia levels predicted hepatic decompensation and ascites presence (Odds Ratio 1.018, p < 0.001).</p> <p>Conclusion</p> <p>Identifying cirrhotic patients with high blood ammonia concentrations could be clinically useful, as high levels would lead to suspicion of being in presence of collaterals, in clinical practice of esophageal varices, and pinpoint those patients requiring closer follow-up and endoscopic screening.</p

Nearest neighbour exploration with backtracking for robotic exploration of complex 3D environments

This paper presents an extension to an ex- ploration strategy called Nearest Neighbour (NN) Exploration to reduce required explo- ration time. The new approach, called Nearest Neighbours with Backtracking (NNB) involves keeping track of all neighbours at each time step throughout exploration in a tree structure. This strategy is shown through simulations to improve exploration time

Labour exploitation and health: a case series of men and women seeking post-trafficking services.

Research on the health of trafficked men and on the health problems associated with trafficking for labor exploitation are extremely limited. This study analysed data from a case series of anonymised case records of a consecutive sample of 35 men and women who had been trafficked for labor exploitation in the UK and who were receiving support from a non-governmental service between June 2009 and July 2010. Over three-quarters of our sample was male (77 %) and two-thirds aged between 18 and 35 years (mean 32.9 years, SD 10.2). Forty percent reported experiencing physical violence while they were trafficked. Eighty-one percent (25/31) reported one or more physical health symptoms. Fifty-seven percent (17/30) reported one or more post-traumatic stress symptoms. A substantial proportion of men and women who are trafficked for labor exploitation may experience violence and abuse, and have physical and mental health symptoms. People who have been trafficked for forced labor need access to medical assessment and treatment