Navigation system using passive collaborative control adapted to user profile for a rollator device

In order to achieve this goal, research in different areas has been necessary. First, a methodology to provide human-like platform motion in reactive navigation algorithms has been proposed to improve user acceptance of help. Then, work has focused on gait analysis and user's condition estimation using only onboard sensors. In addition, a new methodology to evaluate fall risk using only onboard sensors while users walk has been proposed to balance the contribution of user and robot to control. All proposed subsystems have been validated with a set of volunteers at two rehabilitation hospitals: Fondazione Santa Lucia (Rome) and Hospital Regional Universitario (Malaga). Volunteers presented a wide variety of physical and cognitive disabilities. Tests with healthy volunteers have been discarded from the beginning to avoid a sampling bias error. Obtained results have shown that the proposed system can be used for: i) reactively generating human-like trajectories that outperforms all other tested algorithms in terms of likeness to human paths and success rate; ii) monitoring gait and user's condition while users walk using only on-board sensors; and iii) evaluating fall risk without wearable sensors nor ambient sensors. This thesis open a number of open research lines: i) user condition estimation can be extended to another medical scales; ii) the method to reactively generate human-like-trajectories can be extended to add deliberative human-adapted-path-planning; and iii) the fall risk estimator can be extended to a fall risk predictor.Rollators provide autonomy to persons with mobility impairments. These platforms can be used while people perform their Activities of Daily Living in order to provide support and/or balance. Also, they can be used during the rehabilitation process to strengthen the lower limbs or to provide balance before users can progress to canes or crutches. Rollators have a limited set of personalization options, but they are usually related to the users' body size. Hence, people who need extra typically have to choose a wheelchair instead. This transition to a wheelchair limits users' movements and it increases their disuse syndrome because they do not exercise their lower limbs. Hence, it is a priority to extent the use of rollator platforms as much as possible by adapting help to people who can not use a conventional rollator on their own. Technological enhancements can be added to rollator to expand their use to a larger population. For example, force sensors on handlebars provide information about users' weight bearing. This information can be used during rehabilitation to control their partial weight-bearing. Encoders on wheels may also provide useful information about the walking speed, which is a well know estimator of fall risk. In addition to monitorization, motors can be attached to the wheels for assistance, e.g. to reduce effort while ascending slopes. This thesis focuses on creating a navigation system for a robotized rollator, which includes weight bearing sensors, encoders and wheel motors. The navigation system relies on passive collaborative control to continuously combine user and system commands in a seamless way. The main contribution of this work is adaptation to the user's needs through continuous, transparent monitorization and profile estimation

Apuntes de Planificación, gestión y desarrollo de proyectos

Apuntes de la asignatura Planificación, gestión y desarrollo de proyectos del Máster en Sistemas Electrónicos para Entornos Inteligente

On stability assessment using the WalkIT smart rollator.

The presentation focuses on using sensors on a robotized rollator released under open license to assess balance. The system relies uniquely on onboard sensors, i.e. no sensors are attached to users. The method can be used to evaluate users' condition or to proactively reduce fall risk during navigation.PID2021-127221OB-I00 (Proyectos de Generación de Conocimiento 2021) Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Elimination of constraints for parallel analysis of feature models.

Cross-tree constraints give feature models maximal expressive power since any interdependency between features can be captured through arbitrary propositional logic formulas. However, the existence of these constraints increases the complexity of reasoning about feature models, both for using SAT solvers or compiling the model to a binary decision diagram for efficient analyses. Although some works have tried to refactor constraints to eliminate them, they deal only with simple constraints (i.e., requires and excludes) or require the introduction of an additional set of features, increasing the complexity of the resulting feature model. This paper presents an approach that eliminates all the cross-tree constraints present in regular boolean feature models, including arbitrary constraints, in propositional logic formulas. Our approach for removing constraints consists of splitting the semantics of feature models into orthogonal disjoint feature subtrees, which are then analyzed in parallel to alleviate the exponential blow-up in memory of the resulting feature tree.Work supported by the projects IRIS PID2021-122812OB-I00 (cofinanced by FEDER funds), LEIA UMA18-FEDERJA-157, and DAEMON H2020-101017109; and by Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Walk-IT: An Open-Source Modular Low-Cost Smart Rollator

Rollators are widely used in clinical rehabilitation for gait assessment, but gait analysis usually requires a great deal of expertise and focus from medical staff. Smart rollators can capture gait parameters autonomously while avoiding complex setups. However, commercial smart rollators, as closed systems, can not be modified; plus, they are often expensive and not widely available. This work presents a low cost open-source modular rollator for monitorization of gait parameters and support. The whole system is based on commercial components and its software architecture runs over ROS2 to allow further customization and expansion. This paper describes the overall software and hardware architecture and, as an example of extended capabilities, modules for monitoring dynamic partial weight bearing and for estimation of spatiotemporal gait parameters of clinical interest. All presented tests are coherent from a clinical point of view and consistent with input dataThis work is funded by Programa Proyectos RETOS del Ministerio de Ciencia, Innovación y Universidades, Ref: RTI2018-096701-B-C21 (SAVIA: Sistema de Autonomía Variable para movIlidad Asistida) and Plan Propio de la Universidad de Málaga (E3-PROYECTOS DE PRUEBA DE CONCEPTO (E3/02/18)) at Málaga University, Spain. Partial funding for open access charge: Universidad de Málaga

Spanish cardiac catheterization in congenital heart diseases registry. First official report from the ACI-SEC and the GTH-SECPCC (2020)

Introduction and objectives: The Interventional Cardiology Association of the Spanish Society of Cardiology (ACI-SEC) and the Spanish Society of Pediatric Cardiology Working Group on Interventional Cardiology (GTH-SECPCC) introduce their annual activity report for 2020, the starting year of the pandemic of coronavirus disease (COVID-19). Methods: All Spanish centers with cath labs and interventional activity in congenital heart diseases were invited to participate. Data were collected online, and analyzed by an external company together with members from the ACI-SEC and the GTH-SECPCC. Results: A total of 16 centers participated (all of them public) including 30 cath labs experienced in the management of congenital heart diseases, 7 of them (23.3%) dedicated exclusively to pediatric patients. A total of 1046 diagnostic studies, and 1468 interventional cardiac catheterizations were registered. The interventional procedures were considered successful in 93.4% of the cases with rates of major procedural complications and mortality of 2%, and 0.1%, respectively. The most frequent procedures were atrial septal defect closure (377 cases), pulmonary angioplasty (244 cases), and the percutaneous closure of the patent ductus arteriosus (199 cases). Conclusions: This report is the first publication from the Spanish Cardiac Catheterization in Congenital Heart Diseases Registry. The data recorded are conditioned by the COVID-19 pandemic. Diagnostic cardiac catheterization still plays a key role in this field. Most interventional techniques have reported excellent security and efficacy rates

Future voyages to the solar system

CHALLENGE 2: FUTURE VOYAGES TO THE SOLAR SYSTEMPeer reviewe

A precision medicine test predicts clinical response after idarubicin and cytarabine induction therapy in AML patients

Complete remission (CR) after induction therapy is the first treatment goal in acute myeloid leukemia (AML) patients and has prognostic impact. Our purpose is to determine the correlation between the observed CR/CRi rate after idarubicin (IDA) and cytarabine (CYT) 3 + 7 induction and the leukemic chemosensitivity measured by an ex vivo test of drug activity. Bone marrow samples from adult patients with newly diagnosed AML were included in this study. Whole bone marrow samples were incubated for 48 h in well plates containing IDA, CYT, or their combination. Pharmacological response parameters were estimated using population pharmacodynamic models. Patients attaining a CR/CRi with up to two induction cycles of 3 + 7 were classified as responders and the remaining as resistant. A total of 123 patients fulfilled the inclusion criteria and were evaluable for correlation analyses. The strongest clinical predictors were the area under the curve of the concentration response curves of CYT and IDA. The overall accuracy achieved using MaxSpSe criteria to define positivity was 81%, predicting better responder (93%) than non-responder patients (60%). The ex vivo test provides better yet similar information than cytogenetics, but can be provided before treatment representing a valuable in-time addition. After validation in an external cohort, this novel ex vivo test could be useful to select AML patients for 3 + 7 regimen vs. alternative schedules