Path planning with far-away obstacles detection under uncertainty

[Resumen] Hoy en día se están investigando robots de exploración terrestre y espacial más rápidos en respuesta a la creciente demanda de capacidades de exploración e investigación más rápidas, eficaces y rentables. Para estas plataformas móviles rápidas la identificación y evasión de obstáculos lejanos son críticas, ya que su alta velocidad implica la necesidad de tener en cuenta el mayor número posible de obstáculos cercanos y lejanos para el cálculo de la trayectoria global, evitando cualquier posible accidente debido a su velocidad y al tiempo de cálculo de los algoritmos de replanificación. Debido a su distancia, los obstáculos lejanos no se incluyen en los mapas locales, que están limitados por el alcance de las cámaras de profundidad. Por estas razones, este artículo propone el uso de técnicas de Inteligencia Artificial para detectarlos a partir de imágenes y estimar sus tamaños y posiciones con un cierto grado de incertidumbre. Los obstáculos detectados se incluirán posteriormente en los mapas globales, corrigiendo la trayectoria global en caso de colisionar con ellos.[Abstract] Nowadays faster terrestrial and space exploration robots are being investigated, in response to the growing demand for faster, more efficient, and cost-effective exploration and research apabilities. For these rapid mobile platforms, the identification and avoidance of far obstacles are critical, since their high speed implies the need to take into account as many near and far obstacles as possible for the global path computation, avoiding any possible accident due to their speed and the computation time of the replanning algorithms. Due to their distance, the far obstacles are not included within the local maps, which are limited by the range of the depth cameras. For these reasons, this paper proposes the use of Artificial Intelligence techniques to detect them from images and estimate their sizes and positions with a certain degree of uncertainty. The detected obstacles will be later included in the global maps, correcting the global path in case it collides with them

Evolution of the use of corticosteroids for the treatment of hospitalised COVID-19 patients in Spain between March and November 2020: SEMI-COVID national registry

Objectives: Since the results of the RECOVERY trial, WHO recommendations about the use of corticosteroids (CTs) in COVID-19 have changed. The aim of the study is to analyse the evolutive use of CTs in Spain during the pandemic to assess the potential influence of new recommendations. Material and methods: A retrospective, descriptive, and observational study was conducted on adults hospitalised due to COVID-19 in Spain who were included in the SEMI-COVID- 19 Registry from March to November 2020. Results: CTs were used in 6053 (36.21%) of the included patients. The patients were older (mean (SD)) (69.6 (14.6) vs. 66.0 (16.8) years; p < 0.001), with hypertension (57.0% vs. 47.7%; p < 0.001), obesity (26.4% vs. 19.3%; p < 0.0001), and multimorbidity prevalence (20.6% vs. 16.1%; p < 0.001). These patients had higher values (mean (95% CI)) of C-reactive protein (CRP) (86 (32.7-160) vs. 49.3 (16-109) mg/dL; p < 0.001), ferritin (791 (393-1534) vs. 470 (236- 996) µg/dL; p < 0.001), D dimer (750 (430-1400) vs. 617 (345-1180) µg/dL; p < 0.001), and lower Sp02/Fi02 (266 (91.1) vs. 301 (101); p < 0.001). Since June 2020, there was an increment in the use of CTs (March vs. September; p < 0.001). Overall, 20% did not receive steroids, and 40% received less than 200 mg accumulated prednisone equivalent dose (APED). Severe patients are treated with higher doses. The mortality benefit was observed in patients with oxygen saturation </=90%. Conclusions: Patients with greater comorbidity, severity, and inflammatory markers were those treated with CTs. In severe patients, there is a trend towards the use of higher doses. The mortality benefit was observed in patients with oxygen saturation </=90%

7th Drug hypersensitivity meeting: part two

No abstract availabl

Efficacy and Safety of Three Antiretroviral Regimens for Initial Treatment of HIV-1: A Randomized Clinical Trial in Diverse Multinational Settings

Background:Antiretroviral regimens with simplified dosing and better safety are needed to maximize the efficiency of antiretroviral delivery in resource-limited settings. We investigated the efficacy and safety of antiretroviral regimens with once-daily compared to twice-daily dosing in diverse areas of the world.Methods and Findings:1,571 HIV-1-infected persons (47% women) from nine countries in four continents were assigned with equal probability to open-label antiretroviral therapy with efavirenz plus lamivudine-zidovudine (EFV+3TC-ZDV), atazanavir plus didanosine-EC plus emtricitabine (ATV+DDI+FTC), or efavirenz plus emtricitabine-tenofovir-disoproxil fumarate (DF) (EFV+FTC-TDF). ATV+DDI+FTC and EFV+FTC-TDF were hypothesized to be non-inferior to EFV+3TC-ZDV if the upper one-sided 95% confidence bound for the hazard ratio (HR) was ≤1.35 when 30% of participants had treatment failure.An independent monitoring board recommended stopping study follow-up prior to accumulation of 472 treatment failures. Comparing EFV+FTC-TDF to EFV+3TC-ZDV, during a median 184 wk of follow-up there were 95 treatment failures (18%) among 526 participants versus 98 failures among 519 participants (19%; HR 0.95, 95% CI 0.72-1.27; p = 0.74). Safety endpoints occurred in 243 (46%) participants assigned to EFV+FTC-TDF versus 313 (60%) assigned to EFV+3TC-ZDV (HR 0.64, CI 0.54-0.76; p<0.001) and there was a significant interaction between sex and regimen safety (HR 0.50, CI 0.39-0.64 for women; HR 0.79, CI 0.62-1.00 for men; p = 0.01). Comparing ATV+DDI+FTC to EFV+3TC-ZDV, during a median follow-up of 81 wk there were 108 failures (21%) among 526 participants assigned to ATV+DDI+FTC and 76 (15%) among 519 participants assigned to EFV+3TC-ZDV (HR 1.51, CI 1.12-2.04; p = 0.007).Conclusion: EFV+FTC-TDF had similar high efficacy compared to EFV+3TC-ZDV in this trial population, recruited in diverse multinational settings. Superior safety, especially in HIV-1-infected women, and once-daily dosing of EFV+FTC-TDF are advantageous for use of this regimen for initial treatment of HIV-1 infection in resource-limited countries. ATV+DDI+FTC had inferior efficacy and is not recommended as an initial antiretroviral regimen.Trial Registration:http://www.ClinicalTrials.gov NCT00084136

The CARMENES search for exoplanets around M dwarfs. First visual-channel radial-velocity measurements and orbital parameter updates of seven M-dwarf planetary systems

Stars and planetary system

Fundamental niche differentiation in subspecies of Sarcocornia perennis on a salt marsh elevational gradient

Selection pressures associated with strong environmental gradients on salt marshes provide a mechanism for the genetic subdivision of species. We investigated the importance of differentiated habitat niches in explaining the distributions of 2 forms of the halophyte Sarcocornia perennis: ssp. perennis in lower/middle marshes and the Iberian endemic ssp. alpini on more elevated salines. The fundamental niches of the 2 subspecies were investigated at the Odiel marshes, SW Spain with an experimental transplantation to 4 points along an elevation gradient. Subspecies perennis survived at the 3 lower elevations, from +2.26 to +2.84 m relative to Spanish Hydrographic Zero (SHZ) and flowered only at the highest of these locations. Subspecies (ssp.) alpini survived only at the 2 higher elevations (+2.84 and +3.65 m SHZ), flowering only at the highest location. As expected, sediment redox potential increased at transplant sites up the marsh, with decreasing tidal submergence; sediment salinity also increased and its water content decreased with increasing elevation. Sediment pH also declined with increasing elevation. Air conditions in the Mediterranean summer become cooler and moister with proximity to the sea. The failure of ssp. alpini to survive below its limit was attributed to its intolerance of increasingly hypoxic, reducing sediments. The failure of ssp. perennis to survive above its limit was associated with hypersalinity and water stress in summer. The fundamental niches of the 2 subspecies showed limited overlap (i.e. one transplantation site): that of ssp. perennis approximates the realized niche observed in the field but the realized niche of ssp. alpini appears to be more restricted than its fundamental niche.Ministerio de Ciencia y Tecnología CTM2005- 0501

Seasonal yield and fuel consumed for domestic, organic waste collections in currently operational door-to-door and bring-type collection systems

The European Commission is tightening waste laws, and many local authorities, particularly in countries with low recycling rates, face the question of what system to introduce for the source-separate collection of food waste from householders. This study provides empirical data in form of fuel consumed and waste yield from four councils that already have source separate organic waste collections in operation. Two systems were compared: (i) door-to-door collection and (ii) bring systems where the householder walks to the bin in her/his street to drop off organic waste. Fuel consumption for the collection operation with the bring system was dramatically lower compared to the door-to-door system. Organic waste yield was constant over the observation year in the door-to-door system employing small 20- to 30-litre bins, but increased notably in the summer with the bring system that used 240-litre bins. The metric used to quantify seasonality was the summer/winter yield ratio. As commercial waste companies do not normally allow the making of data public, this is a rare opportunity to learn from collection systems currently in operation