Considering the anchoring problem in robotic intelligent bin picking

Random Bin Picking means the selection by a robot of a particular item from a container (or bin) in which there are many items randomly distributed. Generalist robots and the Anchoring Problem should be considered if we want to provide a more general solution, since users want that it works with different type of items that are not known 'a priori'. Therefore, we are working on an approach in which robot learning and human-robot interaction are used to anchor control primitives and robot skills to objects and action symbols while the robot system is running, but we are limiting the scope to the packaging domain. In this paper we explain how to use our system to do anchoring in Robotic Bin Picking.Peer ReviewedPostprint (author's final draft

Distance-based kernels for dynamical movement primitives

In the Anchoring Problem actions and objects must be anchored to symbols; and movement primitives as DMPs seems a good option to describe actions. In the bottom-up approach to anchoring, the recognition of an action is done applying learning techniques as clustering. Although most work done about movement recognition with DMPs is focus on weights, we propose to use the shape-attractor function as feature vector. As several DMPs formulations exist, we have analyzed the two most known to check if using the shape-attractor instead of weights is feasible for both formulations. In addition, we propose to use distance-based kernels, as RBF and TrE, to classify DMPs in some predefined actions. Our experiments based on an existing dataset and using 1-NN and SVM techniques confirm that shape-attractor function is a better choice for movement recognition with DMPs.Peer ReviewedPostprint (author's final draft

Temas Socio-Jurídicos. Volumen 31 No. 63 Diciembre de 2012

La revista Temas Socio-jurídicos es una publicación seriada del Centro de Investigaciones Socio-jurídicas, dependencia adscrita a la Facultad de Derecho de la Universidad Autónoma de Bucaramanga, que se dirige principalmente a abogados, profesionales de las ciencias sociales y humanas, a estudiantes de derecho y de ciencias sociales y humanas.The Socio-legal Issues magazine is a serial publication of the Center for Socio-legal Research, a dependency attached to the Faculty of Law of the Autonomous University of Bucaramanga, which is mainly aimed at lawyers, professionals in the social and human sciences, students of law and social and human sciences

The impact of SARS-CoV-2 in dementia across Latin America : A call for an urgent regional plan and coordinated response

The SARS-CoV-2 global pandemic will disproportionately impact countries with weak economies and vulnerable populations including people with dementia. Latin American and Caribbean countries (LACs) are burdened with unstable economic development, fragile health systems, massive economic disparities, and a high prevalence of dementia. Here, we underscore the selective impact of SARS-CoV-2 on dementia among LACs, the specific strain on health systems devoted to dementia, and the subsequent effect of increasing inequalities among those with dementia in the region. Implementation of best practices for mitigation and containment faces particularly steep challenges in LACs. Based upon our consideration of these issues, we urgently call for a coordinated action plan, including the development of inexpensive mass testing and multilevel regional coordination for dementia care and related actions. Brain health diplomacy should lead to a shared and escalated response across the region, coordinating leadership, and triangulation between governments and international multilateral networks

Elective cancer surgery in COVID-19-free surgical pathways during the SARS-CoV-2 pandemic: An international, multicenter, comparative cohort study

PURPOSE As cancer surgery restarts after the first COVID-19 wave, health care providers urgently require data to determine where elective surgery is best performed. This study aimed to determine whether COVID-19–free surgical pathways were associated with lower postoperative pulmonary complication rates compared with hospitals with no defined pathway. PATIENTS AND METHODS This international, multicenter cohort study included patients who underwent elective surgery for 10 solid cancer types without preoperative suspicion of SARS-CoV-2. Participating hospitals included patients from local emergence of SARS-CoV-2 until April 19, 2020. At the time of surgery, hospitals were defined as having a COVID-19–free surgical pathway (complete segregation of the operating theater, critical care, and inpatient ward areas) or no defined pathway (incomplete or no segregation, areas shared with patients with COVID-19). The primary outcome was 30-day postoperative pulmonary complications (pneumonia, acute respiratory distress syndrome, unexpected ventilation). RESULTS Of 9,171 patients from 447 hospitals in 55 countries, 2,481 were operated on in COVID-19–free surgical pathways. Patients who underwent surgery within COVID-19–free surgical pathways were younger with fewer comorbidities than those in hospitals with no defined pathway but with similar proportions of major surgery. After adjustment, pulmonary complication rates were lower with COVID-19–free surgical pathways (2.2% v 4.9%; adjusted odds ratio [aOR], 0.62; 95% CI, 0.44 to 0.86). This was consistent in sensitivity analyses for low-risk patients (American Society of Anesthesiologists grade 1/2), propensity score–matched models, and patients with negative SARS-CoV-2 preoperative tests. The postoperative SARS-CoV-2 infection rate was also lower in COVID-19–free surgical pathways (2.1% v 3.6%; aOR, 0.53; 95% CI, 0.36 to 0.76). CONCLUSION Within available resources, dedicated COVID-19–free surgical pathways should be established to provide safe elective cancer surgery during current and before future SARS-CoV-2 outbreaks

Elective Cancer Surgery in COVID-19-Free Surgical Pathways During the SARS-CoV-2 Pandemic: An International, Multicenter, Comparative Cohort Study.

PURPOSE: As cancer surgery restarts after the first COVID-19 wave, health care providers urgently require data to determine where elective surgery is best performed. This study aimed to determine whether COVID-19-free surgical pathways were associated with lower postoperative pulmonary complication rates compared with hospitals with no defined pathway. PATIENTS AND METHODS: This international, multicenter cohort study included patients who underwent elective surgery for 10 solid cancer types without preoperative suspicion of SARS-CoV-2. Participating hospitals included patients from local emergence of SARS-CoV-2 until April 19, 2020. At the time of surgery, hospitals were defined as having a COVID-19-free surgical pathway (complete segregation of the operating theater, critical care, and inpatient ward areas) or no defined pathway (incomplete or no segregation, areas shared with patients with COVID-19). The primary outcome was 30-day postoperative pulmonary complications (pneumonia, acute respiratory distress syndrome, unexpected ventilation). RESULTS: Of 9,171 patients from 447 hospitals in 55 countries, 2,481 were operated on in COVID-19-free surgical pathways. Patients who underwent surgery within COVID-19-free surgical pathways were younger with fewer comorbidities than those in hospitals with no defined pathway but with similar proportions of major surgery. After adjustment, pulmonary complication rates were lower with COVID-19-free surgical pathways (2.2% v 4.9%; adjusted odds ratio [aOR], 0.62; 95% CI, 0.44 to 0.86). This was consistent in sensitivity analyses for low-risk patients (American Society of Anesthesiologists grade 1/2), propensity score-matched models, and patients with negative SARS-CoV-2 preoperative tests. The postoperative SARS-CoV-2 infection rate was also lower in COVID-19-free surgical pathways (2.1% v 3.6%; aOR, 0.53; 95% CI, 0.36 to 0.76). CONCLUSION: Within available resources, dedicated COVID-19-free surgical pathways should be established to provide safe elective cancer surgery during current and before future SARS-CoV-2 outbreaks

Anais do V Encontro Brasileiro de Educomunicação: Educação midiática e políticas públicas

A presente coletânea, que chega ao público através de um suporte digital, tem como objetivo disponibilizar os papers, bem como os relatos de experiências educomunicativas apresentados durante o V ENCONTRO BRASILEIRO DE EDUCOMUNICAÇÃO, que teve como tema central: “Educação Midiática e Políticas Públicas”. O evento foi realizado em São Paulo, entre 19 e 21 de setembro de 2013, a partir de uma parceria entre o NCE/USP - Núcleo de Comunicação e Educação da USP, a Licenciatura em Educomunicação da ECA/USP, a ABPEducom – Associação Brasileira de Pesquisadores e Profissionais da Educomunicação e a FAPCOM – Faculdade Paulus de Tecnologia e Comunicação, que ofereceu seu campus, na Vila Mariana, para os atos do evento. Os presentes anais disponibilizam o texto de abertura, de autoria do coordenador geral do evento, denominado “Educação midiática e políticas públicas: vertentes históricas da emergência da Educomunicação na América Latina”. Na sequência, apresentam 61 papers sobre aspectos específicos da temática geral, resultantes de pesquisas na área, seguidos de 27 relatos de práticas educomunicativas, em nível nacional

Study of the anchoring problem in generalist robots based on ROSPlan

Trabajo presentado a la 19th International Conference of the Catalan Association for Artificial Intelligence (CCIA), celebrada en Barcelona (España) del 19 al 21 de octubre de 2016.In real life environments where robots must deal with complex situations and humans, generalist robots that adapt to novel situations are needed. They are composed by two sub-systems: perception/actuation and knowledge representation, and they need that symbols in the high-level area are coupled to objects and actions of the low-level area. This is the so-called Anchoring Problem. In this paper we present the system we are using to study this problem. It is based on ROSPlan, a framework that provides a generic method for task planning in a ROS system. The high-level area is composed by a planner that uses PDDL files and a knowledge representation system, while the low-level area is defined as a set of robot services exported using ROS actions, services and topics. We plan to contribute to this problem by applying human-robot interaction and learning techniques, and our main objectives are: (1) link an existing symbol with a learned action by interaction, and (2) automated code generation of ad-hoc ROS nodes that connect symbols to specific perceptions/actions.This work was partially funded by Spanish research project DPI2013-42458-PPeer Reviewe

Trabajo fin de Máster en Procesos Industriales

Trabajo final del Máster de educación secundaria en modalidad A. Las actividades seleccionadas han sido los Prácticum I, II y III

Distance-based kernels for dynamical movement primitives

In the Anchoring Problem actions and objects must be anchored to symbols; and movement primitives as DMPs seems a good option to describe actions. In the bottom-up approach to anchoring, the recognition of an action is done applying learning techniques as clustering. Although most work done about movement recognition with DMPs is focus on weights, we propose to use the shape-attractor function as feature vector. As several DMPs formulations exist, we have analyzed the two most known to check if using the shape-attractor instead of weights is feasible for both formulations. In addition, we propose to use distance-based kernels, as RBF and TrE, to classify DMPs in some predefined actions. Our experiments based on an existing dataset and using 1-NN and SVM techniques confirm that shape-attractor function is a better choice for movement recognition with DMPs.Peer Reviewe