Generation of skill-specific maps from graph world models for robotic systems

With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric knowledge encoded within these models to generate maps for robot localization and navigation. When heterogeneous robots are deployed within an environment, maps obtained from classical SLAM approaches might not be shared between all agents within a team of robots, e.g. due to a mismatch in sensor type, or a difference in physical robot dimensions. Our approach extracts the 3D geometry and semantic description of building elements (e.g. material, element type, color) from BIM, and represents this knowledge in a graph. Based on queries on the graph and knowledge of the skills of the robot, we can generate skill-specific maps that can be used during the execution of localization or navigation tasks. The approach is validated with data from complex build environments and integrated into existing navigation frameworks

Generation of skill-specific maps from graph world models for robotic systems

With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric knowledge encoded within these models to generate maps for robot localization and navigation. When heterogeneous robots are deployed within an environment, maps obtained from classical SLAM approaches might not be shared between all agents within a team of robots, e.g. due to a mismatch in sensor type, or a difference in physical robot dimensions. Our approach extracts the 3D geometry and semantic description of building elements (e.g. material, element type, color) from BIM, and represents this knowledge in a graph. Based on queries on the graph and knowledge of the skills of the robot, we can generate skill-specific maps that can be used during the execution of localization or navigation tasks. The approach is validated with data from complex build environments and integrated into existing navigation frameworks.Comment: 8 page

The influence of different floor-surf ace on starting to move a wheelchair

高齢者用車いすが在宅床面素材によってどのような影響を受けるのかを調べるため、特性の異なる車いす7台を用い、6種の床面で始動力を測定した。その結果、床面の種類、車いすの種類に有意な差を認めたため、さらに各床面で最も軽く、または重くなる車いすの構成要因を分析した。フローリンクとパイルカーペットでは、主輪空気圧を高めたものが軽く(p<0.01)なった。畳ではエアーキャスター付き車いすが軽く(p<0.01)、ソリットキャスターと主輪の空気圧を高めたものが最も重く(p<0.01)なった。畳にカーベットを敷いた床面では、ソリットキャスターと主輪の空気圧を高めたものが最も重く(p<0.01)なった。敷居や戸当段差では、81～252Nと他の床面に比べて全ての車いすが重く(p<0.01)なったが、その中でもエアーキャスターを装備する車いすは軽く(p<0.01)なった。このことから、床面の違いによって車いすの始動力は大きく影響を受け、硬い床面で軽く、柔らかな床面で始動力は重くなり、病院や施設で軽く動く車いすが在宅では同じ特性とならないことが明確となった。使用環境により車いすの構造や部品選択基準が異なることが示唆された。今回の研究により、住環境の床面条件に合わせた車いす構成要素の選択が重要であると考えられた。 / This study was conducted in order to examine the influence of different floor-surfaces on starting to move a wheelchair. The measurement performed in this study was the force required to move a wheelchair under six conditions of floor-surface, using seven types of wheelchair. Analysis of variance (ANOVA) was done among the different conditions and different types of wheelchair. As a result, significant differences were found depending on the conditions of floor-surfaces and the types of wheelchair. Therefore, we analyzed the composition factor of the wheelchair for which the force to move is the lowest, or the highest, on each floor-surface. ANOVA revealed, on flooring and pile carpet, the force to move a wheelchair with high pressure in its main tires was the lowest (p<0.01). On a tatami mat, that of the wheelchair with air casters was the lowest (p<0.01), while that of the wheelchair with solid casters and the one with high-pressure main tires was the highest (p<0.0l). On a carpeted tatami mat, that of the wheelchair with solid casters and the one with high-pressure main tires was also the highest (p<0.0l). At threshold and doorsill, the force was high (81-252N) compared with the other floor-surfaces and all wheelchairs, although that of the wheelchair with air casters was lower than others (p<0. 01). The differences of floor-surface have a great influence on the force required to move a wheelchair; it is higher on soft floor-surfaces and lower on hard floor-surfaces. It became obvious that wheelchairs which move easily at hospitals and facilities did not show the same characteristic at the home. The results of this study suggest that the structure and choice of parts for a wheelchair should be considered in relation to the environment where it will be used, with particular attention to floor-surface materials

Luminal narrowing after percutaneous transluminal coronary angioplasty. A study of clinical, procedural, and lesional factors related to longterm angiographic outcome

Background. The renarrowing process after successful percutaneous transluminal coronary angioplasty (PTCA) is now believed to be caused by a response-to-injury vessel wall reaction. The magnitude of this process can be assessed by the change in minimal lumen diameter (MLD) at follow-up angiography. The aim of the present study was to find independent patient-related, lesion-related, and procedure-related risk factors for this luminal narrowing process. A model that accurately predicts the amount of luminal narrowing could be an aid in patient or lesion selection for the procedure, and it could improve assessment of medium-term (6 months) prognosis. Modification or control of the identified risk factors could reduce overall restenosis rates, and it could assist in the selection of patients at risk for a large loss in lumen diameter. This population could then constitute the target population for pharmacological intervention studies. Methods and Results. Quantitative angiography was performed on 666 successfully dilated lesions at angioplasty and at 6-month follow-up. Multivaria

The yield of tertiary survey in patients admitted for observation after trauma

Purpose: Existing literature on trauma tertiary survey (TTS) focusses on multitrauma patients. This study examines the yield of the TTS in trauma patients with minor (AIS 1) or moderate (AIS 2) injury for which immediate hospitalization is not strictly indicated. Method: A single center retrospective cohort study was performed in a level II trauma center. All hospitalized trauma patients with an abbreviate injury score (AIS) of one or two at the primary and secondary survey were included. The primary outcome was defined as any missed injury found during TTS (Type 1). Secondary outcomes were defined as any missed injury found after TTS but during admission (Type 2); overall missed injury rate; mortality and hospital length of stay. Results: Out of 388 included patients, 12 patients (3.1%) had a type 1 missed injury. ISS and alcohol consumption were associated with an increased risk for type 1 missed injuries (resp. OR = 1.4, OR = 5.49). A type 2 missed injury was only found in one patient. This concerned the only case of trauma related mortality. Approximately one out of five patients were admitted for more than 2 days. These patients were significantly older (66 vs. 41 years, p < 0.001), had a higher ISS (4 vs. 3, p = 0.007) and ASA score, 3–4 vs. 1–2 (42.5% vs. 12.6%, p < 0.001). Conclusion: TTS showed a low rate of missed injuries in trauma patients with minor or moderate injury. TTS helped to prevent serious damage in two out of 388 patients (0.5%). ISS and alcohol consumption were associated with finding missed injury during TTS

Los Pirineos en el contexto de las montañas del mundo: rasgos generales y peculiaridades

29 páginas.Este trabajo introductorio intenta presentar la cordillera de los Pirineos, y especialmente sus características naturales dominantes, señalando en particular aquellas que comparte con otras cordilleras del globo, y aquellas que son peculiares de esta cadena, o compartidas con pocos sistemas montañosos similares. Veamos pues, en primer lugar, algunos rasgos generales de la mayor parte de las cordilleras.Peer reviewe

MicroRNAs regulate human brain endothelial cell-barrier function in inflammation: implications for multiple sclerosis.

Blood-brain barrier (BBB) dysfunction is a major hallmark of many neurological diseases, including multiple sclerosis (MS). Using a genomics approach, we defined a microRNA signature that is diminished at the BBB of MS patients. In particular, miR-125a-5p is a key regulator of brain endothelial tightness and immune cell efflux. Our findings suggest that repair of a disturbed BBB through microRNAs may represent a novel avenue for effective treatment of MS

Clinical assessment of the physical activity pattern of chronic fatigue syndrome patients: a validation of three methods

Contains fulltext : 79568.pdf (publisher's version ) (Open Access)BACKGROUND: Effective treatment of chronic fatigue syndrome (CFS) with cognitive behavioural therapy (CBT) relies on a correct classification of so called 'fluctuating active' versus 'passive' patients. For successful treatment with CBT is it especially important to recognise the passive patients and give them a tailored treatment protocol. In the present study it was evaluated whether CFS patient's physical activity pattern can be assessed most accurately with the 'Activity Pattern Interview' (API), the International Physical Activity Questionnaire (IPAQ) or the CFS-Activity Questionnaire (CFS-AQ). METHODS: The three instruments were validated compared to actometers. Actometers are until now the best and most objective instrument to measure physical activity, but they are too expensive and time consuming for most clinical practice settings. In total 226 CFS patients enrolled for CBT therapy answered the API at intake and filled in the two questionnaires. Directly after intake they wore the actometer for two weeks. Based on receiver operating characteristic (ROC) curves the validity of the three methods were assessed and compared. RESULTS: Both the API and the two questionnaires had an acceptable validity (0.64 to 0.71). None of the three instruments was significantly better than the others. The proportion of false predictions was rather high for all three instrument. The IPAQ had the highest proportion of correct passive predictions (sensitivity 70.1%). CONCLUSION: The validity of all three instruments appeared to be fair, and all showed rather high proportions of false classifications. Hence in fact none of the tested instruments could really be called satisfactory. Because the IPAQ showed to be the best in correctly predicting 'passive' CFS patients, which is most essentially related to treatment results, it was concluded that the IPAQ is the preferable alternative for an actometer when treating CFS patients in clinical practice