Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots

Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360◦ field-of-view 3D laser scanner for mobile robots that avoids the high cost of commercial devices. The 3D scanner is based on spinning a Hokuyo UTM- 30LX-EX two-dimensional (2D) rangefinder around its optical center. The proposed design profits from lessons learned with the development of a previous 3D scanner with pitching motion. Intrinsic calibration of the new device has been performed to obtain both temporal and geometric parameters. The paper also shows the integration of the 3D device in the outdoor mobile robot Andabata.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Navigability Analysis of Natural Terrains with Fuzzy Elevation Maps from Ground-based 3D Range Scans

Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. This work was partially supported by the Spanish CICYT project DPI 2011-22443 and the Andalusian project PE-2010 TEP-6101

Fatiga y rendimiento en la velocidad y salto

El presente trabajo expone una comparación entre dos tipos de actividades fatigantes (pliometría y multisaltos) y su relación de dependencia con el rendimiento en la velocidad y la capacidad de salto, acciones propias de numerosas actividades deportivas. Para ello se utilizó un único grupo control de 11 sujetos universitarios que pasó por dos sesiones, separadas temporalmente una semana. En la primera sesión se utilizó como ejercicio de prefatiga los multisaltos, mientras que en la segunda sesión, la pliometría. Se realizó un análisis estadístico descriptivo, un análisis de contraste, t-Student y ANOVA, y un análisis de correlación de Pearson. Los resultados demostraron de forma significativa que se obtuvieron mejores registros en la capacidad de salto durante la sesión en la que se realizaron previamente ejercicios de pliometría, y en la velocidad durante la sesión de multisaltos

Collapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Maps

Elevation maps offer a compact 2 1/2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds con- taining overhangs, such as tree canopy or tunnels, can produce useless results. This paper proposes a simple processing of a ground-based point cloud that identifies and removes overhang points that do not constitute an obstacle for navigation while keeping vertical structures such as walls or tree trunks. The procedure uses efficient data structures to collapse unsupported 3D cubes down to the ground. This method has been successfully applied to 3D laser scans taken from a mobile robot in outdoor environments in order to build local elevation maps for navigation. Computation times show an improvement with respect to a previous point-based solution to this problem.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling

Morales, J.; Martinez, J.L.; Mandow, A.; Reina, A.J.; Seron, J.; Garcia-Cerezo, A., "Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling," 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4168-4173, 2013 doi:10.1109/IECON.2013.6699804Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Teleoperación de Instrumentos Quirúrgicos Articulados

En este trabajo se describe la plataforma CISOBOT, desarrollada por la Universidad de Málaga para intervenciones de cirugía mínimamente invasiva, así como su ampliación a través del diseño mecatrónico de un instrumento motorizado que permite mover el extremo de este. El objetivo de esta plataforma es el estudio de nuevos algoritmos de control que permitan la teleoperación bilateral y el empleo de guiado hápticoUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Fluid structural analysis of urine flow in a stented ureter

Many urologists are currently studying new designs of ureteral stents to improve the quality of their operations and the subsequent recovery of the patient. In order to help during this design process, many computational models have been developed to simulate the behaviour of different biological tissues and provide a realistic computational environment to evaluate the stents. However, due to the high complexity of the involved tissues, they usually introduce simplifications to make these models less computationally demanding. In this study, the interaction between urine flow and a double-J stented ureter with a simplified geometry has been analysed.The Fluid-Structure Interaction (FSI) of urine and the ureteral wall was studied using three models for the solid domain: Mooney-Rivlin, Yeoh, and Ogden. The ureter was assumed to be quasi-incompressible and isotropic. Data obtained in previous studies fromex vivo and in vivo mechanical characterization of different ureters were used to fit thementioned models.The results show that the interaction between the stented ureter and urine is negligible. Therefore, we can conclude that this type of models does not need to include the FSI and could be solved quite accurately assuming that the ureter is a rigid body and, thus, using the more simple Computational Fluid Dynamics (CFD) approach

Active study: undetected prevalence and clinical inertia in the treatment of breakthrough cancer pain (BTcP)

Aims To prove if there is clinical inertia in the identification and treatment of episodes of breakthrough cancer pain (BTcP), comparing actual results from clinical practice with clinical oncologists’ prior perception. Design Observational and descriptive study, using information collected by practising medical oncologists, at three moments: (a) questionnaire regarding their professional judgement of the handling of patients with BTcP in their practice, (b) cross-sectional clinical screening, to detect possible existing cases of BTcP in a representative sample of their patients, (c) retrospective self-audit of clinical case histories of patients diagnosed with BTcP to find out about how it has been handled. Participants and study period A random sample on a state level of 108 specialists in medical oncology. 540 patients who suffer some type of cancer pain on the designated study date for each specialist (July–December 2016). Results The global prevalence of BTcP in the study sample covered 91.3% of the patients who were suffering some type of cancer pain. Barely 2% of the doctors surveyed suspected figures around this mark. 40.9% of the cases had not been previously detected as BTcP by their doctors. Although 90% of the patients who had previously been diagnosed with BTcP received a specific analgesic treatment for the symptoms, 42% of those patients with known BTcP were not able to control their episodes of pain. Conclusions Clinical inertia is a serious problem in the handling of BTcP in medical oncology services, where it is the subject of a significantly low level of detection and treatment, despite the contrasting perception of specialists.pre-print339 K

Patients with Axial Spondyloarthritis Show an Altered Flexion/Relaxation Phenomenon

Axial spondyloarthritis (axSpA) is a chronic rheumatic disease characterized by the presence of inflammatory back pain. In patients with chronic low back pain, the lumbar flexion relaxation phenomenon measured by surface electromyography (sEMG) differs from that in healthy individuals. However, sEMG activity in axSpA patients has not been studied. The purpose of this study was to analyze the flexion relaxation phenomenon in axSpA patients. A study evaluating 39 axSpA patients and 35 healthy controls was conducted. sEMG activity at the erector spinae muscles was measured during lumbar full flexion movements. sEMG activity was compared between axSpA patients and the controls, as well as between active (BASDAI ≥ 4) and non-active (BASDAI 0.8 for 1/FRR) and criterion validity. ROC analysis showed good discriminant validity for axSpA patients (AUC = 0.835) vs. the control group using 1/FRR. An abnormal flexion/relaxation phenomenon exists in axSpA patients compared with controls. sEMG could be an additional objective tool in the evaluation of patient function and disease activity status

The Imaging Magnetograph eXperiment (IMaX) for the Sunrise balloon-borne solar observatory

The Imaging Magnetograph eXperiment (IMaX) is a spectropolarimeter built by four institutions in Spain that flew on board the Sunrise balloon-borne telesocope in June 2009 for almost six days over the Arctic Circle. As a polarimeter IMaX uses fast polarization modulation (based on the use of two liquid crystal retarders), real-time image accumulation, and dual beam polarimetry to reach polarization sensitivities of 0.1%. As a spectrograph, the instrument uses a LiNbO3 etalon in double pass and a narrow band pre-filter to achieve a spectral resolution of 85 mAA. IMaX uses the high Zeeman sensitive line of Fe I at 5250.2 AA and observes all four Stokes parameters at various points inside the spectral line. This allows vector magnetograms, Dopplergrams, and intensity frames to be produced that, after reconstruction, reach spatial resolutions in the 0.15-0.18 arcsec range over a 50x50 arcsec FOV. Time cadences vary between ten and 33 seconds, although the shortest one only includes longitudinal polarimetry. The spectral line is sampled in various ways depending on the applied observing mode, from just two points inside the line to 11 of them. All observing modes include one extra wavelength point in the nearby continuum. Gauss equivalent sensitivities are four Gauss for longitudinal fields and 80 Gauss for transverse fields per wavelength sample. The LOS velocities are estimated with statistical errors of the order of 5-40 m/s. The design, calibration and integration phases of the instrument, together with the implemented data reduction scheme are described in some detail.Comment: 17 figure