A Comparative Analysis of 2D and 3D Tasks for Virtual Reality Therapies Based on Robotic-Assisted Neurorehabilitation for Post-stroke Patients

Post-stroke neurorehabilitation based on virtual therapies are performed completing repetitive exercises shown in visual electronic devices, whose content represents imaginary or daily life tasks. Currently, there are two ways of visualization of these task. 3D virtual environments are used to get a three dimensional space that represents the real world with a high level of detail, whose realism is determinated by the resolucion and fidelity of the objects of the task. Furthermore, 2D virtual environments are used to represent the tasks with a low degree of realism using techniques of bidimensional graphics. However, the type of visualization can influence the quality of perception of the task, affecting the patient's sensorimotor performance. The purpose of this paper was to evaluate if there were differences in patterns of kinematic movements when post-stroke patients performed a reach task viewing a virtual therapeutic game with two different type of visualization of virtual environment: 2D and 3D. Nine post-stroke patients have participated in the study receiving a virtual therapy assisted by PUPArm rehabilitation robot. Horizontal movements of the upper limb were performed to complete the aim of the tasks, which consist in reaching peripheral or perspective targets depending on the virtual environment shown. Various parameter types such as the maximum speed, reaction time, path length, or initial movement are analyzed from the data acquired objectively by the robotic device to evaluate the influence of the task visualization. At the end of the study, a usability survey was provided to each patient to analysis his/her satisfaction level. For all patients, the movement trajectories were enhanced when they completed the therapy. This fact suggests that patient's motor recovery was increased. Despite of the similarity in majority of the kinematic parameters, differences in reaction time and path length were higher using the 3D task. Regarding the success rates were very similar. In conclusion, the using of 2D environments in virtual therapy may be a more appropriate and comfortable way to perform tasks for upper limb rehabilitation of post-stroke patients, in terms of accuracy in order to effectuate optimal kinematic trajectories

Hacia la codificación digital de la notación mensural blanca hispánica

In this work, the elements necessary for digitally encoding music contained in manuscripts from the centuries 16th to 17th are introduced. The solutions proposed to overcome the difficulties that generate some of the aspects that make this notation different from the modern Western notation are presented. Problems faced are, for example, the absence of bar lines or the duration of notes that are based on the context. The new typographic font “Capitán”, created specifically to represent this type of early notation, is also presented.En este trabajo se presentan los elementos necesarios para codificar digitalmente música preservada en manuscritos de los siglos XVI y XVII. Se presentan soluciones, propuestas para superar las dificultades que generan algunos aspectos que hacen esta notación diferente de la notación occidental moderna. Los problemas abordados son, por ejemplo, la ausencia de líneas divisorias o la duración de las figuras, que se basan en el contexto. También se presenta la nueva fuente tipográfica “Capitán”, específicamente creada para representar este tipo de notación antigua.This project has been financed by the Ministry of Economy and Competitiveness project with the name TIMuL (TIN2013-48152-C2-1-R)

Intelligent Multimodal Framework for Human Assistive Robotics Based on Computer Vision Algorithms

[EN] Assistive technologies help all persons with disabilities to improve their accessibility in all aspects of their life. The AIDE European project contributes to the improvement of current assistive technologies by developing and testing a modular and adaptive multimodal interface customizable to the individual needs of people with disabilities. This paper describes the computer vision algorithms part of the multimodal interface developed inside the AIDE European project. The main contribution of this computer vision part is the integration with the robotic system and with the other sensory systems (electrooculography (EOG) and electroencephalography (EEG)). The technical achievements solved herein are the algorithm for the selection of objects using the gaze, and especially the state-of-the-art algorithm for the efficient detection and pose estimation of textureless objects. These algorithms were tested in real conditions, and were thoroughly evaluated both qualitatively and quantitatively. The experimental results of the object selection algorithm were excellent (object selection over 90%) in less than 12 s. The detection and pose estimation algorithms evaluated using the LINEMOD database were similar to the state-of-the-art method, and were the most computationally efficient.The research leading to these results received funding from the European Community's Horizon 2020 programme, AIDE project: "Adaptive Multimodal Interfaces to Assist Disabled People in Daily Activities" (grant agreement No: 645322).Ivorra Martínez, E.; Ortega Pérez, M.; Catalán, JM.; Ezquerro, S.; Lledó, LD.; Garcia-Aracil, N.; Alcañiz Raya, ML. (2018). Intelligent Multimodal Framework for Human Assistive Robotics Based on Computer Vision Algorithms. Sensors. 18(8). https://doi.org/10.3390/s18082408S18

On the p-length of some finite p-soluble groups

The main aim of this paper is to give structural information of a finite group of minimal order belonging to a subgroup-closed class of finite groups and whose p-length is greater than 1, p a prime number. Alternative proofs and improvements of recent results about the influence of minimal p-subgroups on the p-nilpotence and p-length of a finite group arise as consequences of our study

Implications of forest management on the conservation of protected areas: A new proposal in Central Spain

14 Pág.Multifunctional forest management is a strategy increasingly shared by forest managers. In the drive towards multifunctionality, different policies are widely being developed to integrate timber production and biodiversity conservation into forest management. To achieve this aim, both segregated and integrated approaches have been used. Segregated approaches aim to provide different ecosystem services (ES) separately in stratified forest areas based on land-use zoning, whereas integrated or integrative approaches promote land-use sharing management. This type of approach has also led to the design of close-to-nature silvicultural alternatives, where different ES can be satisfied simultaneously. In the context of this new paradigm, we carried out a study to compare segregated versus integrated management strategies in Valsaín forest in Central Spain. Part of Valsaín forest was declared a protected area in 2013 and the whole forest could be declared a National Park in 50 years’ time. For the purposes of the study, we analyzed new biodiversity indicators and compared them to the traditional forest management indicators. The scenario modelling was resolved using Multi-Criteria Decision-Making techniques. Our results showed greater trade-offs between the two types of indicators when considering the forest as a whole rather than a zoning approach. Therefore, a shift from segregated to integrated management will be proposed once the whole area of Valsaín forest is declared as National Park.This study was supported by Universidad Politécnica de Madrid (UPM) and funded by Unión Europea-NextGenerationEU [UP2021-035]. The work of Luis Díaz Balteiro was funded by Decision Support for the Supply of Ecosystem Services under Global Change (DecisionES), H2020-MSCA-RISE-2020, [grant number 101007950].Peer reviewe