Multimodal Bayesian Network for Artificial Perception

In order to make machines perceive their external environment coherently, multiple sources of sensory information derived from several different modalities can be used (e.g. cameras, LIDAR, stereo, RGB-D, and radars). All these different sources of information can be efficiently merged to form a robust perception of the environment. Some of the mechanisms that underlie this merging of the sensor information are highlighted in this chapter, showing that depending on the type of information, different combination and integration strategies can be used and that prior knowledge are often required for interpreting the sensory signals efficiently. The notion that perception involves Bayesian inference is an increasingly popular position taken by a considerable number of researchers. Bayesian models have provided insights into many perceptual phenomena, showing that they are a valid approach to deal with real-world uncertainties and for robust classification, including classification in time-dependent problems. This chapter addresses the use of Bayesian networks applied to sensory perception in the following areas: mobile robotics, autonomous driving systems, advanced driver assistance systems, sensor fusion for object detection, and EEG-based mental states classification

The CORTEX Cognitive Robotics Architecture: use cases

CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors and/or actuators, to pure deliberative ones, but they can only communicate with each other through a graph structure called Deep State Representation (DSR). DSR is a short-term dynamic representation of the space surrounding the robot, the objects and the humans in it, and the robot itself. All these entities are perceived and transformed into different levels of abstraction, ranging from geometric data to high-level symbolic relations such as "the person is talking and gazing at me". The combination of symbolic and geometric information endows the architecture with the potential to simulate and anticipate the outcome of the actions executed by the robot. In this paper we present recent advances in the CORTEX architecture and several real-world human-robot interaction scenarios in which they have been tested. We describe our interpretation of the ideas inspiring the architecture and the reasons why this specific computational framework is a promising architecture for the social robots of tomorrow

Perceptions or Actions? Grounding How Agents Interact Within a Software Architecture for Cognitive Robotics

One of the aims of cognitive robotics is to endow robots with the ability to plan solutions for complex goals and then to enact those plans. Additionally, robots should react properly upon encountering unexpected changes in their environment that are not part of their planned course of actions. This requires a close coupling between deliberative and reactive control flows. From the perspective of robotics, this coupling generally entails a tightly integrated perceptuomotor system, which is then loosely connected to some specific form of deliberative system such as a planner. From the high-level perspective of automated planning, the emphasis is on a highly functional system that, taken to its extreme, calls perceptual and motor modules as services when required. This paper proposes to join the perceptual and acting perspectives via a unique representation where the responses of all software modules in the architecture are generalized using the same set of tokens. The proposed representation integrates symbolic and metric information. The proposed approach has been successfully tested in CLARC, a robot that performs Comprehensive Geriatric Assessments of elderly patients. The robot was favourably appraised in a survey conducted to assess its behaviour. For instance, using a 5-point Likert scale from 1 (strongly disagree) to 5 (strongly agree), patients reported an average of 4.86 when asked if they felt confident during the interaction with the robot. This paper proposes a mechanism for bringing the perceptual and acting perspectives closer within a distributed robotics architecture. The idea is built on top of the blackboard model and scene graphs. The modules in our proposal communicate using a short-term memory, writing the perceptual information they need to share with other agents and accessing the information they need for determining the next goals to address

Science Requirement Document for the European Solar Telescope

The European Solar Telescope (EST)1 is a research infrastructure for solar physics. It is planned to be an on-axis solar telescope with an aperture of 4m and equipped with an innovative suite of spectro-polarimetric and imaging post-focus instrumentation. The EST project was initiated and is driven by EAST2, the European Association for Solar Telescopes. EAST was founded in 2006 as an association of 14 European countries. Today, as of December 2019, EAST consists of 26 European research institutes from 18 European countries. The Preliminary Design Phase of EST was accomplished between 2008 and 2011. During this phase, in 2010, the first version of the EST Science Requirement Document (SRD)was published. After EST became a project on the ESFRI3 roadmap 2016, the preparatory phase started. This phase is partially supported by EU funding through the PRE-EST H2020 project4. The goal of the preparatory phase is to accomplish a final design for the telescope and the legal governance structure of EST. A major milestone on this path is to revisit and update the Science Requirement Document (SRD). The EST Science Advisory Group (SAG) has been constituted by EAST and the Board of the PRE-EST4 EU project in November 2017 and has been charged with the task of providing with a final statement on the science requirements for EST. Based on the conceptual design, the SRD update takes into account recent technical and scientific developments, to ensure that EST provides significant advancement beyond the current state-of-the-art. The present update of the EST SRD has been developed and discussed during a series of EST SAG meetings: 1st telecon meeting on Nov 5th, 2017 2nd meeting in Freiburg, Nov 24, 2017 3rd telecon meeting, Dec 15, 2017 4th telecon meeting, March 26, 2018 5th meeting in Belfast, April 16 & 17, 2018 6th meeting in Naxos, June 16, 2018 7th telecon meeting, January 14, 2019 8th telecon meeting, October 11, 2019 9th telecon meeting, October 22, 2019 10th telecon meeting, December 3, 2019 The SRD develops the top-level science objectives of EST into individual science cases. Identifying critical science requirements is one of its main goals. Those requirements will define the capabilities of EST and the post-focus instrument suite. The technical requirements for the final design of EST will be derived from the SRD. The science cases presented in Part II (Sects. 1 to 8) are not intended to cover all the science questions to be addressed with EST, but rather to provide a precise overview of the capabilities that will make of EST a competitive state-of-the-art telescope to push the boundaries of our knowledge over the next few decades. The science cases contain detailed observing programmes specifying the type of observations needed to solve specific science problems. An eort is being made to define the parameters of the required observations as accurately as possible, taking into account both present capabilities and technological developments expected in the near future. The tables of the observing programmes corresponding to the science cases are compiled in Sect. 10. The EST science cases represent challenging observations that put strong constraints on the telescope and its instrument suite. Ultimately, they will be translated into Technical Requirement Document (TRD) leading to the final EST design to be implemented during the construction phase. The unique design advantages of the EST concept is presented in Section 11. The eect of the science cases on the EST design are discussed in Section 12 and summarized in Section 13.This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 739 50

A silviculture-oriented spatio-temporal model for germination in Pinus pinea L. in the Spanish Northern Plateau based on a direct seeding experiment

Natural regeneration in Pinus pinea stands commonly fails throughout the Spanish Northern Plateau under current intensive regeneration treatments. As a result, extensive direct seeding is commonly conducted to guarantee regeneration occurrence. In a period of rationalization of the resources devoted to forest management, this kind of techniques may become unaffordable. Given that the climatic and stand factors driving germination remain unknown, tools are required to understand the process and temper the use of direct seeding. In this study, the spatio-temporal pattern of germination of P. pinea was modelled with those purposes. The resulting findings will allow us to (1) determine the main ecological variables involved in germination in the species and (2) infer adequate silvicultural alternatives. The modelling approach focuses on covariates which are readily available to forest managers. A two-step nonlinear mixed model was fitted to predict germination occurrence and abundance in P. pinea under varying climatic, environmental and stand conditions, based on a germination data set covering a 5-year period. The results obtained reveal that the process is primarily driven by climate variables. Favourable conditions for germination commonly occur in fall although the optimum window is often narrow and may not occur at all in some years. At spatial level, it would appear that germination is facilitated by high stand densities, suggesting that current felling intensity should be reduced. In accordance with other studies on P. pinea dispersal, it seems that denser stands during the regeneration period will reduce the present dependence on direct seeding

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms that tackle social navigation remains hard because it involves not just robotic agents moving in static environments but also dynamic human agents and their perceptions of the appropriateness of robot behavior. In contrast, clear, repeatable, and accessible benchmarks have accelerated progress in fields like computer vision, natural language processing and traditional robot navigation by enabling researchers to fairly compare algorithms, revealing limitations of existing solutions and illuminating promising new directions. We believe the same approach can benefit social navigation. In this paper, we pave the road towards common, widely accessible, and repeatable benchmarking criteria to evaluate social robot navigation. Our contributions include (a) a definition of a socially navigating robot as one that respects the principles of safety, comfort, legibility, politeness, social competency, agent understanding, proactivity, and responsiveness to context, (b) guidelines for the use of metrics, development of scenarios, benchmarks, datasets, and simulators to evaluate social navigation, and (c) a design of a social navigation metrics framework to make it easier to compare results from different simulators, robots and datasets.Comment: 43 pages, 11 figures, 6 table

An A91V SNP in the perforin gene is frequently found in NK/T-cell lymphomas

NK/T-cell lymphoma (NKTCL) is the most frequent EBV-related NK/T-cell disease. Its clinical manifestations overlap with those of familial haemophagocytic lymphohistiocytosis (FHLH). Since PERFORIN (PRF1) mutations are present in FHLH, we analysed its role in a series of 12 nasal and 12 extranasal-NKTCLs. 12.5% of the tumours and 25% of the nasal-origin cases had the well-known g.272C>T(p.Ala91Val) pathogenic SNP, which confers a poor prognosis. Two of these cases had a double-CD4/CD8-positive immunophenotype, although no correlation was found with perforin protein expression. p53 was overexpressed in 20% of the tumoral samples, 80% of which were of extranasal origin, while none showed PRF1 SNVs. These results suggest that nasal and extranasal NKTCLs have different biological backgrounds, although this requires validation

Nutritional status of iodine in pregnant women in Catalonia (Spain): study on hygiene-dietetic habits and iodine in urine

<p>Abstract</p> <p>Background</p> <p>It is a priority to achieve an adequate nutritional status of iodine during pregnancy since iodine deficiency in this population may have repercussions on the mother during both gestation and post partum as well as on the foetus, the neonate and the child at different ages. According to the WHO, iodine deficiency is the most frequent cause of mental retardation and irrreversible cerebral lesions around the world. However, few studies have been published on the nutritional status of iodine in the pregnant population within the Primary Care setting, a health care level which plays an essential role in the education and control of pregnant women. Therefore, <b>the aim of the present study </b>is: 1.- To know the hygiene-dietetic habits related to the intake of foods rich in iodine and smoking during pregnancy. 2.- To determine the prevalence of iodine deficiency and the factors associated with its appearance during pregnancy.</p> <p>Methods/design</p> <p>We will perform a cluster randomised, controlled, multicentre trial. Randomisation unit: Primary Care Team. Study population: 898 pregnant women over the age of 17 years attending consultation to a midwife during the first trimester of pregnancy in the participating primary care centres. Outcome measures: consumption of iodine-rich foods and iodine deficiency. Points of assessment: each trimester of the gestation. Intervention: group education during the first trimester of gestation on healthy hygiene-dietetic habits and the importance of an adequate iodine nutritional status. Statistical analysis: descriptive analysis of all variables will be performed as well as multilevel logistic regression. All analyses will be done carried out on an intention to treat basis and will be fitted for potential confounding factors and variables of clinical importance.</p> <p>Discussion</p> <p>Evidence of generalised iodine deficiency during pregnancy could lead to the promotion of interventions of prevention such as how to improve and intensify health care educational programmes for pregnant women.</p> <p>Trial Registration</p> <p>ClinicalTrials.gov: <a href="http://www.clinicaltrials.gov/ct2/show/NCT01301768">NCT01301768</a></p

Multicentre observational study on multisystem inflammatory syndrome related to COVID-19 in Argentina

Background: The impact of the pediatric inflammatory multisystem syndrome temporally associated with SARS-CoV-2 (PIMS-TS) in low- and middle-income countries remains poorly understood. Our aim was to understand the characteristics and outcomes of PIMS-TS in Argentina. Methods: This observational, prospective, and retrospective multicenter study enrolled patients younger than 18 years-old manifesting PIMS-TS, Kawasaki disease (KD) or Kawasaki shock syndrome (KSS) between March 2020 and May 2021. Patients were followed-up until hospital discharge or death (one case). The primary outcome was pediatric intensive care unit (PICU) admission. Multiple logistic regression was used to identify variables predicting PICU admission. Results: Eighty-one percent, 82%, and 14% of the 176 enrolled patients fulfilled the suspect case criteria for PIMS-TS, KD, and KSS, respectively. Temporal association with SARS-CoV-2 was confirmed in 85% of the patients and 38% were admitted to the PICU. The more common clinical manifestations were fever, abdominal pain, rash, and conjunctival injection. Lymphopenia was more common among PICU-admitted patients (87% vs. 51%, p < 0.0001), who also showed a lower platelet count and higher plasmatic levels of inflammatory and cardiac markers. Mitral valve insufficiency, left ventricular wall motion alterations, pericardial effusion, and coronary artery alterations were observed in 30%, 30%, 19.8%, and 18.6% of the patients, respectively. Days to initiation of treatment, rash, lymphopenia, and low platelet count were significant independent contributions to PICU admission. Conclusion: Rates of severe outcomes of PIMS-TS in the present study agreed with those observed in high-income countries. Together with other published studies, this work helps clinicians to better understand this novel clinical entity.Fil: Vainstein, Eduardo. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Baleani, Silvia. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Urrutia, Luis. Gobierno de la Ciudad de Buenos Aires. Hospital de Pediatría "Juan P. Garrahan"; ArgentinaFil: Affranchino, Nicolás. Gobierno de la Ciudad de Buenos Aires. Hospital de Pediatría "Juan P. Garrahan"; ArgentinaFil: Ackerman, Judith. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños Pedro Elizalde (ex Casa Cuna); ArgentinaFil: Cazalas, Mariana. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Goldsman, Alejandro. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Sardella, Angela. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Tolin, Ana Laura. Gobierno de la Provincia de Mendoza. Hospital Pediátrico Humberto Notti; ArgentinaFil: Goldaracena, Pablo. Provincia de Buenos Aires. Ministerio de Salud. Hospital de Niños "Sor María Ludovica" de La Plata; ArgentinaFil: Fabi, Mariana. Provincia de Buenos Aires. Ministerio de Salud. Hospital de Niños "Sor María Ludovica" de La Plata; ArgentinaFil: Cosentino, Mariana. Hospital Británico de Buenos Aires; ArgentinaFil: Magliola, Ricardo. Hospital Británico de Buenos Aires; ArgentinaFil: Roggiero, Gustavo. Provincia de Buenos Aires. Ministerio de Salud. Hospital Alta Complejidad en Red El Cruce Dr. Néstor Carlos Kirchner Samic; ArgentinaFil: Manso, Paula. Provincia de Buenos Aires. Ministerio de Salud. Hospital Alta Complejidad en Red El Cruce Dr. Néstor Carlos Kirchner Samic; ArgentinaFil: Triguy, Jésica. Gobierno de la Provincia de Mendoza. Hospital Pediátrico Humberto Notti; ArgentinaFil: Ballester, Celeste. Gobierno de la Provincia de Mendoza. Hospital Pediátrico Humberto Notti; ArgentinaFil: Cervetto, Vanesa. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños Pedro Elizalde (ex Casa Cuna); ArgentinaFil: Vaccarello, María. Sanatorio de la Trinidad; ArgentinaFil: De Carli, Domingo Norberto. Clínica del Niño de Quilmes; ArgentinaFil: De Carli, Maria Estela. Clínica del Niño de Quilmes; ArgentinaFil: Ciotti, Ana Laura. Hospital Nacional Profesor Alejandro Posadas; ArgentinaFil: Sicurello, María Irene. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Rios Leiva, Cecilia. Provincia de Buenos Aires. Ministerio de Salud. Hospital Interzonal de Agudos "Eva Perón"; ArgentinaFil: Villalba, Claudia. Gobierno de la Ciudad de Buenos Aires. Hospital de Pediatría "Juan P. Garrahan"; ArgentinaFil: Hortas, María. Sanatorio de la Trinidad; ArgentinaFil: Peña, Sonia. Gobierno de la Provincia de Mendoza. Hospital Pediátrico Humberto Notti; ArgentinaFil: González, Gabriela. Gobierno de la Provincia de Mendoza. Hospital Pediátrico Humberto Notti; ArgentinaFil: Zold, Camila Lidia. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Fisiología y Biofísica Bernardo Houssay. Universidad de Buenos Aires. Facultad de Medicina. Instituto de Fisiología y Biofísica Bernardo Houssay; ArgentinaFil: Murer, Mario Gustavo. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Fisiología y Biofísica Bernardo Houssay. Universidad de Buenos Aires. Facultad de Medicina. Instituto de Fisiología y Biofísica Bernardo Houssay; ArgentinaFil: Grippo, M.. No especifíca;Fil: Vázquez, H.. No especifíca;Fil: Morós, C.. No especifíca;Fil: Di Santo, M.. No especifíca;Fil: Villa, A.. No especifíca;Fil: Lazota, P.. No especifíca;Fil: Foti, M.. No especifíca;Fil: Napoli, N.. No especifíca;Fil: Katsikas, M. M.. No especifíca;Fil: Tonello, L.. No especifíca;Fil: Peña, J.. No especifíca;Fil: Etcheverry, M.. No especifíca;Fil: Iglesias, D.. No especifíca;Fil: Alcalde, A. L.. No especifíca;Fil: Bruera, M.J.. No especifíca;Fil: Bruzzo, V.. No especifíca;Fil: Giordano, P.. No especifíca;Fil: Pena Acero, F.. No especifíca;Fil: Netri Pelandi, G.. No especifíca;Fil: Pastaro, D.. No especifíca;Fil: Bleiz, J.. No especifíca;Fil: Rodríguez, M. F.. No especifíca;Fil: Laghezza, L.. No especifíca;Fil: Molina, M. B.. No especifíca;Fil: Patynok, N.. No especifíca;Fil: Chatelain, M. S.. No especifíca;Fil: Aguilar, M. J.. No especifíca;Fil: Gamboa, J.. No especifíca;Fil: Cervan, M.. No especifíca;Fil: Ruggeri, A.. No especifíca;Fil: Marinelli, I.. No especifíca;Fil: Checcacci, E.. No especifíca;Fil: Meregalli, C.. No especifíca;Fil: Damksy Barbosa, J.. No especifíca;Fil: Fernie, L.. No especifíca;Fil: Fernández, M. J.. No especifíca;Fil: Saenz Tejeira, M.M.. No especifíca;Fil: Cereigido, C.. No especifíca;Fil: Nunell, A.. No especifíca;Fil: Villar, D.. 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