A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot

Reaching a target object in an unknown and unstructured environment is easily performed by human beings. However, designing a humanoid robot that executes the same task requires the implementation of complex abilities, such as identifying the target in the visual field, estimating its spatial location, and precisely driving the motors of the arm to reach it. While research usually tackles the development of such abilities singularly, in this work we integrate a number of computational models into a unified framework, and demonstrate in a humanoid torso the feasibility of an integrated working representation of its peripersonal space. To achieve this goal, we propose a cognitive architecture that connects several models inspired by neural circuits of the visual, frontal and posterior parietal cortices of the brain. The outcome of the integration process is a system that allows the robot to create its internal model and its representation of the surrounding space by interacting with the environment directly, through a mutual adaptation of perception and action. The robot is eventually capable of executing a set of tasks, such as recognizing, gazing and reaching target objects, which can work separately or cooperate for supporting more structured and effective behaviors

Re-HEDP : pharmacokinetic characterization, clinical and dosimetric evaluation in osseous metastatic patients with two levels of radiopharmaceutical dose

BACKGROUND: A study for pain relief therapy with (188)Re-HEDP was done in patients with bone metastases secondary to breast and prostate cancer. MATERIALS AND METHODS: Patients received 1.3 or 2.2 GBq, in single or multiple doses. Platelets, white and red cells were evaluated during 11 weeks. Pharmacokinetic characterization was done from blood and urine samples for 5 patients along 24 hours. Urinary excretion was evaluated in other 16 patients during 6 hours. Bone uptake was estimated as remaining activity in whole body. Scintigraphic images were acquired at 2 and 24 hs post-administration. Absorbed dose in bone marrow was estimated with Mirdose3. Analgesics intake and pain score were daily recorded. Tumour markers (PSA, and Tn-structure) were monitored in 9 patients during 4 to 6 months. Single doses of low activity (1.3 GBq) were given to twelve patients. Nine patients received multiple doses. RESULTS: All except one patient had normal levels of platelets, white and red cells. Remaining dose in blood at 2 hours was 9%. Urinary elimination was 58%. Bone uptake at 24 hours was 43% (mean value; n = 5). No changes of the haematological parameters were detected along follow-up period. Pain relief was evidenced by decrease or supression of opioid analgesic and by subjective index. PSA showed a decrease in prostate cancer patients (n = 4). Tn-structure showed a significant increase after 4 to 8 months. CONCLUSION: Single or multiple dose scheme could be safely used, with administered activity of (188)Re-HEDP up to 60 mCi, with low bone marrow absorbed doses

The HEALED SBU library of chemically realistic building blocks for construction of hypothetical metal-organic frameworks

Advancements in hypothetical metal-organic framework (hMOF) databases and construction tools have resulted in a rapidly expanding chemical design space for nanoporous materials. The bulk of these hypothetical structures are constructed using structural building units (SBUs) derived from experimental MOF structures, often collected from the CoRE-MOF database. Recent investigations into the state of these deposited experimental structures’ chemical accuracy identified an array of common structural errors—including omitted protons, missing counterions, and disordered structures. These structural errors propagate into the SBUs mined from experimental MOFs, culminating in inaccurate hMOF structures possessing net charges or missing atoms which were not accounted for previously. This work demonstrates how manual investigation was applied to diagnose structural errors in SBUs obtained from several popular hMOF construction tools and databases. An analysis of the prevailing errors discovered during the examination process is provided along with representative cases to aid with error detection in future studies involving SBU extraction and hMOF construction. A novel repair protocol was established and employed to generate a library of SBUs that are hand-examined and labeled with enhanced detail (HEALED). This repaired library of SBUs contains 952 inorganic SBUs and 568 organic SBUs ideally suited for the generation of hypothetical frameworks that are chemically accurate and properly charge labelled. Additionally, case studies following the effects of SBU errors on electrostatic potential-fitted charges and GCMC-simulated gas adsorption predictions are presented to highlight the significance of using chemically accurate hMOF structures exclusively in all screening efforts going forward

GENUA PESTO - GENoa hUman Active fixation database: PEripersonal space STereoscopic images and grOund truth disparity

GENUA PESTO is a large database of stereoscopic images (2700) obtained mimicking the human eye posture, i.e. including vergence and cyclotorsion. The database provides the stereoscopic pairs together with the ground-truth information of: 1. scene depth, 2. retinal disparity, 3. binocular occlusions, 4. depth edges, 5. camera position and orientation. The database is based on two virtual worlds (Kitchen and Office), each explored from 10 head positions, with 135 gaze directions (15 azimuths and 9 elevations). This is a link out to SourceForge to download GENUA_PESTO_USAGE_CODE:zip. This file contains the usage code for the GENUA PESTO database. For detailed information, please see the associated README file "GENUA_PESTO_USAGE_NOTES.pdf