A New Virtual Reality Interface for Underwater Intervention Missions

Ponencia presentada en IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 14600-14607Nowadays, most underwater intervention missions are developed through the well-known work-class ROVs (Remote Operated Vehicles), equipped with teleoperated arms under human supervision. Thus, despite the appearance on the market of the first prototypes of the so-called I-AUV (Autonomous Underwater Vehicles for Intervention), the most mature technology associated with ROVs continues to be trusted. In order to fill the gap between ROVs and incipient I-AUVs technology, new research is under progress in our laboratory. In particular, new HRI (Human Robot Interaction) capabilities are being tested inside a three-year Spanish coordinated project focused on cooperative underwater intervention missions. In this work new results are presented concerning a new user interface which includes immersion capabilities through Virtual Reality (VR) technology. It is worth noting that a new HRI module has been demonstrated, through a pilot study, in which the users had to solve some specific tasks, with minimum guidance and instructions, following simple Problem Based Learning (PBL) scheme. Finally, it is noticeable that, although this is only a work in progress, the obtained results are promising concerning friendly and intuitive characteristics of the developed HRI module. Thus, some critical aspects, like complexity fall, training time and cognitive fatigue of the ROV pilot, seem more affordable now

Preliminary Work on a Virtual Reality Interface for the Guidance of Underwater Robots

The need for intervention in underwater environments has increased in recent years but there is still a long way to go before AUVs (Autonomous Underwater Vehicleswill be able to cope with really challenging missions. Nowadays, the solution adopted is mainly based on remote operated vehicle (ROV) technology. These ROVs are controlled from support vessels by using unnecessarily complex human–robot interfaces (HRI). Therefore, it is necessary to reduce the complexity of these systems to make them easier to use and to reduce the stress on the operator. In this paper, and as part of the TWIN roBOTs for the cooperative underwater intervention missions (TWINBOT) project, we present an HRI (Human-Robot Interface) module which includes virtual reality (VR) technology. In fact, this contribution is an improvement on a preliminary study in this field also carried out, by our laboratory. Hence, having made a concerted effort to improve usability, the HRI system designed for robot control tasks presented in this paper is substantially easier to use. In summary, reliability and feasibility of this HRI module have been demonstrated thanks to the usability tests, which include a very complete pilot study, and guarantee much more friendly and intuitive properties in the final HRI-developed module presented here

Gemini multi-conjugate adaptive optics system review II: Commissioning, operation and overall performance

The Gemini Multi-conjugate Adaptive Optics System - GeMS, a facility instrument mounted on the Gemini South telescope, delivers a uniform, near diffraction limited images at near infrared wavelengths (0.95 microns- 2.5 microns) over a field of view of 120 arc seconds. GeMS is the first sodium layer based multi laser guide star adaptive optics system used in astronomy. It uses five laser guide stars distributed on a 60 arc seconds square constellation to measure for atmospheric distortions and two deformable mirrors to compensate for it. In this paper, the second devoted to describe the GeMS project, we present the commissioning, overall performance and operational scheme of GeMS. Performance of each sub-system is derived from the commissioning results. The typical image quality, expressed in full with half maximum, Strehl ratios and variations over the field delivered by the system are then described. A discussion of the main contributor to performance limitation is carried-out. Finally, overheads and future system upgrades are described.Comment: 20 pages, 11 figures, accepted for publication in MNRA

On the conservation of the slow conformational dynamics within the amino acid kinase family: NAGK the paradigm

N-Acetyl-L-Glutamate Kinase (NAGK) is the structural paradigm for examining the catalytic mechanisms and dynamics of amino acid kinase family members. Given that the slow conformational dynamics of the NAGK (at the microseconds time scale or slower) may be rate-limiting, it is of importance to assess the mechanisms of the most cooperative modes of motion intrinsically accessible to this enzyme. Here, we present the results from normal mode analysis using an elastic network model representation, which shows that the conformational mechanisms for substrate binding by NAGK strongly correlate with the intrinsic dynamics of the enzyme in the unbound form. We further analyzed the potential mechanisms of allosteric signalling within NAGK using a Markov model for network communication. Comparative analysis of the dynamics of family members strongly suggests that the low-frequency modes of motion and the associated intramolecular couplings that establish signal transduction are highly conserved among family members, in support of the paradigm sequence→structure→dynamics→function © 2010 Marcos et al

Spontaneous excision of the O-polysaccharide wbkA glycosyltranferase gene is a cause of dissociation of smooth to rough Brucella colonies

The brucellae are Gram-negative pathogens that cause brucellosis, a zoonosis of worldwide importance. The genus Brucella includes smooth and rough species that differ in that they carry smooth and rough lipopolysaccharides, respectively. Brucella abortus, B. melitensis, and B. suis are typical smooth species. However, these smooth brucellae dissociate into rough mutants devoid of the lipopolysaccharide O-polysaccharide, a major antigen and a virulence determinant encoded in regions wbo (included in genomic island-2) and wbk. We demonstrate here the occurrence of spontaneous recombination events in those three Brucella species leading to the deletion of a 5.5-kb fragment carrying the wbkA glycosyltranferase gene and to the appearance of rough mutants. Analysis of the recombination intermediates suggested homologous recombination between the ISBm1 insertion sequences flanking wbkA as the mechanism generating the deletion. Excision of wbkA was reduced but not abrogated in a recA-deficient mutant, showing the existence of both RecA-dependent and -independent processes. Although the involvement of the ISBm1 copies flanking wbkA suggested a transpositional event, the predicted transpositional joint could not be detected. This absence of detectable transposition was consistent with the presence of polymorphism in the inverted repeats of one of the ISBm1 copies. The spontaneous excision of wbkA represents a novel dissociation mechanism of smooth brucellae that adds to the previously described excision of genomic island-2. This ISBm1-mediated wbkA excision and the different %GC levels of the excised fragment and of other wbk genes suggest that the Brucella wbk locus is the result of at least two horizontal acquisition events

Consensus Report of the 4th International Forum for Gadolinium-Ethoxybenzyl-Diethylenetriamine Pentaacetic Acid Magnetic Resonance Imaging

This paper reports on issues relating to the optimal use of gadolinium-ethoxybenzyl-diethylenetriamine pentaacetic acid magnetic resonance imaging (Gd-EOB-DTPA MR imaging) together with the generation of consensus statements from a working group meeting, which was held in Seoul, Korea (2010). Gd-EOB-DTPA has been shown to improve the detection and characterization of liver lesions, and the information provided by the hepatobiliary phase is proving particularly useful in differential diagnoses and in the characterization of small lesions (around 1-1.5 cm). Discussion also focused on advances in the role of organic anion-transporting polypeptide 8 (OATP8) transporters. Gd-EOB-DTPA is also emerging as a promising tool for functional analysis, enabling the calculation of post-surgical liver function in the remaining segments. Updates to current algorithms were also discussed