Automatyczny system generowania modeli 3D

Three-dimensional models can be used in object recognition as references for the identification systems. The RoboEarth cloud-robotics platform contains additional algorithms both for object recognition and model creation. The article describes an automated system developed in order to improve the process of creating point cloud object models based on software provided with the RoboEarth platform. The process is performed using a special template with markers providing information about the localisation and orientation and recording the object from different angles. This can be done either by rotating the sensor or the template with the object. By incorporating a measuring table rotated by a stepper motor as well as rails for precise sensor mounting this process can be automated. All models were based on typical household items. In order to determine the necessary parameters for generating models, the distance between the sensor and the template, the number of steps of the motor, and the number of measurements per step was checked. The quality of the models was verified by measuring correspondences using object recognition software from both different angles and distances. The research performed showed that an automatic approach wields better results than manual registration and can be used to increase the quality of the 3D models.Trójwymiarowe modele znajdują zastosowanie w procesie detekcji jako obiekty referencyjne dla systemów identyfikacji. Platforma RoboEarth, której zadaniem jest obsługa chmur obliczeniowych dla zastosowań w robotyce, zawiera algorytmy umożliwiające zarówno rozpoznawanie obiektów, jak i generowanie ich modeli. W artykule przedstawiono zautomatyzowany system opracowany w celu poprawy procesu generowania modeli 3D obiektów, z wykorzystaniem oprogramowania platformy RoboEarth. Proces generowania modeli jest wykonywany z zastosowaniem specjalnych znaczników określających orientację i położenie obiektu oraz rejestrowaniu chmur punktów z różnych punktów odniesienia. Zmiana punktu odniesienia może być dokonana poprzez przemieszczenie sensora lub obrót obiektu. Opracowany system umożliwia automatyzację tego procesu poprzez zastosowanie obrotowego stolika pomiarowego napędzanego silnikiem krokowym. Ze względu na występowanie czynników, które mają wpływ na jakość generowanego modelu oraz w konsekwencji późniejszy proces detekcji obiektów, wykonano badania mające na celu określenie właściwych parametrów opracowanego systemu. Rezultaty przeprowadzonych badań zostały przedstawione w artykule wraz z przykładowymi wynikami detekcji obiektów

The globalizability of temporal discounting

Economic inequality is associated with preferences for smaller, immediate gains over larger, delayed ones. Such temporal discounting may feed into rising global inequality, yet it is unclear whether it is a function of choice preferences or norms, or rather the absence of sufficient resources for immediate needs. It is also not clear whether these reflect true differences in choice patterns between income groups. We tested temporal discounting and five intertemporal choice anomalies using local currencies and value standards in 61 countries (N = 13,629). Across a diverse sample, we found consistent, robust rates of choice anomalies. Lower-income groups were not significantly different, but economic inequality and broader financial circumstances were clearly correlated with population choice patterns

Hospitals with and without neurosurgery: a comparative study evaluating the outcome of patients with traumatic brain injury

Background: We leveraged the data of the international CREACTIVE consortium to investigate whether the outcome of traumatic brain injury (TBI) patients admitted to intensive care units (ICU) in hospitals without on-site neurosurgical capabilities (no-NSH) would differ had the same patients been admitted to ICUs in hospitals with neurosurgical capabilities (NSH). Methods: The CREACTIVE observational study enrolled more than 8000 patients from 83 ICUs. Adult TBI patients admitted to no-NSH ICUs within 48 h of trauma were propensity-score matched 1:3 with patients admitted to NSH ICUs. The primary outcome was the 6-month extended Glasgow Outcome Scale (GOS-E), while secondary outcomes were ICU and hospital mortality. Results: A total of 232 patients, less than 5% of the eligible cohort, were admitted to no-NSH ICUs. Each of them was matched to 3 NSH patients, leading to a study sample of 928 TBI patients where the no-NSH and NSH groups were well-balanced with respect to all of the variables included into the propensity score. Patients admitted to no-NSH ICUs experienced significantly higher ICU and in-hospital mortality. Compared to the matched NSH ICU admissions, their 6-month GOS-E scores showed a significantly higher prevalence of upper good recovery for cases with mild TBI and low expected mortality risk at admission, along with a progressively higher incidence of poor outcomes with increased TBI severity and mortality risk. Conclusions: In our study, centralization of TBI patients significantly impacted short- and long-term outcomes. For TBI patients admitted to no-NSH centers, our results suggest that the least critically ill can effectively be managed in centers without neurosurgical capabilities. Conversely, the most complex patients would benefit from being treated in high-volume, neuro-oriented ICUs