Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas

Abstract When localizing mobile sensors and actuators in indoor  environments  laser  meters,  ultrasonic  meters  or  even image processing techniques are usually used. On  the  other  hand,  in  smoky  conditions,  due  to  a  fire  or  building collapse, once the smoke or dust density grows,  optical  methods  are  not  efficient  anymore.  In  these  scenarios  other  type  of  sensors  must  be  used,  such  as  sonar,  radar  or  radiofrequency  signals.  Indoor  localization in low‐visibility  conditions due to  smoke is  one of the EU GUARDIANS [1] project goals.   The developed method aims to position a robot in front  of doors, fire extinguishers and other points of interest  with  enough  accuracy  to  allow  a  human  operator  to  manipulate the robot’s arm in order to actuate over the  element.  In  coarse‐grain  localization,  a  fingerprinting technique  based  on  ZigBee  and  WiFi  signals  is  used,  allowing  the robot  to  navigate  inside  the  building  in  order  to  get  near  the  point  of  interest  that  requires  manipulation.  In  fine‐grained  localization  a  remotely  controlled  programmable  high  intensity  LED  panel  is  used, which acts as a reference to the system in smoky  conditions.  Then,  smoke  detection  and  visual  fine‐ grained localization are used to position the robot with  precisely in the manipulation point (e.g., doors, valves,  etc.)

Cross-cultural adaptation, reliability, and validation of the Spanish perceived physical literacy instrument for adolescents (S-PPLI)

Objective: The aim of this study was to examine the reliability and validity of the Spanish Perceived Physical Literacy Instrument (S-PPLI) questionnaire in Spanish adolescents. Method: The participants of this study were 360 Spanish adolescents (aged 12-17 years) from three secondary schools in the Region of Murcia (Spain). A cultural adaptation process of the original version of the PPLI questionnaire was developed. Confirmatory factor analysis was applied to test the three-factor structure of physical literacy. Intraclass correlation coefficients were computed to estimate the test-retest concordance. Results: Using a confirmatory factor analysis, the factor loading of all items above the standard of 0.40 ranged from 0.53 to 0.77, suggesting that the observed variables sufficiently represented the latent variables. Analyses for convergent validity showed average variance extracted values that ranged from 0.40 to 0.52 and composite reliability values higher than 0.60. All the correlations were below the recommended cutoff point of 0.85, which indicated that the three physical literacy factors achieved adequate discriminant validity. Intraclass correlation coefficients ranged from 0.62 to 0.79 (p < 0.001 for all items), which indicated moderate/good reliability. Conclusions: Our results suggest that the S-PPLI is a valid and reliable measure of physical literacy among Spanish adolescents

CompaRob: the shopping cart assistance robot

Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also necessary, to help them to carry out daily tasks like shopping. In this paper we present a person-following shopping cart assistance robot, capable of helping elderly people to carry products in a supermarket. First of all, the paper presents a survey of related systems that perform this task, using different approaches, such as attachable modules and computer vision. After that, the paper describes in detail the proposed system and its main features. The cart uses ultrasonic sensors and radio signals to provide a simple and effective person localization and following method. Moreover, the cart can be connected to a portable device like a smartphone or tablet, thus providing ease of use to the end user. The prototype has been tested in a grocery store, while simulations have been done to analyse its scalability in larger spaces where multiple robots could coexist.This work was partly supported by Spanish Ministry under Grant DPI2014-57746-C3 (MERBOTS Project) and by Universitat Jaume I Grants P1-1B2015-68 and PID2010-12

Studying the effects of intermittent faults on a microcontroller

As CMOS technology scales to the nanometer range, designers have to deal with a growing number and variety of fault types. Particularly, intermittent faults are expected to be an important issue in modern VLSI circuits. The complexity of manufacturing processes, producing residues and parameter variations, together with special aging mechanisms, may increase the presence of such faults. This work presents a case study of the impact of intermittent faults on the behavior of a commercial microcontroller. In order to carry out an exhaustive reliability assessment, the methodology used lies in VHDL-based fault injection technique. In this way, a set of intermittent fault models at logic and register transfer abstraction levels have been generated and injected in the VHDL model of the system. From the simulation traces, the occurrences of failures and latent errors have been logged. The impact of intermittent faults has been also compared to that got when injecting transient and permanent faults. Finally, some injection experiments have been reproduced in a RISC microprocessor and compared with those of the microcontroller. © 2012 Elsevier Ltd. All rights reserved.This work has been funded by the Spanish Government under the Research Project TIN2009-13825.Gil Tomás, DA.; Gracia-Morán, J.; Baraza Calvo, JC.; Saiz-Adalid, L.; Gil Vicente, PJ. (2012). Studying the effects of intermittent faults on a microcontroller. Microelectronics Reliability. 52(11):2837-2846. https://doi.org/10.1016/j.microrel.2012.06.004S28372846521

Tratamiento de los carcinomas epidermoides orales y orofaringeos mediante láser de CO2

Introducción: El efecto de la amplia longitud de onda del láser de CO2 es la vaporización térmica de los tejidos, consiguiendo una máxima concentración de energía con una mínima penetración en los mismos. En el campo de la cirugía oral generalmente se emplea para el tratamiento de los pequeños tumores mucosos de la cavidad oral y la orofaringe, por la escasa morbilidad que produce y la ausencia de necesidad reconstructiva del defecto creado. Objetivo: Analizar la evolución postoperatoria, en los pacientes tratados por carcinomas epidermoides orales y orofaringeos, tras la resección mediante láser de CO2. Compararla con la de los pacientes tratados mediante métodos quirúrgicos convencionales realizando la reconstrucción a través de la sutura directa o el empleo de colgajos locales, regionales o a distancia. Diseño del estudio: Estudio de carácter prospectivo que incluye a 70 pacientes tratados por carcinomas epidermoides orales y orofaringeos. Treinta y cinco pacientes fueron tratados mediante láser de CO2, en 10 se realizó cierre directo de la lesión y en los restantes 25 algún colgajo local, regional o a distancia. Se analizó la presencia de sintomatología dolorosa durante el postoperatorio, el grado de retracción cicatricial y la presencia de alteraciones funcionales en la deglución y habla en función de la resección y reconstrucción realizada. Resultados: Obtuvimos un menor grado de dolor y de retracción cicatricial postoperatoria mediante el empleo de láser de CO2, minimizando así las secuelas funcionales de habla (mejor articulación de la palabra) y deglución (recuperación funcional más eficaz y precoz). Conclusión: La resección mediante láser de CO2 se ha convertido en el tratamiento de elección de los pequeños tumores mucosos orales y orofaringeos, por la ausencia de necesidad reconstructiva, menor retracción cicatricial y buena evolución postoperatoria.Introduction: The effect of the wide long-wave CO2 laser is the thermal vaporization of the tissues, getting a maximum energy concentration with a minimum of tissue penetration. In oral surgery, it is generally used for the treatment of oral and oropharyngeal small mucous tumors, due to the scarce morbidity that takes place and the absence of reconstructive necessity. Objective: To analyze the postoperative evolution, in the patients treated by oral and oropharyngeal epidermoid carcinomas, after CO2 laser resection. To compare it with that of the patients treated by means of conventional surgical methods, achieving the reconstruction through direct suture or the employment of local, regional or distance flaps. Methods: A prospective study was designed including 70 patients treated by oral and oropharyngeal epidermoid carcinomas. Thirty-five patients were treated by means of CO2 laser, in 10 cases direct wound-closure was realized, and in the remaining 25 patients some local, regional or distance flap were used. There were analysed the presence of postoperative pain, the degree of cicatricial retraction, and the speech and swallowing functional results. Results: We obtained a smaller painful degree and postoperative cicatricial retraction by the employment of CO2 laser. It permits minimizing the functional speech sequels (better words articulation) and swallowing (effective and precocious functional recovery). Conclusion: CO2 laser resection has become the elective treatment for small oral and oropharyngeal epidermoid carcinomas. The reasons are the absence of reconstructive surgery necessity, the scarce cicatricial retraction, and the excellent postoperative evolution

Underwater radio frequency image sensor using progressive image compression and region of interest

The increasing demand for underwater robotic intervention systems around the world in several application domains requires more versatile and inexpensive systems. By using a wireless communication system, supervised semi-autonomous robots have freedom of movement; however, the limited and varying bandwidth of underwater radio frequency (RF) channels is a major obstacle for the operator to get camera feedback and supervise the intervention. This paper proposes the use of progressive (embedded) image compression and region of interest (ROI) for the design of an underwater image sensor to be installed in an autonomous underwater vehicle, specially when there are constraints on the available bandwidth, allowing a more agile data exchange between the vehicle and a human operator supervising the underwater intervention. The operator can dynamically decide the size, quality, frame rate, or resolution of the received images so that the available bandwidth is utilized to its fullest potential and with the required minimum latency. The paper focuses first on the description of the system, which uses a camera, an embedded Linux system, and an RF emitter installed in an OpenROV housing cylinder. The RF receiver is connected to a computer on the user side, which controls the camera monitoring parameters, including the compression inputs, such as region of interest (ROI), size of the image, and frame rate. The paper focuses on the compression subsystem and does not attempt to improve the communications physical media for better underwater RF links. Instead, it proposes a unified system that uses well-integrated modules (compression and transmission) to provide the scientific community with a higher-level protocol for image compression and transmission in sub-sea robotic interventions

Atherosclerotic plaque development in mice is enhanced by myeloid ZEB1 downregulation.

Accumulation of lipid-laden macrophages within the arterial neointima is a critical step in atherosclerotic plaque formation. Here, we show that reduced levels of the cellular plasticity factor ZEB1 in macrophages increase atherosclerotic plaque formation and the chance of cardiovascular events. Compared to control counterparts (Zeb1WT/ApoeKO), male mice with Zeb1 ablation in their myeloid cells (Zeb1∆M/ApoeKO) have larger atherosclerotic plaques and higher lipid accumulation in their macrophages due to delayed lipid traffic and deficient cholesterol efflux. Zeb1∆M/ApoeKO mice display more pronounced systemic metabolic alterations than Zeb1WT/ApoeKO mice, with higher serum levels of low-density lipoproteins and inflammatory cytokines and larger ectopic fat deposits. Higher lipid accumulation in Zeb1∆M macrophages is reverted by the exogenous expression of Zeb1 through macrophage-targeted nanoparticles. In vivo administration of these nanoparticles reduces atherosclerotic plaque formation in Zeb1∆M/ApoeKO mice. Finally, low ZEB1 expression in human endarterectomies is associated with plaque rupture and cardiovascular events. These results set ZEB1 in macrophages as a potential target in the treatment of atherosclerosis.S

Automating unobtrusive personalized services in ambient media environments

The final publication is available at Springer via http://dx.doi.org/10.1007/s11042-013-1634-2In the age of ambient media, people are surrounded by lots of physical objects (media objects) for rendering the digital world in the natural environment. These media objects should interact with users in a way that is not disturbing for them. To address this issue, this work presents a design and automation strategy for augmenting the world around us with personalized ambient media services that behave in a considerate manner. That is, ambient services are capable of adjusting its obtrusiveness level (i.e., the extent to which each service intrudes the user¿s mind) by using the appropriate media objects for each user¿s situation.This work has been developed with the support of MICINN, under the project EVERYWARE TIN2010-18011, and the support of the Christian Doppler Forschungsgesellschaft and the BMWFJ, Austria.Serral Asensio, E.; Gil Pascual, M.; Valderas Aranda, PJ.; Pelechano Ferragud, V. (2014). Automating unobtrusive personalized services in ambient media environments. Multimedia Tools and Applications. 71(1):159-178. https://doi.org/10.1007/s11042-013-1634-2S159178711Bencomo N, Grace P, Flores-Cortés CA, Hughes D, Blair GS (2008) Genie: supporting the model driven development of reflective, component-based adaptive systems. In: ICSE, pp 811–814Blumendorf M, Lehmann G, Albayrak S (2010) Bridging models and systems at runtime to build adaptive user interfaces. In: Proc. of EICS 2010. 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A mobile-based solution for supporting end-users in the composition of services

The final publication is available at Springer via http://dx.doi.org/10.1007/s11042-016-3910-4Currently, technologies and applications evolve to create eco-systems made up of a myriad of heterogeneous and distributed services that are accessible anytime and anywhere. Even though these services can be used individually, it is their coordinated and combined usage what provide an added value to end-users. In addition, user¿s wide adoption of mobile devices for daily activities have fostered a shift in the role played by end-users towards Internet data and services. However, existing solutions to service composition are not targeted to ordinary end-users. More easy-to-use tools have to be offered to end-users to make sure that they are successfully accepted and used by them. To this end, the work presented in this paper supports end-users in the creation of service compositions by using mobile devices. 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Radar on RAIA: High frequency radars in the RAIA Observatory

The RADAR ON RAIA project aims to update and extend beyond the Galician border the High Frequency (HF) radar network that has been operating since 2011 in the framework of the RAIA Observatory. The Project is allowing the establishment of a cross-border collaboration beyond the physical infrastructure itself, developing a sharing strategy of maintenance procedures, validation and data processing on both sides of the border, as well as an easy and public access to all the information. In addition, new products are being developed to exploit the potential of the HF radar technology.Peer Reviewe