Ground Extraction from 3D Lidar Point Clouds

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works Pomares, A., Martínez, J.L., Mandow, A., Martínez, M.A., Morán, M., Morales, J. Ground extraction from 3D lidar point clouds with the Classification Learner App (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405. DOI: PendingGround extraction from three-dimensional (3D) range data is a relevant problem for outdoor navigation of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation approaches, identification of ground and non-ground points can benefit from state-of-the-art classification methods, such as those included in the Matlab Classification Learner App. This paper proposes a comparative study of the machine learning methods included in this tool in terms of training times as well as in their predictive performance. With this purpose, we have combined three suitable features for ground detection, which has been applied to an urban dataset with several labeled 3D point clouds. Most of the analyzed techniques achieve good classification results, but only a few offer low training and prediction times.This work was partially supported by the Spanish project DPI 2015- 65186-R. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech

La difusión tecnológica en Andalucía. Una explotación de las tablas input-output (1975-1990)

El objeto del presente trabajo consiste en reflejar el nivel que alcanza la difusión de la tecnología en la industria andaluza y dar respuesta al retraso que padece. Bajo la base de las tablas input-output señalamos el comportamiento que sigue la industria en el ámbito tecnológico, diferenciando su conducta del resto de la economía, dedicando especial atención a determinados sectores clave. Los datos indican que los sectores más activos tecnológicamente “a priori” también lo son en Andalucía. Sin embargo, los esfuerzos para incorporar o difundir tecnologías de baja, media o alta intensidad presentan unas diferencias que ayudan a comprender el retraso al que hemos hecho mención

Three embryonic cell lineages related with the epicardium show distinct developmental fates

The embryonic epicardium generates a population of mesenchymal cells that contribute to the coronary vessels and the connective tissue of the adult heart. We have used murine cell-tracing models to compare the developmental fate of three different lineages related with the epicardium. Mice bearing R26R-EYFP reporters were crossed with mice expressing Cre-recombinase under control of the promoters of the cardiac troponin gene (cTnT), the Wilms tumor suppressor gene (Wt1), and the G2 enhancer of the GATA4 gene. Thus, we could trace, using confocal microscopy and flow cytometry, the lineage of the cardiac cells expressing Wt1, cTnT and GATA4 under control of the G2 enhancer, from midgestation to adults. Additionally we have studied a knockin Wt1-GFP reporter model to detect cells with Wt1 expression in the developing and adult heart. During development, Wt1 is expressed in a major part of the proepicardium and epicardium, and also in some epicardial-derived mesenchymal cells, in part of the mesenchymal and coronary endothelial cells and also in a fraction of the cardiomyocytes. GATA4 expression is activated by the enhancer G2 in lateral mesoderm and pro/epicardium, but not in epicardial-derived cells, although most of these cells as well as some cardiomyocytes originate from a G2-GATA4 expressing lineage. cTnT is expressed in all the cardiomyocytes, but a part of the epicardial cells also derives from a cTnTCre-EYFP positive cell lineage. The developmental fate of these linages reveals interesting differences, according to our preliminary results. For example, the G2-GATA4 cell linage contributes more than the Wt1 cell lineage to the coronary endothelium during development. However, both lineages are highly represented in the adult cardiac endothelium, suggesting postnatal expression of Wt1 in the coronary endothelium and incorporation of endothelial progenitor cells from bone marrow (where the G2-GATA4 reporter is active in 20% of hematopoietic stem cells).Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

A developmental model for the pathogenenesis of cardiac arterio-ventricular fistulae

Coronary Artery Fistulae (CAF) are congenital coronary artery (CA) anomalies consisting of an abnormal communication of a coronary artery with either a cardiac chamber or a large cardiac vessel. Although their incidence in the Western population is low, CAF can lead to complications such as myocardial hypertrophy, endocarditis, heart dilatation and cardiac failure. CAFs can appear as an isolated anomaly or linked to some other forms of congenital heart disease like Left Ventricular Non-Compaction (LVNC) and intrinsic CA anatomy anomalies, but their etiology remains unknown. In this work we have used two different experimental models (transgenic mice and avian embryos) to investigate on the developmental mechanics of CAF formation. In order to tackle this goal, we have manipulated epicardial development and ventricular wall compaction, two inextricably related developmental events during coronary embryogenesis. Conditional integrin α4 gene deletion in the septum transversum/proepicardial (ST/PE) region (G2-Gata4+) disrupts early epicardium development and reduces cardiomyocyte proliferation, leading to the thinning of the ventricular compact myocardial layer. Reduction in compact myocardium thickness associates to the presence of multiple ventricular myocardial discontinuities and focal endocardial extrusion. This same phenotype can be experimentally reproduced in chick embryos using a cryocauterization method (Palmquist-Gomes et al., 2016). Our results suggest that the partial absence of epicardium in α4integrin;G2-Gata4Cre mouse embryos and the cryoinjury in avian embryos generate myocardial discontinuities in the embryonic ventricular wall, which promote endocardial extrusion towards the pericardial cavity and the early contact of the endocardium with coronary progenitors at the epicardial surface of the heart. In the case of avian embryos, this phenomenon leads to precocious smooth muscle differentiation from epicardial mesenchymal cells, and the formation of pouch-like structures that closely resemble CAF. We conclude that anomalous compact myocardial embryonic growth can originate CAF.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

A developmental model for the pathogenenesis of cardiac arterio-ventricular fistulae

Coronary Artery Fistulae (CAF) are congenital coronary artery (CA) anomalies consisting of an abnormal communication of a coronary artery with either a cardiac chamber or a large cardiac vessel. Although their incidence in the Western population is low, CAF can lead to complications such as myocardial hypertrophy, endocarditis, heart dilatation and cardiac failure. CAFs can appear as an isolated anomaly or linked to some other forms of congenital heart disease like Left Ventricular Non-Compaction (LVNC) and intrinsic CA anatomy anomalies, but their etiology remains unknown. In this work we have used two different experimental models (transgenic mice and avian embryos) to investigate on the developmental mechanics of CAF formation. In order to tackle this goal, we have manipulated epicardial development and ventricular wall compaction, two inextricably related developmental events during coronary embryogenesis. Conditional integrin α4 gene deletion in the septum transversum/proepicardial (ST/PE) region (G2-Gata4+) disrupts early epicardium development and reduces cardiomyocyte proliferation, leading to the thinning of the ventricular compact myocardial layer. Reduction in compact myocardium thickness associates to the presence of multiple ventricular myocardial discontinuities and focal endocardial extrusion. This same phenotype can be experimentally reproduced in chick embryos using a cryocauterization method (Palmquist-Gomes et al., 2016). Our results suggest that the partial absence of epicardium in α4integrin;G2-Gata4Cre mouse embryos and the cryoinjury in avian embryos generate myocardial discontinuities in the embryonic ventricular wall, which promote endocardial extrusion towards the pericardial cavity and the early contact of the endocardium with coronary progenitors at the epicardial surface of the heart. In the case of avian embryos, this phenomenon leads to precocious smooth muscle differentiation from epicardial mesenchymal cells, and the formation of pouch-like structures that closely resemble CAF. We conclude that anomalous compact myocardial embryonic growth can originate CAF.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Detecting hydroxyl radical with a new two-photon fluorescent probe in living cells

Reactive oxygen species (ROS) are known to be involved in the onset and development of multiple diseases, including cancer, cardiovascular diseases, neurodegenerative diseases and diabetes among others. Generation of ROS is a phenomenon that results from normal cell metabolism as well as from the response to certain pathologic stimuli like certain cytokines, xenobiotics and bacterial infection. These ROS are highly reactive, short-lived molecules that play critical roles in the living cell and it is well accepted that cellular oxidative stress results from the imbalance between generation and elimination of ROS in cells. In this work, we describe the design and synthesis of a two photon (TP) organelle-targeting activatable fluorescent probe. This probe is a naphthalene-indoline compound that targets specifically lysosomes, reaching these organelles in the fluorescence “off” state and minimizing background reactions. Upon arrival at the lysosomes, the probe is triggered and a fluorescence “on” signal is observed that can be combined with TP microscopy to image the lysosomal •OH in living cells.Real Sociedad Española de Química y Grupo Especializado de Química Orgánica de la RSEQ•Universidade de Santiago de Compostela • CIQUS • Lilly • Mestrelab Research •Thieme •Scharlab • Acros • ABCR • AMSLab • GalChimia • Elsevier • The Journal of the American Chemical Society • ACS Omega • Organic Letters • The Journal of Organic Chemistry • Accounts of Chemical Research. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Diseño y control de exoesqueleto robótico para la rehabilitación y asistencia de los movimientos de la mano

Programa de Doctorado en Tecnologías Industriales y de Telecomunicación por la Universidad Miguel Hernández de ElcheHands are one of the main instruments used by humans for interacting with physical environment. Furthermore, hands play an important role in other aspects of daily living such as non-verbal communication or postural control assisted by external supports. Therefore, individuals that suffer some kind of hand impairment become dependent in many common situations, reducing their quality of life. Developments in the field of robotics result in potential solutions to overcome their dependency. In particular, wearable devices such as exoskeletons can help to lessen the impact of the impairment by becoming a new tool for providing more intense and effective rehabilitation therapies, or by their potential applications to assist people during their activities of daily living in a domestic environment. This Doctoral Thesis focuses on the development of a robotic exoskeleton that, due to its constructive features, can be applied to both rehabilitation and assitance environments. As an innovation, this exoskeleton has a new type of force sensor architecture, integrable in the device, favoring the lightness and portability of the equipment and offering a versatile force control interface in a multitude of environments. Along with the force interface, other types of interfaces based on biological and kinematic parameters are studied, in order to provide the system with the necessary versatility to adapt to different user profiles. In addition, two practical applications of the device are presented in complex rehabilitation settings and everyday situations not previously studied. The results of this work are compiled in four publications in journals indexed in the Journal Citation Reports (JCR). The publication Multimodal robotic system for upper-limb rehabilitation in physical environment studies the integration of the hand exoskeleton in a system of robots and sensors that allow the implementation of manipulative therapies in real environments, using a human-machine interface based on electromyographic signals. As an alternative to electromyography for advanced stages of rehabilitation, new interfaces based on motion capture and force feedback are proposed, results are published in the paper Hand exoskeleton for rehabilitation therapies with integrated optical force sensor. A detailed description of the force sensor integrated in the exoskeleton can be found in the publication Customizable optical force sensor for fast prototyping and cost-effective applications. Finally, the publication Exploring new potential applications for Hand Exoskeletons: Power grip to assist human standing studies the applicability of hand exoskeletons to improve postural control

El 36 aniversario del Destacamento de Ciencias Médicas Carlos Juan Finlay

El artículo constituye una remembranza sentida de un profesor que tuvo la satisfacción de estar inmerso en la fundación del Destacamento Médico Carlos Juan Finlay, así como en la evocación de este realizada por nuestro comandante en Jefe Fidel Castro. Destacamento que hoy es una realidad y a 36 años de aquella fecha, el autor comparte sus recuerdos con los lectores de Medisur

Coup-TFII expression defines two different septum transversum cell compartments crucial to cardiac septation and compact ventricular wall growth

COUP-TFII encodes for an orphan nuclear receptor expressed by multiple embryonic tissues. COUP-TFII functions include the regulation of mesodermal progenitor differentiation and cell fate specification, and is required for completion of cardiovascular development as shown by the early death (E9.5) of COUP-TFII-null mice. In this study, we show that COUP-TFII, which is strongly expressed in the atrial myocardium, is also expressed in two different compartments of the septum transversum (ST, E9.5), a mesodermal folding adjacent to cardiac inflow myocardium. The first ST compartment is COUP-TFII+/Isl1+; cells in this compartment concentrate in the posterior part of the ST, overlap with SHF, and are continuous with the dorsal mesenchymal protrusion (DMP, also known as spina vestibuli). The second compartment is characteristically COUP-TFII+/Isl1-, and comprises the majority of proepicardial cells. To dissect the role of COUP-TFII+ ST cells in cardiac development, we conditionally deleted COUP-TFII in the ST using two different Cre constructs (Wt1Cre; G2-Gata4Cre). We show that COUP-TFII deletion in the ST is most severe in G2-Gata4Cre;COUP-TFII-/- mice, containing various cardiovascular progenitor lineages. Mutant mice display atrial septation and atrioventricular septal defects as well as a severe disruption of compact ventricular myocardial growth and coronary vascularization. We conclude that COUP-TFII plays critical, pleiotropic, tissue-dependent roles during cardiac septation, growth and vascularization.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Centro Nacional de Investigaciones Cardiovasculares (CNIC-ISCIII

Anniversary 36th of the Detachment of Medical Sciences Carlos Juan Finlay

The article constitutes a meaningful remembrance of a professor who had the satisfaction of having been involved in the foundation of the Carlos Juan Finlay Medical Detachment, so as its evocation realized by Our Commander in Chief Fidel Castro. This Detachment is a reality today and 36 years after the author shares his memories with the readers of Medisur