Leveraging self-supervision for visual embodied navigation with neuralized potential fields

Une tâche fondamentale en robotique consiste à naviguer entre deux endroits. En particulier, la navigation dans le monde réel nécessite une planification à long terme à l'aide d'images RVB (RGB) en haute dimension, ce qui constitue un défi considérable pour les approches d'apprentissage de bout-en-bout. Les méthodes semi-paramétriques actuelles parviennent plutôt à atteindre des objectifs éloignés en combinant des modèles paramétriques avec une mémoire topologique de l'environnement, souvent représentée sous forme d'un graphe ayant pour nœuds des images précédemment vues. Cependant, l'utilisation de ces graphes implique généralement l'ajustement d'heuristiques d'élagage afin d'éviter les arêtes superflues, limiter la mémoire requise et permettre des recherches raisonnablement rapides dans le graphe. Dans cet ouvrage, nous montrons comment les approches de bout-en-bout basées sur l'apprentissage auto-supervisé peuvent exceller dans des tâches de navigation à long terme. Nous présentons initialement Duckie-Former (DF), une approche de bout-en-bout pour la navigation visuelle dans des environnements routiers. En utilisant un Vision Transformer (ViT) pré-entraîné avec une méthode auto-supervisée, nous nous inspirons des champs de potentiels afin de dériver une stratégie de navigation utilisant en entrée un masque de segmentation d'image de faible résolution. DF est évalué dans des tâches de navigation de suivi de voie et d'évitement d'obstacles. Nous présentons ensuite notre deuxième approche intitulée One-4-All (O4A). O4A utilise l'apprentissage auto-supervisé et l'apprentissage de variétés afin de créer un pipeline de navigation de bout-en-bout sans graphe permettant de spécifier l'objectif à l'aide d'une image. La navigation est réalisée en minimisant de manière vorace une fonction de potentiel définie de manière continue dans l'espace latent O4A. Les deux systèmes sont entraînés sans interagir avec le simulateur ou le robot sur des séquences d'exploration de données RVB et de contrôles non experts. Ils ne nécessitent aucune mesure de profondeur ou de pose. L'évaluation est effectuée dans des environnements simulés et réels en utilisant un robot à entraînement différentiel.A fundamental task in robotics is to navigate between two locations. Particularly, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based approaches. Current semi-parametric methods instead achieve long-horizon navigation by combining learned modules with a topological memory of the environment, often represented as a graph over previously collected images. However, using these graphs in practice typically involves tuning various pruning heuristics to prevent spurious edges, limit runtime memory usage, and allow reasonably fast graph queries. In this work, we show how end-to-end approaches trained through Self-Supervised Learning (SSL) can excel in long-horizon navigation tasks. We initially present Duckie-Former (DF), an end-to-end approach for visual servoing in road-like environments. Using a Vision Transformer (ViT) pretrained with a self-supervised method, we derive a potential-fields-like navigation strategy based on a coarse image segmentation model. DF is assessed in the navigation tasks of lane-following and obstacle avoidance. Subsequently, we introduce our second approach called One-4-All (O4A). O4A leverages SSL and manifold learning to create a graph-free, end-to-end navigation pipeline whose goal is specified as an image. Navigation is achieved by greedily minimizing a potential function defined continuously over the O4A latent space. O4A is evaluated in complex indoor environments. Both systems are trained offline on non-expert exploration sequences of RGB data and controls, and do not require any depth or pose measurements. Assessment is performed in simulated and real-world environments using a differential-drive robot

Diseño y desarrollo de aplicativo web para manejo y control de información en bases de datos

Este trabajo de grado dentro de su marco teórico desarrolla la propuesta investigativa listando los algoritmos protocolos, recomendaciones técnicas, contiene descripción de los lenguajes de programación, imágenes ilustrativas del proceso de implementación (ver anexos); contiene glosario.El presente trabajo presenta una iniciativa en el aspecto de divulgación de información de los grupos de investigación en Propiedades Magnéticas y Magneto Ópticas de Nuevos Materiales (GIMM) y el Grupo de Electrofisiología (GEF), que hacen parte de la Universidad Tecnológica de Pereira (UTP) y el entorno para la realización de la primera conferencia iberoamericana de termografía infrarroja y sus amplias aplicaciones, desarrollado por el grupo GEF. Lo cual, propone como fin, un entorno manejable por parte de los directivos y el desarrollo de una interfaz de fácil manejo para los usuarios, aplicando una comunicación con las bases de datos creadas y que permitan realizar acciones CRUD (Create, Read, Update and Delete) cuando sea necesario. Se parte desde la creación de tres micrositios base correspondientes a los grupos de investigación y el I IbercTherm, destinando las secciones o ramificaciones adecuadas para las asignaciones de las bases de datos y manejo de información por parte de los administrativos.This paper presents an initiative in the aspect of information disclosure of the research groups on Magnetic and Magneto-Optic Properties of New Materials (GIMM) and the Electrophysiology Group (GEF), which are part of the Technological University of Pereira (UTP) and the environment for carrying out the first Ibero-American conference on infrared thermography and its extensive applications, developed by the GEF group. Which, proposes as an end, an environment manageable by managers and the development of an easy-to-use interface for users, applying a communication with the databases created and that perform CRUD actions (Create, Read, Update and Delete) when necessary necessary. It starts from the creation of three base microsites corresponding to the research groups and the I IbercTherm, allocating the sections or branches suitable for database assignments and information management by part of the administrative.PregradoIngeniero(a) Físico(a)CONTENIDO ÍNDICE DE FIGURAS 5 ÍNDICE DE TABLAS 8 GLOSARIO DE TÉRMINOS 9 CAPÍTULO 1. 12 INTRODUCCIÓN 12 1.1. Planteamiento y justificación de la pregunta de investigación ............................13 1.2. Objetivos ......................................................................................................................14 1.2.1. Objetivo General...................................................................................................14 1.2.2. Objetivos específicos ..........................................................................................14 CAPÍTULO 2. 15 MARCO TEÓRICO 15 2.1. Sistemas informáticos................................................................................................15 2.2. Algoritmos ...................................................................................................................15 2.3. Consideraciones técnicas .........................................................................................15 2.3.1. Protocolo WWW y HTTP......................................................................................16 2.3.2. Certificado SSL.....................................................................................................16 2.3.3. Protocolo SSH ......................................................................................................16 2.4. Lenguajes de programación......................................................................................18 2.4.1. HTML......................................................................................................................18 2.4.2. CSS ........................................................................................................................21 2.4.3. Ruby.......................................................................................................................22 2.4.4. Ruby on Rails........................................................................................................22 2.4.5. JavaScript .............................................................................................................22 2.5. Framework ...................................................................................................................23 2.5.1. Arquitectura ..........................................................................................................23 2.6. Base de datos..............................................................................................................25 2.6.1. PostgreSQL...........................................................................................................25 2.7. Hosting.........................................................................................................................25 2.8. Estado del arte ............................................................................................................26 CAPÍTULO 3. 28 MÉTODOS Y PREPARACIONES 28 3.1. Análisis.........................................................................................................................28 3.1.1. Consideraciones de diseño ................................................................................28 3.1.2. Requerimientos funcionales...............................................................................33 3.2. Configuración del servidor........................................................................................35 3.2.1. Instalación de Ruby.................................................................................................35 3.3. Configuración del servidor web................................................................................36 3.4. Creación de la base de datos en PostgreSQL.........................................................38 3.5. Desplegar código........................................................................................................39 3.6. Últimas configuraciones ............................................................................................41 3.7. Certificación.................................................................................................................42 CAPÍTULO 4. 44 RESULTADOS 44 4.1. Estructura ....................................................................................................................44 4.2. Diseño...........................................................................................................................46 4.2.1. Diseño control de bases de datos......................................................................47 4.3. Repositorio ..................................................................................................................48 4.4. Servidor y dominio......................................................................................................49 4.5. Certificación y pruebas ..............................................................................................50 4.6. Evidencia del diseño final..........................................................................................52 CAPÍTULO 5 64 CONCLUSIONES Y RECOMENDACIONES 64 5.1. Conclusiones...............................................................................................................64 5.2. Recomendaciones ......................................................................................................65 REFERENCIAS 67 ANEXOS 72 ● Anexo 1. Repositorio Github.....................................................................................72 ● Anexo 2. Configuración DNS y otros comandos del servidor. .............................8

Height and timing of growth spurt during puberty in young people living with vertically acquired HIV in Europe and Thailand.

OBJECTIVE: The aim of this study was to describe growth during puberty in young people with vertically acquired HIV. DESIGN: Pooled data from 12 paediatric HIV cohorts in Europe and Thailand. METHODS: One thousand and ninety-four children initiating a nonnucleoside reverse transcriptase inhibitor or boosted protease inhibitor based regimen aged 1-10 years were included. Super Imposition by Translation And Rotation (SITAR) models described growth from age 8 years using three parameters (average height, timing and shape of the growth spurt), dependent on age and height-for-age z-score (HAZ) (WHO references) at antiretroviral therapy (ART) initiation. Multivariate regression explored characteristics associated with these three parameters. RESULTS: At ART initiation, median age and HAZ was 6.4 [interquartile range (IQR): 2.8, 9.0] years and -1.2 (IQR: -2.3 to -0.2), respectively. Median follow-up was 9.1 (IQR: 6.9, 11.4) years. In girls, older age and lower HAZ at ART initiation were independently associated with a growth spurt which occurred 0.41 (95% confidence interval 0.20-0.62) years later in children starting ART age 6 to 10 years compared with 1 to 2 years and 1.50 (1.21-1.78) years later in those starting with HAZ less than -3 compared with HAZ at least -1. Later growth spurts in girls resulted in continued height growth into later adolescence. In boys starting ART with HAZ less than -1, growth spurts were later in children starting ART in the oldest age group, but for HAZ at least -1, there was no association with age. Girls and boys who initiated ART with HAZ at least -1 maintained a similar height to the WHO reference mean. CONCLUSION: Stunting at ART initiation was associated with later growth spurts in girls. Children with HAZ at least -1 at ART initiation grew in height at the level expected in HIV negative children of a comparable age

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements

Canagliflozin and renal outcomes in type 2 diabetes and nephropathy

BACKGROUND Type 2 diabetes mellitus is the leading cause of kidney failure worldwide, but few effective long-term treatments are available. In cardiovascular trials of inhibitors of sodium–glucose cotransporter 2 (SGLT2), exploratory results have suggested that such drugs may improve renal outcomes in patients with type 2 diabetes. METHODS In this double-blind, randomized trial, we assigned patients with type 2 diabetes and albuminuric chronic kidney disease to receive canagliflozin, an oral SGLT2 inhibitor, at a dose of 100 mg daily or placebo. All the patients had an estimated glomerular filtration rate (GFR) of 30 to <90 ml per minute per 1.73 m2 of body-surface area and albuminuria (ratio of albumin [mg] to creatinine [g], >300 to 5000) and were treated with renin–angiotensin system blockade. The primary outcome was a composite of end-stage kidney disease (dialysis, transplantation, or a sustained estimated GFR of <15 ml per minute per 1.73 m2), a doubling of the serum creatinine level, or death from renal or cardiovascular causes. Prespecified secondary outcomes were tested hierarchically. RESULTS The trial was stopped early after a planned interim analysis on the recommendation of the data and safety monitoring committee. At that time, 4401 patients had undergone randomization, with a median follow-up of 2.62 years. The relative risk of the primary outcome was 30% lower in the canagliflozin group than in the placebo group, with event rates of 43.2 and 61.2 per 1000 patient-years, respectively (hazard ratio, 0.70; 95% confidence interval [CI], 0.59 to 0.82; P=0.00001). The relative risk of the renal-specific composite of end-stage kidney disease, a doubling of the creatinine level, or death from renal causes was lower by 34% (hazard ratio, 0.66; 95% CI, 0.53 to 0.81; P<0.001), and the relative risk of end-stage kidney disease was lower by 32% (hazard ratio, 0.68; 95% CI, 0.54 to 0.86; P=0.002). The canagliflozin group also had a lower risk of cardiovascular death, myocardial infarction, or stroke (hazard ratio, 0.80; 95% CI, 0.67 to 0.95; P=0.01) and hospitalization for heart failure (hazard ratio, 0.61; 95% CI, 0.47 to 0.80; P<0.001). There were no significant differences in rates of amputation or fracture. CONCLUSIONS In patients with type 2 diabetes and kidney disease, the risk of kidney failure and cardiovascular events was lower in the canagliflozin group than in the placebo group at a median follow-up of 2.62 years

Effects of alirocumab on types of myocardial infarction: insights from the ODYSSEY OUTCOMES trial

Aims  The third Universal Definition of Myocardial Infarction (MI) Task Force classified MIs into five types: Type 1, spontaneous; Type 2, related to oxygen supply/demand imbalance; Type 3, fatal without ascertainment of cardiac biomarkers; Type 4, related to percutaneous coronary intervention; and Type 5, related to coronary artery bypass surgery. Low-density lipoprotein cholesterol (LDL-C) reduction with statins and proprotein convertase subtilisin–kexin Type 9 (PCSK9) inhibitors reduces risk of MI, but less is known about effects on types of MI. ODYSSEY OUTCOMES compared the PCSK9 inhibitor alirocumab with placebo in 18 924 patients with recent acute coronary syndrome (ACS) and elevated LDL-C (≥1.8 mmol/L) despite intensive statin therapy. In a pre-specified analysis, we assessed the effects of alirocumab on types of MI. Methods and results  Median follow-up was 2.8 years. Myocardial infarction types were prospectively adjudicated and classified. Of 1860 total MIs, 1223 (65.8%) were adjudicated as Type 1, 386 (20.8%) as Type 2, and 244 (13.1%) as Type 4. Few events were Type 3 (n = 2) or Type 5 (n = 5). Alirocumab reduced first MIs [hazard ratio (HR) 0.85, 95% confidence interval (CI) 0.77–0.95; P = 0.003], with reductions in both Type 1 (HR 0.87, 95% CI 0.77–0.99; P = 0.032) and Type 2 (0.77, 0.61–0.97; P = 0.025), but not Type 4 MI. Conclusion  After ACS, alirocumab added to intensive statin therapy favourably impacted on Type 1 and 2 MIs. The data indicate for the first time that a lipid-lowering therapy can attenuate the risk of Type 2 MI. Low-density lipoprotein cholesterol reduction below levels achievable with statins is an effective preventive strategy for both MI types.For complete list of authors see http://dx.doi.org/10.1093/eurheartj/ehz299</p

Research and Design of a Routing Protocol in Large-Scale Wireless Sensor Networks

无线传感器网络，作为全球未来十大技术之一，集成了传感器技术、嵌入式计算技术、分布式信息处理和自组织网技术，可实时感知、采集、处理、传输网络分布区域内的各种信息数据，在军事国防、生物医疗、环境监测、抢险救灾、防恐反恐、危险区域远程控制等领域具有十分广阔的应用前景。 本文研究分析了无线传感器网络的已有路由协议，并针对大规模的无线传感器网络设计了一种树状路由协议，它根据节点地址信息来形成路由，从而简化了复杂繁冗的路由表查找和维护，节省了不必要的开销，提高了路由效率，实现了快速有效的数据传输。 为支持此路由协议本文提出了一种自适应动态地址分配算——ADAR（AdaptiveDynamicAddre...As one of the ten high technologies in the future, wireless sensor network, which is the integration of micro-sensors, embedded computing, modern network and Ad Hoc technologies, can apperceive, collect, process and transmit various information data within the region. It can be used in military defense, biomedical, environmental monitoring, disaster relief, counter-terrorism, remote control of haz...学位：工学硕士院系专业：信息科学与技术学院通信工程系_通信与信息系统学号：2332007115216

Omecamtiv mecarbil in chronic heart failure with reduced ejection fraction, GALACTIC‐HF: baseline characteristics and comparison with contemporary clinical trials

Aims: The safety and efficacy of the novel selective cardiac myosin activator, omecamtiv mecarbil, in patients with heart failure with reduced ejection fraction (HFrEF) is tested in the Global Approach to Lowering Adverse Cardiac outcomes Through Improving Contractility in Heart Failure (GALACTIC‐HF) trial. Here we describe the baseline characteristics of participants in GALACTIC‐HF and how these compare with other contemporary trials. Methods and Results: Adults with established HFrEF, New York Heart Association functional class (NYHA) ≥ II, EF ≤35%, elevated natriuretic peptides and either current hospitalization for HF or history of hospitalization/ emergency department visit for HF within a year were randomized to either placebo or omecamtiv mecarbil (pharmacokinetic‐guided dosing: 25, 37.5 or 50 mg bid). 8256 patients [male (79%), non‐white (22%), mean age 65 years] were enrolled with a mean EF 27%, ischemic etiology in 54%, NYHA II 53% and III/IV 47%, and median NT‐proBNP 1971 pg/mL. HF therapies at baseline were among the most effectively employed in contemporary HF trials. GALACTIC‐HF randomized patients representative of recent HF registries and trials with substantial numbers of patients also having characteristics understudied in previous trials including more from North America (n = 1386), enrolled as inpatients (n = 2084), systolic blood pressure &lt; 100 mmHg (n = 1127), estimated glomerular filtration rate &lt; 30 mL/min/1.73 m2 (n = 528), and treated with sacubitril‐valsartan at baseline (n = 1594). Conclusions: GALACTIC‐HF enrolled a well‐treated, high‐risk population from both inpatient and outpatient settings, which will provide a definitive evaluation of the efficacy and safety of this novel therapy, as well as informing its potential future implementation

Effect of alirocumab on mortality after acute coronary syndromes. An analysis of the ODYSSEY OUTCOMES randomized clinical trial

Background: Previous trials of PCSK9 (proprotein convertase subtilisin-kexin type 9) inhibitors demonstrated reductions in major adverse cardiovascular events, but not death. We assessed the effects of alirocumab on death after index acute coronary syndrome. Methods: ODYSSEY OUTCOMES (Evaluation of Cardiovascular Outcomes After an Acute Coronary Syndrome During Treatment With Alirocumab) was a double-blind, randomized comparison of alirocumab or placebo in 18 924 patients who had an ACS 1 to 12 months previously and elevated atherogenic lipoproteins despite intensive statin therapy. Alirocumab dose was blindly titrated to target achieved low-density lipoprotein cholesterol (LDL-C) between 25 and 50 mg/dL. We examined the effects of treatment on all-cause death and its components, cardiovascular and noncardiovascular death, with log-rank testing. Joint semiparametric models tested associations between nonfatal cardiovascular events and cardiovascular or noncardiovascular death. Results: Median follow-up was 2.8 years. Death occurred in 334 (3.5%) and 392 (4.1%) patients, respectively, in the alirocumab and placebo groups (hazard ratio [HR], 0.85; 95% CI, 0.73 to 0.98; P=0.03, nominal P value). This resulted from nonsignificantly fewer cardiovascular (240 [2.5%] vs 271 [2.9%]; HR, 0.88; 95% CI, 0.74 to 1.05; P=0.15) and noncardiovascular (94 [1.0%] vs 121 [1.3%]; HR, 0.77; 95% CI, 0.59 to 1.01; P=0.06) deaths with alirocumab. In a prespecified analysis of 8242 patients eligible for ≥3 years follow-up, alirocumab reduced death (HR, 0.78; 95% CI, 0.65 to 0.94; P=0.01). Patients with nonfatal cardiovascular events were at increased risk for cardiovascular and noncardiovascular deaths (P<0.0001 for the associations). Alirocumab reduced total nonfatal cardiovascular events (P<0.001) and thereby may have attenuated the number of cardiovascular and noncardiovascular deaths. A post hoc analysis found that, compared to patients with lower LDL-C, patients with baseline LDL-C ≥100 mg/dL (2.59 mmol/L) had a greater absolute risk of death and a larger mortality benefit from alirocumab (HR, 0.71; 95% CI, 0.56 to 0.90; Pinteraction=0.007). In the alirocumab group, all-cause death declined wit h achieved LDL-C at 4 months of treatment, to a level of approximately 30 mg/dL (adjusted P=0.017 for linear trend). Conclusions: Alirocumab added to intensive statin therapy has the potential to reduce death after acute coronary syndrome, particularly if treatment is maintained for ≥3 years, if baseline LDL-C is ≥100 mg/dL, or if achieved LDL-C is low. Clinical Trial Registration: URL: https://www.clinicaltrials.gov. Unique identifier: NCT01663402