A Robust Localization System for Inspection Robots in Sewer Networks †

Sewers represent a very important infrastructure of cities whose state should be monitored periodically. However, the length of such infrastructure prevents sensor networks from being applicable. In this paper, we present a mobile platform (SIAR) designed to inspect the sewer network. It is capable of sensing gas concentrations and detecting failures in the network such as cracks and holes in the floor and walls or zones were the water is not flowing. These alarms should be precisely geo-localized to allow the operators performing the required correcting measures. To this end, this paper presents a robust localization system for global pose estimation on sewers. It makes use of prior information of the sewer network, including its topology, the different cross sections traversed and the position of some elements such as manholes. The system is based on a Monte Carlo Localization system that fuses wheel and RGB-D odometry for the prediction stage. The update step takes into account the sewer network topology for discarding wrong hypotheses. Additionally, the localization is further refined with novel updating steps proposed in this paper which are activated whenever a discrete element in the sewer network is detected or the relative orientation of the robot over the sewer gallery could be estimated. Each part of the system has been validated with real data obtained from the sewers of Barcelona. The whole system is able to obtain median localization errors in the order of one meter in all cases. Finally, the paper also includes comparisons with state-of-the-art Simultaneous Localization and Mapping (SLAM) systems that demonstrate the convenience of the approach.Unión Europea ECHORD ++ 601116Ministerio de Ciencia, Innovación y Universidades de España RTI2018-100847-B-C2

OG-SGG: Ontology-Guided Scene Graph Generation-A Case Study in Transfer Learning for Telepresence Robotics

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. For more information, see https://creativecommons.org/licenses/by-nc-nd/4.0/Scene graph generation from images is a task of great interest to applications such as robotics, because graphs are the main way to represent knowledge about the world and regulate human-robot interactions in tasks such as Visual Question Answering (VQA). Unfortunately, its corresponding area of machine learning is still relatively in its infancy, and the solutions currently offered do not specialize well in concrete usage scenarios. Specifically, they do not take existing ‘‘expert’’ knowledge about the domain world into account; and that might indeed be necessary in order to provide the level of reliability demanded by the use case scenarios. In this paper, we propose an initial approximation to a framework called Ontology-Guided Scene Graph Generation (OG-SGG), that can improve the performance of an existing machine learning based scene graph generator using prior knowledge supplied in the form of an ontology (specifically, using the axioms defined within); and we present results evaluated on a specific scenario founded in telepresence robotics. These results show quantitative and qualitative improvements in the generated scene graphs

Implementación de servicios en plataforma Zentyal Server en el sistema GNU/Linux

Con el desarrollo de las temáticas planteadas se busca comprender el proceso de configuración e instalación de la plataforma GNU/Linux Zentyal Server para ser usado como infraestructura de TI para Intranets. Todas las configuraciones en el servidor de los servicios de TI, se realizan a través de la consola de administración de Zentyal Server; que cuenta con una interfaz Web donde se puede interactuar de forma amigable con la ejecución y parametrización de servicios web, cuyas funciones principales se evidenciarán en las estaciones clientes de Ubuntu que se encuentren dentro de la red Zentyal Server; permitiendo así la puesta en marcha de servicios de red enfocados con la seguridad y la administración de la infraestructura de la red.With the development of themes raised seeks to understand the process of configuration and installation of the GNU/Linux platform Zentyal Server to be used as infrastructure for IT for Intranets. All settings in the IT services server, are performed through the Zentyal Server administration console; that says with a Web interface where you can interact friendly way with the execution and parameterization of web services, whose main functions are will show on the Ubuntu client stations that are inside the Zentyal Server network; thus allowing the start-up of network services Focused on security and management network infrastructure

Compliaciones oculares posteriores a inyección de Bevacizumab (AVASTIN®) intravítreo en un hospital universitario

Determinar las características epidemiológicas, frecuencia y complicaciones posteriores a la inyección intravítrea de Bevacizumab (Avastin®). Metodología: Estudio retrospectivo descriptivo con componente analítico. Se realizó una revisión del archivo de oftalmología de pacientes que hayan sido sometidos a inyección de Bevacizumab entre noviembre 2015 a setiembre 2017. Se determinó la frecuencia y tipo de complicaciones, comorbilidad sistémica y patología retiniana asociada. Resultados: Se analizaron 1275 inyecciones intravítreas de Bevacizumab (Avastin®). La edad promedio fue de 62,39 años (DE ±10,42), con rango de 21 a 94 años; 44,39% eran masculinos y 55,61% femeninos. 1009 (79,13%) de los pacientes tenían Diabetes Mellitus (DM) tipo 2, 809 (63,45%) Hipertensión Arterial, 143 (11,21%) Dislipidemia y 5 (0,39%) DM tipo 1. En 549 (43,06%) ocasiones fue indicado por edema macular diabético, 282 (22,12%) por hemovítreo, 125 (9,81%) por retinopatía diabética proliferativa, 124 (9,72%) por Oclusión de vena central de la retina, 96 (7,53%) por Degeneración Macular Relacionada a la edad húmeda, 86 (6,74%) por Oclusión de Rama venosa, 13 (1,02%) por glaucoma neovascular. En 1076 (84,39%) casos no hubo complicaciones, en 177 (13,88%) hemorragia subconjuntival (HSC), en 19 (1,49%) hipertensión ocular, en 2 (0,16%) hifema, en 1 (0,08%) endoftalmitis. Conclusión: La inyección intravítrea de bevacizumab (Avastin®) es un tratamiento seguro de diversas patologías retinianas. La mayoría de los pacientes no sufrieron complicaciones relacionadas al procedimiento.Fil: Delgado Herrera, Claudia Leticia. Universidad Nacional de Asunción (Paraguay).Fil: Cardozo, Edi Stilver. Universidad Nacional de Asunción (Paraguay).Fil: Arrúa Caballero, Martín Fernando. Universidad Nacional de Asunción (Paraguay).Fil: Castillo Benítez, Verónica Elisa. Universidad Nacional de Asunción (Paraguay)

Cardiac electrical defects in progeroid mice and Hutchinson-Gilford progeria syndrome patients with nuclear lamina alterations

Hutchinson–Gilford progeria syndrome (HGPS) is a rare genetic disease caused by defective prelamin A processing, leading to nuclear lamina alterations, severe cardiovascular pathology, and premature death. Prelamin A alterations also occur in physiological aging. It remains unknown how defective prelamin A processing affects the cardiac rhythm. We show age-dependent cardiac repolarization abnormalities in HGPS patients that are also present in the Zmpste24-/- mouse model of HGPS. Challenge of Zmpste24-/- mice with the ß-adrenergic agonist isoproterenol did not trigger ventricular arrhythmia but caused bradycardia-related premature ventricular complexes and slow-rate polymorphic ventricular rhythms during recovery. Patch-clamping in Zmpste24-/- cardiomyocytes revealed prolonged calcium-transient duration and reduced sarcoplasmic reticulum calcium loading and release, consistent with the absence of isoproterenol-induced ventricular arrhythmia. Zmpste24-/- progeroid mice also developed severe fibrosis-unrelated bradycardia and PQ interval and QRS complex prolongation. These conduction defects were accompanied by overt mislocalization of the gap junction protein connexin43 (Cx43). Remarkably, Cx43 mislocalization was also evident in autopsied left ventricle tissue from HGPS patients, suggesting intercellular connectivity alterations at late stages of the disease. The similarities between HGPS patients and progeroid mice reported here strongly suggest that defective cardiac repolarization and cardiomyocyte connectivity are important abnormalities in the HGPS pathogenesis that increase the risk of arrhythmia and premature death.Peer ReviewedPostprint (published version

A RGBD-Based System for Real-Time Robotic Defects Detection on Sewer Networks

In this paper we summarize the automatic defect inspec- tion onboard the sewer inspection ground platform SIAR. We include a general overview of the software and hardware characteristics of our platform, making a special emphasis on the sensing devices and software systems that are used for defect inspection. The main detection algo- rithm makes use of the a priori knowledge of ideal sections of the sewers that can be found in the Geographic Information Systems (GIS), and uses a variant of the Iterative Closest Point (ICP) algorithm for nd- ing structural and serviceability defects. Then, we describe the software modules that are in charge of storing the alerts found by the detection system and of displaying them to the operator. The whole system has been tested in two eld scenarios on di erent locations of the real sewer network of Barcelona, Spain

Cardiac electrical defects in progeroid mice and Hutchinson-Gilford progeria syndrome patients with nuclear lamina alterations

Hutchinson-Gilford progeria syndrome (HGPS) is a rare genetic disease caused by defective prelamin A processing, leading to nuclear lamina alterations, severe cardiovascular pathology, and premature death. Prelamin A alterations also occur in physiological aging. It remains unknown how defective prelamin A processing affects the cardiac rhythm. We show age-dependent cardiac repolarization abnormalities in HGPS patients that are also present in the Zmpste24−/− mouse model of HGPS. Challenge of Zmpste24−/− mice with the β-adrenergic agonist isoproterenol did not trigger ventricular arrhythmia but caused bradycardia-related premature ventricular complexes and slow-rate polymorphic ventricular rhythms during recovery. Patch-clamping in Zmpste24−/− cardiomyocytes revealed prolonged calcium-transient duration and reduced sarcoplasmic reticulum calcium loading and release, consistent with the absence of isoproterenol-induced ventricular arrhythmia. Zmpste24−/− progeroid mice also developed severe fibrosis-unrelated bradycardia and PQ interval and QRS complex prolongation. These conduction defects were accompanied by overt mislocalization of the gap junction protein connexin43 (Cx43). Remarkably, Cx43 mislocalization was also evident in autopsied left ventricle tissue from HGPS patients, suggesting intercellular connectivity alterations at late stages of the disease. The similarities between HGPS patients and progeroid mice reported here strongly suggest that defective cardiac repolarization and cardiomyocyte connectivity are important abnormalities in the HGPS pathogenesis that increase the risk of arrhythmia and premature death

Prognostic implications of comorbidity patterns in critically ill COVID-19 patients: A multicenter, observational study

Background The clinical heterogeneity of COVID-19 suggests the existence of different phenotypes with prognostic implications. We aimed to analyze comorbidity patterns in critically ill COVID-19 patients and assess their impact on in-hospital outcomes, response to treatment and sequelae. Methods Multicenter prospective/retrospective observational study in intensive care units of 55 Spanish hospitals. 5866 PCR-confirmed COVID-19 patients had comorbidities recorded at hospital admission; clinical and biological parameters, in-hospital procedures and complications throughout the stay; and, clinical complications, persistent symptoms and sequelae at 3 and 6 months. Findings Latent class analysis identified 3 phenotypes using training and test subcohorts: low-morbidity (n=3385; 58%), younger and with few comorbidities; high-morbidity (n=2074; 35%), with high comorbid burden; and renal-morbidity (n=407; 7%), with chronic kidney disease (CKD), high comorbidity burden and the worst oxygenation profile. Renal-morbidity and high-morbidity had more in-hospital complications and higher mortality risk than low-morbidity (adjusted HR (95% CI): 1.57 (1.34-1.84) and 1.16 (1.05-1.28), respectively). Corticosteroids, but not tocilizumab, were associated with lower mortality risk (HR (95% CI) 0.76 (0.63-0.93)), especially in renal-morbidity and high-morbidity. Renal-morbidity and high-morbidity showed the worst lung function throughout the follow-up, with renal-morbidity having the highest risk of infectious complications (6%), emergency visits (29%) or hospital readmissions (14%) at 6 months (p<0.01). Interpretation Comorbidity-based phenotypes were identified and associated with different expression of in-hospital complications, mortality, treatment response, and sequelae, with CKD playing a major role. This could help clinicians in day-to-day decision making including the management of post-discharge COVID-19 sequelae. Copyright (C) 2022 The Author(s). Published by Elsevier Ltd

La magia de tus pensamientos : poesías & cuentos

Recopilación de poesías y cuentos realizados por aprendices del SENA de los programas de Mantenimiento de Motores Diesel, Técnico en Sistemas, Automatización Industrial, Electricidad Industrial, Diseño e Integración de Automatismos Mecatrónicos, Mantenimiento de Equipo Biomédico, Animación 3D, Manejo Ambiental, Diseño e integración de Automatismos Mecatrónicos y Mantenimiento mecatrónico automotriz, entre 2015 y 2017.Poesías 2018 -- Dándome tu vida / Brayan Orlando Jaimes Chaparro -- Tierra infinita / Christian Ricardo Caballero Villamizar -- Lamento a la tierra / Jeferson Alexis Montoya Moreno -- Conciencia por favor / Daniel Rincón -- Salvar un hogar llamado tierra / William Gamboa Arguello -- Planeta tierra / Iván Arley jurado -- Salvemos nuestro planeta / Jonathan David Silva -- Tierra bella / Martin Santiago -- Mi planeta / Fabián Moreno -- Generando conciencia / José Alberto Lizarazo -- Añoranza / Javier Casanova -- Sin tierra… / Gustavo Andrés Rodríguez Mendoza -- Planeta vivo y limpio / Yesid Serrano -- Palabras del destino / Osneider David Hernández Otalvaro -- Planeta tierra / Luis Fernando Isidro -- Medio ambiente / Yorgin David Hernández -- Prevenir / Brayan Mauricio Sanmiguel Luengas -- Nada será cómo antes / Jaime Andres Rodriguez Parrado -- Yo…Sol / Jonathan Bautista -- Lamento / Héctor Mauricio Parra Cuesta -- Nuestro hogar / Juan José Amaya -- Te agradecemos / Edwin Andrés Navarro Rozo, Anderson Cardozo Villamizar -- HErmoso milagro / Jhonatan Jaimes Solano -- El creador / Ana Rosa Hernández Santana -- Cuentos 2015 -- Juventud en la zona azul / Jeniffer Solano Ardila -- Los Ucayali y los Cubeo / Oscar Ivan Rueda Quintero -- Vientos de armonía / Ever Edinson Monsalve Salcedo -- El nacimiento de una nueva era / Carlos Leonardo Ardila Alvarado -- Luz de sueños / Hugo Andrés Álvarez -- Sol de medio día / Claudia Ramírez Guarín -- Cuentos 2016 -- Mucha verraquera mano / Héctor Josué Amado Sandoval -- El viaje de irse y nunca volver / Dayana Marcela Fuentes Duran -- “Santander es hermosa” / Kelly Tatiana Pabón Blanco -- Los valores del SENA / Ana Rosa Hernandez Santana -- La fuerza del espiritu y el deseo de cambiar / Pablo Andrés Capera Rodríguez -- SENA, paz y reconciliación / Adrián Benítez R., Rubén Darío Martínez -- Cuentos 2017 -- Cartas a un pasado / Angelita Delgado Pérez -- ¿Por qué así? ¿por qué tan blanco? ¿por qué no de otra manera? / Cristian Felipe Vargas Buenahora -- El gato pacho pacho, el gato más pacho de todos los pachos / Edwin Matajira García -- Freeland “el paraíso perdido” / Dámaso Antonio Morales Palacin -- Un mundo al revés / Fabio Eduardo Contreras Piñeresna91 página