Context-based design of robotic systems

The need for improving the robustness, as well as the ability to adapt to different operational conditions, is a key requirement for a wider deployment of robots in many application domains. In this paper, we present an approach to the design of robotic systems, that is based on the explicit representation of knowledge about context. The goal of the approach is to improve the system's performance, by dynamically tailoring the functionalities of the robot to the specific features of the situation at hand. While the idea of using contextual knowledge is not new, the proposed approach generalizes previous work, and its advantages are discussed through a case study including several experiments. In particular, we identify many attempts to use contextual knowledge in several basic functionalities of a mobile robot such as: behavior, navigation, exploration, localization, mapping and perception. We then show how re-designing our mobile platform with a common representation of contextual knowledge, leads to interesting improvements in many of the above mentioned components, thus achieving greater flexibility and robustness in the face of different situations. Moreover, a clear separation of contextual knowledge leads to a design methodology, which supports the design of small specialized system components instead of complex self-contained subsystems. © 2008 Elsevier B.V. All rights reserved

Frequency of Left Ventricular Hypertrophy in Non-Valvular Atrial Fibrillation

Left ventricular hypertrophy (LVH) is significantly related to adverse clinical outcomes in patients at high risk of cardiovascular events. In patients with atrial fibrillation (AF), data on LVH, that is, prevalence and determinants, are inconsistent mainly because of different definitions and heterogeneity of study populations. We determined echocardiographic-based LVH prevalence and clinical factors independently associated with its development in a prospective cohort of patients with non-valvular (NV) AF. From the "Atrial Fibrillation Registry for Ankle-brachial Index Prevalence Assessment: Collaborative Italian Study" (ARAPACIS) population, 1,184 patients with NVAF (mean age 72 \ub1 11 years; 56% men) with complete data to define LVH were selected. ARAPACIS is a multicenter, observational, prospective, longitudinal on-going study designed to estimate prevalence of peripheral artery disease in patients with NVAF. We found a high prevalence of LVH (52%) in patients with NVAF. Compared to those without LVH, patients with AF with LVH were older and had a higher prevalence of hypertension, diabetes, and previous myocardial infarction (MI). A higher prevalence of ankle-brachial index 640.90 was seen in patients with LVH (22 vs 17%, p = 0.0392). Patients with LVH were at significantly higher thromboembolic risk, with CHA2DS2-VASc 652 seen in 93% of LVH and in 73% of patients without LVH (p <0.05). Women with LVH had a higher prevalence of concentric hypertrophy than men (46% vs 29%, p = 0.0003). Logistic regression analysis demonstrated that female gender (odds ratio [OR] 2.80, p <0.0001), age (OR 1.03 per year, p <0.001), hypertension (OR 2.30, p <0.001), diabetes (OR 1.62, p = 0.004), and previous MI (OR 1.96, p = 0.001) were independently associated with LVH. In conclusion, patients with NVAF have a high prevalence of LVH, which is related to female gender, older age, hypertension, and previous MI. These patients are at high thromboembolic risk and deserve a holistic approach to cardiovascular prevention