Data Fusion for Vision-Based Robotic Platform Navigation

Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approaches are common in general applications, the computer vision community has largely relegated this approach. Most object following algorithms have gone towards pure machine learning fusion techniques that tend to lack flexibility. Consequently, a more general data fusion scheme is needed. The motivation for this work is to propose methods that allow for the development of simple and cost effective, yet robust visual following robots capable of tracking a general object with limited restrictions on target characteristics. With that purpose in mind, in this work, a hierarchical adaptive Bayesian fusion approach is proposed, which outperforms individual trackers by using redundant measurements. The adaptive framework is achieved by relying in each measurement\u27s local statistics and a global softened majority voting. Several approaches for robots that can follow targets have been proposed in recent years. However, many require the use of several, expensive sensors and often the majority of the image processing and other calculations are performed independently. In the proposed approach, objects are detected by several state-of-the-art vision-based tracking algorithms, which are then used within a Bayesian framework to filter and fuse the measurements and generate the robot control commands. Target scale variations and, in one of the platforms, a time-of-flight (ToF) depth camera, are used to determine the relative distance between the target and the robotic platforms. The algorithms are executed in real-time (approximately 30fps). The proposed approaches were validated in a simulated application and several robotics platforms: one stationary pan-tilt system, one small unmanned air vehicle, and one ground robot with a Jetson TK1 embedded computer. Experiments were conducted with different target objects in order to validate the system in scenarios including occlusions and various illumination conditions as well as to show how the data fusion improves the overall robustness of the system

Productive and microeconomic evaluation of commercial sources of bovine somatotropin application in dairy cows

ABSTRACT: This study was proposed with the aim to analyze productive and microeconomic responses of holstein friesian cows that were treated with one of two commercial sources of recombinant bovine somatotropin (BST-r). Thirty cows form 1 to 4 parity and 60 to 180 days in milk (DIM) were evaluated. Daily milk production was recorded; incidence of mastitis and body condition score (BCS) were measured once a month. In addition, open days (OD) were measured in not pregnant cows at the begging of the study. Milk yield variable was analyzed by a completely randomized design with a factorial 2 x 3 x 7 arrangement plus a covariable. Factors considered in the model were: calving (primiparous or multiparous); hormone treatment: group 1, BST-r1 (500 mg) + vitamin E (1665 UI) + lecitine (166.5 mg), group 2, BST-r2 (500 mg), and control group without treatment; and time (application 3 to 9). DIM at the beginning of the study was used as a covariable. Open days (OD) variable was e by a completely randomized design with a 3 x 3 factorial arrangement. Factors considered in the model were parity (2, 3 or 4) and hormone treatment (with the same three levels above mentioned). The BCS variable was analyzed by the non-parametric Kruskal-Wallis method (five times). Hormone treatment or parity did not significantly differ (p > 0.05), although number of application (p 0.05). To perform the micro economical analysis, a one-year-projected-simulation was performed for each treatment group in order to establish a benefit/cost ratio, where BST-r2 treated group exhibited the best ratio. However, hormone treatment increased OD and induced economic losses in production process.RESUMEN: Con el objetivo de analizar el desempeño productivo y reproductivo de la aplicación de dos fuentes comerciales de somatotropina bovina recombinante (BST-r) se emplearon 30 vacas de la raza holstein friesian de 1 a 4 partos y entre 60 y 180 días en leche (DEL). Se midió la producción de leche (diaria), la incidencia de mastitis y la condición corporal (CC) (mensual), y en las vacas vacías el período abierto (PA). Para la producción de leche se utilizó un diseño completamente al azar con arreglo factorial 2 x 3 x 7 y una covariable, considerando como factores el parto (primíparas y multíparas); la hormona, grupo 1, BST-r1 (500 mg) + vitamina E (1665 UI) + lecitina (166.5 mg); grupo 2, BST-r2 (500 mg); y control, sin aplicación. El factor tiempo con siete niveles (aplicación 3 a 9). Los DEL al inicio del ensayo se tomaron como una covariable. Para evaluar el PA se utilizó un diseño completamente al azar con arreglo factorial 3 x 3, considerando como factores el número de parto (2, 3 y 4) y la hormona con los mismos tres niveles mencionados anteriormente. Los valores de CC fueron analizados por el método no paramétrico de Kruskal-Wallis, evaluando cinco momentos. La incidencia de mastitis se evaluó a partir de intervalos de confianza para la proporción de cuartos afectados con mastitis clínica y con grados de afección 1, 2 y 3 cruces. La hormona y los grupos de parto no tuvieron diferencias estadísticas significativas (p > 0.05), pero sí las aplicaciones (p 0.05). Se dedujo ausencia de diferencias significativas entre todos los intervalos obtenidos para mastitis. Para el análisis microeconómico, se realizó una simulación proyectada a un año para cada uno de los grupos considerados y se estableció la relación beneficio/costo, donde el grupo que recibió BST-r2 presentó la mejor relación. No obstante, el tratamiento con la hormona aumentó el PA y generó pérdidas en producción

Rituximab for Remission Induction and Maintenance in Refractory Systemic Lupus Erythematosus

Systemic lupus erythematosus (SLE) is a chronic inflammatory autoimmune disease with high morbidity if untreated. Sometimes, despite aggressive treatments, the disease remains active with cumulative organic damage. We conducted a retrospective and descriptive observational study of patients with SLE refractory to conventional treatment who were treated with rituximab (RTX) as remission induction therapy and maintenance. There was a significant reduction in the conventional immunosuppressive drug dose and the number of relapses of disease. RTX appeared to be effective and safe for the induction and maintenance of remission in patient with SLE refractory to conventional treatment

Epidemiología del trauma por quemaduras en la población atendida en un hospital infantil. manizales 2004-2005

Antecedentes. Las lesiones por quemaduras se han convertidoen un problema de salud pública, especialmente enpaíses en desarrollo.Objetivo. Identificar la epidemiología del trauma por quemadurasen la población que consultó al servicio de urgenciasdel Hospital Infantil “Rafael Henao Toro” de la ciudadde Manizales en el período comprendido entre el año 2004y 2005.Material y métodos. Se realizó un estudio descriptivoretrospectivo con base en la revisión de 439 historias clínicas,evaluando las variables de edad, género, seguridad social,procedencia, área geográfica, causa, profundidad, gravedad,extensión en porcentaje, área corporal comprometida,estancia hospitalaria y compañía.Resultados. Se encontró que la mayoría de las quemadurasocurrieron en pacientes de un año de edad (21,6%),predominó el género masculino (59%). La mayoría notenía seguridad social (52,2%). El 44,9 por ciento de lospacientes residía en la ciudad de Manizales. La principaletiología fueron los alimentos en 194 pacientes (44,2%)predominando el grado I de quemadura en un 78,1 porciento, con gravedad moderada en 314 pacientes (71,5%).La media de estancia hospitalaria fue 11,99 días.Conclusiones. Se determinó una mayor frecuencia de quemadurasen niños, menores de cinco años, causadas poralimentos, en miembro superior y de gravedad moderada

Total recovery from monoclonal gammopathy and autoimmune phenomena after parathyroidectomy

Based on the observation of a patient with a causal relationship between hyperparathyroidism and development of both autoimmune disease and paraproteinemia, we hypothesize a novel cause of autoimmunity triggered in the context of hyperparathyroidism. © Cañas et al.; Licensee Bentham Open

Etanercept-Induced Pityriasis Lichenoides Chronica in a Patient with Rheumatoid Arthritis

We present a 74-year-old female patient who developed a pityriasis lichenoides chronica (PLC) during etanercept therapy. This association is not described in the literature and might be considered in the spectrum of cutaneous adverse reactions of etanercept

Evaluación productiva y microeconómica de la aplicación de fuentes comerciales de somatotropina bovina en vacas de leche Avaliação produtiva e microeconômica da aplicação de fontes comerciais de somatotropina bovina em vacas leiteiras Productive and microeconomic evaluation of commercial sources of bovine somatotropin application in dairy cows

Con el objetivo de analizar el desempeño productivo y reproductivo de la aplicación de dos fuentes comerciales de somatotropina bovina recombinante (BST-r) se emplearon 30 vacas de la raza holstein friesian de 1 a 4 partos y entre 60 y 180 días en leche (DEL). Se midió la producción de leche (diaria), la incidencia de mastitis y la condición corporal (CC) (mensual), y en las vacas vacías el período abierto (PA). Para la producción de leche se utilizó un diseño completamente al azar con arreglo factorial 2 x 3 x 7 y una covariable, considerando como factores el parto (primíparas y multíparas); la hormona, grupo 1, BST-r1 (500 mg) + vitamina E (1665 UI) + lecitina (166.5 mg); grupo 2, BST-r2 (500 mg); y control, sin aplicación. El factor tiempo con siete niveles (aplicación 3 a 9). Los DEL al inicio del ensayo se tomaron como una covariable. Para evaluar el PA se utilizó un diseño completamente al azar con arreglo factorial 3 x 3, considerando como factores el número de parto (2, 3 y 4) y la hormona con los mismos tres niveles mencionados anteriormente. Los valores de CC fueron analizados por el método no paramétrico de Kruskal-Wallis, evaluando cinco momentos. La incidencia de mastitis se evaluó a partir de intervalos de confianza para la proporción de cuartos afectados con mastitis clínica y con grados de afección 1, 2 y 3 cruces. La hormona y los grupos de parto no tuvieron diferencias estadísticas significativas (p> 0.05), pero sí las aplicaciones (p 0.05). Se dedujo ausencia de diferencias significativas entre todos los intervalos obtenidos para mastitis. Para el análisis microeconómico, se realizó una simulación proyectada a un año para cada uno de los grupos considerados y se estableció la relación beneficio/costo, donde el grupo que recibió BST-r2 presentó la mejor relación. No obstante, el tratamiento con la hormona aumentó el PA y generó pérdidas en producción.Com o objetivo de avaliar o desempenho produtivo y reprodutivo da aplicação de duas fontes comerciais de somatotropina bovina recombinante (BST-r) foram utilizadas 30 vacas da raça Holstein Friesian de 1 a 4 partos e entre 60 e 180 dias em leite (DEL). Foram medidas a produção de leite (diária), a incidência de mastite e a condição corporal (CC) (mensal), e nas vacas vazias o período aberto (PA). Para a produção de leite foi utilizado um delineamento experimental completamente casualizado em arranjo fatorial 2 x 3 x 7 e uma covariável, considerando como fatores o parto (primíparas e multíparas); o hormônio, grupo 1, BST-r1 (500 mg) + vitamina E (1665 UI) + lecitina (166.5 mg); grupo 2, BST-r2 (500 mg); e controle, sem aplicação. O fator tempo com sete níveis (aplicação 3 a 9). Os DEL ao inicio do ensaio se tomaram como covariável. Para avaliar o PA foi utilizado um delineamento completamente casualizado em arranjo fatorial 3 x 3, considerando como fatores o número de parto (2, 3 y 4) e o hormônio com os mesmos níveis três níveis mencionados anteriormente. Os valores de CC foram analisados pelo método não paramétrico de Kruskal-Wallis, avaliando cinco momentos. A incidência de mastites se avaliou a partir de intervalos de confiança para a proporção de quartos afetados com mastite clínica e com graus de afeção 1, 2 e 3 cruzes. O hormônio e os grupos de parto não tiveram diferenças estadísticas significativas (p> 0.05), porém se as aplicações (p 0.05). Deduz-se ausência de diferenças significativas entre todos os intervalos obtidos para mastites. Para a análise microeconômica, se realizou uma simulação projetada a um ano para cada um dos grupos considerados e se estabeleceu a relação beneficio/custo, onde o grupo que recebeu BST-r2 apresentou a melhor relação. Contudo, o tratamento com o hormônio aumento o PA e gerou perdas em produção.This study was proposed with the aim to analyze productive and microeconomic responses of holstein friesian cows that were treated with one of two commercial sources of recombinant bovine somatotropin (BST-r). Thirty cows form 1 to 4 parity and 60 to 180 days in milk (DIM) were evaluated. Daily milk production was recorded; incidence of mastitis and body condition score (BCS) were measured once a month. In addition, open days (OD) were measured in not pregnant cows at the begging of the study. Milk yield variable was analyzed by a completely randomized design with a factorial 2 x 3 x 7 arrangement plus a covariable. Factors considered in the model were: calving (primiparous or multiparous); hormone treatment: group 1, BST-r1 (500 mg) + vitamin E (1665 UI) + lecitine (166.5 mg), group 2, BST-r2 (500 mg), and control group without treatment; and time (application 3 to 9). DIM at the beginning of the study was used as a covariable. Open days (OD) variable was e by a completely randomized design with a 3 x 3 factorial arrangement. Factors considered in the model were parity (2, 3 or 4) and hormone treatment (with the same three levels above mentioned). The BCS variable was analyzed by the non-parametric Kruskal-Wallis method (five times). Hormone treatment or parity did not significantly differ (p> 0.05), although number of application (p 0.05). To perform the micro economical analysis, a one-year-projected-simulation was performed for each treatment group in order to establish a benefit/cost ratio, where BST-r2 treated group exhibited the best ratio. However, hormone treatment increased OD and induced economic losses in production process

Descripción anatómica e histológica de las gónadas en Sabaleta (Brycon henni, Eigenmann 1913)

Brycon henni es un Charácido endémico de Colombia. Con el objetivo de realizar la descripción anatómica e histológica de las gónadas, en un año, se capturaron 51 individuos en muestreos mensuales, se sacrificaron, se les realizó disección, se calculó el índice gonadosomático y hepatosomático, las gónadas se fijaron en formol al 10% y se procesaron con técnicas histológicas de rutina, se realizaron cortes de 7mm de espesor y se colorearon con hematoxilina-eosina. Los ovarios de B. henni son órganos en forma de sacos alargados, pares, simétricos, que se localizan ventralmente a la vejiga natatoria de la hembra; en los primeros estadios de desarrollo los ovarios presentan color rosa claro, a medida que avanza la madurez, se tornan de color más intenso hasta anaranjado, dado por los oocitos observados a simple vista. Dependiendo del tamaño, forma, coloración y visualización de oocitos a simple vista se clasificaron los ovarios en estadio I, II o III. Los Testículos de B. henni son órganos pares de forma sacular, presentan color blanco y se localizan ventralmente a la vejiga natatoria del pez. Los testículos inmaduros son simétricos. A medida que avanza el desarrollo se observa asimetría entre ellos, formándose secciones que no son iguales tanto en número como en forma para ambos testículos. Histológicamente en el ovario se describen las oogonias y las fases del complejo folicular: cromatina nucléolo, perinucleolar, alvéolo cortical y vitelogénesis. Para el testículo se describe la organización de los lóbulos y las células de la línea espermática: espermatogonias, espermatocitos, espermátides, espermatozoides. El desarrollo gonadal en B. henni muestra una relación inversa con la pluviosidad

Theory of Inpatient Circadian Care (TICC): A Proposal for a MiddleRange Theory

The circadian system controls the daily rhythms of a variety of physiological processes. Most organisms show physiological, metabolic and behavioral rhythms that are coupled to environmental signals. In humans, the main synchronizer is the light/dark cycle, although non-photic cues such as food availability, noise, and work schedules are also involved. In a continuously operating hospital, the lack of rhythmicity in these elements can alter the patient’s biological rhythms and resilience. This paper presents a Theory of Inpatient Circadian Care (TICC) grounded in circadian principles. We conducted a literature search on biological rhythms, chronobiology, nursing care, and middle-range theories in the databases PubMed, SciELO Public Health, and Google Scholar. The search was performed considering a period of 6 decades from 1950 to 2013. Information was analyzed to look for links between chronobiology concepts and characteristics of inpatient care. TICC aims to integrate multidisciplinary knowledge of biomedical sciences and apply it to clinical practice in a formal way. The conceptual points of this theory are supported by abundant literature related to disease and altered biological rhythms. Our theory will be able to enrich current and future professional practice