Gaze Stabilization for Humanoid Robots: a Comprehensive Framework

6 pages, appears in 2014 IEEE-RAS International Conference on Humanoid RobotsGaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge that the robot has about its own movement. In this work we propose a comprehensive framework for gaze stabilization in a humanoid robot. We focus on the problem of compensating for disturbances induced in the cameras due to self-generated movements of the robot. In this work we employ two separate signals for stabilization: (1) an anticipatory term obtained from the velocity commands sent to the joints while the robot moves autonomously; (2) a feedback term from the on board gyroscope, which compensates unpredicted external disturbances. We first provide the mathematical formulation to derive the forward and the differential kinematics of the fixation point of the stereo system. We finally test our method on the iCub robot. We show that the stabilization consistently reduces the residual optical flow during the movement of the robot and in presence of external disturbances. We also demonstrate that proper integration of the neck DoF is crucial to achieve correct stabilization

Anchoring selenido-carbonyl ruthenium clusters to functionalised silica xerogels

Silica Xerogels containing carbonyl Ru3Se2 nido clusters were prepared in three different ways. The simple dispersion of [Ru3(mu3-Se)2(CO)7(PPh 3)2] via sol gel process produces an inhomogeneous material; by contrast, homogeneous xerogels were obtained by reaction of [Ru3(mu3-Se)2(CO)8(PPh 3)] with functionalised xerogels containing grafted diphenylphosphine moieties and by reaction of [Ru3(CO)12] with a xerogel containing grafted phosphine-selenide groups. The reaction between [Ru3(CO)12] and dodecyldiphenylphosphine selenide led to the formation of four selenido carbonyl clusters, which are soluble in hydrocarbon solvents and can be deposited as thin films from their solution by slow evaporation. Xerogéis de silica contendo carbonilas metálicas polinucleares (clusters) com estrutura nido Ru3Se2 foram preparadas através de três rotas diferentes. A simples dispersão do cluster [Ru3(mi3-Se)2(CO)7(PPh 3)2] pelo processo sol gel produz um material não homogêneo. Xerogéis homogêneos foram obtidos através da reação de [Ru3(mi3-Se)2(CO)8(PPh 3)] com xerogéis funcionalizados contendo fragmentos difenilfosfino enxertados, e pela reação do [Ru3(CO)12] com um xerogel contendo grupos fosfinoseleneto enxertados. A reação entre [Ru3(CO)12] e seleneto de dodecildifenilfosfinoseleneto resultou na formação de quatro clusters contendo ligantes carbonil e seleneto, solúveis em solventes apolares e que podem ser empregados na confecção de filmes

Transferring visuomotor learning from simulation to the real world for robotics manipulation tasks

Hand-eye coordination is a requirement for many manipulation tasks including grasping and reaching. However, accurate hand-eye coordination has shown to be especially difficult to achieve in complex robots like the iCub humanoid. In this work, we solve the hand-eye coordination task using a visuomotor deep neural network predictor that estimates the arm's joint configuration given a stereo image pair of the arm and the underlying head configuration. As there are various unavoidable sources of sensing error on the physical robot, we train the predictor on images obtained from simulation. The images from simulation were modified to look realistic using an image-to-image translation approach. In various experiments, we first show that the visuomotor predictor provides accurate joint estimates of the iCub's hand in simulation. We then show that the predictor can be used to obtain the systematic error of the robot's joint measurements on the physical iCub robot. We demonstrate that a calibrator can be designed to automatically compensate this error. Finally, we validate that this enables accurate reaching of objects while circumventing manual fine-calibration of the robot

The vaginal-PVPA: A vaginal mucosa-mimicking in vitro permeation tool for evaluation of mucoadhesive formulations

Drug administration to the vaginal site has gained increasing attention in past decades, highlighting the need for reliable in vitro methods to assess the performance of novel formulations. To optimize formulations destined for the vaginal site, it is important to evaluate the drug retention within the vagina as well as its permeation across the mucosa, particularly in the presence of vaginal fluids. Herewith, the vaginal-PVPA (Phospholipid Vesicle-based Permeation Assay) in vitro permeability model was validated as a tool to evaluate the permeation of the anti-inflammatory drug ibuprofen from liposomal formulations (i.e., plain and chitosan-coated liposomes). Drug permeation was assessed in the presence and absence of mucus and simulated vaginal fluid (SVF) at pH conditions mimicking both the healthy vaginal premenopausal conditions and vaginal infection/pre-puberty/post-menopause state. The permeation of ibuprofen proved to depend on the type of formulation (i.e., chitosan-coated liposomes exhibited lower drug permeation), the mucoadhesive formulation properties and pH condition. This study highlights both the importance of mucus and SVF in the vaginal model to better understand and predict the in vivo performance of formulations destined for vaginal administration, and the suitability of the vaginal-PVPA model for such investigations

Digestibilidad y energía metabolizable en Amaranthus greggii S. Wats.

Amaranthus greggii S. Wats. es una especie de posible valor alimenticio, perenne, susceptible a heladas, cultivable bajo cubierta, a la que se le han estudiado algunos caracteres organolépticos, composición química y posibles aplicaciones hortícolas

Accuracy and reproducibility of contrast-enhanced mammography in the assessment of response to neoadjuvant chemotherapy in breast cancer patients with calcifications in the tumor bed

This study aimed to evaluate contrast-enhanced mammography (CEM) accuracy and reproducibility in the detection and measurement of residual tumor after neoadjuvant chemotherapy (NAC) in breast cancer (BC) patients with calcifications, using surgical specimen pathology as the reference. Pre-and post-NAC CEM images of 36 consecutive BC patients receiving NAC in 2012–2020, with calcifications in the tumor bed at diagnosis, were retrospectively reviewed by two radiologists; described were absence/presence and size of residual disease based on contrast enhancement (CE) only and CE plus calcifications. Twenty-eight patients (77.8%) had invasive and 5 (13.9%) in situ-only residual disease at surgical specimen pathology. Considering CE plus calcifications instead of CE only, CEM sensitivity for invasive residual tumor increased from 85.7% (95% CI = 67.3–96%) to 96.4% (95% CI = 81.7–99.9% ) and specificity decreased from 5/8 (62.5%; 95% CI = 24.5–91.5%) to 1/8 (14.3%; 95% CI = 0.4–57.9%). For in situ-only residual disease, false negatives decreased from 3 to 0 and false positives increased from 1 to 2. CEM pathology concordance in residual disease measurement increased (R squared from 0.38 to 0.45); inter-reader concordance decreased (R squared from 0.79 to 0.66). Considering CE plus calcifications to evaluate NAC response in BC patients increases sensitivity in detection and accuracy in measurement of residual disease but increases false positives

Abdominal Visceral Infarction in 3 Patients with COVID-19

A high incidence of thrombotic events has been reported in patients with coronavirus disease (COVID-19), which is caused by severe acute respiratory syndrome coronavirus-2 (SARS-CoV-2) infection. We report 3 clinical cases of patients in Italy with COVID-19 who developed abdominal viscera infarction, demonstrated by computed tomography

Compact Real-time avoidance on a Humanoid Robot for Human-robot Interaction

With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration from peripersonal space representations in humans, we present a framework on a humanoid robot that dynamically maintains such a protective safety zone, composed of the following main components: (i) a human 2D keypoints estimation pipeline employing a deep learning based algorithm, extended here into 3D using disparity; (ii) a distributed peripersonal space representation around the robot's body parts; (iii) a reaching controller that incorporates all obstacles entering the robot's safety zone on the fly into the task. Pilot experiments demonstrate that an effective safety margin between the robot's and the human's body parts is kept. The proposed solution is flexible and versatile since the safety zone around individual robot and human body parts can be selectively modulated---here we demonstrate stronger avoidance of the human head compared to rest of the body. Our system works in real time and is self-contained, with no external sensory equipment and use of onboard cameras only

Follow-Up CT Patterns of Residual Lung Abnormalities in Severe COVID-19 Pneumonia Survivors: A Multicenter Retrospective Study

Prior studies variably reported residual chest CT abnormalities after COVID-19. This study evaluates the CT patterns of residual abnormalities in severe COVID-19 pneumonia survivors. All consecutive COVID-19 survivors who received a CT scan 5–7 months after severe pneumonia in two Italian hospitals (Reggio Emilia and Parma) were enrolled. Individual CT findings were retrospectively collected and follow-up CT scans were categorized as: resolution, residual non-fibrotic abnormalities, or residual fibrotic abnormalities according to CT patterns classified following standard definitions and international guidelines. In 225/405 (55.6%) patients, follow-up CT scans were normal or barely normal, whereas in 152/405 (37.5%) and 18/405 (4.4%) patients, non-fibrotic and fibrotic abnormalities were respectively found, and 10/405 (2.5%) had post-ventilatory changes (cicatricial emphysema and bronchiectasis in the anterior regions of upper lobes). Among non-fibrotic changes, either barely visible (n = 110/152) or overt (n = 20/152) ground-glass opacities (GGO), resembling non-fibrotic nonspecific interstitial pneumonia (NSIP) with or without organizing pneumonia features, represented the most common findings. The most frequent fibrotic abnormalities were subpleural reticulation (15/18), traction bronchiectasis (16/18) and GGO (14/18), resembling a fibrotic NSIP pattern. When multiple timepoints were available until 12 months (n = 65), residual abnormalities extension decreased over time. NSIP, more frequently without fibrotic features, represents the most common CT appearance of post-severe COVID-19 pneumonia

Utilización de cereales no convencionales, tricepiro (Triticum x Secale x Thinopyrum) y triticale (Triticum x Secale), en la alimentación de los cerdos. Dos experiencias.

The objective of these experiments was to study the different cereal grains ("tricepiro and trilicale") as energy sourees in growing-finishing diets. The hybrid gilts (Yorl<shire x Landrace x Duroc Jersey) were fed sd-/lbltum during 56 days with: 16% C.P.; 3.300 Kcal DElkg, 1,30% Ca; 0,93% P and 0,82% of Iys (Dry weight). The first experiment was done wilh tricepiro "Don René" (T1), triticale "Tehuelche" (T2) and the mixture of both triticale (50-50) "Don Erman and Don Frank" (T3), being compare with Com (T0)as a control in hybrid gilts between 57 - 100 kg Iiveweight, confined in individual boxes. In a second trial triticale "Yagén" (T4) and triticale "Don Santiago" (T5) were evaluated versus Corn (T0). AII other experimental conditions being the same as for trial one. The results of the first trial were: Oally welght galn (p<0,025): T2= 868,62 9 a; T3= 840,35 sb; T0=753,50 bc and T1= 729,25 c. Feed Intake In sil the period (p<0,01):T0= 181,95 kg  a; T3= 167,85 b, T2= 164,90 be and T1= 155 c. Conversion efflciency (p<0,01): T0=4,31:1 8; T1= 3,83:1 b; T3= 3,59:1 bc and T2= 3,40:1 c. Backfat thlckness (p<0,01):T0- 26,12 mm a; T3= 23,19 b; T1= 20,82 C and T2= 19,91 c. Fatty acid ratio: T2= 1,17% of oleic acid, T3= 1,59; T0=3,65 and T1= 3,67. Second trial results were: Oally welght gain (p<00,01):T0= 948 9 a; T5= 942 a; and T4= 883 b. Feed Intake In all th8 period (p<0,01): T4= 159,55 kg a; T5= 173,34 b, and T0= 169,51 b, but not found statistical difference In conversion efflciency and backfat thickness. Fatty acid ratio: T2= 1,17% of oleic acid, T3= 1,59; T0=3,65 and T1= 3,67. We conclude that trilicale Tehuelche, the mixture of Don Erman and Don Frank, and Don Santiago can be included in growing-finishing diets for hybrid gilts on account of the daily weight gain and faed conversion results obtained. tricepiro Don René showed the best result for backfat thickness and feed intake. indeed, Triticales tried in these diets produced carcasses with excellent values of backfat thickness.En un primer ensayo se evaluaron los granos de Tricepiro Don René (T1), triticale Tehuelche (T2) y una mezcla de 50% de triticale Don Frank y 50% de triticale Don Erman (T3) frente al maíz (T0), en dietas de desarrollo-terminación en cerdas híbridas nulíparas (Yorkshire x Landrace x Duroc Jersey). En una segunda experiencia se evaluaron los granos de triticale Yagán (T4) y triticale Don Santiago (T5) frente al maíz (T0), también en dietas de desarrollo terminación y con las mismas características en las unidades experimentales. Los animales se alojaron en boxes individuales en el periodo de 57 a 100 kg de p.v., y fueron alimentados ea- Ifbitum durante 56 días con una dieta que contenla 16,5% de P.B., 3300 kcal de ED/kg; 1,30% de Ca; 0,93% de P y 0,82% de lisina, valores en base seca. Se valoraron las dietas a través de los rendimientos productivos de los animales y los resultados del ensayo uno fueron: Ganancia diaria de peso (GOP), (p<O,025): T2= 868,62g 8; T3= 840,35 8b; T0=753,50 be y T1= 729,25 e. Consumo en todo el periodo (p<0,01): T0= 181,95 kg 8; T3= 167,85 b; T2= 164,90 be y T1= 155~. Eficíencla de conversión (p<0,01): T0=4,31:1 a; T1= 3,83:1 b; T3= 3,59:1 be: T2= 3,40:1 e. Espesor de grasa dorsal (p<0,01): T0= 26,12 mm 8; T3= 23,19 b; T1= 20,82 e; T2= 19,91 e. Los valores de Indice de acidez para los tratamientos fueron: T2= 1,17% de ácido oleieo, T3=1,59; T0=3,65 y T1= 3,67. En el ensayo dos: GOP (p<0,01): T0(Testigo)= 948 9 8; T5= 942 8 Y T4= 883 b. Consumo en todo el periodo (p<0,01): T4= 159,55 kg 8; T5= 173,34 b y T0 (Testigo)= 169:51b. No existieron diferencias significativas en Eficiencia de conversión alimenticia y el espesor de grasa dorsal (p<0,01). Los valores de Índice de acidez para los tratamientos fueron: T0= 3,17% de ácido oleico, T4=3,05 y T5= 2,82. Los granos de triticale Tehuelche, la mezcla Don Frank-Don Erman y Don Santiago son apropiados para incluirlos en dietas de crecimiento-terminación de cerdos por sus adecuadas respuestas a la ganancia diaria de peso y eficiencia de conversión alimenticia. El tricepiro Don René expresó el mejor resultado en las variables grasa dorsal y consumo. Los trilicales incorporados en estas dietas determinaron también carcasas con óptimos contenidos de grasa dorsal