Real-Time fusion of visual images and laser data images for safe navigation in outdoor environments

[EN]In recent years, two dimensional laser range finders mounted on vehicles is becoming a fruitful solution to achieve safety and environment recognition requirements (Keicher & Seufert, 2000), (Stentz et al., 2002), (DARPA, 2007). They provide real-time accurate range measurements in large angular fields at a fixed height above the ground plane, and enable robots and vehicles to perform more confidently a variety of tasks by fusing images from visual cameras with range data (Baltzakis et al., 2003). Lasers have normally been used in industrial surveillance applications to detect unexpected objects and persons in indoor environments. In the last decade, laser range finder are moving from indoor to outdoor rural and urban applications for 3D imaging (Yokota et al., 2004), vehicle guidance (Barawid et al., 2007), autonomous navigation (Garcia-Pérez et al., 2008), and objects recognition and classification (Lee & Ehsani, 2008), (Edan & Kondo, 2009), (Katz et al., 2010). Unlike industrial applications, which deal with simple, repetitive and well-defined objects, cameralaser systems on board off-road vehicles require advanced real-time techniques and algorithms to deal with dynamic unexpected objects. Natural environments are complex and loosely structured with great differences among consecutive scenes and scenarios. Vision systems still present severe drawbacks, caused by lighting variability that depends on unpredictable weather conditions. Camera-laser objects feature fusion and classification is still a challenge within the paradigm of artificial perception and mobile robotics in outdoor environments with the presence of dust, dirty, rain, and extreme temperature and humidity. Real time relevant objects perception, task driven, is a main issue for subsequent actions decision in safe unmanned navigation. In comparison with industrial automation systems, the precision required in objects location is usually low, as it is the speed of most rural vehicles that operate in bounded and low structured outdoor environments. To this aim, current work is focused on the development of algorithms and strategies for fusing 2D laser data and visual images, to accomplish real-time detection and classification of unexpected objects close to the vehicle, to guarantee safe navigation. Next, class information can be integrated within the global navigation architecture, in control modules, such as, stop, obstacle avoidance, tracking or mapping.Section 2 includes a description of the commercial vehicle, robot-tractor DEDALO and the vision systems on board. Section 3 addresses some drawbacks in outdoor perception. Section 4 analyses the proposed laser data and visual images fusion method, focused in the reduction of the visual image area to the region of interest wherein objects are detected by the laser. Two methods of segmentation are described in Section 5, to extract the shorter area of the visual image (ROI) resulting from the fusion process. Section 6 displays the colour based classification results of the largest segmented object in the region of interest. Some conclusions are outlined in Section 7, and acknowledgements and references are displayed in Section 8 and Section 9.projects: CICYT- DPI-2006-14497 by the Science and Innovation Ministry, ROBOCITY2030 I y II: Service Robots-PRICIT-CAM-P-DPI-000176- 0505, and SEGVAUTO: Vehicle Safety-PRICIT-CAM-S2009-DPI-1509 by Madrid State Government.Peer reviewe

Factores asociados a morbimortalidad en pacientes con hemorragia digestiva alta no variceal, Hospital de Apoyo II - Sullana

OBJETIVO: Identificar los factores asociados a morbimortalidad en pacientes con hemorragia digestiva alta no variceal en el hospital de Apoyo II- Sullana. MATERIAL Y MÉTODO: Se realizó un estudio observacional, descriptivo, retrospectivo, que incluyó datos de 63 historias médicas de pacientes con diagnóstico de ingreso de hemorragia digestiva alta no varicosa, de las cuales, 3 pacientes se encontraron fallecidos. RESULTADOS: La edad promedio fue 60 ± 2.28 años, predominó el sexo masculino (63.6%), procedencia urbano (78.8%). La mortalidad fue de 4.5% (3 casos). El tiempo de enfermedad que prevaleció fue de 1 a 2 días (45.5%) y la estancia hospitalaria entre 1 a 7 días (74.2%). En lo referente a los factores de riesgo, mostraron las siguientes distribuciones: consumo de alcohol (39.4%), de tabaco (9.1%), antecedente de HDA previo (27.3%). En lo que respecta a la sintomatología clínica, los síntomas que predominaron fueron melena (86.4%), dolor abdominal (69.7%), mareos (56.1%), hematemesis (43.9%). Según el diagnóstico endoscópico, prevaleció úlcera gástrica (51.5%), úlcera duodenal (21.2%), al categorizar los hallazgos endoscópicos, se encontró, base limpia III (31.8%), lesiones agudas de mucosa (LAM) y mancha plana IIC, (18.2%) cada uno. Con respecto a los valores de hemoglobina al ingreso, predomina los valores comprendidos entre 7 – 10g/dl (39.4%). El 63.6% de los casos que ingresaron por HDANV, requirieron transfusión sanguínea; el 40% de éstos, requirieron más de 2 paquetes globulares. El 16.7% de los pacientes presentaron presencia de Helicobacter pylori y el 18.2% el resultado fue negativo. En lo referente al consumo de fármacos, se encontraron que prevalecieron los siguientes resultados: AINES (39.4%), anticoagulantes (7,6%), entre otros: antihipertensivos, antidiabéticos. Respecto a las comorbilidades presentadas en los pacientes, se halló que presentaron hipertensión arterial (31.8%), diabetes mellitus (16.7%), insuficiencia hepática (10.6%). CONCLUSIONES: Son factores de riesgo importantes, la ingesta de bebidas alcohólicas y el tabaquismo; los fármacos consumidos con mayor frecuencia AINES y anticoagulantes; las comorbilidades presentes en estos pacientes fueron predominantemente HTA y DM, también se encontró un grupo importante de pacientes con enfermedades osteomioarticulares crónicas; la media de transfusión fueron 2 paquetes globulares; las úlceras pépticas son la primera causa de HDANV, según clasificación de Forrest, se determinó que la mayoría de pacientes presentaban base limpia III.OBJETIVE: Identify the factors associated with morbidity and mortality in patients with non-variceal upper gastrointestinal bleeding at Hospital de Apoyo II-Sullana. MATERIAL AND METHOD: It was an observational, descriptive, retrospective study, which included data from 63 medical histories of patients with a diagnosis of non-varicose upper gastrointestinal bleeding, of which three patients died. RESULTS: The average age was 60 ± 2.28 años, predominantly male (63.6%), urban origin (78.8%). The mortality was 4.5% (3 casos). The time of illness that prevalied was 1 to 2 days (45.5%) and the hospital stay was between 1 to 7 days (74.2%). The risk factor were alcohol consumption (39.4%), Tabaco consumption (9.1%), previus HAD history (27.3%). The clinical symptoms that predominated were melena (86.4%), abdominal pain (69.7%), dizziness (56.1%), hematemesis (43.9%). According to the endoscopic diagnosis, gastric ulcer prevailed (51.5%), duodenal ulcer (21.2%), when categorizing the endoscopic finding, we found Clean ulcer base III (31.8%), Acute mucosal lesions (LAM) y Flat pigmented spot IIC, (18.2%) each one. With respect to the values of hemoglobin at admission, it was between 7 – 10g/dl (63.6%) predominated, the cases admitted required blood transfusión; 40% of they erquired more the 2 globular packages. The 16.7% of the patients presented the presence of Helicobacter pylori and 18.2% the result was negative. Regarding the consumption of drugs, the following results were founds to prevail NSAIDS (39.4%), anticoagulants (7.6%), others: antihypertensive, antidiabetic. Regarding the comorbidities presented in the patients, it was found that had high blood preassure (31.3%), diabetes mellitus (16.7%), and liver failure (10.6%). CONCLUSIONS: The important risk factors are the intake of alcoholic beverages and smoking; the drugs most commonly used was NSAIDs and anticoagulants; the comorbidities present in these patients were predominatly hypertension and diabetes mellitus; and important group of patients with chronic osteomyoarticular diseases was also found; the average transfusion was 2 globular packages; peptic ulcers are the first cause of HDANV, according the Forrest classification, the majority of patients had clean base ulcer (III=.Tesi

Estación de ensayos para la caracterización de celdas de combustible de membrana de intercambio protónico con alimentación de H2 (Monocelda) con carga electrónica integrada

Estación de ensayos para la caracterización de celdas de combustible de membrana de intercambio protónico con alimentación de H2 (Monocelda) con carga electrónica integrada. Estación de Ensayos Para la Caracterización de Celdas de Combustible de Membrana de Intercambio Protónico (PEMFC) con alimentación de H2 (Monocelda) con Carga Electrónica integrada es un sistema para la gestión de gases en una PEMFC que simplificar el control, integrando componentes industriales de alta fiabilidad y robustez. Un sistema desarrollado para facilitar el procesamiento de la información, dotado de una arquitectura de medida y control de carácter innovador que permite el uso de dispositivos de elevadas prestaciones a coste competitivo frente a los equipos de laboratorio similares existentes en el mercado, con una arquitectura de tratamiento de datos compuesta por un procesador central y 4 subsistemas.Peer reviewedConsejo Superior de Investigaciones Científicas (España)A1 Solicitud de patente con informe sobre el estado de la técnic

Recent advances in the analysis of antibiotics by capillary electrophoresis

In this review, the main aspects related to the separation of different groups of antibiotics by CE as well as the different applications reported in the literature from the beginning 2003 till May 2005 will be provided to the readers. Firstly, the experimental conditions employed to achieve the analysis of antibiotics by CE are given. Then, the main applications performed in the pharmaceutical, clinical, food, and environmental\ud fields have been reviewed making emphasis on sample preparation requirements needed in each case. Finally, the main conclusions and future prospects in this field are presented

Capillary liquid-chromatography-ion trap-mass spectrometry methodology for the simultaneous quantification of four angiotensin-converting enzyme-inhibitory peptides in Prunus seed hydrolysates

Prunus genus fruit seeds are sources of highly angiotensin-l-converting enzyme (ACE)-inhibitory peptides. The presence of peptides IYSPH, IYTPH, IFSPR, and VAIP seems to be related to this activity but no previous work has demonstrated the direct relationship between the concentration of these peptides and the antihypertensive activity of hydrolysates. This work describes the development of a method for the quantification of these peptides in Prunus seeds hydrolysates based on capillary liquid chromatography-IT-MS/MS. The analytical characteristics of the method were evaluated through the study of the linearity, LOD, LOQ presence of matrix interferences, precision, and recovery. The developed methodology was applied to the determination of the four peptides in seed hydrolysates from different Prunus genus fruits: peaches (7 varieties), plums (2 varieties), nectarines (3 varieties), apricots (2 varieties), cherry, and paraguayo. Peaches and plums seed hydrolysates yielded the highest concentrations of these peptides while paraguayo one showed the lowest concentrations. A high correlation between peptides concentrations was demonstrated suggesting that the four peptides could be released from the same seed proteins

Autosuficiencia energética en la vivienda

Resumen Los edificios, junto al transporte suponen más de la mitad del consumo energético actual de combustible y de la contaminación a este asociada, de difícil solución por la dispersión de los procesos de combustión en poblaciones o carreteras. Esta distribución en la edificación de la demanda favorece el uso de energía solar, el recurso renovable más abundante y de fácil acceso sobre la superficie terrestre, especialmente adecuado en nuestro clima. El uso de tecnología solar requiere procesos de acumulación que garanticen la disponibilidad del calor excesivo del verano durante las frías noches de invierno así como la iluminación o las comunicaciones durante la noche en base a la radiación recibida en las horas de radiación solar. El trabajo describe la posibilidad de captura térmica en la cubierta con almacenamiento selectivo en el subsuelo capaz de satisfacer la demanda de energía para climatización de la vivienda a lo largo del año a un coste ,muy bajo. La energía eléctrica de "alta calidad" se genera y acumulé1localmente en forma de hidrógeno para alimentar según demanda mediante una pila de combustible. Con la tecnología actual, aún en pleno desarrollo, el balance es claramente positivo lo que significa la posibilidad de autosuficiencia energética para una parte considerable de las viviendas.El MEC ha financiado el desarrollo de nuevos dispositivos de hidrógeno en el proyecto "Diseño y realización de una nueva Pila de Combustible polimérica de bajo coste y alta eficacia" MCYT- ENE2005-09124-C04-02/ALT. y el CSIC ha financiado la generación de hidrógeno a partir de residuos orgánicos. El P.S.E. INVISO para industrialización de la vivienda sostenible financia el desarrollo integral de estos sistemas.Peer reviewe

Simultaneous enantiomeric separation of carfentrazone-ethyl herbicide and its hydrolysis metabolite carfentrazone by cyclodextrin electrokinetic chromatography. Analysis of agrochemical products and a degradation study

The different activity and toxicity that the enantiomers of agrochemicals may have requires the development of stereoselective analytical methodologies enabling the individual determination of each enantiomer. The aim of this work was to develop the first Electrokinetic Chromatography methodology enabling the simultaneous enantiomeric separation of carfentrazone-ethyl erbicide and its hydrolysis metabolite carfentrazone. The use of an anionic cyclodextrin as chiral selector (captisol at 2.5% (w/v)) in a 25 mM acetate buffer, at a temperature of 30 ºC, and an applied voltage (reverse polarity) of -30 kV, allowed the simultaneous separation of the four enantiomers of the two compounds studied in 6.8 min with enantiomeric resolutions of 5.0 for carfentrazone-ethyl and 5.1 for carfentrazone. Analytical characteristics of the developed method were evaluated and found adequate to achieve the quantitation of carfentrazone-ethyl and carfentrazone. Analysis of a commercial herbicide formulation showed the potential of the method for the quality control of these agrochemical products. Degradation studies for carfentrazone-ethyl revealed that no significant degradation took place in cleaned sand samples while a significant but not stereoselective degradation took place in soils for the whole period of time considered (seven days)

Extreme points and geometric aspects of compact convex sets in asymmetric normed spaces

[EN] The Krein-Milman theorem states that every compact convex subset in a locally compact convex space is the closure of the convex hull of its extreme points. Inspired by this result, we investigate the existence of extreme points in compact convex subsets of asymmetric normed spaces. We focus our attention in the finite dimensional case, giving a geometric description of all compact convex subsets of a finite dimensional asymmetric normed space.Jonard-Perez, N.; Sánchez Pérez, EA. (2016). Extreme points and geometric aspects of compact convex sets in asymmetric normed spaces. Topology and its Applications. 203:12-21. https://doi.org/10.1016/j.topol.2015.12.071S122120

Associations between sedentary time, physical activity and bone health among older people using compositional data analysis

Introduction : Aging is associated with a progressive decrease in bone mass (BM), and being physical active is one of the main strategies to combat this continuous loss. Nonetheless, because daily time is limited, time spent on each movement behavior is co-dependent. The aim of this study was to determine the relationship between BM and movement behaviors in elderly people using compositional data analysis. Methods : We analyzed 871 older people [395 men (76.9 +/- 5.3y) and 476 women (76.7 +/- 4.7y)]. Time spent in sedentary behavior (SB), light physical activity (LPA) and moderate-to-vigorous physical activity (MVPA), was assessed using accelerometry. BM was determined by bone densitometry (DXA). The sample was divided according to sex and bone health indicators. Results : The combined effect of all movement behaviors (PA and SB) was significantly associated with whole body, leg and femoral region BM in the whole sample (p<0.05), with leg and pelvic BM (p<0.05) in men and, with whole body, arm and leg BM (p<0.05) in women. In men, arm and pelvic BM were negatively associated with SB and whole body, pelvic and leg BM were positively associated with MVPA (p<0.05). In women, whole body and leg BM were positively associated with SB. Arm and whole body BM were positively associated and leg BM was negatively associated with LPA and arm BM was negatively associated with MVPA (p<0.05). Women without bone fractures spent less time in SB and more in LPA and MVPA than the subgroup with bone fractures. Conclusion : We identified that the positive effect of MVPA relative to the other behaviors on bone mass is the strongest overall effect in men. Furthermore, women might decrease bone fracture risk through PA increase and SB reduction, despite the fact that no clear benefits of PA for bone mass were found