Mapping and Semantic Perception for Service Robotics

Para realizar una tarea, los robots deben ser capaces de ubicarse en el entorno. Si un robot no sabe dónde se encuentra, es imposible que sea capaz de desplazarse para alcanzar el objetivo de su tarea. La localización y construcción de mapas simultánea, llamado SLAM, es un problema estudiado en la literatura que ofrece una solución a este problema. El objetivo de esta tesis es desarrollar técnicas que permitan a un robot comprender el entorno mediante la incorporación de información semántica. Esta información también proporcionará una mejora en la localización y navegación de las plataformas robóticas. Además, también demostramos cómo un robot con capacidades limitadas puede construir de forma fiable y eficiente los mapas semánticos necesarios para realizar sus tareas cotidianas.El sistema de construcción de mapas presentado tiene las siguientes características: En el lado de la construcción de mapas proponemos la externalización de cálculos costosos a un servidor en nube. Además, proponemos métodos para registrar información semántica relevante con respecto a los mapas geométricos estimados. En cuanto a la reutilización de los mapas construidos, proponemos un método que combina la construcción de mapas con la navegación de un robot para explorar mejor un entorno y disponer de un mapa semántico con los objetos relevantes para una misión determinada.En primer lugar, desarrollamos un algoritmo semántico de SLAM visual que se fusiona los puntos estimados en el mapa, carentes de sentido, con objetos conocidos. Utilizamos un sistema monocular de SLAM basado en un EKF (Filtro Extendido de Kalman) centrado principalmente en la construcción de mapas geométricos compuestos únicamente por puntos o bordes; pero sin ningún significado o contenido semántico asociado. El mapa no anotado se construye utilizando sólo la información extraída de una secuencia de imágenes monoculares. La parte semántica o anotada del mapa -los objetos- se estiman utilizando la información de la secuencia de imágenes y los modelos de objetos precalculados. Como segundo paso, mejoramos el método de SLAM presentado anteriormente mediante el diseño y la implementación de un método distribuido. La optimización de mapas y el almacenamiento se realiza como un servicio en la nube, mientras que el cliente con poca necesidad de computo, se ejecuta en un equipo local ubicado en el robot y realiza el cálculo de la trayectoria de la cámara. Los ordenadores con los que está equipado el robot se liberan de la mayor parte de los cálculos y el único requisito adicional es una conexión a Internet.El siguiente paso es explotar la información semántica que somos capaces de generar para ver cómo mejorar la navegación de un robot. La contribución en esta tesis se centra en la detección 3D y en el diseño e implementación de un sistema de construcción de mapas semántico.A continuación, diseñamos e implementamos un sistema de SLAM visual capaz de funcionar con robustez en entornos poblados debido a que los robots de servicio trabajan en espacios compartidos con personas. El sistema presentado es capaz de enmascarar las zonas de imagen ocupadas por las personas, lo que aumenta la robustez, la reubicación, la precisión y la reutilización del mapa geométrico. Además, calcula la trayectoria completa de cada persona detectada con respecto al mapa global de la escena, independientemente de la ubicación de la cámara cuando la persona fue detectada.Por último, centramos nuestra investigación en aplicaciones de rescate y seguridad. Desplegamos un equipo de robots en entornos que plantean múltiples retos que implican la planificación de tareas, la planificación del movimiento, la localización y construcción de mapas, la navegación segura, la coordinación y las comunicaciones entre todos los robots. La arquitectura propuesta integra todas las funcionalidades mencionadas, asi como varios aspectos de investigación novedosos para lograr una exploración real, como son: localización basada en características semánticas-topológicas, planificación de despliegue en términos de las características semánticas aprendidas y reconocidas, y construcción de mapas.In order to perform a task, robots need to be able to locate themselves in the environment. If a robot does not know where it is, it is impossible for it to move, reach its goal and complete the task. Simultaneous Localization and Mapping, known as SLAM, is a problem extensively studied in the literature for enabling robots to locate themselves in unknown environments. The goal of this thesis is to develop and describe techniques to allow a service robot to understand the environment by incorporating semantic information. This information will also provide an improvement in the localization and navigation of robotic platforms. In addition, we also demonstrate how a simple robot can reliably and efficiently build the semantic maps needed to perform its quotidian tasks. The mapping system as built has the following features. On the map building side we propose the externalization of expensive computations to a cloud server. Additionally, we propose methods to register relevant semantic information with respect to the estimated geometrical maps. Regarding the reuse of the maps built, we propose a method that combines map building with robot navigation to better explore a room in order to obtain a semantic map with the relevant objects for a given mission. Firstly, we develop a semantic Visual SLAM algorithm that merges traditional with known objects in the estimated map. We use a monocular EKF (Extended Kalman Filter) SLAM system that has mainly been focused on producing geometric maps composed simply of points or edges but without any associated meaning or semantic content. The non-annotated map is built using only the information extracted from an image sequence. The semantic or annotated parts of the map –the objects– are estimated using the information in the image sequence and the precomputed object models. As a second step we improve the EKF SLAM presented previously by designing and implementing a visual SLAM system based on a distributed framework. The expensive map optimization and storage is allocated as a service in the Cloud, while a light camera tracking client runs on a local computer. The robot’s onboard computers are freed from most of the computation, the only extra requirement being an internet connection. The next step is to exploit the semantic information that we are able to generate to see how to improve the navigation of a robot. The contribution of this thesis is focused on 3D sensing which we use to design and implement a semantic mapping system. We then design and implement a visual SLAM system able to perform robustly in populated environments due to service robots work in environments where people are present. The system is able to mask the image regions occupied by people out of the rigid SLAM pipeline, which boosts the robustness, the relocation, the accuracy and the reusability of the geometrical map. In addition, it estimates the full trajectory of each detected person with respect to the scene global map, irrespective of the location of the moving camera at the point when the people were imaged. Finally, we focus our research on rescue and security applications. The deployment of a multirobot team in confined environments poses multiple challenges that involve task planning, motion planning, localization and mapping, safe navigation, coordination and communications among all the robots. The architecture integrates, jointly with all the above-mentioned functionalities, several novel features to achieve real exploration: localization based on semantic-topological features, deployment planning in terms of the semantic features learned and recognized, and map building.<br /

¿Cómo se discute la violencia contra las mujeres en el espacio público digital?: divulgación de resultados investigación-docencia

Este documento presenta los resultados más relevantes de un proceso de investigación y docencia desarrollado en el marco de los cursos C-1103 Comunicación y Poder y C-1002 Comunicación Inclusiva de la Concentración en Comunicación Social de la Escuela de Ciencias de la Comunicación Colectiva durante el ciclo II-2020, en articulación con el Programa de Narrativas, Género y Comunicación del Centro de Investigación en Comunicación – CICOM-, de la Universidad de Costa Rica (UCR). El proyecto se planteó objetivos en tres ámbitos: el de la investigación, el de la enseñanza-aprendizaje y el de la política pública. En primer lugar, esta investigación responde al esfuerzo de articulación entre el CICOM y el Instituto Nacional de las Mujeres, INAMU, institución que coordina a las 22 instituciones que conforman el Sistema Nacional de prevención y atención de la violencia contra las mujeres e intrafamiliar (Ley 8688), encargado de implementar la Política Nacional para la atención y prevención de la violencia contra las mujeres de todas las edades, PLANOVI 2017-2032 y del cual la UCR es parte. Esta política, particularmente los ejes 1 y 2, centran su interés en la comunicación como vehículo fundamental para conseguir el cambio cultural y propiciar la erradicación de la violencia contra las mujeres y la promoción de las masculinidades no violentas. Para ello, se requiere diseñar e implementar una estrategia integrada de comunicación que exige, como punto de partida, determinar cuáles son los discursos sobre la violencia contra las mujeres que circulan en el espacio público costarricense en la actualidad. Con este documento, aspiramos a generar insumos que impacten en el diseño de dicha estrategia.Universidad de Costa Rica/[]/UCR/Costa RicaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ciencias Sociales::Centro de Investigación en Comunicación (CICOM

Smoking cessation opportunities in severe mental illness (tobacco intensive motivational and estimate risk — TIMER—): study protocol for a randomized controlled trial

There is an increased risk of premature death in people with severe mental illness (SMI). Respiratory disorders and cardiovascular disease are leading causes of increased mortality rates in these patients, and tobacco consumption remains the most preventable risk factor involved. Developing new tools to motivate patients towards cessation of smoking is a high priority. Information on the motivational value of giving the lung age and prevention opportunities is unknown in this high-risk population. In the context of community care, screening and early detection of lung damage could potentially be used, together with mobile technology, in order to produce a prevention message, which may provide patients with SMI with a better chance of quitting smoking.This study receives funding by the Spanish Ministry of Economy, Industry and Competitiveness, Instituto Carlos III (FIS PI16/00802)

Marejadas rurales y luchas por la vida, vol. iv: permanencias, resistencias y luchas por la vida

Volumen 4. Permanencias, resistencias y luchas por la vida, coordinado por: Elisabeth A. Mager Hois, Miguel Ángel Paz Frayre y Carla Zamora Lomelí, integra 15 capítulos y está dividido en tres secciones, la primera denominada Permanencia, contiene 5 capítulos que intentan establecer como eje común la lucha continua en las comunidades campesinas para continuar con la vida rural. La segunda, Identidad y resistencia, está compuesta por 4 capítulos que reflexionan sobre varios procesos de resistencia de la vida rural ante los cambios globales e internos en su propio proceso de vida, otros trabajos intentan encontrar aquellos elementos que generan y mantienen alguna forma de identidad, y la tercera sección, Lucha por la vida, contiene 6 trabajos que demuestran todas aquellas posibilidades que existen en el medio rural para sostenerse y mantenerse, generando diferentes formas y estrategias que los une en la continua lucha por vivir con pocas pretensiones y con difíciles perspectivas pero siempre encontrando alternativas.ASOCIACIÓN MEXICANA DE ESTUDIOS RURALES, INSTITUTO DE CIENCIAS AGROPECUARIAS Y RURALES (ICAR), UNIVERSIDAD DE GUADALAJARA, FACULTAD DE ESTUDIOS SUPERIORES ACATLÁN-UNAM, ECOSUR, CUCOSTA SUR GRANA, EL COLEGIO DE MICHOACÁN A.C., UNIVERSIDAD MICHOACANA DE SAN NICOLAS HIDALG

All-cause mortality in the cohorts of the Spanish AIDS Research Network (RIS) compared with the general population: 1997Ł2010

Abstract Background: Combination antiretroviral therapy (cART) has produced significant changes in mortality of HIVinfected persons. Our objective was to estimate mortality rates, standardized mortality ratios and excess mortality rates of cohorts of the AIDS Research Network (RIS) (CoRIS-MD and CoRIS) compared to the general population. Methods: We analysed data of CoRIS-MD and CoRIS cohorts from 1997 to 2010. We calculated: (i) all-cause mortality rates, (ii) standardized mortality ratio (SMR) and (iii) excess mortality rates for both cohort for 100 personyears (py) of follow-up, comparing all-cause mortality with that of the general population of similar age and gender. Results: Between 1997 and 2010, 8,214 HIV positive subjects were included, 2,453 (29.9%) in CoRIS-MD and 5,761 (70.1%) in CoRIS and 294 deaths were registered. All-cause mortality rate was 1.02 (95% CI 0.91-1.15) per 100 py, SMR was 6.8 (95% CI 5.9-7.9) and excess mortality rate was 0.8 (95% CI 0.7-0.9) per 100 py. Mortality was higher in patients with AIDS, hepatitis C virus (HCV) co-infection, and those from CoRIS-MD cohort (1997. Conclusion: Mortality among HIV-positive persons remains higher than that of the general population of similar age and sex, with significant differences depending on the history of AIDS or HCV coinfection

Visual Monocular SLAM for Minimally Invasive Surgery and its Application to Augmented Reality

Recovering 3D information of intra-operative endoscopic images together with the relative endoscope camera position are fundamental blocks towards accurate guidance and navigation in image-guided surgery. They allow augmented reality overlay of pre-operative models, which are readily available from different imaging modalities. This thesis provides a systematic approach for estimating these two pieces of information based on a pure vision Simultaneous Localization And Mapping (SLAM). SLAM goal is localizing a camera sensor, in real-time, within a map (3D reconstruction) of the environment that is also built online. It enables markerless camera tracking, where it uses only information from RGB images of a standard monocular camera.The preliminary work in this thesis has presented a sparse SLAM solution for real time and accurate intra-operative visualization of patient's pre-operative models over the patient skin. We proposed a non-invasive registration and visualization pipeline that requires minimal interactions from medical staff and runs solely on a commodity Tablet-PC with a build-in camera. Subsequently, we directed our focus to endoscopy, which is very challenging for monocular 3D reconstruction and endoscope camera tracking. We have addressed the utilization of the state-of-the-art sparse SLAM, and achieved a remarkable tracking performance. Thus, it was our second contribution to propose a pairwise dense reconstruction algorithm that exploits the initial SLAM exploration phase and accurately provides a pairwise dense reconstruction of the surgical scene.A further contribution is an extension of state-of-the-art sparse SLAM with a novel dense multi-view stereo-like approach to perform live dense reconstructions and hence eliminates the wait for the abdominal cavity exploration. We decouple the dense reconstruction from the camera trajectory estimation, resulting in a system that combines the accuracy and robustness of feature-based SLAM with the more complete reconstruction of direct SLAM methods. The proposed system can cope with challenging lighting conditions and poor/repetitive textures in endoscopy at an affordable time budget using modern GPU. The proposed system has been validated and evaluated on real porcine sequences of abdominal cavity exploration and showed a superior performance to other dense SLAM methods in terms of accuracy, density, and computation times. It has been also tested on different in-door sequences and showed a promising reconstructions results.The proposed solutions in this thesis have been validated on real porcine in-vivo and ex-vivo sequences from different datasets and have proved to be fast and do not need any external tracking hardware nor significant intervention from medical staff, other than moving the Tablet-PC or the endoscope. They therefore can be integrated easily into the current surgical workflow. <br /

Multiplexed monitoring of a novel autoantibody diagnostic signature of colorectal cancer using HaloTag technology-based electrochemical immunosensing platform

Background and Purpose: The humoral immune response in cancer patients can be used for early detection of the disease. Autoantibodies raised against tumor-associated antigens (TAAs) are promising clinical biomarkers for reliable cancer diagnosis, prognosis, and therapy monitoring. In this study, an electrochemical disposable multiplexed immunosensing platform able to integrate difficult- and easy-to-express colorectal cancer (CRC) TAAs is reported for the sensitive determination of eight CRC-specific autoantibodies. Methods: The electrochemical immunosensing approach involves the use of magnetic microcarriers (MBs) as solid supports modified with covalently immobilized HaloTag fusion proteins for the selective capture of specific autoantibodies. After magnetic capture of the modified MBs onto screen-printed carbon working electrodes, the amperometric responses measured using the hydroquinone (HQ)/H2O2 system were related to the levels of autoantibodies in plasma. Results: The biosensing platform was applied to the analysis of autoantibodies against 8 TAAs described for the first time in this work in plasma samples from healthy asymptomatic individuals (n=3), and patients with high-risk of developing CRC (n=3), and from patients already diagnosed with colorectal (n=3), lung (n=2) or breast (n=2) cancer. The developed bioplatform demonstrated an improved discrimination between CRC patients and controls (asymptomatic healthy individuals and breast and lung cancer patients) compared to an ELISA-like luminescence test. Conclusions: The proposed methodology uses a just-in-time produced protein in a simpler protocol, with low sample volume, and involves cost-effective instrumentation, which could be used in a high-throughput manner for reliable population screening to facilitate the detection of early CRC patients at affordable cost.This work was supported by the financial support of the PI17CIII/00045 grant from the AES-ISCIII program to R.B., cofounded by FEDER funds. The financial support of the CTQ2015-64402-C2-1-R (Spanish Ministerio de Economía y Competitividad) and RTI2018-096135-B-I00 (Ministerio de Ciencia, Innovación y Universidades) Research Projects and the TRANSNANOAVANSENS-CM Program from the Comunidad de Madrid (Grant S2018/NMT-4349) to P.Y-S., S.C. and JM.P are gratefully acknowledged. G.D. acknowledges the financial support of PI15/00246 grant of the FIS and Cátedra UAM-Roche en Medicina de Innovación. M.G-A. was supported by a contract of the Programa Operativo de Empleo Juvenil y la Iniciativa de Empleo Juvenil (YEI) with the participation of the Consejería de Educación, Juventud y Deporte de la Comunidad de Madrid y del Fondo Social Europeo. A.M-C. is a recipient of a FPU fellowship from the Ministerio de Educación, Cultura y Deporte. G.S-F. is recipient of a predoctoral contract (grant number 1193818N) supported by The Flanders Research Foundation (FWO). Predoctoral contracts from the Spanish Ministerio de Economía y Competitividad (E.P.) and Universidad Complutense de Madrid (V.R.V-M.) are also gratefully acknowledged.S

The immunogenetic diversity of the HLA system in Mexico correlates with underlying population genetic structure

International audienc

Reproducibility of fluorescent expression from engineered biological constructs in E. coli

We present results of the first large-scale interlaboratory study carried out in synthetic biology, as part of the 2014 and 2015 International Genetically Engineered Machine (iGEM) competitions. Participants at 88 institutions around the world measured fluorescence from three engineered constitutive constructs in E. coli. Few participants were able to measure absolute fluorescence, so data was analyzed in terms of ratios. Precision was strongly related to fluorescent strength, ranging from 1.54-fold standard deviation for the ratio between strong promoters to 5.75-fold for the ratio between the strongest and weakest promoter, and while host strain did not affect expression ratios, choice of instrument did. This result shows that high quantitative precision and reproducibility of results is possible, while at the same time indicating areas needing improved laboratory practices.Peer reviewe