Towards a Semantic Gas Source Localization under Uncertainty

Towards a Semantic Gas Source Localization under Uncertainty.Communications in Computer and Information Science book series (CCIS, volume 855), doi:10.1007/978-3-319-91479-4_42This work addresses the problem of efficiently and coherently locating a gas source in a domestic environment with a mobile robot, meaning efficiently the coverage of the shortest distance as possible and coherently the consideration of different gas sources explaining the gas presence. The main contribution is the exploitation, for the first time, of semantic relationships between the gases detected and the objects present in the environment to face this challenging issue. Our proposal also takes into account both the uncertainty inherent in the gas classification and object recognition processes. These uncertainties are combined through a probabilistic Bayesian framework to provide a priority-ordered list of (previously observed) objects to check. Moreover the proximity of the different candidates to the current robot location is also considered by a cost function, which output is used for planning the robot inspection path. We have conducted an initial demonstration of the suitability of our gas source localization approach by simulating this task within domestic environments for a variable number of objects, and comparing it with an greedy approach.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

From Object Detection to Room Categorization in Robotics

This article deals with the problem of room categorization, i.e. the classification of a room as being a bathroom, kitchen, living-room, bedroom, etc., by an autonomous robot operating in home environments. For that, we propose a room categorization system based on a Bayesian probabilistic framework that combines object detections and its semantics. For detecting objects we resort to a state-of-the-art CNN, Mask R-CNN, while the meaning or semantics of those detections is provided by an ontology. Such an ontology encodes the relations between object and room categories, that is, in which room types the different object categories are typically found (toilets in bathrooms, microwaves in kitchens, etc.). The Bayesian framework is in charge of fusing both sources of information and providing a probability distribution over the set of categories the room can belong to. The proposed system has been evaluated in houses from the Robot@Home dataset, validating its effectiveness under real-world conditions.</p

A face recognition system for assistive robots

Assistive robots collaborating with people demand strong Human-Robot interaction capabilities. In this way, recognizing the person the robot has to interact with is paramount to provide a personalized service and reach a satisfactory end-user experience. To this end, face recognition: a non-intrusive, automatic mechanism of identification using biometric identifiers from an user's face, has gained relevance in the recent years, as the advances in machine learning and the creation of huge public datasets have considerably improved the state-of-the-art performance. In this work we study different open-source implementations of the typical components of state-of-the-art face recognition pipelines, including face detection, feature extraction and classification, and propose a recognition system integrating the most suitable methods for their utilization in assistant robots. Concretely, for face detection we have considered MTCNN, OpenCV's DNN, and OpenPose, while for feature extraction we have analyzed InsightFace and Facenet. We have made public an implementation of the proposed recognition framework, ready to be used by any robot running the Robot Operating System (ROS). The methods in the spotlight have been compared in terms of accuracy and performance in common benchmark datasets, namely FDDB and LFW, to aid the choice of the final system implementation, which has been tested in a real robotic platform.This work is supported by the Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech, the research projects WISER ([DPI2017-84827-R]),funded by the Spanish Government, and financed by European RegionalDevelopment’s funds (FEDER), and MoveCare ([ICT-26-2016b-GA-732158]), funded by the European H2020 program, and by a postdoc contract from the I-PPIT-UMA program financed by the University of Málaga

State-of-the-art of spatial arch bridges

The paper describes a new form of bridge called a spatial arch bridge. This bridge type was developed in response to the demand for landmark structures, which have started to appear in the modern urban landscape to provide a symbol of originality, innovation and progress. Spatial arch bridges are defined as bridges in which the vertical deck loads produce bending moments and shear forces not contained in the arch plane, owing to their geometrical and structural configuration. Moreover, the arch itself may not be contained in a plane. The different variables and geometries that create such a structural configuration have been studied and classified. A wide compilation of examples of this bridge type has been made in chronological order, according to their construction date, from Maillarts first concrete spatial arch bridges to the latest designs and materials

A Multi-Actor Framework Centered around an Assistive Mobile Robot for Elderly People Living Alone

In a social and economic context characterized by a constantly aging population, the research for new technologies able to assist elderly people is getting more and more attention. In this extended abstract we illustrate the main components of the European project MoveCare, a multi-actor framework designed to assist pre-frail elders living alone. The proposed system is centered around an assistive mobile robot that provides the user with a set of functionalities to support cognitive and social stimulation, assistance, and transparent monitoring

High Sensitivity C Reactive Protein in Patients with Rheumatoid Arthritis Treated with Antibodies against IL-6 or Jak Inhibitors: A Clinical and Ultrasonographic Study

Background: We examined whether high-sensitivity CRP (hsCRP) reflected the inflammatory disease status evaluated by clinical and ultrasound (US) parameters in RA patients receiving IL-6 receptor antibodies (anti-IL-6R) or JAK inhibitors (JAKi). Methods: We conducted a cross-sectional study of patients with established RA receiving anti-IL-6R (tocilizumab, sarilumab) or JAKi (tofacitinib, baricitinib). Serum hsCRP and US synovitis in both hands were measured. Associations between hsCRP and clinical inflammatory activity were evaluated using composite activity indices. The association between hsCRP and US synovitis was analyzed. Results: 63 (92% female) patients (42 anti- IL-6R and 21 JAKi) were included, and the median disease duration was 14.4 (0.2–37.5) years. Most patients were in remission or had low levels of disease. Overall hsCRP values were very low, and significantly lower in anti-IL-6R patients (median 0.04 mg/dL vs. 0.16 mg/dL). Anti-IL-6R (82.4%) patients and 48% of JAKi patients had very low hsCRP levels (≤0.1 mg/dL) (p = 0.002). In the anti-IL-6R group, hsCRP did not correlate with the composite activity index or US synovitis. In the JAKi group, hsCRP moderately correlated with US parameters (r = 0.5) but not clinical disease activity, and hsCRP levels were higher in patients with US synovitis (0.02 vs. 0.42 mg/dL) (p = 0.001). Conclusion: In anti-IL-6R RA-treated patients, hsCRP does not reflect the inflammatory disease state, but in those treated with JAKi, hsCRP was associated with US synovitis

Imaging Findings in Patients with Immune Checkpoint Inhibitor-Induced Arthritis

Immune checkpoint inhibitor (ICI)-induced arthritis is an increasingly recognized adverse event in patients with oncologic disease during immunotherapy. Four patterns are well described, including rheumatoid arthritis (RA)-like, polymyalgia rheumatica (PMR)-like, psoriatic arthritis (PsA)-like, and oligo-monoarthritis, among others. Despite better clinical recognition of these syndromes, information about the main imaging findings is limited. Methods: We conducted a retrospective observational study including all adult patients referred to the Rheumatology Department of a single-center due to ICI-induced arthritis who underwent imaging studies [ultrasound (US), magnetic resonance imaging (MRI), and (18)F-FDG PET/CT)] between January 2017 and January 2022. Results: Nineteen patients with ICI-induced arthritis with at least one diagnostic imaging assessment were identified (15 US, 4 MRI, 2 (18)F-FDG PET/CT). Most patients were male (84.2%), with a median age at inclusion of 73 years. The main underlying diagnoses for ICI treatment were melanoma in five cases. The distribution of ICI-induced arthritis was as follows: PMR-like (5, 26.2%), RA-like (4, 21.1%), PsA-like (4, 21.1%), and others (6, 31.6%). All RA-like patients had US findings indistinguishable from conventional RA patients. In addition, 3/5 (60%) of PMR-like patients had significant involvement of the hands and wrists. Abnormal findings on MRI or PET-CT were reported by clinical symptoms. No erosions or myofascitis were seen. Conclusions: ICI-induced arthritis patients present inflammatory patterns on imaging studies similar to conventional inflammatory arthropathies, and therefore these syndromes should be followed carefully and treated according to these findings

La consulta previa y su influencia en los proyectos de interés nacional estratégico en Colombia

Artículo de investigaciónLa consulta previa es un derecho fundamental que consiste en un mecanismo de participación de las comunidades étnicas e indígenas sobre las medidas administrativas o legislativas que pueden afectar su integridad social, cultural y económica, entre otros. El desarrollo que este mecanismo ha presentado en Colombia, según cifras del Ministerio del Interior (2018) puede calificarse como desmedido. En este sentido, es necesario realizar un análisis acerca del exceso de consultas previas presentadas hoy en día en Colombia. Lo anterior, tiene como finalidad identificar las posibles mejoras que pueden desarrollarse a través de la reglamentación consiente de los procesos de consulta previa, a partir de la identificación real de las afectaciones que puede constituir cada proyecto (PINES). Ponderando el interés general y la necesidad de los proyectos que se encuentran en marcha.1. INTRODUCCIÓN 2. LA CONSULTA PREVIA COMO DERECHO FUNDAMENTAL 3. FUNDAMENTO CONSTITUCIONAL DE LA CONSULTA PREVIA 4. AUTODETERMINACIÓN, CONSENTIMIENTO PREVIO LIBRE E INFORMADO DE LAS COMUNIDADES ÉTNICAS CONCLUSIONES REFERENCIAS 5. PROYECTOS DE INTERÉS NACIONAL Y ESTRATÉGICOS – PINES 6. LA CONSULTA PREVIA Y LOS PROYECTOS DE INTERÉS NACIONAL Y ESTRATÉGICOS – PINES. 7. LA CONSULTA PREVIA Y LA CONSULTA POPULAR Y SU INFLUENCIA EN EL DESARROLLO DEL PAÍSPregradoAbogad

Metodología para la optimización de la maniobra de fondeo de cajones en infraestructuras marítimas

Los autores agradecen el soporte y la financiación del proyecto DOVICAIM. Proyecto del Programa estatal de Investigación, Desarrollo e Innovación Orientada a los Retos de la Sociedad 2014 (RTC-2014-3077-4

Histological and biochemical evaluation of plasma rich in growth factors treatment for grade II muscle injuries in sheep.

The purpose of this study was to perform a histological and biochemical evaluation of the influence of plasma rich in growth factors (PRGF) on muscle regeneration process after a surgically induced grade II muscle laceration. A randomized, single blind, controlled experimental research was conducted including twenty-one adult healthy sheep, randomly divided in three groups (n = 7). A grade II surgical section was performed in the biceps femoris muscle of both hindlimbs. After two days (basal time), intralesional infiltration of autologous PRGF or Saline solution was randomly administered in both hindlimbs. Treatment was repeated once a week. Animal groups were euthanized at 1 (T1), 2 (T2) or 4 (T4) weeks. Histological assessment showed that PRGF intralesional injection induced a significant decrease of inflammatory cells density, significant higher centrally nucleated fibers percentage and significantly smaller fibrotic areas compared to Saline-treated muscles at T1, T2 and T4. Also, lower vascular density, with lower capillaries cross-sectional area, in PRGF group compared to Saline was observed. Biochemical analysis revealed a significant higher expression level of MYOD1, MYF5 and MYOG genes in PRGF groups at T1 compared to Saline treated muscles. At ultrastructural level, PRGF groups presented scarce edema and loss of connective tissue structure, as well as higher mitochondrial density adequately associated to the sarcomere unit in contrast to the Saline group. In conclusion, histological, biochemical, and ultrastructural results showed that PRGF treatment improved muscle regeneration process leading to more mature histological aspect in newly formed muscle tissue after a surgically induced grade II muscle injury