Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly in the presence of visual obscurants such as fog and smoke. The ability to navigate known environments in the presence of obscurants can be critical for inspection tasks especially, in the aftermath of a disaster. Addressing such a scenario, this work proposes a method for the design of fiducial markers to be used with thermal cameras for the pose estimation of aerial robots. Our low cost markers are designed to work in the long wave infrared spectrum, which is not affected by the presence of obscurants, and can be affixed to any object that has measurable temperature difference with respect to its surroundings. Furthermore, the estimated pose from the fiducial markers is fused with inertial measurements in an extended Kalman filter to remove high frequency noise and error present in the fiducial pose estimates. The proposed markers and the pose estimation method are experimentally evaluated in an obscurant filled environment using an aerial robot carrying a thermal camera.Comment: 10 pages, 5 figures, Published in International Symposium on Visual Computing 201

Detection of Aruco Markers Using the Quadrilateral Sum Conjuncture

Fiducial Markers are heavily used for pose estimation in many applications from robotics to augmented reality. In this paper we present an algorithm for the detection of aruco marker at larger distance. The algorithm uses the quadrilateral sum conjecture and analyzes the sum of the cosine of the internal angles to detect squares at larger distances. Experiments conducted showed that the developed solution was able to improve the detection distance when compared to other methods that use similar marker while keeping similar pose estimation precision.publishe

Evaluating the suitability of several AR devices and tools for industrial applications

In recent years, there has been an increasing interest in Industrial Augmented Reality (IAR) due to its prominent role in the ongoing revolution known as Industry 4.0. For companies and industries it is essential to evaluate carefully which of the developed AR-based technologies to adopt, and when, for tasks such as training, maintenance, assistance, and collaborative design. There is also a wide array of hardware and software alternatives on the market, characterized by a significant heterogeneity in terms of functionalities, performance and cost. With this work, our objective is to study and compare some widely available devices and Software Development Kits (SDKs) for AR by leveraging a set of evaluation criteria derived from the actual literature which have been deemed capable to qualify the above assets as suitable for industrial applications. Such criteria include the operative range, robustness, accuracy and stability. Both marker-based and marker-less solutions have been considered, in order to investigate a wide range of possible use cases

Augmented Reality Application in Manufacturing Industry: Maintenance and Non-destructive Testing (NDT) Use Cases

In recent years, a structural transformation of the manufacturing industry has been occurring as a result of the digital revolution. Thus, digital tools are now systematically used throughout the entire value chain, from design to production to marketing, especially virtual and augmented reality. Therefore, the purpose of this paper is to review, through concrete use cases, the progress of these novel technologies and their use in the manufacturing industry

Metarhizium anisopliae Pathogenesis of Mosquito Larvae: A Verdict of Accidental Death

Metarhizium anisopliae, a fungal pathogen of terrestrial arthropods, kills the aquatic larvae of Aedes aegypti, the vector of dengue and yellow fever. The fungus kills without adhering to the host cuticle. Ingested conidia also fail to germinate and are expelled in fecal pellets. This study investigates the mechanism by which this fungus adapted to terrestrial hosts kills aquatic mosquito larvae. Genes associated with the M. anisopliae early pathogenic response (proteinases Pr1 and Pr2, and adhesins, Mad1 and Mad2) are upregulated in the presence of larvae, but the established infection process observed in terrestrial hosts does not progress and insecticidal destruxins were not detected. Protease inhibitors reduce larval mortality indicating the importance of proteases in the host interaction. The Ae. aegypti immune response to M. anisopliae appears limited, whilst the oxidative stress response gene encoding for thiol peroxidase is upregulated. Cecropin and Hsp70 genes are downregulated as larval death occurs, and insect mortality appears to be linked to autolysis through caspase activity regulated by Hsp70 and inhibited, in infected larvae, by protease inhibitors. Evidence is presented that a traditional host-pathogen response does not occur as the species have not evolved to interact. M. anisopliae retains pre-formed pathogenic determinants which mediate host mortality, but unlike true aquatic fungal pathogens, does not recognise and colonise the larval host

Feasibility of a walking virtual reality system for rehabilitation: objective and subjective parameters

[EN] Background: Even though virtual reality (VR) is increasingly used in rehabilitation, the implementation of walking navigation in VR still poses a technological challenge for current motion tracking systems. Different metaphors simulate locomotion without involving real gait kinematics, which can affect presence, orientation, spatial memory and cognition, and even performance. All these factors can dissuade their use in rehabilitation. We hypothesize that a marker-based head tracking solution would allow walking in VR with high sense of presence and without causing sickness. The objectives of this study were to determine the accuracy, the jitter, and the lag of the tracking system and its elicited sickness and presence in comparison of a CAVE system. Methods: The accuracy and the jitter around the working area at three different heights and the lag of the head tracking system were analyzed. In addition, 47 healthy subjects completed a search task that involved navigation in the walking VR system and in the CAVE system. Navigation was enabled by natural locomotion in the walking VR system and through a specific device in the CAVE system. An HMD was used as display in the walking VR system. After interacting with each system, subjects rated their sickness in a seven-point scale and their presence in the Slater-Usoh-Steed Questionnaire and a modified version of the Presence Questionnaire. Results: Better performance was registered at higher heights, where accuracy was less than 0.6 cm and the jitter was about 6 mm. The lag of the system was 120 ms. Participants reported that both systems caused similar low levels of sickness (about 2.4 over 7). However, ratings showed that the walking VR system elicited higher sense of presence than the CAVE system in both the Slater-Usoh-Steed Questionnaire (17.6 +/- 0.3 vs 14.6 +/- 0.6 over 21, respectively) and the modified Presence Questionnaire (107.4 +/- 2.0 vs 93.5 +/- 3.2 over 147, respectively). Conclusions: The marker-based solution provided accurate, robust, and fast head tracking to allow navigation in the VR system by walking without causing relevant sickness and promoting higher sense of presence than CAVE systems, thus enabling natural walking in full-scale environments, which can enhance the ecological validity of VR-based rehabilitation applications.The authors wish to thank the staff of LabHuman for their support in this project, especially José Miguel Martínez and José Roda for their assistance. 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A922 Sequential measurement of 1 hour creatinine clearance (1-CRCL) in critically ill patients at risk of acute kidney injury (AKI)

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CIBERER : Spanish national network for research on rare diseases: A highly productive collaborative initiative

Altres ajuts: Instituto de Salud Carlos III (ISCIII); Ministerio de Ciencia e Innovación.CIBER (Center for Biomedical Network Research; Centro de Investigación Biomédica En Red) is a public national consortium created in 2006 under the umbrella of the Spanish National Institute of Health Carlos III (ISCIII). This innovative research structure comprises 11 different specific areas dedicated to the main public health priorities in the National Health System. CIBERER, the thematic area of CIBER focused on rare diseases (RDs) currently consists of 75 research groups belonging to universities, research centers, and hospitals of the entire country. CIBERER's mission is to be a center prioritizing and favoring collaboration and cooperation between biomedical and clinical research groups, with special emphasis on the aspects of genetic, molecular, biochemical, and cellular research of RDs. This research is the basis for providing new tools for the diagnosis and therapy of low-prevalence diseases, in line with the International Rare Diseases Research Consortium (IRDiRC) objectives, thus favoring translational research between the scientific environment of the laboratory and the clinical setting of health centers. In this article, we intend to review CIBERER's 15-year journey and summarize the main results obtained in terms of internationalization, scientific production, contributions toward the discovery of new therapies and novel genes associated to diseases, cooperation with patients' associations and many other topics related to RD research