Six DOF Motion Estimation for Teleoperated Flexible Endoscopes Using Optical Flow: A Comparative Study

Colorectal cancer is one of the leading causes of cancer-related deaths worldwide, although it can be effectively treated if detected early. Teleoperated flexible endoscopes are an emerging technology to promote participation in these preventive screenings. Real-time pose estimation is therefore essential to enable feedback to the robotic endoscope's control system. Vision-based endoscope localization approaches are a promising avenue, since they do not require extra sensors on board the endoscopes. In this work, we compare several state-of-the-art algorithms for computing the image motion (optical flow), which is then used with a supervised learning strategy to provide an accurate estimate of the 6 degree of freedom endoscope motion. The method is validated using a robotically actuated endoscope in a human colon simulator, and represents a preliminary effort towards testing with clinical video data

First record of Calma gobioophaga Calado and Urgorri, 2002 (Gastropoda: Nudibranchia)in the Mediterranean sea

Specimens of the nudibranch genus Calma were observed under boulders at two Croatian localities while feeding on gobiid eggs. Some ambiguous morphological features compared with the original descriptions of the known species of the genus, C. glaucoides and C. gobioophaga hampered easy identification. Genetic data (COI and 16S sequences) confirmed the distinction between the two species of the genus Calma, and allowed unambiguous identification of the Croatian specimens as Calma gobioophaga. This is the first record of this species for the Mediterranean and extends its distribution range remarkably. Finally, the eggs consumed by the Croatian C. gobioophaga specimens have been taxonomically identified by using the 12S rDNA marker as Gobius cobitis

First record of Calma gobioophaga Calado and Urgorri, 2002 (Gastropoda: Nudibranchia) in the Mediterranean Sea

Specimens of the nudibranch genus Calma were observed under stones at two Croatian localities while feeding on gobiid eggs. Some ambiguous morphological features compared with the original descriptions of the known species of the genus, C. glaucoides and C. gobioophaga, hampered an easy identification. Genetic data (COI and 16S sequences) confirmed the distinction between the two species of the genus Calma, and allowed to unambiguously identify the Croatian specimens as Calma gobioophaga. This is the first record of this species for the Mediterranean and extends remarkably its distribution range. Finally, the eggs fed by the Croatian specimens have been taxonomically identified by using the 12S rDNA marker as Gobius cobitis

First record of Calma gobioophaga Calado and Urgorri, 2002 (Gastropoda: Nudibranchia) in the Mediterranean Sea

Specimens of the nudibranch genus Calma were observed under stones at two Croatian localities while feeding on gobiid eggs. Some ambiguous morphological features compared with the original descriptions of the known species of the genus, C. glaucoides and C. gobioophaga, hampered an easy identification. Genetic data (COI and 16S sequences) confirmed the distinction between the two species of the genus Calma, and allowed to unambiguously identify the Croatian specimens as Calma gobioophaga. This is the first record of this species for the Mediterranean and extends remarkably its distribution range. Finally, the eggs fed by the Croatian specimens have been taxonomically identified by using the 12S rDNA marker as Gobius cobitis

On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV

Preparedness and response to the covid-19 emergency: Experience from the teaching hospital of Pisa, Italy

In Italy, the coronavirus disease 2019 (COVID-19) emergency took hold in Lombardy and Veneto at the end of February 2020 and spread unevenly among the other regions in the following weeks. In Tuscany, the progressive increase of hospitalized COVID-19 patients required the set-up of a regional task force to prepare for and effectively respond to the emergency. In this case report, we aim to describe the key elements that have been identified and implemented in our center, a 1082-bed hospital located in the Pisa district, to rapidly respond to the COVID-19 outbreak in order to guarantee safety of patients and healthcare workers