ViDRILO: The Visual and Depth Robot Indoor Localization with Objects information dataset

In this article we describe a semantic localization dataset for indoor environments named ViDRILO. The dataset provides five sequences of frames acquired with a mobile robot in two similar office buildings under different lighting conditions. Each frame consists of a point cloud representation of the scene and a perspective image. The frames in the dataset are annotated with the semantic category of the scene, but also with the presence or absence of a list of predefined objects appearing in the scene. In addition to the frames and annotations, the dataset is distributed with a set of tools for its use in both place classification and object recognition tasks. The large number of labeled frames in conjunction with the annotation scheme make this dataset different from existing ones. The ViDRILO dataset is released for use as a benchmark for different problems such as multimodal place classification and object recognition, 3D reconstruction or point cloud data compression.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks

Traditional visual servoing systems do not deal with the topic of moving objects tracking. When these systems are employed to track a moving object, depending on the object velocity, visual features can go out of the image, causing the fail of the tracking task. This occurs specially when the object and the robot are both stopped and then the object starts the movement. In this work, we have employed a retina camera based on Address Event Representation (AER) in order to use events as input in the visual servoing system. The events launched by the camera indicate a pixel movement. Event visual information is processed only at the moment it occurs, reducing the response time of visual servoing systems when they are used to track moving objects.

Trends and Disparities in Mortality Among Spanish-Born and Foreign-Born Populations Residing in Spain, 1999–2008

Spain’s immigrant population has increased 380 % in the last decade, accounting for 13.1 % of the total population. This fact has led her to become during 2009 the eighth recipient country of international immigrants in the world. The aim of this article is to describe the evolution of mortality and the main causes of death among the Spanish-born and foreign-born populations residing in Spain between 1999 and 2008. Age-standardised mortality rates (ASRs), average age and comparative mortality ratios among foreign-born and Spanish-born populations residing in Spain were computed for every year and sub-period by sex, cause of death and place of birth as well as by the ASR percentage change. During 1999–2008 the ASR showed a progressive decrease in the risk of death in the Spanish-born population (−17.8 % for men and −16.6 % for women) as well as in the foreign-born one (−45.9 % for men and −35.7 % for women). ASR also showed a progressive decrease for practically all the causes of death, in both populations. It has been observed that the risk of death due to neoplasms and respiratory diseases among immigrants is lower than that of their Spanish-born counterparts, but risk due to external causes is higher. Places of birth with the greater decreases are Northern Europe, Eastern Europe, Western Europe, Southern Europe, and Latin America and the Caribbean. The research shows the differences in the reduction of death risk between Spanish-born and immigrant inhabitants between 1999 and 2008. These results could contribute to the ability of central and local governments to create effective health policy. Further research is necessary to examine changes in mortality trends among immigrant populations as a consequence of the economic crisis and the reforms in the Spanish health system. Spanish data sources should incorporate into their records information that enables them to find out the immigrant duration of permanence and the possible impact of this on mortality indicators.

Longleat House MS 257: a description

From fresh examination of the manuscript, this paper presents a codicological description of Longleat House MS 257, a fifteenth-century codex in vellum that contains Lydgate’s Siege of Thebes, Chaucer’s Knight’s and Clerk’s Tale, and Ipomedon C, among other texts. First, the article discusses the date and place of production of this textual artifact, and after listing the contents of the volume, it examines the manuscript’s material circumstances, provides the collation and compilation, describes the morphology of the hands, and analyzes the decoration.

Benjamin, BitTorrent, Bootlegs: auratic piracy cultures?

Seventy-five years ago, Walter Benjamin showed us that the line between "production" and "reproduction" had begun to blur. Reproduction was no longer optional, consequential and degrading (the shredding of the original’s aura), but was instead being transformed into a principle of production itself: something was produced bearing in mind how it was to be reproduced. No longer did the original exist (in photography, film, music recordings), but instead diffusion, exhibition. The work existed precisely at the time and place of its enjoyment. Today, the cultural pirates of the new digital era take this principle to the extreme, with a certain characteristic also foreseen by Benjamin: a yearning to participate, to post-produce something captured in order to later return it to the Internet, modified in some way and made available to others. This postproduction is what is now often mixed up with reception, just as production and reproduction used to be in Benjamin’s day. Postproduction on the receiver’s side, which somehow augments and extends the received work, in other words creates an etymologically rigorous author-ization (auctor as the root of both author and augmentation). The cultural pirate only deserves redemption thanks to this creative augmentation.

Hábitos alimenticios en alumnos y trabajadores de la Universidad Miguel Hernández

Objetivo: Describir los hábitos alimenticios de una comunidad universitaria. Material y métodos: Se llevó a cabo un estudio descriptivo transversal. El instrumento utilizado fue un cuestionario de frecuencias de consumo, administrado por entrevista personal a una muestra accidental de 147 personas. Constaba de cuatro secciones: 1) número de comidas y lugar donde se realizan, 2) patrones de consumo de los distintos grupos de alimentos, 3) modos de preparación de los alimentos, 4) datos de identificación y demográficos. Resultados: En comparación con el patrón de Vivanco y Palacios, nuestra muestra se caracteriza por: alto consumo de carnes (4 veces/semana), disminución del consumo de huevos (2v/sem.), incremento del consumo de hidratos de carbono complejos (5v/sem.), consumo ligeramente inferior de frutas (5v/sem.), ingesta insuficiente de verduras (4v/sem), legumbres (2v/sem) y pescados (2,5v/sem). Conclusiones y Recomendaciones: Atendiendo a los estudios referenciados, es conveniente disminuir el consumo de carnes, aumentando los aportes de pescados, verduras, hortalizas y legumbres, alimentos que, habiendo sido habituales en nuestra dieta mediterránea, parecen haber sido abandonados en beneficio de la conformación de una dieta que tiende a la homogeneización cultural.

Where Are We After Five Editions?: Robot Vision Challenge, a Competition that Evaluates Solutions for the Visual Place Classification Problem

This article describes the Robot Vision challenge, a competition that evaluates solutions for the visual place classification problem. Since its origin, this challenge has been proposed as a common benchmark where worldwide proposals are measured using a common overall score. Each new edition of the competition introduced novelties, both for the type of input data and subobjectives of the challenge. All the techniques used by the participants have been gathered up and published to make it accessible for future developments. The legacy of the Robot Vision challenge includes data sets, benchmarking techniques, and a wide experience in the place classification research that is reflected in this article.