ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

Assessing key safety concerns of a Wolbachia-based strategy to control dengue transmission by Aedes mosquitoes

Mosquito-borne diseases such as dengue fever, chikungunya or malaria affect millions of people each year and control solutions are urgently needed. An international research program is currently being developed that relies on the introduction of the bacterial endosymbiont Wolbachia pipientis into Aedes aegypti to control dengue transmission. In order to prepare for open-field testing releases of Wolbachia-infected mosquitoes, an intensive social research and community engagement program was undertaken in Cairns, Northern Australia. The most common concern expressed by the diverse range of community members and stakeholders surveyed was the necessity of assuring the safety of the proposed approach for humans, animals and the environment. To address these concerns a series of safety experiments were undertaken. We report in this paper on the experimental data obtained, discuss the limitations of experimental risk assessment and focus on the necessity of including community concerns in scientific research.

Millora experimental de les lleis de control predictiu aplicades sobre la plataforma PRIM I, per el seguiment de trajectòries

Aquest projecte s’aplica sobre el robot PRIM (Plataforma Robotitzada d’Informació Multimèdia), un robot autònom no humanoide creat el 2004 per Ateneu Informàtic (AI) que permet realitzar trajectòries 2D gràcies a un sistema de tracció format per dues rodes motrius propulsades independentment. La plataforma PRIM és controlada a partir del control predictiu, aquest control es va implementar en un projecte anterior, creat per l’Alexandre Blasco Gutierrez i titulat “Implementació de tècniques MPC (Model Predictiu Control) sobre la plataforma PRIM I”. El que es pretén en aquest projecte és millorar els resultats obtinguts en el passat projecte reformulant la llei de control i analitzar les discrepàncies obtingudes en les metodologies que s’utilitzen per minimitzar la funció de costos a partir de simulacions de trajectòries

Odometria i planificació de trajectòries amb el robot e-puck

En el laboratori docent de robòtica s'utilitzen robots mòbils autònoms per treballar aspectes relacionats amb el posicionament, el control de trajectòries, la construcció de mapes... Es disposa de cinc robots comercials anomenats “e-puck”, que es caracteritzen per les seves dimensions reduïdes, dos motors i un conjunt complet de sensors. Aquests robots es programen en C++ utilitzant el simulador Webots, que disposa d'un conjunt de llibreries per programar el robot. També es disposa d'un entorn de proves on els robots es poden moure i evitar obstacles. Donat el poc temps que disposen els estudiants que realitzen pràctiques en aquest laboratori, és d'interès desenvolupar un software que contingui ja el posicionament del robot mitjançant odometria i també varis algoritmes de control de trajectòries. Per últim, en el laboratori es disposa de càmeres i targes d'adquisició de dades. Així doncs els objectius que s'han proposat per el projecte són: 1. Estudi de la documentació i software proporcinats pels fabricants del robot i de l'entorn Webots; 2. Programació del software de l'odometria i realització de proves per comprovar-ne la precisió; 3. Disseny, programació i verificació del software dels algoritmes de planificació de trajectòries. Realització d'experiments per a comprovar-ne el funcionament i 4. Disseny, programació i verificació d'un sistema de visió artificial que permeti conèixer la posició absoluta del robot en l'entorn

Improvement in growth after two years of growth hormone therapy in very young children born small for gestational age and without spontaneous catch-up growth: results of a multicenter, controlled, randomized, open clinical trial.

CONTEXT GH treatment is effective in children born small for gestational age (SGA); however, its effectiveness and safety in very young SGA children is unknown. OBJECTIVE The aim was to analyze the outcome of very young SGA children treated with GH and followed for 2 yr. The results after 24 months of treatment, compared with a control group without treatment during 12 months followed by 12 months of treatment, are shown. DESIGN We performed a multicenter, controlled, randomized, open trial. SETTINGS The pediatric endocrinology departments of 14 public hospitals in Spain participated in the study. PATIENTS Seventy-six children, aged 2-5 yr born SGA and without catch-up growth, were studied. INTERVENTION Children received GH at 0.06 mg/kg.d for 2 yr (group I) or were followed for 12 months with no treatment and then treated for 12 months (group II). MAIN OUTCOME MEASURES Age, general health status, pubertal stage, bone age, height, weight, biochemical and hormonal analyses, and adverse side effects were determined at biannual check-ups. RESULTS The mean height sd score gain for chronological age in children treated for 24 months (group I) was 2.10, whereas in those treated only during the last 12 months (group II) was 1.43. In both groups, children under 4 yr of age had the greatest gain in growth velocity. No significant acceleration of bone age or side effects related to treatment was seen. CONCLUSION Very young SGA children without spontaneous catch-up growth could benefit from GH treatment because growth was accelerated and no negative side effects were observed.

Programació del robot e-puck amb Microsoft Robotics Studio

Microsoft Robotics Studio (MRS) és un entorn per a crear aplicacions per a robots utilitzant una gran varietat de plataformes hardware. Conté un entorn de simulació en el que es pot modelar i simular el moviment del robot. Permet també programar el robot, i executar-lo en l’entorn simulat o bé en el real. MRS resol la comunicació entre elsdiferents processos asíncrons que solen estar presents en el software de control d’unrobot: processos per atendre sensors, actuadors, sistemes de control, comunicacions amb l’exterior,... MRS es pot utilitzar per modelar nous robots utilitzant components que ja estiguin disponibles en les seves llibreries, o també permet crear component nous. Per tal de conèixer en detall aquesta eina, seria interessant utilitzar-la per programa els robots e-pucks, uns robots mòbils autònoms de petites dimensions que disposen de dos motors i un complet conjunt de sensors. El que es vol és simular-los, realitzar un programa de control, realitzar la interfície amb el robot i comprovar el funcionament amb el robot real

Disseny de controladors òptims per al robot Pioneer

Aquest projecte titulat: “Disseny de controladors òptims per al robot Pioneer”, té com a funcióincloure en la recerca, que ja està iniciada, del control del Robot Pioneer 2DX, una novaversió d’agents go to per al funcionament del robot.La problemàtica que ens trobem és sobretot per al primer controlador. Fins ara el sistemamulti-agent fet, feia servir un agent go to que generava la trajectòria a seguir i la controlavamitjançant un PID. Introduint un mètode geomètric com és el cas del pure pursuit la cosa escomplica ja que és més complex l’ajustament del funcionament d’aquest. Centrant-nos encanvi el cas del segon controlador el problema es simplifica ja que l’ajustatge d’aquestmateix es pot realitzar de manera empírica i la problemàtica per a la situació en concret esmillora amb major facilitat.És per aquest motiu, sobretot pel primer controlador, que s’han hagut de realitzar algunesmodificacions en el plantejament del projecte al llarg d’aquest. En un principi estava pensatcrear aquest controlador a través de Matlab® mitjançant l’eina Simulink® però perproblemes de software en un moment donat hem hagut de redirigir el projecte cap alllenguatge base de l’estructura multi-agent com és el C++. Per aquest motiu també s’hahagut de prescindir de la implementació d’aquests també en l’estructura LabView®.

Integració d'un sensor sonar d'escombrat lateral en un robot submarí

El grup de Visió per Computador i Robòtica (VICOROB) disposa de varis robotssubmarins per a la recerca i inspecció subaquàtica. Recentment s’ha adquiritun sensor sonar d’escombrat lateral el qual s’utilitza per realitzar imatgesacústiques del fons marí quan aquest es mou principalment a velocitat constanti mantenint el rumb.Els robots del grup VICOROB estan equipats amb diferents tipus de sensors icàmeres per analitzar el fons marí. Aquest sensors són de gran qualitat ipermeten conèixer de manera bastant satisfactòria l’entorn a les proximitats delrobot. Freqüentment però, aquest sensors estant sotmesos a diferentsrestriccions depenent de la seva naturalesa de funcionament, de tal maneraque es necessària la seva combinació per resoldre determinats problemes endiferents situacions.Amb aquest projecte, es pretén integrar un nou sistema de captura d’imatgessonores del fons marí, en un dels robots. Amb la integració d’aquest nousensor, s’espera obtenir una opció alternativa els sistemes actuals que puguiaportar informació addicional sobre el fons. Aquest sistema podrà ser utilitzatper realitzar tasques per les quals els altres sensors no estant preparats o béper complementar informació d’altres sensor

Sistema de manteniment de l'equilibri per a un robot bípede

Dins el departament d’Electrònica, Informàtica i Automàtica de la Universitat de Girona s’handissenyat i construït dues plataformes bípedes per a l’ús docent. La mésevolucionada d’elles, finalitzada l’any 1999, està composada per dues cames d’alumini ambtres actuadors lineals cada una, simulant la funció del turmell, del genoll i del maluc. Els objectius que es pretenen aconseguir amb aquest projecte són molt concrets i tots ellsestan destinats a millorar el funcionament del robot bípede. Aquests objectius són: (1)dissenyar dos graus de llibertat lineals en forma de pla XY per moure el pes que convinguiper assegurar l’equilibri durant el moviment de la plataforma bípede, (2) dissenyar una placaamb una FPGA que generi senyals PWM pels vuit motors disponibles, que llegeixi els dosencoders dels motors del pla XY i que es comuniqui amb un PC equipat amb una tarjad’adquisició de dades específica, (3) dissenyar una placa de potència adequada pel controldels motors, (4) finalment realitzar un programa per comprovar el correcte funcionament deles plaques, dels actuadors i dels sensors utilitzats en la plataforma bípede

Video-assisted thoracoscopic surgery lobectomy or open lobectomy for non-small-cell lung cancer? Minimizing selection bias in observational studies.

PURPOSE OF REVIEW: Adherence to preventive measures and prescribed medications is the cornerstone of the successful management of hypertension. The role of adherence is particularly important when treatments are not providing the expected clinical results, for example, in patients with resistant hypertension. The goal of this article is to review the recent observations regarding drug adherence in resistant hypertension. RECENT FINDINGS: Today, the role of drug adherence as a potential cause of resistant hypertension is largely underestimated. Most studies suggest that a low adherence to the prescribed medications can affect up to 50% of patients with resistant hypertension.A good adherence to therapy is generally associated with an improved prognosis. Nonetheless, adherence should probably not be a target for treatment per se because data on adherence should always be interpreted in the view of clinical results. In our opinion, the availability of reliable data on drug adherence would be a major help for physicians to manage patients apparently resistant to therapy. SUMMARY: The actual development of new drugs for hypertension is slow. Thus, focusing on drug adherence to the drugs available is an important way to improve blood pressure control in the population. More emphasis should be put on measuring drug adherence in patients with resistant hypertension to avoid costly investigations and treatments.

Certifying achievement in the control of Chagas disease native vectors: what is a viable scenario?

As an evaluation scheme, we propose certifying for “control”, as alternative to “interruption”, of Chagas disease transmission by native vectors, to project a more achievable and measurable goal and sharing good practices through an “open online platform” rather than “formal certification” to make the key knowledge more accumulable and accessible.

First-line gefitinib in Caucasian EGFR mutation-positive NSCLC patients: a phase-IV, open-label, single-arm study.

BACKGROUND Phase-IV, open-label, single-arm study (NCT01203917) to assess efficacy and safety/tolerability of first-line gefitinib in Caucasian patients with stage IIIA/B/IV, epidermal growth factor receptor (EGFR) mutation-positive non-small-cell lung cancer (NSCLC). METHODS Treatment: gefitinib 250 mg day(-1) until progression. Primary endpoint: objective response rate (ORR). Secondary endpoints: disease control rate (DCR), progression-free survival (PFS), overall survival (OS) and safety/tolerability. Pre-planned exploratory objective: EGFR mutation analysis in matched tumour and plasma samples. RESULTS Of 1060 screened patients with NSCLC (859 known mutation status; 118 positive, mutation frequency 14%), 106 with EGFR sensitising mutations were enrolled (female 70.8%; adenocarcinoma 97.2%; never-smoker 64.2%). At data cutoff: ORR 69.8% (95% confidence interval (CI) 60.5-77.7), DCR 90.6% (95% CI 83.5-94.8), median PFS 9.7 months (95% CI 8.5-11.0), median OS 19.2 months (95% CI 17.0-NC; 27% maturity). Most common adverse events (AEs; any grade): rash (44.9%), diarrhoea (30.8%); CTC (Common Toxicity Criteria) grade 3/4 AEs: 15%; SAEs: 19%. Baseline plasma 1 samples were available in 803 patients (784 known mutation status; 82 positive; mutation frequency 10%). Plasma 1 EGFR mutation test sensitivity: 65.7% (95% CI 55.8-74.7). CONCLUSION First-line gefitinib was effective and well tolerated in Caucasian patients with EGFR mutation-positive NSCLC. Plasma samples could be considered for mutation analysis if tumour tissue is unavailable.

First-line gefitinib in Caucasian EGFR mutation-positive NSCLC patients: a phase-IV, open-label, single-arm study.

BACKGROUND: Phase-IV, open-label, single-arm study (NCT01203917) to assess efficacy and safety/tolerability of first-line gefitinib in Caucasian patients with stage IIIA/B/IV, epidermal growth factor receptor (EGFR) mutation-positive non-small-cell lung cancer (NSCLC). METHODS: TREATMENT: gefitinib 250 mg day(-1) until progression. Primary endpoint: objective response rate (ORR). Secondary endpoints: disease control rate (DCR), progression-free survival (PFS), overall survival (OS) and safety/tolerability. Pre-planned exploratory objective: EGFR mutation analysis in matched tumour and plasma samples. RESULTS: Of 1060 screened patients with NSCLC (859 known mutation status; 118 positive, mutation frequency 14%), 106 with EGFR sensitising mutations were enrolled (female 70.8%; adenocarcinoma 97.2%; never-smoker 64.2%). At data cutoff: ORR 69.8% (95% confidence interval (CI) 60.5-77.7), DCR 90.6% (95% CI 83.5-94.8), median PFS 9.7 months (95% CI 8.5-11.0), median OS 19.2 months (95% CI 17.0-NC; 27% maturity). Most common adverse events (AEs; any grade): rash (44.9%), diarrhoea (30.8%); CTC (Common Toxicity Criteria) grade 3/4 AEs: 15%; SAEs: 19%. Baseline plasma 1 samples were available in 803 patients (784 known mutation status; 82 positive; mutation frequency 10%). Plasma 1 EGFR mutation test sensitivity: 65.7% (95% CI 55.8-74.7). CONCLUSION: First-line gefitinib was effective and well tolerated in Caucasian patients with EGFR mutation-positive NSCLC. Plasma samples could be considered for mutation analysis if tumour tissue is unavailable.

A fast-track program reduces complications and length of hospital stay after open colonic surgery.

BACKGROUND & AIMS: A fast-track program is a multimodal approach for patients undergoing colonic surgery that combines stringent regimens of perioperative care (fluid restriction, optimized analgesia, forced mobilization, and early oral feeding) to reduce perioperative morbidity, hospital stay, and cost. We investigated the impact of a fast-track protocol on postoperative morbidity in patients after open colonic surgery. METHODS: A randomized trial of patients in 4 teaching hospitals in Switzerland included 156 patients undergoing elective open colonic surgery who were assigned to either a fast-track program or standard care. The primary end point was the 30-day complication rate. Secondary end points were severity of complications, hospital stay, and compliance with the fast-track protocol. RESULTS: The fast-track protocol significantly decreased the number of complications (16 of 76 in the fast-track group vs 37 of 75 in the standard care group; P = .0014), resulting in shorter hospital stays (median, 5 days; range, 2-30 vs 9 days, respectively; range, 6-30; P < .0001). There was a trend toward less severe complications in the fast-track group. A multiple logistic regression analysis revealed fluid administration greater than the restriction limits (odds ratio, 4.198; 95% confidence interval, 1.7-10.366; P = .002) and a nonfunctioning epidural analgesia (odds ratio, 3.365; 95% confidence interval, 1.367-8.283; P = .008) as independent predictors of postoperative complications. CONCLUSIONS: The fast-track program reduces the rate of postoperative complications and length of hospital stay and should be considered as standard care. Fluid restriction and an effective epidural analgesia are the key factors that determine outcome of the fast-track program.

Robust control of structures subject to uncertain disturbances and actuator dynamics

The objective the present research is try to find some control design strategies, which must be effective and closed to the real operation conditions. As a novel contribution to structural control strategies, the theories of Interval Modal Arithmetic, Backstepping Control and QFT (Qualitative Feedback Theory) will be studied. The steps to follow are to develop first new controllers based on the above theories and then to implement the proposed control strategies to different kind of structures. The report is organized as follows. The Chapter 2 presents the state-of-the-art on structural control systems. The chapter 3 presents the most important open problems found in field of structural control. The exploratory work made by the author, research proposal and working plan are given in the Chapter 4