Object recognition for autonomous objects: comparison of two approaches

Report for the scientific sojourn at the Swiss Federal Institute of Technology Zurich, Switzerland, between September and December 2007. In order to make robots useful assistants for our everyday life, the ability to learn and recognize objects is of essential importance. However, object recognition in real scenes is one of the most challenging problems in computer vision, as it is necessary to deal with difficulties. Furthermore, in mobile robotics a new challenge is added to the list: computational complexity. In a dynamic world, information about the objects in the scene can become obsolete before it is ready to be used if the detection algorithm is not fast enough. Two recent object recognition techniques have achieved notable results: the constellation approach proposed by Lowe and the bag of words approach proposed by Nistér and Stewénius. The Lowe constellation approach is the one currently being used in the robot localization project of the COGNIRON project. This report is divided in two main sections. The first section is devoted to briefly review the currently used object recognition system, the Lowe approach, and bring to light the drawbacks found for object recognition in the context of indoor mobile robot navigation. Additionally the proposed improvements for the algorithm are described. In the second section the alternative bag of words method is reviewed, as well as several experiments conducted to evaluate its performance with our own object databases. Furthermore, some modifications to the original algorithm to make it suitable for object detection in unsegmented images are proposed.

ETIKETAGGER: herramienta para el etiquetaje de secuencias de imágenes

La adaptación del reconocimiento de objetos sobre la robótica móvil requiere un enfoque y nuevas aplicaciones que optimicen el entrenamiento de los robots para obtener resultados satisfactorios. Es conocido que el proceso de entrenamiento es largo y tedioso, donde la intervención humana es absolutamente necesaria para supervisar el comportamiento del robot y la dirección hacia los objetivos. Es por esta razón que se ha desarrollado una herramienta que reduce notablemente el esfuerzo humano que se debe hacer para esta supervisión, automatizando el proceso necesario para obtener una evaluación de resultados, y minimizando el tiempo que se malgasta debido a errores humanos o falta de infraestructuras.

Estudi de comportaments socials amb eixams de robots reconfigurables

Els eixams de robots distribuïts representen tot un món de possibilitats al camp de la microrobòtica, però existeixen pocs estudis que n'analitzin els comportaments socials i les interaccions entre robots autònoms distribuïts. Aquests comportaments han de permetre assolir de la manera més efectiva possible un bon resultat. Prenent com a base l'objectiu esmentat, aquest treball detalla diferents polítiques de cerca i de reconfiguració dels robots i estudia els seus comportaments per tal de determinar quins d'ells són més útils per solucionar un problema concret amb les plagues d'erugues i corcs als camps de cigroneres.

Use of molecular probes and PCR for detection and typing of Leishmania - a mini-review

The use of molecular tools to detect and type Leishmania species in humans, reservoirs or sandflies has been pursued using different approaches. The polymerase chain reaction provided sensitivity to case this task, since the use of hybridization procedures alone employing specifics probes is hampered due to the low detection limit. In this report, we describe the different molecular targets used in our laboratory, aiming at the detection and specific typing of these protozoa. Different kits based on hybridization assays and PCR amplification using kinetoplast and nuclear targets are described and the results obtained from their use are reported.

Iniciación del alumno al campo de la investigación en una asignatura multidisciplinar orientada a la robótica

La asignatura de libre elección en la que se realizó la experiencia que se indica pretende ser un trampolín de iniciación para aquellos alumnos de la Universidad Europea de Madrid que tengan inquietud por descubrir el mundo de la robótica. Con una clase de alumnos procedentes de muchas titulaciones distintas, Licenciado en Odontología, Ingeniero de Caminos, Canales y Puertos, Ingeniero Industrial, Ingeniero Informático, Ingeniero en Telecomunicaciones, Técnicos en Obras Públicas y alumnos internacionales, el reto de hacer de la asignatura algo interesante para ellos implicaba saber adaptarse a distintos niveles tanto disciplinar (varias carreras) como académico (los alumnos eran tanto de los primeros cursos como de los últimos). Basándose en el uso del portafolio y el aprendizaje basado en problemas se fueron inculcando los conocimientos básicos necesarios para desarrollar lo que sería el final de la asignatura. Este objetivo final es el que hizo que los alumnos vieran de cerca la labor de un investigador y un grupo de trabajo multidisciplinar. El reto consistió en que debían hacer una solicitud 'ficticia' de un proyecto PROFIT. Los PROFIT constituyen programas de ayuda y fomento a la investigación técnica convocados por el Ministeriode Industria, Turismo y Comercio. Las plantillas son accesibles desde Internet y de esta forma los alumnos pudieron realizar una memoria clara y precisa de sus proyectos. Además, como elemento final de evaluación se invitó a dos profesores expertos en robótica de otra universidad al día de la presentación en el que los alumnos entregaban la memoria y defendían sus trabajos. Tres profesores en total, dos de otra universidad y el profesor de la asignatura asistieron a su defensa y pusieron de manera independiente los trabajos en orden según sus preferencias, al ser 5 grupos la nota debía ponerse entre 10, 9, 8, 7 y 6. La media de la decisión de los tres profesores configuró la nota final.

Pedicle screw insertion: robotic assistance versus conventional C-arm fluoroscopy.

Bone-mounted robotic guidance for pedicle screw placement has been recently introduced, aiming at increasing accuracy. The aim of this prospective study was to compare this novel approach with the conventional fluoroscopy assisted freehand technique (not the two- or three-dimensional fluoroscopy-based navigation). Two groups were compared: 11 patients, constituting the robotical group, were instrumented with 64 pedicle screws; 23 other patients, constituting the fluoroscopic group, were also instrumented with 64 pedicle screws. Screw position was assessed by two independent observers on postoperative CT-scans using the Rampersaud A to D classification. No neurological complications were noted. Grade A (totally within pedicle margins) accounted for 79% of the screws in the robotically assisted and for 83% of the screws in the fluoroscopic group respectively (p = 0.8). Grade C and D screws, considered as misplacements, accounted for 4.7% of all robotically inserted screws and 7.8% of the fluoroscopically inserted screws (p = 0.71). The current study did not allow to state that robotically assisted screw placement supersedes the conventional fluoroscopy assisted technique, although the literature is more optimistic about the former.

Utilització del robot mòbil com a eina d'aprenentatge en ensenyaments tècnics

En aquest Projecte de Millora de la Qualitat Docent es descriu el disseny, la construcció i la utilització d’un robot mòbil com a eina docent en titulacions d’Enginyeria. El robot mòbil té com a element de control un PC portàtil convencional per tal de facilitar el procés d’aprenentatge de l’alumnat estigui centrat en l’objectiu de les pràctiques i no en el funcionament i control del robot. A més a més, el robot disposa d’un elevat nombre de sensors i actuadors per tal d’oferir un elevat grau d’interdisciplinaritat.

Estudi de comportaments socials d'aixams robòtics amb aplicació a la neteja d'espais no estructurats

La intel·ligència d’eixams és una branca de la intel·ligència artificial que està agafant molta força en els últims temps, especialment en el camp de la robòtica. En aquest projecte estudiarem el comportament social sorgit de les interaccions entre un nombre determinat de robots autònoms en el camp de la neteja de grans superfícies. Un cop triat un escenari i un robot que s’ajustin als requeriments del projecte, realitzarem una sèrie de simulacions a partir de diferents polítiques de cerca que ens permetran avaluar el comportament dels robots per unes condicions inicials de distribució dels robots i zones a netejar. A partir dels resultats obtinguts serem capaços de determinar quina configuració genera millors resultats.

Neues aus Diagnostik und Therapie der spinalen Erkrankungen [Novel aspects of diagnostics and therapy of spinal cord diseases].

BACKGROUND: Both non-traumatic and traumatic spinal cord injuries have in common that a relatively minor structural lesion can cause profound sensorimotor and autonomous dysfunction. Besides treating the cause of the spinal cord injury the main goal is to restore lost function as far as possible. AIM: This article provides an overview of current innovative diagnostic (imaging) and therapeutic approaches (neurorehabilitation and neuroregeneration) aiming for recovery of function after non-traumatic and traumatic spinal cord injuries. MATERIAL AND METHODS: An analysis of the current scientific literature regarding imaging, rehabilitation and rehabilitation strategies in spinal cord disease was carried out. RESULTS: Novel magnetic resonance imaging (MRI) based techniques (e.g. diffusion-weighted MRI and functional MRI) allow visualization of structural reorganization and specific neural activity in the spinal cord. Robotics-driven rehabilitative measures provide training of sensorimotor function in a targeted fashion, which can even be continued in the homecare setting. From a preclinical point of view, defined stem cell transplantation approaches allow for the first time robust structural repair of the injured spinal cord. CONCLUSION: Besides well-established neurological and functional scores, MRI techniques offer the unique opportunity to provide robust and reliable "biomarkers" for restorative therapeutic interventions. Function-oriented robotics-based rehabilitative interventions alone or in combination with stem cell based therapies represent promising approaches to achieve substantial functional recovery, which go beyond current rehabilitative treatment efforts.

Diagnostic performance characteristics of rapid dipstick test for Plasmodium vivax malaria

We compared the diagnostic performance characteristics of newly developed method, the rapid dipstick test, which provides colorimetric determination by developing antibody to the lactate dehydrogenase enzyme of parasites, with conventional standard thick-blood film examination. For the rapid test, OptiMAL commercial kits were used. The results were also evaluated with clinical findings from patients. The parasites were determined by microscopic examination of thick-blood films from 81 patients with vivax malaria from southeastern Anatolia, Turkey. The OptiMAL test results were found to be negative in five patients who were diagnosed clinically and through thick-film testing as having vivax malaria. There was no false positivity observed with the OptiMAL test. We concluded that this rapid malaria test has a lower level of sensitivity than the classical thick-blood-film test for malaria, but that these methods have equal specificity.

Rapid diagnostic tests for the home-based management of malaria, in a high-transmission area.

Rapid diagnostic tests (RDT) are sometimes recommended to improve the home-based management of malaria. The accuracy of an RDT for the detection of clinical malaria and the presence of malarial parasites has recently been evaluated in a high-transmission area of southern Mali. During the same study, the cost-effectiveness of a 'test-and-treat' strategy for the home-based management of malaria (based on an artemisinin-combination therapy) was compared with that of a 'treat-all' strategy. Overall, 301 patients, of all ages, each of whom had been considered a presumptive case of uncomplicated malaria by a village healthworker, were checked with a commercial RDT (Paracheck-Pf). The sensitivity, specificity, and positive and negative predictive values of this test, compared with the results of microscopy and two different definitions of clinical malaria, were then determined. The RDT was found to be 82.9% sensitive (with a 95% confidence interval of 78.0%-87.1%) and 78.9% (63.9%-89.7%) specific compared with the detection of parasites by microscopy. In the detection of clinical malaria, it was 95.2% (91.3%-97.6%) sensitive and 57.4% (48.2%-66.2%) specific compared with a general practitioner's diagnosis of the disease, and 100.0% (94.5%-100.0%) sensitive but only 30.2% (24.8%-36.2%) specific when compared against the fulfillment of the World Health Organization's (2003) research criteria for uncomplicated malaria. Among children aged 0-5 years, the cost of the 'test-and-treat' strategy, per episode, was about twice that of the 'treat-all' (U.S.$1.0. v. U.S.$0.5). In older subjects, however, the two strategies were equally costly (approximately U.S.$2/episode). In conclusion, for children aged 0-5 years in a high-transmission area of sub-Saharan Africa, use of the RDT was not cost-effective compared with the presumptive treatment of malaria with an ACT. In older patients, use of the RDT did not reduce costs. The question remains whether either of the strategies investigated can be made affordable for the affected population.

Experimentació amb eina d'àudio i vídeo a la carta i arxiu multidocumental en entorn web

L'objectiu d'aquest pràcticum és treballar amb una eina d'edició i catalogació remota de vídeos accessible via internet. L'eina ha estat desenvolupada per l'empresa Vision Robotics. La memòria reflecteix les experiències viscudes a través del treball amb aquesta eina i analitza les possibilitats de millora, les potencialitats de l'eina a més d'afegir unes reflexions finals de l'eina en general.

Study of the antibody response against Mycobacterium tuberculosis antigens in Warao Amerindian children in Venezuela

This study was aimed at investigating alternate methods for serodiagnosis of tuberculosis (TB), which are needed because bacteriologic diagnosis of childhood TB is difficult. A selection of 80 serum and saliva samples were tested from Warao indigenous children under 15 years of age; 34 high TB suspects (28 positive and 6 negative for the tuberculin skin test, TST) and 46 healthy contact children (32 positive and 14 negative for the TST). Several enzyme-linked immunosorbent assay (ELISA) serological tests were developed to test for Mycobacterium tuberculosis-specific antibodies, including serum IgA, IgG, IgE, and secretory IgA (sIgA) in saliva against 3 specific antigens (PPD, HSP60, 38 kDa). Of these, 2 antigens, PPD and 38 kDa, showed significantly higher reactivity. The sensitivity and specificity of these tests for diagnosis remained limited, between 26.5% and 38.2%, and 77.4% and 97%, respectively. Of all the samples studied and combinations realized between all isotypes and antigens combined with 3 isotypes (anti-PPD IgG, IgE, and anti-38kDa sIgA) managed to detect the largest number of patients, showing an improved sensitivity level of 64.7%, although specificity levels dropped to 81.8%. These results were compared with the Omega diagnostics commercial kit results. The commercial kits showed significantly lower reactivity (sensitivity of 20% and 13.33% to Myco G and Complex Plus, respectively) and a specificity of 100%. This study shows that in indigenous populations of Venezuela, where invasive procedures cannot be used to select samples but evaluation with a chest X-ray for radiological studies is available, the combination of 3 specific isotypes may be a useful tool to increase diagnostic accuracy with pulmonary TB in this population, when used together with clinical and epidemiological criteria.

Evaluation of five screening tests licensed in Argentina for detection of hepatitis C virus antibodies

This study was conducted to compare among the most recent generation of five screening tests licensed in Argentina, in order to evaluate which of the tests has the best sensitivity for detection of antibodies against hepatitis C virus (HCV). The tests analyzed were: Detect-HCV™ (3.0) Biochem ImmunoSystems, Canada; Hepatitis C EIA Wiener Lab., Argentina; Equipar HCV Ab, Italy; Murex HCV 4.0, UK and Serodia-HCV particles agglutination test, Japan. The results obtained showed high discrepancy between the different kits used and show that some of the tests assessed have a low sensitivity for anti-HCV detection in both chronic infections and early seroconversion, and indicate that among the commercially available kits in Argentina, Murex HCV 4.0 (UK) and Serodia-HCV particles agglutination test (Japan) have the best sensitivity for HCV screening. Although the sensitivity of the assays is the first parameter to be considered for blood screening, more studies should be carried out to assess the specificity of such assays.

Detection of hepatitis A, B, and C virus-specific antibodies using oral fluid for epidemiological studies

In this report, we examine the adaptability of commercially available serological kits to detect antibodies markers for viral hepatitis in oral fluid samples. We also assessed the prevalence of hepatitis A, B, and C virus-specific antibodies, and related risk factors for these infectious diseases through sensitivity of the tests in saliva samples to evaluate if oral fluid can be an alternative tool to substitute serum in diagnosis of acute viral hepatitis and in epidemiological studies. One hundred and ten paired serum and saliva specimens from suspect patients of having acute hepatitis were collected to detect antibodies to hepatitis A (total and IgM), hepatitis B (anti-HBs, total anti-HBc and IgM anti-HBc), and hepatitis C (anti-HCV) using commercially available enzyme-linked immunossorbent assay (EIA). In relation to serum samples, oral fluid assay sensitivity and specificity were as follows: 87 and 100% for total anti-HAV, 79 and 100% for anti-HAV IgM, 6 and 95% for anti-HBs, 13 and 100% for total anti-HBc, 100 and 100% for anti-HBc IgM, and 75 and 100% for anti-HCV. The consistency observed between antibodies tests in saliva and expected risk factors for hepatitis A and C suggests that the saliva method could replace serum in epidemiological studies for hepatitis A and C.