Knowledge integration within an applied mobile robot summer course

This paper presents the use of a mobile robot platform as an innovative educational tool in order to promote and integrate different curriculum knowledge. Hence, it is presented the acquired experience within a summer course named ldquoapplied mobile roboticsrdquo. The main aim of the course is to integrate different subjects as electronics, programming, architecture, perception systems, communications, control and trajectory planning by using the educational open mobile robot platform PRIM. The summer course is addressed to a wide range of student profiles. However, it is of special interests to the students of electrical and computer engineering around their final academic year. The summer course consists of the theoretical and laboratory sessions, related to the following topics: design & programming of electronic devices, modelling and control systems, trajectory planning and control, and computer vision systems. Therefore, the clues for achieving a renewed path of progress in robotics are the integration of several knowledgeable fields, such as computing, communications, and control sciences, in order to perform a higher level reasoning and use decision tools with strong theoretical base

A Camera-Projector System for Robot Positioning by Visual Servoing

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of nontextured objets or objets for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance

Empúries. De les darreries del segle III a mitjan segle I a.C. Algunes idees

A l’article s’estableixen un seguit d’hipòtesis que expliquen el procés històric d’Empúries al llarg dels del segle i mig immediatament anterior al canvi d’Era, és a dir, cap als segles II i I a.C. Es tracta de teories que es recolzen en evidències força segures

Complete longitudinal analyses of the randomized, placebo-controlled, phase III trial of sunitinib in patients with gastrointestinal stromal tumor following imatinib failure.

PURPOSE: To analyze final long-term survival and clinical outcomes from the randomized phase III study of sunitinib in gastrointestinal stromal tumor patients after imatinib failure; to assess correlative angiogenesis biomarkers with patient outcomes. EXPERIMENTAL DESIGN: Blinded sunitinib or placebo was given daily on a 4-week-on/2-week-off treatment schedule. Placebo-assigned patients could cross over to sunitinib at disease progression/study unblinding. Overall survival (OS) was analyzed using conventional statistical methods and the rank-preserving structural failure time (RPSFT) method to explore cross-over impact. Circulating levels of angiogenesis biomarkers were analyzed. RESULTS: In total, 243 patients were randomized to receive sunitinib and 118 to placebo, 103 of whom crossed over to open-label sunitinib. Conventional statistical analysis showed that OS converged in the sunitinib and placebo arms (median 72.7 vs. 64.9 weeks; HR, 0.876; P = 0.306) as expected, given the cross-over design. RPSFT analysis estimated median OS for placebo of 39.0 weeks (HR, 0.505, 95% CI, 0.262-1.134; P = 0.306). No new safety concerns emerged with extended sunitinib treatment. No consistent associations were found between the pharmacodynamics of angiogenesis-related plasma proteins during sunitinib treatment and clinical outcome. CONCLUSIONS: The cross-over design provided evidence of sunitinib clinical benefit based on prolonged time to tumor progression during the double-blind phase of this trial. As expected, following cross-over, there was no statistical difference in OS. RPSFT analysis modeled the absence of cross-over, estimating a substantial sunitinib OS benefit relative to placebo. Long-term sunitinib treatment was tolerated without new adverse events.

“El Mediterráneo en el diálogo Norte-Sur”: III Curso Internacional de Defensa. Jaca (Huesca), 19-23 de septiembre de 1995

Del 19 al 23 de setembre de 1995 es va celebrar a Jaca (Osca) el III Curs Internacional de Defensa, amb el títol específic “ El Mediterrani en el Diàleg Nord Sud”, organitzat per la Càtedra Miguel de Cervantes de l’Acadèmia General Militar i la Universitat de Saragossa. Els objectius assenyalats pels organitzadors es van centrar a potenciar l’intercanvi d’opinions entre especialistes i representants de les institucions sobre aspectes polítics, socials, econòmics i de defensa que afecten l’espai geopolític de les dues riberes del Mediterrani, i a analitzar els mecanismes de cooperació que actuen a l’àrea i la política de la Unió Europea a la zona

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Integració i estudi d’un conjunt de propulsors per un robot submarí

L’objectiu d’aquest projecte/treball fi de carrera es estudiar els propulsors i el seu protocol de comunicació proporcionant informació útil a l’hora de dissenyar i construir el robot subaquàtic que implementi els propulsors

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

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

Gefitinib in Combination With Irradiation With or Without Cisplatin in Patients With Inoperable Stage III Non-Small Cell Lung Cancer: A Phase I Trial.

Purpose : To establish the feasibility and tolerability of gefitinib (ZD1839, Iressa) with radiation (RT) or concurrent chemoradiation (CRT) with cisplatin (CDDP) in patients with advanced non small cell lung cancer (NSCLC).Patients and Methods : In this multicenter Phase I study, 5 patients with unresectable NSCLC received 250 mg gefitinib daily starting 1 week before RT at a dose of 63 Gy (Step 1). After a first safety analysis, 9 patients were treated daily with 250 mg gefitinib plus CRT in the form of RT and weekly CDDP 35 mg/m(2) (Step 2). Gefitinib was maintained for up to 2 years until disease progression or toxicity.Results : Fourteen patients were assessed in the two steps. In Step 1 (five patients were administered only gefitinib and RT), no lung toxicities were seen, and there was no dose-limiting toxicity (DLT). Adverse events were skin and subcutaneous tissue reactions, limited to Grade 1-2. In Step 2, two of nine patients (22.2%) had DLT. One patient suffered from dyspnea and dehydration associated with neutropenic pneumonia, and another showed elevated liver enzymes. In both steps combined, 5 of 14 patients (35.7%) experienced one or more treatment interruptions.Conclusions : Gefitinib (250 mg daily) in combination with RT and CDDP in patients with Stage HI NSCLC is feasible, but CDDP likely enhances toxicity. The impact of gefitinib on survival and disease control as a first-line treatment in combination with RT remains to be determined. (C) 2011 Elsevier Inc.

Tumor necrosis-like weak inducer of apoptosis as a proinflammatory cytokine in human adipocyte cells: up-regulation in severe obesity is mediated by inflammation but not hypoxia.

CONTEXT Adipose tissue hypoxia and endoplasmic reticulum (ER) stress may link the presence of chronic inflammation and macrophage infiltration in severely obese subjects. We previously reported the up-regulation of TNF-like weak inducer of apoptosis (TWEAK)/fibroblast growth factor-inducible 14 (Fn14) axis in adipose tissue of severely obese type 2 diabetic subjects. OBJECTIVES The objective of the study was to examine TWEAK and Fn14 adipose tissue expression in obesity, severe obesity, and type 2 diabetes in relation to hypoxia and ER stress. DESIGN In the obesity study, 19 lean, 28 overweight, and 15 obese nondiabetic subjects were studied. In the severe obesity study, 23 severely obese and 35 control subjects were studied. In the type 2 diabetes study, 11 type 2 diabetic and 36 control subjects were studied. The expression levels of the following genes were analyzed in paired samples of sc and visceral adipose tissue: Fn14, TWEAK, VISFATIN, HYOU1, FIAF, HIF-1a, VEGF, GLUT-1, GRP78, and XBP-1. The effect of hypoxia, inflammation, and ER stress on the expression of TWEAK and Fn14 was examined in human adipocyte and macrophage cell lines. RESULTS Up-regulation of TWEAK/Fn14 and hypoxia and ER stress surrogate gene expression was observed in sc and visceral adipose tissue only in our severely obese cohort. Hypoxia modulates TWEAK or Fn14 expression in neither adipocytes nor macrophages. On the contrary, inflammation up-regulated TWEAK in macrophages and Fn14 expression in adipocytes. Moreover, TWEAK had a proinflammatory effect in adipocytes mediated by the nuclear factor-kappaB and ERK but not JNK signaling pathways. CONCLUSIONS Our data suggest that TWEAK acts as a pro-inflammatory cytokine in the adipose tissue and that inflammation, but not hypoxia, may be behind its up-regulation in severe obesity.

Estudi del model dinàmic d’un robot submarí d’intervenció (IAUV) composat per un vehicle i un braç manipulador

Fins a la data d’avui, el grup VICOROB de la Universitat de Girona ha desenvolupat diversos vehicles autònoms (GARBÍ, URIS i ICTINEU). El projecte que comença aquest any té com objectiu desenvolupar un nou vehicle submarí autònom amb capacitat d’intervenció (I-AUV) gràcies a un braç manipulador. Aquest projecte final de carrera té com objectiu desenvolupar en entorn MATLAB un simulador d’un I-AUV, format per un AUV i un braç manipulador de n graus de llibertat per tal d’avaluar les reaccions dels moviments del braç, amb càrrega i sense, sobre el robot, iviceversa

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®.

Results of the 2nd scientific workshop of the ECCO (III): basic mechanisms of intestinal healing.

The second scientific workshop of the European Crohn's and Colitis Organization (ECCO) focused on the relevance of intestinal healing for the disease course of inflammatory bowel disease (IBD). The objective was to better understand basic mechanisms, markers for disease prediction, detection and monitoring of intestinal healing, impact of intestinal healing on the disease course of IBD as well as therapeutic strategies. The results of this workshop are presented in four separate manuscripts. This section describes basic mechanisms of intestinal healing, identifies open questions in the field and provides a framework for future studies.