PP080. First trimester umbilical artery end-diastolic flow and pulsatility index: Comparison between preeclampsia and control.

INTRODUCTION The appearance of end-diastolic flow velocities (EDF) in the umbilical artery (UA), usually between 10 and 14 weeks of gestation, has been associated with the opening of the spiral arteries and consequently of the intervillous space. OBJECTIVES The aim of our study was to compare first trimester UA pulsatility index (PI) and EDF between women who developed preeclampsia (cases) and controls. METHODS Our database was searched for cases who had UA Doppler between 10-14 weeks. UA PI and EDF were compared between cases and two gestational age (GA) matched controls. RESULTS 15 cases with severe preeclampsia (PE) were matched to 30 controls. GA with negative EDF was lower than with positive EDF (12.1±0.79 vs. 12.8±0.34; p=0.001). UA PI in cases was higher than in controls, although not significant (cases: 2.18±0.6 vs. CONTROLS 1.92±0.48; p=0.12). However, comparing groups with negative EDF, the difference became significant (PI cases: 2.45±0.57 vs. PI controls: 1.94±0.56; p=0.038), while no difference was found comparing groups with positive EDF. CONCLUSION First trimester UA PI is significantly higher in women which will develop PE than in controls. Interestingly, the timing of screening for PE by UA Doppler seems to play an important issue.

Atypical variants of bovine spongiform encephalopathy: rare diseases with consequences for BSE surveillance and control

Occurring for the first time in 1986 in the United Kingdom, bovine spongiform encephalopathy (BSE), the so-called “mad-cow disease”, has had unprecedented consequences in veterinary public health. The implementation of drastic measures, including the ban of meat-and-bone-meal from livestock feed and the removal of specified risk materials from the food chain has eventually resulted in a significant decline of the epidemic. The disease was long thought to be caused by a single agent, but since the introduction of immunochemical diagnostic techniques, evidence of a phenotypic variation of BSE has emerged. Reviewing the literature available on the subject, this paper briefly summarizes the current knowledge about these atypical forms of BSE and discusses the consequences of their occurrence for disease control measures.

Examination of the influence of behavioral, normative and control beliefs on the adherence to a prescribed renal diet among elderly populations with chronic to end-stage renal disease

The 1999-2004 prevalence of chronic kidney disease in adults 20 year or older (15.5 million) is an estimated 7.69%. The risk of developing CKD is exacerbated by diabetes, hypertension and/or a family history of kidney disease. African Americans, Hispanics, Pacific Islanders, Native Americans, and the elderly are more susceptible to higher incidence of CKD. The challenges of aging coupled with co-morbidities such as kidney disease raises the potential for malnutrition among elderly (for the purpose of this study 55 years or older) populations. Lack of adherence to prescribed nutrition guidelines specific to renal failure jeopardizes body homeostasis and increases the likelihood of future morbidity and resultant mortality. The relationship and synergy that exists between diet and disease is evident. Clinical experience with renal patients has indicated the importance of adherence to diet therapy specific to kidney disease. Extension investigation of diet adherence among endstage renal disease patients revealed a sizeable dearth in the current literature. This thesis study was undertaken to help reduce that void. The study design is qualitative and descriptive. Support, cooperation, and collaboration were provided by the University of Texas Nephrology Department, University of Texas Physicians, and DaVita Dialysis Centers. Approximately 105 male and female chronic to end-stage kidney disease patients were approached to participate in elicitation interviews in dialysis treatment facilities regarding their present diet beliefs and practices. Eighty-five were recruited and agreed to participate. Inclusion criteria required individuals to be between 35-90 years of age; capable of completing a 5-10 minute interview; and English speaking. Each kidney patient was asked seven (7) non-leading questions developed from the constructs of the Theory of Planned Behavior. The study presents a descriptive comparison of behavioral, normative, and control beliefs that influence adherence to renal diets by age, race, and gender. The study successfully concluded that behavioral, normative, and control beliefs of chronic to end-stage renal patients promoted execution and adherence to prescribed nutrition. This study provides valuable information for dietitians, technicians, nurses, and physicians to assess patient compliance toward prescribed nutrition and the means to support or improve that performance. ^

(Table 1) Species richness and diversity of tundra plants in herbivore exclosure and control plots near Barrow, Alaska

To determine the role lemmings play in structuring plant communities and their contribution to the 'greening of the Arctic', we measured plant cover and biomass in 50 + year old lemming exclosures and control plots in the coastal tundra near Barrow, Alaska. The response of plant functional types to herbivore exclusion varied among land cover types. In general, the abundance of lichens and bryophytes increased with the exclusion of lemmings, whereas graminoids decreased, although the magnitude of these responses varied among land cover types. These results suggest that sustained lemming activity promotes a higher biomass of vascular plant functional types than would be expected without their presence and highlights the importance of considering herbivory when interpreting patterns of greening in the Arctic. In light of the rapid environmental change ongoing in the Arctic and the potential regional to global implications of this change, further exploration regarding the long-term influence of arvicoline rodents on ecosystem function (e.g. carbon and energy balance) should be considered a research priority.

Calcareous nannofossil datums and control points for the TCMS age model of ODP Site 175-1085

An astronomically calibrated age model for the Pliocene section of Ocean Drilling Program Leg 175 Cape Basin Site 1085 based on magnetic susceptibility data was developed using shipboard biostratigraphic datums. The composite core magnetic susceptibility record was compiled using shipboard correlations between Holes 1085A and 1085B and then tuned to the record of orbital variations in eccentricity to generate an orbitally tuned age model. Magnetic susceptibility apparently records climate variations in the Cape Basin. Strong power spectra values at the 100- and 400-k.y. frequency suggest an orbital control on the beat of Pliocene climate change in the Cape Basin.

A low cost and widely applicable methodology of digital imagen analysis of ores for mineral and envirommental engineering

Technological and environmental problems related to ore processing are a serious limitation for sustainable development of mineral resources, particularly for countries / companies rich in ores, but with little access to sophisticated technology, e.g. in Latin America. Digital image analysis (DIA) can provide a simple, unexpensive and broadly applicable methodology to assess these problems, but this methodology has to be carefully defined, to produce reproducible and relevant information.

Combining data mining and ontology engineering to enrich ontologies and linked data

In this position paper, we claim that the need for time consuming data preparation and result interpretation tasks in knowledge discovery, as well as for costly expert consultation and consensus building activities required for ontology building can be reduced through exploiting the interplay of data mining and ontology engineering. The aim is to obtain in a semi-automatic way new knowledge from distributed data sources that can be used for inference and reasoning, as well as to guide the extraction of further knowledge from these data sources. The proposed approach is based on the creation of a novel knowledge discovery method relying on the combination, through an iterative ?feedbackloop?, of (a) data mining techniques to make emerge implicit models from data and (b) pattern-based ontology engineering to capture these models in reusable, conceptual and inferable artefacts.

Visual Tracking, Pose Estimation, and Control for Aerial Vehicles

El principal objetivo de esta tesis es dotar a los vehículos aéreos no tripulados (UAVs, por sus siglas en inglés) de una fuente de información adicional basada en visión. Esta fuente de información proviene de cámaras ubicadas a bordo de los vehículos o en el suelo. Con ella se busca que los UAVs realicen tareas de aterrizaje o inspección guiados por visión, especialmente en aquellas situaciones en las que no haya disponibilidad de estimar la posición del vehículo con base en GPS, cuando las estimaciones de GPS no tengan la suficiente precisión requerida por las tareas a realizar, o cuando restricciones de carga de pago impidan añadir sensores a bordo de los vehículos. Esta tesis trata con tres de las principales áreas de la visión por computador: seguimiento visual y estimación visual de la pose (posición y orientación), que a su vez constituyen la base de la tercera, denominada control servo visual, que en nuestra aplicación se enfoca en el empleo de información visual para controlar los UAVs. Al respecto, esta tesis se ocupa de presentar propuestas novedosas que permitan solucionar problemas relativos al seguimiento de objetos mediante cámaras ubicadas a bordo de los UAVs, se ocupa de la estimación de la pose de los UAVs basada en información visual obtenida por cámaras ubicadas en el suelo o a bordo, y también se ocupa de la aplicación de las técnicas propuestas para solucionar diferentes problemas, como aquellos concernientes al seguimiento visual para tareas de reabastecimiento autónomo en vuelo o al aterrizaje basado en visión, entre otros. Las diversas técnicas de visión por computador presentadas en esta tesis se proponen con el fin de solucionar dificultades que suelen presentarse cuando se realizan tareas basadas en visión con UAVs, como las relativas a la obtención, en tiempo real, de estimaciones robustas, o como problemas generados por vibraciones. Los algoritmos propuestos en esta tesis han sido probados con información de imágenes reales obtenidas realizando pruebas on-line y off-line. Diversos mecanismos de evaluación han sido empleados con el propósito de analizar el desempeño de los algoritmos propuestos, entre los que se incluyen datos simulados, imágenes de vuelos reales, estimaciones precisas de posición empleando el sistema VICON y comparaciones con algoritmos del estado del arte. Los resultados obtenidos indican que los algoritmos de visión por computador propuestos tienen un desempeño que es comparable e incluso mejor al de algoritmos que se encuentran en el estado del arte. Los algoritmos propuestos permiten la obtención de estimaciones robustas en tiempo real, lo cual permite su uso en tareas de control visual. El desempeño de estos algoritmos es apropiado para las exigencias de las distintas aplicaciones examinadas: reabastecimiento autónomo en vuelo, aterrizaje y estimación del estado del UAV. Abstract The main objective of this thesis is to provide Unmanned Aerial Vehicles (UAVs) with an additional vision-based source of information extracted by cameras located either on-board or on the ground, in order to allow UAVs to develop visually guided tasks, such as landing or inspection, especially in situations where GPS information is not available, where GPS-based position estimation is not accurate enough for the task to develop, or where payload restrictions do not allow the incorporation of additional sensors on-board. This thesis covers three of the main computer vision areas: visual tracking and visual pose estimation, which are the bases the third one called visual servoing, which, in this work, focuses on using visual information to control UAVs. In this sense, the thesis focuses on presenting novel solutions for solving the tracking problem of objects when using cameras on-board UAVs, on estimating the pose of the UAVs based on the visual information collected by cameras located either on the ground or on-board, and also focuses on applying these proposed techniques for solving different problems, such as visual tracking for aerial refuelling or vision-based landing, among others. The different computer vision techniques presented in this thesis are proposed to solve some of the frequently problems found when addressing vision-based tasks in UAVs, such as obtaining robust vision-based estimations at real-time frame rates, and problems caused by vibrations, or 3D motion. All the proposed algorithms have been tested with real-image data in on-line and off-line tests. Different evaluation mechanisms have been used to analyze the performance of the proposed algorithms, such as simulated data, images from real-flight tests, publicly available datasets, manually generated ground truth data, accurate position estimations using a VICON system and a robotic cell, and comparison with state of the art algorithms. Results show that the proposed computer vision algorithms obtain performances that are comparable to, or even better than, state of the art algorithms, obtaining robust estimations at real-time frame rates. This proves that the proposed techniques are fast enough for vision-based control tasks. Therefore, the performance of the proposed vision algorithms has shown to be of a standard appropriate to the different explored applications: aerial refuelling and landing, and state estimation. It is noteworthy that they have low computational overheads for vision systems.

Design and control of multi-finger haptic devices for dexterous manipulation

En la interacción con el entorno que nos rodea durante nuestra vida diaria (utilizar un cepillo de dientes, abrir puertas, utilizar el teléfono móvil, etc.) y en situaciones profesionales (intervenciones médicas, procesos de producción, etc.), típicamente realizamos manipulaciones avanzadas que incluyen la utilización de los dedos de ambas manos. De esta forma el desarrollo de métodos de interacción háptica multi-dedo dan lugar a interfaces hombre-máquina más naturales y realistas. No obstante, la mayoría de interfaces hápticas disponibles en el mercado están basadas en interacciones con un solo punto de contacto; esto puede ser suficiente para la exploración o palpación del entorno pero no permite la realización de tareas más avanzadas como agarres. En esta tesis, se investiga el diseño mecánico, control y aplicaciones de dispositivos hápticos modulares con capacidad de reflexión de fuerzas en los dedos índice, corazón y pulgar del usuario. El diseño mecánico de la interfaz diseñada, ha sido optimizado con funciones multi-objetivo para conseguir una baja inercia, un amplio espacio de trabajo, alta manipulabilidad y reflexión de fuerzas superiores a 3 N en el espacio de trabajo. El ancho de banda y la rigidez del dispositivo se han evaluado mediante simulación y experimentación real. Una de las áreas más importantes en el diseño de estos dispositivos es el efector final, ya que es la parte que está en contacto con el usuario. Durante este trabajo se ha diseñado un dedal de bajo peso, adaptable a diferentes usuarios que, mediante la incorporación de sensores de contacto, permite estimar fuerzas normales y tangenciales durante la interacción con entornos reales y virtuales. Para el diseño de la arquitectura de control, se estudiaron los principales requisitos para estos dispositivos. Entre estos, cabe destacar la adquisición, procesado e intercambio a través de internet de numerosas señales de control e instrumentación; la computación de equaciones matemáticas incluyendo la cinemática directa e inversa, jacobiana, algoritmos de detección de agarres, etc. Todos estos componentes deben calcularse en tiempo real garantizando una frecuencia mínima de 1 KHz. Además, se describen sistemas para manipulación de precisión virtual y remota; así como el diseño de un método denominado "desacoplo cinemático iterativo" para computar la cinemática inversa de robots y la comparación con otros métodos actuales. Para entender la importancia de la interacción multimodal, se ha llevado a cabo un estudio para comprobar qué estímulos sensoriales se correlacionan con tiempos de respuesta más rápidos y de mayor precisión. Estos experimentos se desarrollaron en colaboración con neurocientíficos del instituto Technion Israel Institute of Technology. Comparando los tiempos de respuesta en la interacción unimodal (auditiva, visual y háptica) con combinaciones bimodales y trimodales de los mismos, se demuestra que el movimiento sincronizado de los dedos para generar respuestas de agarre se basa principalmente en la percepción háptica. La ventaja en el tiempo de procesamiento de los estímulos hápticos, sugiere que los entornos virtuales que incluyen esta componente sensorial generan mejores contingencias motoras y mejoran la credibilidad de los eventos. Se concluye que, los sistemas que incluyen percepción háptica dotan a los usuarios de más tiempo en las etapas cognitivas para rellenar información de forma creativa y formar una experiencia más rica. Una aplicación interesante de los dispositivos hápticos es el diseño de nuevos simuladores que permitan entrenar habilidades manuales en el sector médico. En colaboración con fisioterapeutas de Griffith University en Australia, se desarrolló un simulador que permite realizar ejercicios de rehabilitación de la mano. Las propiedades de rigidez no lineales de la articulación metacarpofalange del dedo índice se estimaron mediante la utilización del efector final diseñado. Estos parámetros, se han implementado en un escenario que simula el comportamiento de la mano humana y que permite la interacción háptica a través de esta interfaz. Las aplicaciones potenciales de este simulador están relacionadas con entrenamiento y educación de estudiantes de fisioterapia. En esta tesis, se han desarrollado nuevos métodos que permiten el control simultáneo de robots y manos robóticas en la interacción con entornos reales. El espacio de trabajo alcanzable por el dispositivo háptico, se extiende mediante el cambio de modo de control automático entre posición y velocidad. Además, estos métodos permiten reconocer el gesto del usuario durante las primeras etapas de aproximación al objeto para su agarre. Mediante experimentos de manipulación avanzada de objetos con un manipulador y diferentes manos robóticas, se muestra que el tiempo en realizar una tarea se reduce y que el sistema permite la realización de la tarea con precisión. Este trabajo, es el resultado de una colaboración con investigadores de Harvard BioRobotics Laboratory. ABSTRACT When we interact with the environment in our daily life (using a toothbrush, opening doors, using cell-phones, etc.), or in professional situations (medical interventions, manufacturing processes, etc.) we typically perform dexterous manipulations that involve multiple fingers and palm for both hands. Therefore, multi-Finger haptic methods can provide a realistic and natural human-machine interface to enhance immersion when interacting with simulated or remote environments. Most commercial devices allow haptic interaction with only one contact point, which may be sufficient for some exploration or palpation tasks but are not enough to perform advanced object manipulations such as grasping. In this thesis, I investigate the mechanical design, control and applications of a modular haptic device that can provide force feedback to the index, thumb and middle fingers of the user. The designed mechanical device is optimized with a multi-objective design function to achieve a low inertia, a large workspace, manipulability, and force-feedback of up to 3 N within the workspace; the bandwidth and rigidity for the device is assessed through simulation and real experimentation. One of the most important areas when designing haptic devices is the end-effector, since it is in contact with the user. In this thesis the design and evaluation of a thimble-like, lightweight, user-adaptable, and cost-effective device that incorporates four contact force sensors is described. This design allows estimation of the forces applied by a user during manipulation of virtual and real objects. The design of a real-time, modular control architecture for multi-finger haptic interaction is described. Requirements for control of multi-finger haptic devices are explored. Moreover, a large number of signals have to be acquired, processed, sent over the network and mathematical computations such as device direct and inverse kinematics, jacobian, grasp detection algorithms, etc. have to be calculated in Real Time to assure the required high fidelity for the haptic interaction. The Hardware control architecture has different modules and consists of an FPGA for the low-level controller and a RT controller for managing all the complex calculations (jacobian, kinematics, etc.); this provides a compact and scalable solution for the required high computation capabilities assuring a correct frequency rate for the control loop of 1 kHz. A set-up for dexterous virtual and real manipulation is described. Moreover, a new algorithm named the iterative kinematic decoupling method was implemented to solve the inverse kinematics of a robotic manipulator. In order to understand the importance of multi-modal interaction including haptics, a subject study was carried out to look for sensory stimuli that correlate with fast response time and enhanced accuracy. This experiment was carried out in collaboration with neuro-scientists from Technion Israel Institute of Technology. By comparing the grasping response times in unimodal (auditory, visual, and haptic) events with the response times in events with bimodal and trimodal combinations. It is concluded that in grasping tasks the synchronized motion of the fingers to generate the grasping response relies on haptic cues. This processing-speed advantage of haptic cues suggests that multimodalhaptic virtual environments are superior in generating motor contingencies, enhancing the plausibility of events. Applications that include haptics provide users with more time at the cognitive stages to fill in missing information creatively and form a richer experience. A major application of haptic devices is the design of new simulators to train manual skills for the medical sector. In collaboration with physical therapists from Griffith University in Australia, we developed a simulator to allow hand rehabilitation manipulations. First, the non-linear stiffness properties of the metacarpophalangeal joint of the index finger were estimated by using the designed end-effector; these parameters are implemented in a scenario that simulates the behavior of the human hand and that allows haptic interaction through the designed haptic device. The potential application of this work is related to educational and medical training purposes. In this thesis, new methods to simultaneously control the position and orientation of a robotic manipulator and the grasp of a robotic hand when interacting with large real environments are studied. The reachable workspace is extended by automatically switching between rate and position control modes. Moreover, the human hand gesture is recognized by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of the approximation-to-the-object phase and then mapped to the robotic hand actuators. These methods are validated to perform dexterous manipulation of objects with a robotic manipulator, and different robotic hands. This work is the result of a research collaboration with researchers from the Harvard BioRobotics Laboratory. The developed experiments show that the overall task time is reduced and that the developed methods allow for full dexterity and correct completion of dexterous manipulations.