Visual Dependency and Dizziness after Vestibular Neuritis

Symptomatic recovery after acute vestibular neuritis (VN) is variable, with around 50% of patients reporting long term vestibular symptoms; hence, it is essential to identify factors related to poor clinical outcome. Here we investigated whether excessive reliance on visual input for spatial orientation (visual dependence) was associated with long term vestibular symptoms following acute VN. Twenty-eight patients with VN and 25 normal control subjects were included. Patients were enrolled at least 6 months after acute illness. Recovery status was not a criterion for study entry, allowing recruitment of patients with a full range of persistent symptoms. We measured visual dependence with a laptop-based Rod-and-Disk Test and severity of symptoms with the Dizziness Handicap Inventory (DHI). The third of patients showing the worst clinical outcomes (mean DHI score 36–80) had significantly greater visual dependence than normal subjects (6.35° error vs. 3.39° respectively, p = 0.03). Asymptomatic patients and those with minor residual symptoms did not differ from controls. Visual dependence was associated with high levels of persistent vestibular symptoms after acute VN. Over-reliance on visual information for spatial orientation is one characteristic of poorly recovered vestibular neuritis patients. The finding may be clinically useful given that visual dependence may be modified through rehabilitation desensitization techniques.

Intervención cognitivo-conductual para el control de ansiedad ante la biopsia insicional en pacientes con cáncer de mama

Oncological patients are submitted to invasive exams in order to obtain an accurate diagnosis; these procedures may cause maladaptative reactions (fear, anxiety and pain). Particularly in breast cancer, the most common diagnose technique is the incisional biopsy. Most of the patients are unaware about the procedure and for that reason they may focus their thoughts on possible events such as pain, bleeding, the anesthesia, or the later surgical wound care. Anxiety and pain may provoke physiological, behavioral and emotional complications, and because of this reason, the Behavioral Medicine trained psychologist takes an active role before and after the biopsy. The aim of this study was to evaluate the effect of a cognitive-behavioral program to reduce anxiety in women submitted to incisional biopsy for the first time. There were 10 participants from the Hospital Juárez de México, Oncology service; all of them were treated as external patients. The intervention program focused in psycho-education and passive relaxation training using videos, tape-recorded instructions and pamphlets. Anxiety measures were performed using the IDARE-State inventory, and a visual-analogue scale of anxiety (EEF-A), and the measurement of blood pressure and heart rate). Data were analyzed both intrasubject and intersubject using the Wilcoxon test (p≤0.05). The results show a reduction in anxiety (as in punctuation as in ranges) besides, a reduction in the EEF-A.

Multimodal attention system for an interactive robot

[EN]Social robots are receiving much interest in the robotics community. The most important goal for such robots lies in their interaction capabilities. An attention system is crucial, both as a filter to center the robot’s perceptual resources and as a mean of letting the observer know that the robot has intentionality. In this paper a simple but flexible and functional attentional model is described. The model, which has been implemented in an interactive robot currently under development, fuses both visual and auditive information extracted from the robot’s environment, and can incorporate knowledge-based influences on attention.

Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Quantitative evaluation of visual function 12 months after bilateral implantation of a diffractive trifocal IOL

PURPOSE: To quantitatively evaluate visual function 12 months after bilateral implantation of the Physiol FineVision® trifocal intraocular lens (IOL) and to compare these results with those obtained in the first postoperative month. METHODS: In this prospective case series, 20 eyes of 10 consecutive patients were included. Monocular and binocular, uncorrected and corrected visual acuities (distance, near, and intermediate) were measured. Metrovision® was used to test contrast sensitivity under static and dynamic conditions, both in photopic and low-mesopic settings. The same software was used for pupillometry and glare evaluation. Motion, achromatic, and chromatic contrast discrimination were tested using 2 innovative psychophysical tests. A complete ophthalmologic examination was performed preoperatively and at 1, 3, 6, and 12 months postoperatively. Psychophysical tests were performed 1 month after surgery and repeated 12 months postoperatively. RESULTS: Final distance uncorrected visual acuity (VA) was 0.00 ± 0.08 and distance corrected VA was 0.00 ± 0.05 logMAR. Distance corrected near VA was 0.00 ± 0.09 and distance corrected intermediate VA was 0.00 ± 0.06 logMAR. Glare testing, pupillometry, contrast sensitivity, motion, and chromatic and achromatic contrast discrimination did not differ significantly between the first and last visit (p>0.05) or when compared to an age-matched control group (p>0.05). CONCLUSIONS: The Physiol FineVision® trifocal IOL provided satisfactory full range of vision and quality of vision parameters 12 months after surgery. Visual acuity and psychophysical tests did not vary significantly between the first and last visit.

Assessing Potential Laser Strike Protection Engineering Control for United States Coast Guard Aircraft

Thesis (Master's)--University of Washington, 2016-06

Shape-based compliance control for snake robots

I serpenti robot sono una classe di meccanismi iper-ridondanti che appartiene alla robotica modulare. Grazie alla loro forma snella ed allungata e all'alto grado di ridondanza possono muoversi in ambienti complessi con elevata agilità. L'abilità di spostarsi, manipolare e adattarsi efficientemente ad una grande varietà di terreni li rende ideali per diverse applicazioni, come ad esempio attività di ricerca e soccorso, ispezione o ricognizione. I robot serpenti si muovono nello spazio modificando la propria forma, senza necessità di ulteriori dispositivi quali ruote od arti. Tali deformazioni, che consistono in movimenti ondulatori ciclici che generano uno spostamento dell'intero meccanismo, vengono definiti andature. La maggior parte di esse sono ispirate al mondo naturale, come lo strisciamento, il movimento laterale o il movimento a concertina, mentre altre sono create per applicazioni specifiche, come il rotolamento o l'arrampicamento. Un serpente robot con molti gradi di libertà deve essere capace di coordinare i propri giunti e reagire ad ostacoli in tempo reale per riuscire a muoversi efficacemente in ambienti complessi o non strutturati. Inoltre, aumentare la semplicità e ridurre il numero di controllori necessari alla locomozione alleggerise una struttura di controllo che potrebbe richiedere complessità per ulteriori attività specifiche. L'obiettivo di questa tesi è ottenere un comportamento autonomo cedevole che si adatti alla conformazione dell'ambiente in cui il robot si sta spostando, accrescendo le capacità di locomozione del serpente robot. Sfruttando la cedevolezza intrinseca del serpente robot utilizzato in questo lavoro, il SEA Snake, e utilizzando un controllo che combina cedevolezza attiva ad una struttura di coordinazione che ammette una decentralizzazione variabile del robot, si dimostra come tre andature possano essere modificate per ottenere una locomozione efficiente in ambienti complessi non noti a priori o non modellabili.

Développement et expérimentation d'algorithmes de réorientation pour un robot sériel en chute libre

Ce mémoire présente 2 types de méthodes pour effectuer la réorientation d’un robot sériel en chute libre en utilisant les mouvements internes de celui-ci. Ces mouvements sont prescrits à partir d’algorithmes de planification de trajectoire basés sur le modèle dynamique du robot. La première méthode tente de réorienter le robot en appliquant une technique d’optimisation locale fonctionnant avec une fonction potentielle décrivant l’orientation du système, et la deuxième méthode applique des fonctions sinusoïdales aux articulations pour réorienter le robot. Pour tester les performances des méthodes en simulation, on tente de réorienter le robot pour une configuration initiale et finale identiques où toutes les membrures sont alignées mais avec le robot ayant complété une rotation de 180 degrés sur lui-même. Afin de comparer les résultats obtenus avec la réalité, un prototype de robot sériel plan flottant possédant trois membrures et deux liaisons rotoïdes est construit. Les expérimentations effectuées montrent que le prototype est capable d’atteindre les réorientations prescrites si peu de perturbations extérieures sont présentes et ce, même si le contrôle de l’orientation est effectué en boucle ouverte.

Rendimiento escolar e tipos de errores en la lectura en los niños con alteraciones de la función visual

Se desarrolló un estudio descriptivo con el objetivo de evaluar el rendimiento escolar así como tipos de errores en la lectura en niños con alteraciones de la función visual. En el estudio participaron 672 niños del Municipio de Lisboa (7.69±1.19 años): grupo de control (función visual normal=562) y grupo experimental (alteraciones da función visual=110). Se cuestionaron 34 profesores acerca del rendimiento escolar y lectura a través de un cuestionario validado. Para la evaluación en la lectura se empleó la prueba de lectura de 34 palabras sueltas. Los niños con la función visual alterada mostraron niveles más bajos de rendimiento escolar. Estaban en el nivel "negativo" del 10,9% de los niños con la función visual alterada y sólo del 5,3% de los niños con la función visual normal. Estos niños comenten más errores en la lectura (p<0,001) con un mayor número de no palabras (3,09±5,20) en comparación con los niños con la función visual normal (1,44±3,09). Comenten también más omisiones y adiciones de letras y confusiones de grafema, teniendo dificultades en el análisis global de la palabra. Se propone un modelo de orientación para los profesores.

Multirobot Tethering for Localization and Control

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.

Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.