Using a RGB-D camera for 6DoF SLAM

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.These authors want to express their gratitude to Spanish Ministry of Science and Technology (MYCIT) and the Research and Innovation Vice-president Office of the University of Alicante for their financial support through the projects DPI2009-07144 and GRE10-16, respectively

Integración del aprendizaje social (social learning) en las asignatras vinculadas al campo de conocimiento del Derecho del Trabajo y la Seguridad Social

Este proyecto trata de integrar las redes sociales como una herramienta colaborativa en la docencia de las materias relacionadas con el Derecho del Trabajo. De entre los recursos asociados a las plataformas "b-learning", e empleo de las redes sociales permite el intercambio de información en tiempo real. A través de este instrumento, los alumnos, guiados por el profesor, aportan su trabajo activo en relación con la materia seleccionada y poniéndolo en común mediante la herramienta elegida. En este proyecto nos decantamos por el empleo de Facebook. Esta metodología puede ser aplicada en cuantas disciplinas se vean especialmente vinculadas a la realidad económico-social, que por su naturaleza requieran de una permanente actualización. La recepción de esta metodología es evidente en aquellas materias que exijan del alumno un esfuerzo crítico que le permita acercarse en profundidad a los elementos novedosos de la materia

Comparison of surgical parameters using different lens fragmentation patterns in eyes undergoing laser-assisted cataract surgery

Purpose: To compare surgical parameters among eyes undergoing laser-assisted cataract surgery (LACS) using different lens fragmentation patterns (LFP). Methods: Prospective, randomized, unmasked clinical trial. One-hundred eyes underwent LACS and were randomly assigned to 1 of 3 LFP treatment groups: (1) laser capsulotomy only; no lens fragmentation (NLF) (n = 34); (2) three-plane chop (TPC) (n = 33); and, (3) pie-cut pattern (PCP) fragmentation (n = 33). Prechop phacoemulsification (PHACO) was performed on all eyes using the same femtosecond (FS) laser and active-fluidics PHACO machine. Main outcome measures: FS laser dock time (s), PHACO time (s), PHACO power (%), cumulative dissipated energy (CDE) (%-s), irrigating fluid volume, and operative time. Results: The 3 treatment groups were comparable in terms of patient age (P = 0.164) and nuclear density (P = 0.669). FS dock time was higher in the PCP group (184.18 ± 25.86) compared to the TPC (145.09 ± 14.15) group (P < 0.001). PHACO time was significantly shorter in the PCP (23.19 ± 17.20 s) compared to TPC (35.27 ± 17.70) and NLF (46.15 ± 23.72) groups (P < 0.001). PHACO power was lower in the PCP (11.81 ± 3.71) compared to the NLF (14.41 ± 1.88) and TPC (14.04 ± 2.46) groups (P < 0.001). CDE was lower in the PCP (2.85 ± 2.32) compared to NLF (6.55 ± 3.32) and TPC (6.55 ± 5.45) groups (P < 0.001). Fluid volumes and operative times were similar. Conclusion: LFP can influence PHACO surgical parameters. Extensive fragmentation patterns such as PCP appear to lower PHACO time, power, and CDE and may potentially reduce the risk of PHACO related complications

Carglumic acid enhances rapid ammonia detoxification in classical organic acidurias with a favourable risk-benefit profile: A retrospective observational study

BACKGROUND: Isovaleric aciduria (IVA), propionic aciduria (PA) and methylmalonic aciduria (MMA) are inherited organic acidurias (OAs) in which impaired organic acid metabolism induces hyperammonaemia arising partly from secondary deficiency of N-acetylglutamate (NAG) synthase. Rapid reduction in plasma ammonia is required to prevent neurological complications. This retrospective, multicentre, open-label, uncontrolled, phase IIIb study evaluated the efficacy and safety of carglumic acid, a synthetic structural analogue of NAG, for treating hyperammonaemia during OA decompensation. METHODS: Eligible patients had confirmed OA and hyperammonaemia (plasma NH3 > 60 μmol/L) in ≥1 decompensation episode treated with carglumic acid (dose discretionary, mean (SD) first dose 96.3 (73.8) mg/kg). The primary outcome was change in plasma ammonia from baseline to endpoint (last available ammonia measurement at ≤18 hours after the last carglumic acid administration, or on Day 15) for each episode. Secondary outcomes included clinical response and safety. RESULTS: The efficacy population (received ≥1 dose of study drug and had post-baseline measurements) comprised 41 patients (MMA: 21, PA: 16, IVA: 4) with 48 decompensation episodes (MMA: 25, PA: 19, IVA: 4). Mean baseline plasma ammonia concentration was 468.3 (±365.3) μmol/L in neonates (29 episodes) and 171.3 (±75.7) μmol/L in non-neonates (19 episodes). At endpoint the mean plasma NH3 concentration was 60.7 (±36.5) μmol/L in neonates and 55.2 (±21.8) μmol/L in non-neonates. Median time to normalise ammonaemia was 38.4 hours in neonates vs 28.3 hours in non-neonates and was similar between OA subgroups (MMA: 37.5 hours, PA: 36.0 hours, IVA: 40.5 hours). Median time to ammonia normalisation was 1.5 and 1.6 days in patients receiving and not receiving concomitant scavenger therapy, respectively. Although patients receiving carglumic acid with scavengers had a greater reduction in plasma ammonia, the endpoint ammonia levels were similar with or without scavenger therapy. Clinical symptoms improved with therapy. Twenty-five of 57 patients in the safety population (67 episodes) experienced AEs, most of which were not drug-related. Overall, carglumic acid seems to have a good safety profile for treating hyperammonaemia during OA decompensation. CONCLUSION: Carglumic acid when used with or without ammonia scavengers, is an effective treatment for restoration of normal plasma ammonia concentrations in hyperammonaemic episodes in OA patients

Escribir en la universidad: aplicación de nuevas tecnologías

Depto. de Lengua Española y Teoría de la LiteraturaFac. de FilologíaFALSEsubmitte

Influence of the calibration on experimental UV index at a midlatitude site, Granada (Spain)

The ultraviolet index (UVI) is the most commonly used variable to inform about the level and potential harmful effect of ultraviolet (UV) radiation reaching the Earth's surface. This variable is derived from the output signal of UV radiometers applying conversion factors from calibration methods. This paper focused on the influence of the use of two of these methods (called one-step and two-steps methods) on the experimental UVI measured by a YES UVB-1 radiometer located in a midlatitude station, Granada (Spain) for the period 2006–2009. In addition, it also analyzes the deviation from the UVI values obtained when the manufacturer's calibration factors are applied. For this goal, a detailed characterization of the UVB-1 radiometer from the first Spanish calibration campaign of broadband UV radiometers at the "El Arenosillo" INTA station in 2007 was used. In addition, modeled UVI data derived from the LibRadtran/UVSPEC radiative transfer code are compared with the experimental values recorded at Granada for cloud-free conditions. Absolute mean differences between measured and modeled UVI data at Granada were around 5% using the one-step and two-steps calibration methods, indicating an excellent performance of these two techniques for obtaining UVI data from the UVB-1 radiometer. Conversely, the application of the manufacture's calibration factor produced a large overestimation (~14%) of the UVI values, generating unreliable alarming high UVI data in summer. Thus, the number of days with an extreme erythemal risk (UVI higher than 10) increased up to 46% between May and September at Granada. This percentage reduced to a more reliable value of 3% when the conversion factors obtained with the two-steps calibration method are used. These results evidence the need for a sound calibration of the broadband UV instruments in order to obtain reliable measurements.This work was partially supported by the Andalusian Regional Government through projects P08-RNM-3568 and P10-RNM-6299, the Spanish Ministry of Science and Technology through projects CGL2010-18782 and CSD2007-00067

Development and evaluation of ocular antibiotic-loaded soluble film inserts

Antibiotic eyedrops typically require frequent instillation due to the eye’s defensive mechanisms limiting drugs from reaching target sites. This may risk patient non-adherence and treatment inefficacy. The aim of this study was to develop a biocompatible and fully soluble ocular film insert to enhance the delivery of levofloxacin, as well as the handling procedure for its administration; based on the anatomical dimensions and physiological conditions of the human eye. Inserts were prepared by solvent casting method, using HPMC, sodium alginate, gelatin, PEG 400, and levofloxacin solution, and characterised for various physicochemical properties (e.g., uniformity of weight and thickness, loss on dryness, swelling index, water uptake and surface pH). Mechanical properties were assessed and compared against a commercially available buccal film formulation. Uniformity of content and release profile of inserts were assessed by means of a validated analytical method. Antibacterial effectiveness was studied by adapted disc diffusion method on Staphylococcus aureus and Pseudomonas aeruginosa. The formulation including HPMC E15 (1250 mg), low viscosity sodium alginate (750 mg), type A gelatin (250 mg) and PEG 400 (2.5 mL) and 0.1% levofloxacin solution, resulted in high quality inserts, exhibiting uniformity of mass, thickness, and levofloxacin content, that comply with Pharmacopeial standards. Inserts were able to withstand unilinear and repeated mechanical stresses, suggesting suitability for manipulation linked to eye administration. The fully soluble levofloxacin-loaded inserts exhibited good physicochemical and mechanical characteristics, indicating good compatibility with ocular environment and administration procedure. Consistent levofloxacin content and biphasic release pattern showed immediate and sustained antimicrobial efficacy, consistently above the minimum inhibitory concentrations for the model species tested. This work also presents an experimental framework that can be adapted for designing and testing ocular drug delivery systems accounting for anatomical and physiological characteristics of the eye

Spatially resolved analysis of neutralwWinds, stars, and ionized gas kinematics with MEGARA/GTC: new insights on the nearby galaxy UGC 10205

We present a comprehensive analysis of the multiphase structure of the interstellar medium (ISM) and the stellar kinematics in the edge-on nearby galaxy UGC 10205 using integral field spectroscopy (IFS) data taken with MultiEspectrógrafo en GTC de Alta Resolución para Astronomía (MEGARA) at the GTC. We explore both the neutral and the ionized gas phases using the interstellar Na I D doublet absorption (LR−V setup, R ∼ 6000) and the Hα emission line (HR−R setup, R ∼ 18000), respectively. The high-resolution data show the complexity of the Hα emission-line profile revealing the detection of up to three kinematically distinct gaseous components. Despite of this fact, a thin-disk model is able to reproduce the bulk of the ionized gas motions in the central regions of UGC 10205. The use of asymmetric drift corrections is needed to reconciliate the ionized and the stellar velocity rotation curves. We also report the detection of outflowing neutral gas material blueshifted by ∼ 87 km s^(−1) . The main physical properties that describe the observed outflow are a total mass M_(out) = (4.55 ± 0.06) × 10^(7) Mʘ and a coldgas mass outflow rate M_(out) = 0.78 0.03 Mʘ yr^(−1) . This work points out the necessity of exploiting highresolution IFS data to understand the multiphase components of the ISM and the multiple kinematical components in the central regions of nearby galaxies