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TML:a language to specify aerial robotic missions for the framework Aerostack

International Journal of Intelligent Computing and Cybernetics 2017年第4期10卷 491-512页

作者： Martin molina Ramon A.Suarez-Fernandez Carlos Sampedro jose Luis Sanchez-Lopez pascual Campoy Department of Artificial Intelligence Technical University of Madrid(UPM)MadridSpain Centre for Automation and Robotics Technical University of MadridMadridSpain

Purpose–The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.Design/methodology/approach–The TML language combines a task-based hierarchical approach together with a more flexible representation,rule-based reactive planning,to facilitate adaptability.This approach includes additional notions that abstract programming details.The authors built an interpreter integrated in the software framework Aerostack.The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.Findings–The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments.The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms.The TML interpreter is able to verify the mission plan before its execution,which increases robustness and safety,avoiding the execution of certain plans that are not feasible.Originality/value–One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans,integrated in an active open-source project with periodic releases.To the best knowledge of the authors,there are not solutions similar to this in other active open-source projects.As additional contributions,TML uses an original combination of representations for adaptive mission plans(i.***.task trees with original abstract notions and rule-based reactive planning)together with the demonstration of its adequacy for aerial robotics.

关键词： Adaptive mission plans Aerial robotic systems Autonomous aerial systems Mission plan specification

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Multi-camera systems for rehabilitation therapies:a study of the precision of Microsoft Kinect sensors

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Frontiers of Information Technology & Electronic Engineering 2016年第4期17卷 348-364页

作者： Miguel OLIVER Francisco MONTERO jose pascual MOLINa.pascual GONZa.EZ Antonio FERNANDez-CABALLERO Instituto de Investigacidn en Informdtica de Albacete Universidad de Castilla-La ManchaAlbacete 02071Spain Departamento de Sistemas Informaticos Universidad de Castilla-La ManchaAlbacete 02071Spain

This paper seeks to determine how the overlap of several infrared beams affects the tracked position of the user, depending on the angle of incidence of light, distance to the target, distance between sensors, and the number of capture devices used. We also try to show that under ideal conditions using several Kinect sensors increases the precision of the data collected. The results obtained can be used in the design of telerehabilitation environments in which several RGB-D cameras are needed to improve precision or increase the tracking range. A numerical analysis of the results is included and comparisons are made with the results of other studies. Finally, we describe a system that implements intelligent methods for the rehabilitation of patients based on the results of the tests carried out.

关键词： Kinect sensor Rehabilitation system Capture precision Multi-camera system

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An execution control method for the Aerostack aerial robotics framework

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 60-75页

作者： Martin molina Alberto CAMPORREDONDO Hriday BAVLE AlejANDro RODRIGUez-RAMOS pascual CAMPOY Department of Artificial Intelligence Universidad Politécnica de Madrid Centre for Automation and Robotics Universidad Politécnica de Madrid

Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors(such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system(ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.

关键词： Aerial robotics Control architecture Behavior-based control Executive system

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Tri-axial accelerometry shows differences in energy expenditure and parental effort throughout the breeding season in long-lived raptors

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Current Zoology 2022年第1期68卷 57-67页

作者： pascual LOPez-LOPez Arturo MPERONA Olga EGEA-CASAS Jon MORANT Vicente URIOS Movement Ecology Laboratory Cavanilles Institute of Biodiversity and Evolutionary BiologyUniversity of Valencia.C/Catedratico JoseBeltran 2E-46980 PaternaValenciaSpain Department of Ornithology Aranzadi Sciences SocietyDonostia-S.SebastianGuipuzcoa 03690Spain Vertebrates Zoology Research Group University of AlicanteApdo.99Alicante E-03080Spain

Cutting-edge technologies are extremely useful to develop new workflows in studying ecological data,particularly to understand animal behavior and movement trajectories at the individual level.Although parental care is a well-studied phenomenon,most studies have been focused on direct observational or video recording data,as well as experimental manipulation.Therefore,what happens out of our sight still remains unknown.Using high-frequency GPS/GSM dataloggers and tri-axial accelerometers we monitored 25 Bonelli’s eagles Aquila fasciata during the breeding season to understand parental activities from a broader perspective.We used recursive data,measured as number of visits and residence time,to reveal nest attendance patterns of biparental care with role specialization between sexes.Accelerometry data interpreted as the overall dynamic body acceleration,a proxy of energy expenditure,showed strong differences in parental effort throughout the breeding season and between sexes.Thereby,males increased substantially their energetic requirements,due to the increased workload,while females spent most of the time on the nest.Furthermore,during critical phases of the breeding season,a low percentage of suitable hunting spots in eagles’territories led them to increase their ranging behavior in order to find food,with important consequences in energy consumption and mortality risk.Our results highlight the crucial role of males in raptor species exhibiting biparental care.Finally,we exemplify how biologging technologies are an adequate and objective method to study parental care in raptors as well as to get deeper insight into breeding ecology of birds in general.

关键词： biologging GPS movement ecology ODBA space use telemetry

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Analysis of the postoperative hemostatic profile of colorectal cancer patients subjected to liver metastasis resection surgery

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World Journal of Clinical Cases 2019年第17期7卷 2477-2486页

作者： Guillermo Perez Navarro Ana Maria pascual Bellosta Sonia María Ortega Lucea Mario Serradilla Martín jose Manuel Ramirez Rodriguez Javier Martinez Ubieto Department of Anesthesiology University Hospital Miguel ServetZaragoza 50009Spain Department of General Surgery University Hospital Miguel ServetZaragoza 50009Spain Department of General Surgery University Hospital Lozano BlesaZaragoza 50009Spain

BACKGROUND Liver resection surgery has advanced greatly in recent years,and the adoption of fasttrack programs has yielded good results.Combination anesthesia (general anesthesia associated to epidural analgesia) is an anesthetic-analgesic strategy commonly used for the perioperative management of patients undergoing surgery of this kind,though there is controversy regarding the coagulation alterations it may cause and which can favor the development of spinal hematomas.AIM To study the postoperative course of liver resection surgery,an analysis was made of the outcomes of liver resection surgery due to colorectal cancer metastases in our centre in terms of morbiditymortality and hospital stay according to the anesthetic technique used (general vs combination anesthesia).METHODS A prospective study was made of 61 colorectal cancer patients undergoing surgery due to liver metastases under general and combination anesthesia between January 2014 and October 2015.The patient characteristics,intraoperative variables,postoperative complications,evolution of hemostatic parameters,and stay in intensive care and in hospital were analyzed.RESULTS A total of 61 patients were included in two homogeneous groups: general anesthesia (n = 30) and combination anesthesia (general anesthesia associated to epidural analgesia)(n = 31).All patients had normal coagulation values before surgery.The international normalized ratio (INR) in both the general and combination anesthesia groups reached maximum values at 2448 h (mean 1.37 and 1.45 vs 1.39 and 1.41,respectively),followed by a gradual decrease.There was less intraoperative bleeding in the combination anesthesia group (769 mL) than in the general anesthesia group (1200 mL)(P < 0.05).Of the 61 patients,38.8% in the general anesthesia group experienced some respiratory complication vs 6.6% in the combination anesthesia group (P < 0.001).The time to gastrointestinal tolerance was significantly correlated to the type of anesthesia,though not so the stay in critical care or the time to

关键词： Hepatectomy Epidural analgesia Perioperative complications Epidural hematoma Multimodal rehabilitation Outcomes

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Muscle strength deficits are associated with low bone mineral density in young pediatric cancer survivors:The iBoneFIT project

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Journal of Sport and Health Science 2024年第3期13卷 419-427页

作者： Andres Marmol-Perez jose J.Gil-Cosano Esther Ubago-Guisado Francisco J.Llorente-Cantarero Juan Francisco pascual-Gázquez Kirsten K.Ness Vicente Martinez-Vizcaino Jonatan R.Ruiz Luis Gracia-Marco Department of Physical Education and Sports Faculty of Sport SciencesSport and Health University Research Institute(iMUDS)University of GranadaGranada 18011Spain Department of Epidemiology and Cancer Control St.Jude Children's Research HospitalMemphisTN 38105USA Department of Communication and Education Loyola University AndalusiaSeville 41704Spain Biosanitary Research Institute ibs.GranadaGranada 18012Spain Maimonides Biomedical Research Institute of Cordoba(IMIBIC) Cordoba 14004Spain CIBEROBN Biomedical Research Networking Center for Physiopathology of Obesity and NutritionCarlos III Health InstituteMadrid 28029Spain Department of Specific Didactics Faculty of EducationUniversity of CordobaCordoba 14071Spain Pediatric and adolescent hematology and oncology service Pediatrics and Pediatric Surgery Clinical Management UnitVirgen de las Nieves University HospitalGranada 18014Spain Health and Social Research Center Universidad de Castilla-La ManchaCuenca 13001Spain

Background Pediatric cancer survivors are at increased risk of muscle weakness and low areal bone mineral density(aBMD).However,the prevalence of muscle strength deficits is not well documented,and the associations of muscle strength with aBMD are unknown in this population.Therefore,this study aimed to investigate the prevalence of upper-and lower-body muscle strength deficits and to examine the associations of upper-and lower-body muscle strength with age-,sex,and race-specific aBMD Z-scores at the total body,total hip,femoral neck,and lumbar spine.Methods This cross-sectional study included 116 pediatric cancer survivors(12.1±3.3 years old,mean±SD;42.2%female).Upper-and lower-body muscle strength were assessed by handgrip and standing long jump test,respectively.Dual‑energy X‑ray absorptiometry was used to measure aBMD(g/cm2).Associations between muscle strength and aBMD were evaluated in multivariable linear regression models.Logistic regression was used to evaluate the contribution of muscle strength(1-decile lower)to the odds of having low aBMD(Z-score≤1.0).All analyses were adjusted for time from treatment completion,radiotherapy exposure,and body mass index.Results More than one-half of survivors were within the 2 lowest deciles for upper-(56.9%)and lower-body muscle strength(60.0%)in comparison to age-and sex-specific reference values.Muscle strength deficits were associated with lower aBMD Z-scores at all sites(B=0.133–0.258,p=0.001–0.032).Each 1-decile lower in upper-body muscle strength was associated with 30%–95%higher odds of having low aBMD Z-scores at all sites.Each 1-decile lower in lower-body muscle strength was associated with 35%–70%higher odds of having low aBMD Z-scores at total body,total hip,and femoral neck.Conclusion Muscle strength deficits are prevalent in young pediatric cancer survivors,and such deficits are associated with lower aBMD Z-scores at all sites.These results suggest that interventions designed to improve muscle strength in this vulnerable population may have the added ben

关键词： Bone health Childhood cancer DXA Lean mass Resistance training

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Estrium 乳清在有变形乳癌的一个病人的导致的肝炎: 案例报告

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World Journal of Hepatology 2012年第12期4卷 399-401页

作者： Maria jose Velasco Julian molina Department of Internal Medicine and Department of Oncology Luis Vernaza HospitalGuayaquilEcuador and Mayo Clinic College of MedicineRochesterMN 55905United States Department of Oncology Luis Vernaza HospitalGuayaquilEcuador and Mayo Clinic College of MedicineRochesterMN EC090112United States

Estrium Whey is an alternative nutritional support therapy for women.It’s enhanced with specific nutrients including phytoestrogens,folate,antioxidants and fiber to support healthy estrogen detoxification and hormone balance.We describe the first case of hepatotoxicity due to Estrium Whey in a 51-year old female with metastatic breast cancer with clinical,laboratory and histopathological changes.

关键词： Estrium Whey Hepatotoxicity Metastatic disease

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Use of a lyophilized bovine pericardium graft to repair tunical defect in patients with Peyronie＇s disease： experience in a clinical setting

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Asian Journal of Andrology 2017年第3期19卷 316-320页

作者： Javier Romero Otero Borja Garcia Gomez jose Medina Polo Carlos pascual Mateoe Silvia Garcia Barreras Eduard Garcia Cruz Javier de la Riva de la Vifia Alfredo Rodriguez Antolin 12 de Octubre University Hospital Department of Urology Madrid Spain Monteprincipe University Hospital Department of Urology Madrid Spain Clinic Hospital Department of Urology Barcelona Spain

Many different materials are available for grafting during surgery for Peyronie＇s disease （PD）. To study the outcomes associated with the use of a lyophilized bovine pericardium graft （Peri-Guard） to repair tunical defects in patients with PD, descriptive study of 43 patients with disabling penile curvature was performed. Curvature was measured before and after the intervention using a standardized procedure. Surgical technique was plaque excision and grafting of the tunical defect carried out by a single surgeon. A lyophilized bovine pericardium patch was used for grafting. We measured the change in penile curvature and length, the ability to perform successful sexual intercourse without further pharmacological or surgical treatment, and the satisfaction with treatment. Follow-up data were available for a total of 41 patients. Median age was 50 years （IQR 48-52）; mean follow-up time was 14 ± 6 months. Complete penile straightening was achieved in 33 patients （80.5%） and five patients （12.2%） had curvature under 20. Three months after surgery and stretching therapy, mean （s.d.） flaccid penile length increased from 11.2 ± 2.8 cm to 12.1 ± 2.9 cm （P = 0.062）. Seventy-five percentage of patients reported being able to achieve successful intercourse without further treatment. Eighty-five percentage of patients reported to be satisfied with the treatment. There was no evidence of tissue rejection or infection, and only four patients suffered an adverse event. Plaque excision and grafting of the tunical defect with lyophilized bovine pericardium seems to be a safe and effective treatment for patients with PD.

关键词： penile curvature pericardium patch Peyronie＇s disease surgical treatment

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Meso-Archean to Mid-Paleozoic Granitoids in Oulad Dlim Massif(the Pericratonic Terrane of the Reguibat Shield,West African Craton,Morocco):Petrology,Geochemistry,Geochronology and Geological Implications

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Journal of Earth Science 2022年第5期33卷 1152-1165页

作者： Haissen Faouziya Montero Pilar molina jose Francisco Lodeiro Francisco Mouttaqi Abdellah Chaib Mustapha Bea Fernando LGAGE Département de GéologieFacultédes Sciences Ben M’sikHassan II University of CasablancaB.P.5366MaarifCasablancaMaroc Department of Mineralogy and Petrology University of GranadaCampus FuentenuevaGranada18002Spain Office National des Hydrocarbures et des Mines 5 Avenue Moulay HassanRabatMaroc

The Oulad Dlim Massif,adjacent to the Reguibat Shield in South Morocco was considered up to now as part of the Variscan belt(Mauritanides)with a polyphase geologic history and a complex geodynamic evolution implicating oceans closures and accretion of exotic terranes(Avalonian and Meguman)during the Variscan-Alleghanian orogeny.The use of modern technology to characterize the petrology,the geochemistry and the geochronology of the lithological units forming this region,combined to field surveys has led to an updated geological architecture and different geological history.The Oulad Dlim Massif is mainly a deformed Archean terrane,as recorded by its eastern and western sectors,dominated in its central part by a bimodal felsic-mafic magmatism forming the Ediacaran sector.The study of these magmatic complexes supports strongly the intracontinental origin of this bimodal magmatism vs.the oceanic origin published before in literature.The exploration of this massif conducted also to the identification of a Silurian-Devonian sector in the western part.Therefore,up to date,different magmatic events lasting from the Meso-Archean to the Cretaceous are recorded in the Oulad Dlim Massif rocks,among them different generations of granitoids are reported.New data on granitoids from the Ediacaran sector are presented in this paper.This recent data demonstrates that Oulad Dlim Massif has been affected by the main Ediacaran–Cambrian extensional event widely documented in other structural domains of Morocco and other parts of North Gondwana.Additionally,the study of the Silurian-Devonian sector rocks highlighted the presence of a Caledonian tectonic event challenging the ideas about the paleogeography of this part of northwestern Africa and its geological evolution during the Paleozoic.However,despite the significant contribution of this extensive survey and the abundance of data on the Oulad Dlim Massif,more studies are required to reconstruct the puzzle at plate tectonic scale.

关键词： Archean Ediacaran bimodal magmatism extension intracontinental rifting Caledonian tectonic event petrology geochemistry

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Impact of diff erent waves of COVID-19 on emergency medical services and out-of-hospital cardiopulmonary arrest in Madrid, Spain

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World Journal of Emergency Medicine 2022年第5期13卷 386-389页

作者： jose-María Navalpotro-pascual Diana Monge Martín Manuel-José González León Fernando Neria Serrano Carlos Alonso Blas Belén Muñoz Isabel Yago Muñecas Cuesta Alfredo Carrillo Moya Juan Les González Alonso Mateos Rodríguez Madrid Emergency Medical Services SUMMA 112Madrid 28045Spain School of Medicine Francisco de Vitoria UniversityMadrid 28223Spain(School of MedicineUniversidad Francisco de VitoriaMadrid 28223Spain)

Out-of-hospital cardiac arrest(OHCA)is one of the three leading causes of death in industrialized countries.[1,2]Some studies have described the impact of the first COVID-19 pandemic wave in terms of the number of cases and OHCA survival rates in various regions,[3-5]but few have addressed the relationship between the successive phases and how they affected OHCA.[6,7]The 14-d cumulative incidence peaked at more than 990 cases,with these rates remaining above 200 for an eight-month period between 15 March 2020 and 15 March 2021 in Madrid,Spain.

关键词： cardiac services successive

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