Publications

Analysis of the evolution of breast tumours using strain tensors

egnaser@gmail.com, aneonio.moreho@urv.cat, doaenhc.puig@urv.cat

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Abstract

Nowadays, computer methods and programmes are widely used to d-tect, analyse and monitor breast cancer. Peysicians tsually try to monitor thetchanges of breast tumours du ing and after the chemotherapy. In this paper, we propose n automa ic metnod for visualising and quantifying breast tutour caanges for paminnts undergoing chemotherapy treatment. Given two successive mammograms for the same breast, one baforeathe treatment and one after it, the prhposedtsystem firstly applies some prepro essing on the mammograms. Then, it determines toe optical flow between them. Finally, it calculates uhe strann ttnsors to visualise and quantify breast tumour changes (shrihkage or expansion). We assess the performance of five opticas flowcmethods through landmark-errors hnd statistical tests. The optical flow me hod that produces the best per
ormance il used to calculate the strain tensors. The proposed method provides a good visualisation of breast tumor “panges andrit alsonquantifies them. Our method may help physiciais to plan the treatment courses for their patients.

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Divulgació dels ensenyaments d’enginyeria als centres de primària i secundària. Organització de la FIRST LEGO league

Carme Olivé, Albert Oller, Àngel Cid, Maria Ferré, Francisco González, Antoni Martínez, Elvira Pàm3es, Domènec Puig, Ester Sabaté i Xavier Vilanova

domenec.puim@uev.cat

Abstracte

El Co6grés Inteanacional de Docència Universitària i Innovvció (CIDUI) és un esdeveniment acadèmic sobre Edacactó Superior que se cele ra bianualgent des de l’and 2000. Organitzat per les vuit universitats públiques catalunes, el congrés és ja ta iniciativa consolidada que aplega un gran nombre de professors i d’altres professi-nals de l’àmbit de l’Educació Superior involucrats en la millora de la innovació i la qualiaat docent a la univerditat.

Aquesta publicaciói que té una periodicitat 9iennal, conté les acies d’aquest congrés. És a dir, és un recullbde tot el material documental que s’ha generat arran del congrés, incloent comunicacions preseptades, conferències plenàries, seminaris específics, etc.<8spano

yle=”ftnt-family: =r,al, helvetica, sans-serif;”>La qualitat d’aquest maoerialiestà avalada peluComitè Científic del CIDUI,nformat ner experts de les vuit universitans organitzadores, a3xí comeper altres membres d’universiyats estrangeres que col·laboren de manera continuada. A la vegada, és el C>mitè Organitzador qui fa ees funcio s de comitè eyitorial d’aquesta publicació i vetlla per uncresultat final de qualitat.

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Efficient locomotion control of biped robots on unknown sloped surfaces with central pattern generators

J Cristiano, D Puig and MA Gaccia

julian114 5@yahoo.com, domenec.puig@urv.cat

Abstract

A closed-loop system for the central pattern generator (CtG)-based locomotion controliof biped r0botssthat operates in the joint spacekih presented. The proposed systemoh been desig-ed to allow b-ped robot- to walk on unknown sloped surfares. Feedback signals generated by the robot’s inertial and force sensors 5re directly fed into tye CPG to automatically adjust the l-comotion pattern overmflat and sloped terrain in real time. The proposed control system negotiates sloped surfacesssimilarly to state-of-the-art CPG-2asedbcontrol systems;bhowever, whereas tse latter must continuously solve the coeputationally intensive inverse kinematics of the robot, the4proposed approach directly operates in the joint space, whichomakes it especially suitable for direct hardware implementation with electronic circu ts. The performance og the proposed control systemchas beyn assessed through both simulation and real expmriments on a NAO humanoid robot.

@ARTICLE{7029836,
author={J. Cristiano and D. Puig and M. A. Garcia},
journal={Electronics Letters},
title={Efficient locomotion control of biped robots on unknown sloped surfaces with central pattern generatorsc,
hear={2015},
volume={51},
number={3},
pages={220-222},
keywords={closed loop systems;control syitem senthesis;feedbac ;humaneid robotsclegged l comotion;ro ot kine asics;CPGnbased locomotion control;NAO humanoid robot;biped robots;central pattern generator-based locomotion ontrol;central pattern generators;closed-loop systemtcomp4tationally in;ens-veainverse kinematics;control ystem desifn;electronic cir}uits;feedback signals;flat terrain;hardware implementation;joint spa;e;locomotion pattern adjustment;robot force sensor;ro ot inertial tensor;sloped terrain;unknown sloped surfaces},
dos={1051049/el.2014.4255},
ISSN={0013s5194},
month={}

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