Introduction Left ventricle hypertrophy (LVH) is an important risk factor for cardiovascular morbidity and mortality. It is characterized by a thickening of the walls of the left ventricle. The transthoracic echocardiogram is a very accurate method for LVH detection. However, the electrocardiogram (ECG) offers an alternative method in diagnosing LVH, besides being less expensive and easier to obtain. In this context, this study proposes an ECG based approach for left ventricle hypertrophy (LVH) classification. Methods According to the literature, several indexes have so far been proposed that suggest specific changes in cardiac structure, however, generally speaking there is no consensus about the best criteria. This way, instead of considering only one LVH criterion, a score derived from electrocardiographic traces was employed which explores the complementarity of the best criteria through a fusion strategy. The best criteria are those which discriminate normal and LVH ECGs. Results The experiments were performed in the Monica database with a group of fifty men. Half of the individuals had LVH diagnosed by calculating the left ventricular mass index measured by transthoracic echocardiography. The score fusion proposed achieved a sensitivity of 78.3% and specificity of 91.3%, outperforming all isolated LVH criteria. Discussion Unlike the other methods, our score must be estimated within a computer because of its high complexity. Even with this limitation it is much less expensive than using the echocardiography.

Este artigo apresenta a classificação de três tarefas mentais, usando o sinal de EEG e simulando um processo em tempo real, o que se convencionou chamar de técnica pseudo online. Um classificador bayesiano é usado para reconhecer as tarefas mentais, a extração de característica usa a densidade espectral de potência, e o mapa Sammon é usado para visualizar a separação de classes. A escolha do canal de EEG e da frequência de amostragem é baseada na divergência simétrica de Kullback-Leibler, e um modelo de reclassificação é proposto para estabilizar as classificações.

This paper presents the classification of three mental tasks, using the EEG signal and simulating a real-time process, what is known as pseudo-online technique. The Bayesian classifier is used to recognize the mental tasks, the feature extraction uses the Power Spectral Density, and the Sammon map is used to visualize the class separation. The choice of the EEG channel and sampling frequency is based on the Kullback-Leibler symmetric divergence and a reclassification model is proposed to stabilize the classifications.

An approach to guide a mobile robot from an initial position to a goal position avoiding any obstacle in its path, when navigating in a semi-structured environment, is proposed in this paper. Such an approach, hereinafter referred to as tangential escape, consists in changing the current robot orientation through a suitable combination of the values of the angular and linear velocities (the control actions) whenever an obstacle is detected close to it. Then, the robot starts navigating in parallel to the tangent to the obstacle, regarding the point of the obstacle boundary the robot sensing system identifies as the closest one. The stability of the control system designed according this approach is proven, showing that the robot reaches any reachable goal, with or without a prescribed final orientation. Such a control system is programmed onboard a mobile platform whose sensing system is a laser scanner which provides 181 range measurements, for experimental validation. The results obtained are presented and discussed, allowing concluding that the tangential escape approach is able to guide the robot along trajectories that result in a reduction of the traveling time, thus saving batteries and reducing the motor wearing.

This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.