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2. Tac2Pose: Tactile Object Pose Estimation from the First Touch

Author

Bauza, Maria, Bronars, Antonia, and Rodriguez, Alberto

Subjects
Computer Science - Computer Vision and Pattern Recognition, Computer Science - Machine Learning, Computer Science - Robotics
Abstract

In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability distribution over possible object poses given a tactile observation. To do so, we simulate the contact shapes that a dense set of object poses would produce on the sensor. Then, given a new contact shape obtained from the sensor, we match it against the pre-computed set using an object-specific embedding learned using contrastive learning. We obtain contact shapes from the sensor with an object-agnostic calibration step that maps RGB tactile observations to binary contact shapes. This mapping, which can be reused across object and sensor instances, is the only step trained with real sensor data. This results in a perception model that localizes objects from the first real tactile observation. Importantly, it produces pose distributions and can incorporate additional pose constraints coming from other perception systems, contacts, or priors. We provide quantitative results for 20 objects. Tac2Pose provides high accuracy pose estimations from distinctive tactile observations while regressing meaningful pose distributions to account for those contact shapes that could result from different object poses. We also test Tac2Pose on object models reconstructed from a 3D scanner, to evaluate the robustness to uncertainty in the object model. Finally, we demonstrate the advantages of Tac2Pose compared with three baseline methods for tactile pose estimation: directly regressing the object pose with a neural network, matching an observed contact to a set of possible contacts using a standard classification neural network, and direct pixel comparison of an observed contact with a set of possible contacts. Website: http://mcube.mit.edu/research/tac2pose.html, Comment: Submitted to IJRR, 22 pages + Appendix, 11 figures

Published
2022
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9. Functional sensory circuits built from neurons of two species

Author

Throesch, Benjamin T., bin Imtiaz, Muhammad Khadeesh, Muñoz-Castañeda, Rodrigo, Sakurai, Masahiro, Hartzell, Andrea L., James, Kiely N., Rodriguez, Alberto R., Martin, Greg, Lippi, Giordano, Kupriyanov, Sergey, Wu, Zhuhao, Osten, Pavel, Izpisua Belmonte, Juan Carlos, Wu, Jun, and Baldwin, Kristin K.

Published
2024
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14. Promoting Equity, Diversity and Social Justice through Faculty-Led Transformative Projects

Author

Rodriguez, Alberto J., Ciftci, Ayse, Howell, Kathleen, Kokini, Klod, Wright, Brittany, and Nikalje, Ankita

Abstract

We present a transformative professional development project with a focus on equity, diversity and social justice (EDSJ) to raise cultural awareness among faculty, increase agency, and promote positive change through transformative projects. Twenty-three faculty members from nine different colleges located at a Research I university were provided with critical cultural awareness workshops and then supported to develop transformative projects related to EDSJ. Based on focus group interviews and pre-post surveys, we identified four themes and five categories: two outcome-related ("Building Community and Transformative Actions") and two operational themes ("Barriers" and "Facilitators"). We conclude that faculty-centered and transformative professional development projects could significantly benefit all those interested in establishing a culturally inclusive, positive and responsive climate. Our study also contributes to the emerging research on scholar activism and provides a practical model for implementation.

Published
2022
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15. Comparative study on the valorization of Sargassum from the Mexican Caribbean coast and Gulf of California as an ingredient on healthy diets for shrimp farming

Author

Melchor-Martínez, Elda M., Reyes, Ana G., Morreeuw, Zoé P., Flores-Contreras, Elda A., Araújo, Rafael G., Ramírez-Gamboa, Diana, Sosa-Hernández, Juan Eduardo, Iqbal, Hafiz M.N., González-Meza, Georgia María, Bonaccorso, Alfredo Damiano, Peña-Rodríguez, Alberto, and Parra-Saldívar, Roberto

Published
2023
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18. Antithrombotic Strategy in Secondary Prevention for High-Risk Patients with Previous Acute Coronary Syndrome: Overlap between the PEGASUS Eligibility and the COMPASS Eligibility in a Large Multicenter Registry

Author

Millesimo, Michele, Elia, Edoardo, Marengo, Giorgio, De Filippo, Ovidio, Raposeiras-Roubin, Sergio, Wańha, Wojciech, Abu-Assi, Emad, Kinnaird, Tim, Ariza-Solé, Albert, Liebetrau, Christoph, Manzano-Fernández, Sergio, Iannaccone, Mario, Henriques, Jose Paulo Simao, Templin, Christian, Wilton, Stephen B., Velicki, Lazar, Xanthopoulou, Ioanna, Correia, Luis, Cerrato, Enrico, Rognoni, Andrea, Nuñez-Gil, Iván, Song, Xiantao, Kawaji, Tetsuma, Quadri, Giorgio, Huczek, Zenon, Paz, Rafael Cobas, Juanatey, José Ramón González, Nie, Shao-Ping, Kawashiri, Masa-aki, Dominguez-Rodriguez, Alberto, Conrotto, Federico, D’Ascenzo, Fabrizio, and De Ferrari, Gaetano Maria

Published
2023
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19. Análisis de la relación entre la contaminación del aire ambiente y la gravedad de las descompensaciones por insuficiencia cardiaca en dos metrópolis españolas (Barcelona y Madrid)

Author

Benito-Lozano, Miguel, López-Ayala, Pedro, Rodríguez, Sergio, Llorens, Pere, Domínguez-Rodríguez, Alberto, Aguirre, Alfons, Alquézar, Aitor, Jacob, Javier, Gil, Víctor, Martín-Sánchez, Francisco Javier, Mir, María, Andueza, Juan Antonio, Burillo-Putze, Guillermo, and Miró, Òscar

Published
2023
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21. Results in mediastinal lymph node staging of surgical lung cancer: Data from the prospective cohort of the Spanish Video-Assisted Thoracic Surgery Group

Author

Lopez, Iker, Aguinagalde, Borja, Urreta, Iratxe, Royo, Iñigo, Bolufer, Sergio, Sanchez, Laura, Zabaleta, Jon, Fernández-Monge, Arantza, Recuero-Díaz, José Luis, Sesma, Julio, Amor, Sergio, Moradiellos, Francisco Javier, Arrarás, Miguel Jesús, Blanco, Ana Isabel, Boada, Marc, Sanchez, David, Cabañero, Alberto, Moreno, Nicolás, Cal, Isabel, Moreno, Ramón, Cilleruelo, Ángel, Crowley, Silvana, Gómez, David, Fernández, Elena, Hernando, Florentino, García, Santiago, López, Cipriano, García, María Dolores, García, Jose María, Rivo, José Eduardo, Garcia, Jose Alberto, Gelbenzu, Juan José, Ramírez, María Elena, Giraldo, Carlos Fernando, Mongil, Roberto, Gómez, María Teresa, Jiménez, Marcelo, Henández, Jorge, Fibla, Juan José, Illana, Jennifer D., Jauregui, Alberto, Jiménez, Unai, Rojo, Rafael, Martínez, Néstor J., Martínez, Elisabeth, Trujillo, Juan Carlos, Milla, Lucía, Moreno, Sergio B., Congregado, Miguel, Obiols, Carme, Call, Sergi, Quero, Florencio, Ramos, Ricard, Rodríguez, Alberto, Simón, Carlos María, and Embun, Raul

Published
2023
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22. Resultados de la estadificación clínica ganglionar mediastínica del cáncer pulmonar quirúrgico: datos de la cohorte prospectiva nacional del Grupo Español de Cirugía Torácica Videoasistida

Author

Lopez, Iker, Aguinagalde, Borja, Urreta, Iratxe, Royo, Iñigo, Bolufer, Sergio, Sanchez, Laura, Zabaleta, Jon, Fernández-Monge, Arantza, Recuero, José Luis, Sesma, Julio, Amor, Sergio, Moradiellos, Francisco Javier, Arrarás, Miguel Jesús, Blanco, Ana Isabel, Boada, Marc, Sanchez, David, Cabañero, Alberto, Moreno, Nicolás, Cal, Isabel, Moreno, Ramón, Cilleruelo, Ángel, Crowley, Silvana, Gómez, David, Fernández, Elena, Hernando, Florentino, García, Santiago, López, Cipriano, García, María Dolores, García, Jose María, Rivo, José Eduardo, Garcia, Jose Alberto, Gelbenzu, Juan José, Ramírez, María Elena, Giraldo, Carlos Fernando, Mongil, Roberto, Gómez, María Teresa, Jiménez, Marcelo, Henández, Jorge, Fibla, Juan José, Illana, Jennifer D, Jauregui, Alberto, Jiménez, Unai, Rojo, Rafael, Martínez, Néstor J, Martínez, Elisabeth, Trujillo, Juan Carlos, Milla, Lucía, Moreno, Sergio B, Congregado, Miguel, Obiols, Carme, Call, Sergi, Quero, Florencio, Ramos, Ricard, Rodríguez, Alberto, Simón, Carlos María, and Embun, Raul

Published
2023
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27. Analysis of the relationship between ambient air pollution and the severity of heart failure decompensations in two Spanish metropolises (Barcelona and Madrid)

Author

Benito-Lozano, Miguel, López-Ayala, Pedro, Rodríguez, Sergio, Llorens, Pere, Domínguez-Rodríguez, Alberto, Aguirre, Alfons, Alquézar, Aitor, Jacob, Javier, Gil, Víctor, Martín-Sánchez, Francisco Javier, Mir, María, Andueza, Juan Antonio, Burillo-Putze, Guillermo, and Miró, Òscar

Published
2023
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29. How to Avoid Seven Common (but Seldom Discussed) STEM Curriculum Pitfalls: Making STEM More Culturally and Socially Relevant

Author

Rodriguez, Alberto J.

Abstract

Even though significant progress has been made on raising awareness about equity and diversity issues in science education in the last two decades, the current push to address the Next Generation Science Standards' (NGSS) emphasis on integrating engineering and scientific practices has opened up new pitfalls. Here, I describe seven of the most salient pitfalls we should all seek to avoid if we are committed to making STEM education more culturally and socially relevant. Suggestions are provided to encourage educators, researchers, and curriculum developers to distinguish and stress the importance of engaging children in STEM instead of teaching STEM to students.

Published
2021
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30. Engineering Your Own Liquid Soap: An Example of How to Use a Culturally and Socially Responsible Engineering Design Process

Author

Rodriguez, Alberto J.

Abstract

The concepts of "culturally relevant pedagogy" and "culturally responsive teaching" have been interpreted and enacted in various ways for over two decades. Informed by this research, the author shares a critical approach to teaching and learning using "sociotransformative constructivism" (sTc). This framework merges social constructivism (as a theory of learning) with critical cross-cultural education (as a theory of social justice; Rodriguez 1998). Therefore, sTc systematically takes into account "how" teachers teach (pedagogy); "what" they teach (curriculum); "to whom" they teach (students); and "in what cultural context" (diversity, socioeconomic status, language ability, physical ability, gender/sexual expression, etc.). While culturally relevant or inclusive pedagogy has been focused on teacher professional development, the sTc framework makes clear that teaching and learning are parts of an inseparable equation by which the success of one is dependent on the success of the other. Furthermore, the main goals of the sTc framework are to increase knowledge and awareness, leading to transformative action (see Rodriguez 2018). To illustrate the use of sTc, the author provides an example of an activity--engineering your own liquid soap--using its corresponding culturally and socially responsible engineering design process.

Published
2021

31. Ischemic-hemorrhagic balance in diabetic and non-diabetic patients after acute coronary syndrome

Author

Domínguez-Rodríguez, Luis Manuel, Raposeiras-Roubín, Sergio, Abu-Assi, Emad, Cespón-Fernández, María, Melendo-Viu, María, D’Ascenzo, Fabrizio, Kinnaird, Tim, Ariza-Solé, Albert, Manzano-Fernández, Sergio, Templin, Christian, Velicki, Lazar, Xanthopoulou, Ioanna, Cerrato, Enrico, Quadri, Giorgio, Rognoni, Andrea, Boccuzzi, Giacome, Montabone, Andrea, Taha, Salma, Durante, Alessandro, Gili, Sebastiano, Magnani, Giulia, Autelli, Michele, Grosso, Alberto, Flores-Blanco, Pedro, Garay, Alberto, Varbella, Ferdinando, Tommassini, Francesco, Gallo, Diego, Morbiducci, Umberto, Domínguez-Rodríguez, Alberto, Valdés, Mariano, Cequier, Ángel, Gaita, Fiorenzo, Alexopoulos, Dimitrios, and Íñiguez-Romo, Andrés

Published
2022
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35. Range expansion of tropical shallow-water marine molluscs in the NE Atlantic during the last interglacial (MIS 5e): Causes, consequences and utility of ecostratigraphic indicators for the Macaronesian archipelagos

Author

Melo, Carlos S., Martín-González, Esther, da Silva, Carlos M., Galindo, Inés, González-Rodríguez, Alberto, Baptista, Lara, Rebelo, A. Cristina, Madeira, Patrícia, Voelker, Antje H.L., Johnson, Markes E., Arruda, Samuel A., and Ávila, Sérgio P.

Published
2022
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36. Human Neutrophils Couple Nitric Oxide Production and Extracellular Trap Formation in Allergic Asthma.

Author

Chacón, Pedro, Vega-Rioja, Antonio, Doukkali, Bouchra, del Valle Rodriguez, Alberto, Fernández-Delgado, Lourdes, Domínguez-Cereijo, Leticia, Segura, Carmen, Pérez-Machuca, Beatriz María, Perkins, James R., El Bekay, Rajaa, Cornejo-García, José Antonio, Hajji, Nabil, Monteseirín, Javier, and Rivas-Pérez, David

Subjects
NITRIC oxide, IMMUNOGLOBULIN E, NEUTROPHILS, ASTHMA, NITRIC-oxide synthases, NADPH oxidase, REACTIVE oxygen species
Abstract

Rationale: Nitric oxide (NO) is increased in the airways and serum of patients with allergic asthma, suggesting an important role in asthma. NO production has been widely attributed to the canonical inducible NO synthase. Much effort has been made to inhibit this enzyme, with two outcomes: no asthma improvement and partial NO reduction, suggesting the involvement of an inducible NO synthase–independent source. Objectives: Neutrophils produce NO under inflammatory conditions, and their role in asthma has been overlooked. The present study analyzes their possible role as sources of NO. Methods: Our hypothesis was tested in 99 allergic patients with intermittent bronchial asthma and 26 healthy donors. NO production by blood and sputum neutrophils in response to allergens, anti-IgE, and anti-IgE receptor antibodies was assessed by Griess reagent, flow cytometry, and confocal microscopy. The formation of extracellular traps (ETs) as a possible consequence of NO production was quantified by Western blot and confocal microscopy, and reactive oxygen species were assessed with luminol-enhanced chemiluminescence. Measurements and Main Results: Among blood and sputum granulocytes from patients with allergic asthma, only neutrophils produce NO by an IgE-dependent mechanism. This production is independent of NO synthase, but dependent on a reaction between L-arginine and reactive oxygen species from NOX2 (NADPH oxidase). NO and ETosis are induced in parallel, and NO amplifies ET formation, which is a key mediator in asthma. Conclusions: Our findings reveal a novel role of neutrophils as the unique allergen/IgE–dependent NO source in allergic asthma, enhancing ET formation. These results suggest that NO produced by neutrophils needs further consideration in the treatment of allergic asthma. [ABSTRACT FROM AUTHOR]

Published
2024
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40. Ticagrelor or Clopidogrel After an Acute Coronary Syndrome in the Elderly: A Propensity Score Matching Analysis from 16,653 Patients Treated with PCI Included in Two Large Multinational Registries

Author

Bianco, Matteo, Careggio, Alessandro, Biolè, Carlo Alberto, Quadri, Giorgio, Quiros, Alicia, Raposeiras-Roubin, Sergio, Abu-Assi, Emad, Kinnaird, Tim, Ariza-Solè, Albert, Liebetrau, Christoph, Manzano-Fernàndez, Sergio, Boccuzzi, Giacomo, Henriques, Jose P. S., Spirito, Amanda, Templin, Christian, Wilton, Stephen B., Velicki, Lazar, Correia, Luis, Rognoni, Andrea, Ugo, Fabrizio, Nunez-Gil, Ivàn, Fujii, Toshiharu, Durante, Alessandro, Song, Xiantao, Kawaji, Tetsuma, Alexopoulos, Dimitrios, Huczek, Zenon, Gonzàlez Juanatey, Josè Ramòn, Nie, Shao-Ping, Kawashiri, Masa-Aki, Morbiducci, Umberto, Dominguez-Rodriguez, Alberto, Destefanis, Paola, Luciano, Alessia, De Ferrari, Gaetano Maria, Varbella, Ferdinando, Montagna, Laura, D’Ascenzo, Fabrizio, and Cerrato, Enrico

Published
2021
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43. B cells expressing authentic naive human VRC01-class BCRs can be recruited to germinal centers and affinity mature in multiple independent mouse models

Author

Huang, Deli, Abbott, Robert K., Havenar-Daughton, Colin, Skog, Patrick D., Al-Kolla, Rita, Groschel, Bettina, Blane, Tanya R., Menis, Sergey, Tran, Jenny Tuyet, Thinnes, Theresa C., Volpi, Sabrina A., Liguori, Alessia, Schiffner, Torben, Villegas, Sophia M., Kalyuzhniy, Oleksandr, Pintea, Mark, Voss, James E., Phelps, Nicole, Tingle, Ryan, Rodriguez, Alberto R., Martin, Greg, Kupryianov, Sergey, deCamp, Allan, Schief, William R., Nemazee, David, and Crotty, Shane

Published
2020

48. Expanding and Enacting Transformative Meanings of Equity, Diversity and Social Justice in Science Education

Author

Rodriguez, Alberto J. and Morrison, Deb

Abstract

In this paper, we provide a conceptual critique of the various constructs often used to justify policies and/or research to promote equity, diversity and social justice in science education. As research expands in these areas, we seek to provide some clarity to support researchers in deepening their work toward transformative goals in science teaching and learning. First, we explore the ways in which researches often argue "why" equity, diversity or social justice should be addressed, detailing arguments for economic superiority, morality and sociotransformative action. Next, we outline "how" researchers have argued that equity, diversity and social justice should be addressed including approaches such as equal distribution, mandated policy and sociotransformative education. We conclude with some examples of recent research that bring into practice the lesser known of these, the sociotransformative approach, arguing that this approach provides the field of science education research with a more promising way to create sustainable change. The sociotransformative approach is centered on improving the lived experiences of historically marginalized youth and encourages researchers to focus on reporting research as "narratives of engagement." That is, a more representative and balanced analysis of the challenges and successes of teaching and learning in culturally diverse schools and of the responsive (and responsible) role researchers can (and should) play in helping bring about positive social change. This paper helps situate the other articles in this special issue in the larger conversations on equity, diversity and social justice occurring within the field of science education.

Published
2019
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