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This paper describes a simultaneous localization and mapping (SLAM) algorithm for use in unstructured environments that is effective regardless of the geometric complexity of the environment. Features are described using B-splines as modeling tool, and the set of control points defining their shape is used to form a complete and compact description of the(More)
— This paper presents BS-SLAM, a simultaneous localization and mapping algorithm for use in unstructured environments that is effective regardless of whether features correspond to simple geometric primitives such as lines or not. The coordinates of the control points defining a set of B-splines are used to form a complete and compact description of the(More)
Our group has developed a computer system that supports all phases of the inpatient discharge process. The system fills in most of the physician's discharge order form and the nurse's discharge abstract, using information available from sign-out, order entry, scheduling, and other databases. It supplies information for referrals to outside institutions, and(More)
BACKGROUND Gonyautoxin are phycotoxins, whose molecular mechanism of action is a reversible block of the voltage-gated sodium channels at axonal level, impeding nerve impulse propagation. OBJECTIVE To evaluate clinical efficacy of gonyautoxin in the treatment of patients with chronic tensional-type headache. METHODS Open trial from September 2004 to(More)
Recently, a novel solution to the Simultaneous Localization and Map building (SLAM) problem for complex indoor environments was presented, using a set of splines for describing the geometries detected by a laser range finder mounted on a mobile platform. In this paper, a method for exploiting the geometric information underlying in these maps in the data(More)
We have developed a navigation system for a mobile robot that enables it to autonomously return to a start point after completing a route. It works efficiently even in complex, low structured and populated indoor environments. A point-based map of the environment is built as the robot explores new areas; it is employed for localization and obstacle(More)
BACKGROUND Although retrospective identification of adverse events is time-consuming, whether they are present and/or expected is often readily apparent to providers during the provision of care. METHODS A computer program to flag admissions with possible adverse events was developed. Readmissions to the hospital within 31 days and admissions including(More)