Relative Role of Age Groups and Indoor Environments in Influenza Transmission Under Different Urbanization Rates in China.

Exploring the relative role of different indoor environments in respiratory infections transmission remains unclear, which is crucial for developing targeted nonpharmaceutical interventions. In this study, a total of 2,583,441 influenza-like illness cases tested from 2010 to 2017 in China were identified. An agent-based model was built and calibrated with the surveillance data, to assess the roles of 3 age groups (children <19 years, younger adults 19-60 years, older adults >60 years) and 4 types of indoor environments (home, schools, workplaces, and community areas) in influenza transmission by province with varying urbanization rates. When the urbanization rates increased from 35% to 90%, the proportion of children aged <19 years among influenza cases decreased from 76% to 45%. Additionally, we estimated that infections originating from children decreased from 95.1% (95% confidence interval (CI): 92.7, 97.5) to 59.3% (95% CI: 49.8, 68.7). Influenza transmission in schools decreased from 80.4% (95% CI: 76.5, 84.3) to 36.6% (95% CI: 20.6, 52.5), while transmission in the community increased from 2.4% (95% CI: 1.9, 2.8) to 45.4% (95% CI: 35.9, 54.8). With increasing urbanization rates, community areas and younger adults contributed more to infection transmission. These findings could help the development of targeted public health policies. This article is part of a Special Collection on Environmental Epidemiology. This article is part of a Special Collection on Environmental Epidemiology.

High-Resolution Mass Spectrometry Screening of Quaternary Ammonium Compounds (QACs) in Dust from Homes and Various Microenvironments in South China.

Despite their ubiquitous use, information regarding the presence of quaternary ammonium compounds (QACs) in various microenvironments remains scarce and only a small subset of QACs has been monitored using targeted chemical analysis. In this study, a total of 111 dust samples were collected from homes and various public settings in South China during the COVID-19 pandemic and were analyzed for traditional and emerging QACs using high-resolution mass spectrometry. The total traditional QAC concentrations in residential dust (∑traditional QAC, sum of 18 traditional QACs) ranged from 13.8 to 150 µg/g with a median concentration of 42.2 µg/g. Twenty-eight emerging QACs were identified in these samples, and the composition of ∑emerging QAC (sum of emerging QACs) to ∑QAC (sum of traditional and emerging QACs) ranged from 19 to 42% across various microenvironments, indicating the widespread existence of emerging QACs in indoor environments. Additionally, dust samples from cinemas exhibited higher ∑QAC concentrations compared to homes (medians 65.9 µg/g vs 58.3 µg/g, respectively), indicating heavier emission sources of QACs in these places. Interestingly, significantly higher ∑QAC concentrations were observed in dust from the rooms with carpets than those without (medians 65.6 µg/g vs 32.6 µg/g, p < 0.05, respectively). Overall, this study sheds light on the ubiquitous occurrence of QACs in indoor environments in South China.

Development of a supramolecular solvent-based extraction method for application to quantitative analyses of a wide range of organic contaminants in indoor dust.

This study investigates the efficacy of supramolecular solvent (SUPRAS) in extracting a diverse spectrum of organic contaminants from indoor dust. Initially, seven distinct SUPRAS were assessed across nine categories of contaminants to identify the most effective one. A SUPRAS comprising Milli-Q water, tetrahydrofuran, and hexanol in a 70:20:10 ratio, respectively, demonstrated the best extraction performance and was employed for testing a wider array of organic contaminants. Furthermore, we applied the selected SUPRAS for the extraction of organic compounds from the NIST Standard Reference Material (SRM) 2585. In parallel, we performed the extraction of NIST SRM 2585 with conventional extraction methods using hexane:acetone (1:1) for non-polar contaminants and methanol (100%) extraction for polar contaminants. Analysis from two independent laboratories (in Norway and the Czech Republic) demonstrated the viability of SUPRAS for the simultaneous extraction of twelve groups of organic contaminants with a broad range of physico-chemical properties including plastic additives, pesticides, and combustion by-products. However, caution is advised when employing SUPRAS for highly polar contaminants like current-use pesticides or volatile substances like naphthalene.

Human exposure to methyl and butyl parabens and their transformation products in settled dust collected from urban, semi-urban, rural, and tribal settlements in a tropical environment.

The present study involved monitoring the distribution of two widely consumed parabens (methyl paraben (MeP) and butyl paraben (BuP)) and their transformation products in indoor dust from different categories of settlement (urban, semi-urban, rural, and tribal homes). The results revealed a prevalent occurrence of parabens in all the settlement categories. A non-normal distribution pattern for MeP and BuP levels across the sampling sites was noted. While comparing the residence time of parabens in dust samples, it was found that the half-lives of the analytes were greater in the dust from urban (MeP t1/2: 47.510 h; BuP t1/2: 22.354 h) and rural (MeP t1/2: 27.725 h and BuP t1/2: 31.500 h) areas. The presence of paraben metabolites, such as hydroxy methylparaben (OH-MeP), para hydroxy benzoic acid (p-HBA), and benzoic acid (BA) in dust samples supports their transformation within indoor spaces. The average daily intake of parabens through dust ingestion and dermal absorption by children was higher than adults. BuP was the prime contributor (>85%) to the total estradiol equivalency quotient (tEEQ) in all the settlement categories.

Prenatal risk factors of indoor environment and incidence of childhood eczema in the Japan Environment and Children's Study.

The quality of indoor environment is a risk factor for early childhood eczema and atopic dermatitis; however, its influence during pregnancy on childhood eczema in Japan has not been investigated. In this study, we aimed to determine the indoor environmental factors that are associated with eczema in children up to 3 years of age, using national birth cohort data from the Japan Environment and Children's Study (JECS). Information on indoor environments and eczema symptoms until 3 years of age was collected using self-administered questionnaires to the mothers. A total of 71,883 and 58,639 mother-child pairs at 1.5- and 3-years-old, respectively, were included in the former analyses. To account for prenatal indoor risk factors, 17,568 (1.5-years-old) and 7063 (3-years-old) children without indoor mold and/or ETS exposure were included in the final analysis. A higher mold index, gas heater use, parquet flooring use, and frequent insecticide use showed significantly increased risks for childhood eczema up to 3 years of age. These associations were consistent after stratification analysis among children whose parents did not have a history of allergies. The updated WHO guidelines on indoor air quality should be implemented based on recent findings regarding the effects of prenatal exposure to indoor dampness on health effects of children further in life, including asthma, respiratory effects, eczema, and other immunological effects.

A Critical Review of the Propagation Models Employed in LoRa Systems.

LoRa systems are emerging as a promising technology for wireless sensor networks due to their exceptional range and low power consumption. The successful deployment of LoRa networks relies on accurate propagation models to facilitate effective network planning. Therefore, this review explores the landscape of propagation models supporting LoRa networks. Specifically, we examine empirical propagation models commonly employed in communication systems, assessing their applicability across various environments such as outdoor, indoor, and within vegetation. Our investigation underscores the prevalence of logarithmic decay in most empirical models. In addition, we survey the relationship between model parameters and environmental factors, clearing their nuanced interplay. Analyzing published measurement results, we extract the log-distance model parameters to decipher environmental influences comprehensively. Drawing insights from published measurement results for LoRa, we compare them with the model's outcomes, highlighting successes and limitations. We additionally explore the application of multi-slope models to LoRa measurements to evaluate its effectiveness in enhancing the accuracy of path loss prediction. Finally, we propose new lines for future research in propagation modelling to improve empirical models.

Airborne SARS-CoV-2 is more frequently detected in environments related to children and elderly but likely non-infectious, Norway, 2022.

This study investigates the presence of SARS-CoV-2 in indoor and outdoor environments in two cities in Norway between April and May 2022. With the lifting of COVID-19 restrictions in the country and a focus on vaccination, this research aims to shed light on the potential for virus transmission in various settings. Air sampling was conducted in healthcare and non-healthcare facilities, covering locations frequented by individuals across different age groups. The study found that out of 31 air samples, only four showed the presence of SARS-CoV-2 RNA by RT-qPCR, with no viable virus detected after RNAse pre-treatment. These positive samples were primarily associated with environments involving children and the elderly. Notably, sequencing revealed mutations associated with increased infectivity in one of the samples. The results highlight the importance of considering children as potential sources of virus transmission, especially in settings with prolonged indoor exposure. As vaccination coverage increases globally, and with children still representing a substantial unvaccinated population, the study emphasizes the need to re-implement mask-wearing mandates indoors and in public transport to reduce virus transmission. The findings have implications for public health strategies to control COVID-19, particularly in the face of new variants and the potential for increased transmission during the autumn and winter seasons.

Aspergillus verrucosus sp. nov., a xerophilic species isolated from house dust and honey in Japan.

Three strains of a xerophilic Aspergillus species were isolated from house dust and honey in Japan. A molecular phylogenetic analysis based on the combined dataset for four regions (internal transcribed spacer rDNA, calmodulin, ß-tubulin, and RNA polymerase II second largest subunit) revealed that the strains formed an independent lineage, sister to Aspergillus halophilicus classified in section Restricti. Morphological comparisons show that the strains differ from A. halophilicus in three aspects: (i) the size of cleistothecia, as well as the surface structure and size of ascospores, (ii) the ability to grow on Harrold's agar and dichloran 18 % glycerol agar, and (iii) the lack of conidiophore formation on potato dextrose agar +20 % NaCl. These strains could be clearly distinguished from all known Aspergillus section Restricti species. Therefore, we consider it to be a novel species and propose the name Aspergillus verrucosus sp. nov. (NBRC 115547T).

Mold and Mycotoxin Exposure and Brain Disorders.

Gene-environment interaction is an emerging hypothesis to explain the increased incidence of neurological disorders. In this context, the health and clinical effects of exposure to air pollutants have received increasing attention. One of these pollutants is the growth of fungi and molds in the form of multicellular filaments, known as hyphae. Fungi and molds not only grow in outdoor environments, but they also thrive indoors with excessive moisture, producing mycotoxins. Mold enters the body through the nose via the olfactory neurons, which directly communicate with the brain. Mycotoxins induce toxicological effects similar to those associated with brain disorders such as oxidative stress and inflammation. One mold species can produce several different mycotoxins, and one mycotoxin can be produced by several different molds. Even a small amount of mold growth in the air conditioners and their ducts or the panels inside the buildings and even the cars cause the occupants to be chronically exposed to and constantly inhaling spores and mycotoxins, which causes illness. In this review, we focused on mold and mycotoxin exposure and brain disorders.

Design of colorimetric nanostructured sensor phases for simple and fast quantification of low concentrations of acid vapors.

Two colorimetric nanostructured sensor phases (Color-NSPs) for the determination of low concentrations of acid vapors in the atmosphere of paper storage rooms have been designed and characterized. The acid vapor determination is based on the color change that occurs in polyaniline (PANI) in the presence of acids when it goes from its emeraldine base form (blue) to its emeraldine salt form (green). To synthesize the Color-NSPs, two methods have been used, a one-step method performed by grafting polyaniline onto a cellulose membrane (Cellu-PANI) and a two-step method in which in the first step, polyaniline is grafted onto the surface of polymeric nanoparticles (NPs-PANI), and in a second step, NPs-PANI are immobilized into the pores of a nylon membrane (Nylon-NPs PANI). The response of the sensors versus acid vapor was measured by color coordinates with a photographic camera. A linear response range from 1 ppmv to 7 ppmv was found for both sensors, and the detection limits were 0.95 ppmv (1.2 % RSD) and 0.40 ppmv (0.8 % RSD) for Cellu-PANI and Nylon-NPs PANI, respectively. In addition, both sensors showed complete reversibility and a short exposition time (5 min). The potential applicability of the Color-NSPs in the control of the exposure of paper heritage collections to outdoor- and indoor-generated gaseous pollutants was demonstrated by determining acid vapors in museums. The method was validated with an external reference method; the paired test was applied, and p-values greater than 5% were obtained, indicating an excellent correlation and showing that the Color-NSPs reported are simple, fast, and an economical alternative to control and protect cultural heritage materials in indoor environments.

Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression.

This study presents a comprehensive approach to mapping local magnetic field anomalies with robustness to magnetic noise from an unmanned aerial vehicle (UAV). The UAV collects magnetic field measurements, which are used to generate a local magnetic field map through Gaussian process regression (GPR). The research identifies two categories of magnetic noise originating from the UAV's electronics, adversely affecting map precision. First, this paper delineates a zero-mean noise arising from high-frequency motor commands issued by the UAV's flight controller. To mitigate this noise, the study proposes adjusting a specific gain in the vehicle's PID controller. Next, our research reveals that the UAV generates a time-varying magnetic bias that fluctuates throughout experimental trials. To address this issue, a novel compromise mapping technique is introduced, enabling the map to learn these time-varying biases with data collected from multiple flights. The compromise map circumvents excessive computational demands without sacrificing mapping accuracy by constraining the number of prediction points used for regression. A comparative analysis of the magnetic field maps' accuracy and the spatial density of observations employed in map construction is then conducted. This examination serves as a guideline for best practices when designing trajectories for local magnetic field mapping. Furthermore, the study presents a novel consistency metric intended to determine whether predictions from a GPR magnetic field map should be retained or discarded during state estimation. Empirical evidence from over 120 flight tests substantiates the efficacy of the proposed methodologies. The data are made publicly accessible to facilitate future research endeavors.

The role of outdoor and indoor air quality in the spread of SARS-CoV-2: Overview and recommendations by the research group on COVID-19 and particulate matter (RESCOP commission).

There are important questions surrounding the potential contribution of outdoor and indoor air quality in the transmission of SARS-CoV-2 and perpetuation of COVID-19 epidemic waves. Environmental health may be a critical component of COVID-19 prevention. The public health community and health agencies should consider the evolving evidence in their recommendations and statements, and work to issue occupational guidelines. Evidence coming from the current epidemiological and experimental research is expected to add knowledge about virus diffusion, COVID-19 severity in most polluted areas, inter-personal distance requirements and need for wearing face masks in indoor or outdoor environments. The COVID-19 pandemic has highlighted the need for maintaining particulate matter concentrations at low levels for multiple health-related reasons, which may also include the spread of SARS-CoV-2. Indoor environments represent even a more crucial challenge to cope with, as it is easier for the SARS-COV2 to spread, remain vital and infect other subjects in closed spaces in the presence of already infected asymptomatic or mildly symptomatic people. The potential merits of preventive measures, such as CO2 monitoring associated with natural or controlled mechanical ventilation and air purification, for schools, indoor public places (restaurants, offices, hotels, museums, theatres/cinemas etc.) and transportations need to be carefully considered. Hospital settings and nursing/retirement homes as well as emergency rooms, infectious diseases divisions and ambulances represent higher risk indoor environments and may require additional monitoring and specific decontamination strategies based on mechanical ventilation or air purification.

Multi-person movement-induced airflow and the effects on virus-laden expiratory droplet dispersion in indoor environments.

The multi-person movement might cause complex induced airflow and affect the virus-laden expiratory droplet transmission in indoor environments. Using the dynamic mesh model in computational fluid dynamics, the multi-person movement with different personnel location distributions was realized. The induced airflow patterns, virus-laden droplet dispersion, and concentration distribution were investigated in detail. The results show that multi-person movement might intensify inter-regional convection, which has been rarely found in single-person movement conditions. Side-by-side distribution and ladder distribution of moving persons could cause a connected low-pressure area behind the moving persons, which might enhance lateral virus transport, especially where droplets might suspend at the height of the breathing zone. Not only 1-10 µm aerosols but also some 20-50 µm droplets are carried by the multi-person movement-induced airflow to over 3 m. Since the width of induced airflow is about 0.6-1.0 m, moving persons should keep enough horizontal distance (>1.0 m) to limit the air mixing and virus-laden droplet transmission. This paper could provide a detailed reference for the numerical study of multi-person movement-induced airflow patterns, droplet dispersion, and indoor infection control.

Effects of early life exposure to home environmental factors on childhood allergic rhinitis: Modifications by outdoor air pollution and temperature.

BACKGROUND: There is growing evidence that allergic rhinitis (AR) is associated with indoor environmental factors, but their role in childhood AR during early life remains unclear. OBJECTIVE: To investigate the association of preconceptional, prenatal, early postnatal, and current exposure to home environmental factors with childhood AR, and to further explore whether this association can be interacted by outdoor air pollution and temperature. METHODS: A retrospective cohort study of 8689 preschool children was conducted during 2019-2020 in Changsha, China. A standard questionnaire was used to collect data on each family's health outcomes and home environments. We considered home environmental exposures during one year before conception, pregnancy, first year of life, and past year. Associations of indoor air pollution and allergens with AR were assessed by multiple logistic regression models. RESULTS: Pre-birth exposure to indoor air pollution emitted by new furniture or redecoration and dampness related allergen derived from mold/damp stains and mold/damp clothes or bedding during 1 year before conception and pregnancy was significantly associated with increased AR, with adjusted ORs (95% CI) ranging from 1.35 (1.05-1.75) to 1.87 (1.55-2.27). Childhood AR was also significantly related with post-birth exposure to dampness related indoor allergen including mold/damp stains and mold/damp clothes or bedding in first year and past year and pollen allergen including total and nonflowing plants in past year, with a range of ORs (95% CI) from 1.20 (1.01-1.42) to 1.79 (1.42-2.27). We identified that pre-birth, particularly in utero exposure to both indoor air pollution from renovation and dampness related allergens, played a key role in AR development compared to post-birth exposures, and accumulative effect was observed with the highest risk of AR. High exposure to traffic-related air pollution (TRAP) including outdoor PM2.5, NO2, CO, and O3, as well as living near traffic road not only significantly increased adverse effect of home environmental factors but also decreased protective effect of household dogs on childhood AR. Early life exposure to low temperature in pregnancy and high temperature in first year significantly increased AR risk of home environmental exposure. Sensitivity analysis indicated that some sub-groups were more susceptible to AR risk of home environmental exposure. CONCLUSION: Our study suggests that pre-birth exposure to home environmental factors played an important role in AR development and this effect can be interacted by TRAP and temperature, which supports a hypothesis of "(pre)fetal origin of childhood AR".

Characterization of the bioaerosol in a natural thermal cave and assessment of the risk of transmission of SARS-CoV-2 virus.

Thermal caves represent an environment characterized by unique chemical/physical properties, often used for treatment and care of musculoskeletal, respiratory, and skin diseases.However, these environments are poorly characterized for their physical and microbiological characteristics; furthermore, the recent pandemic caused by COVID-19 has highlighted the need to investigate the potential transmission scenario of SARS-CoV-2 virus in indoor environments where an in-depth analysis of the aerosol concentrations and dimensional distributions are essential to monitor the spread of the virus.This research work was carried out inside a natural cave located in Viterbo (Terme dei Papi, Italy) where a waterfall of sulfur-sulfate-bicarbonate-alkaline earth mineral thermal water creates a warm-humid environment with 100% humidity and 48 °C temperature. Characterization of the aerosol and bioaerosol was carried out to estimate the personal exposure to aerosol concentrations, as well as particle size distributions, and to give an indication of the native microbial load.The data obtained showed a predominance of particles with a diameter greater than 8 µm, associated with low ability of penetration in the human respiratory system. A low microbial load was also observed, with a prevalence of noncultivable strains generated by the aerosolization of the thermal waters.Finally, the estimation of SARS-CoV-2 infection risk by means of mathematical modeling revealed a low risk of transmission, with a decisive effect given by the mechanical ventilation system, which together with the adoption of social distancing measures makes the risk of infection extremely low.

Indoor transmission of SARS-CoV-2.

It is essential to understand where and how severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) is transmitted. Case reports were extracted from the local Municipal Health Commissions of 320 prefectural municipalities in China (not including Hubei Province). We identified all outbreaks involving three or more cases and reviewed the major characteristics of the enclosed spaces in which the outbreaks were reported and their associated indoor environmental aspects. Three hundred and eighteen outbreaks with three or more cases were identified, comprising a total of 1245 confirmed cases in 120 prefectural cities. Among the identified outbreaks, 53.8% involved three cases, 26.4% involved four cases, and only 1.6% involved ten or more cases. Home-based outbreaks were the dominant category (254 of 318 outbreaks; 79.9%), followed by transport-based outbreaks (108; 34.0%), and many outbreaks occurred in more than one category of venue. All identified outbreaks of three or more cases occurred in indoor environments, which confirm that sharing indoor spaces with one or more infected persons is a major SARS-CoV-2 infection risk.

RGB-D Object SLAM Using Quadrics for Indoor Environments.

Indoor service robots need to build an object-centric semantic map to understand and execute human instructions. Conventional visual simultaneous localization and mapping (SLAM) systems build a map using geometric features such as points, lines, and planes as landmarks. However, they lack a semantic understanding of the environment. This paper proposes an object-level semantic SLAM algorithm based on RGB-D data, which uses a quadric surface as an object model to compactly represent the object's position, orientation, and shape. This paper proposes and derives two types of RGB-D camera-quadric observation models: a complete model and a partial model. The complete model combines object detection and point cloud data to estimate a complete ellipsoid in a single RGB-D frame. The partial model is activated when the depth data is severely missing because of illuminations or occlusions, which uses bounding boxes from object detection to constrain objects. Compared with the state-of-the-art quadric SLAM algorithms that use a monocular observation model, the RGB-D observation model reduces the requirements of the observation number and viewing angle changes, which helps improve the accuracy and robustness. This paper introduces a nonparametric pose graph to solve data associations in the back end, and innovatively applies it to the quadric surface model. We thoroughly evaluated the algorithm on two public datasets and an author-collected mobile robot dataset in a home-like environment. We obtained obvious improvements on the localization accuracy and mapping effects compared with two state-of-the-art object SLAM algorithms.

How do breath and skin emissions impact indoor air chemistry?

People are an important source of pollution indoors, through activities such as cleaning, and also from "natural" emissions from breath and skin. This paper investigates natural emissions in high-occupancy environments. Model simulations are performed for a school classroom during a typical summer in a polluted urban area. The results show that classroom occupants have a significant impact on indoor ozone, which increases from ~9 to ~20 ppb when the pupils leave for lunch and decreases to ~14 ppb when they return. The concentrations of 4-OPA, formic acid, and acetic acid formed as oxidation products following skin emissions attained maximum concentrations of 0.8, 0.5, and 0.1 ppb, respectively, when pupils were present, increasing from near-zero concentrations in their absence. For acetone, methanol, and ethanol from breath emissions, maximum concentrations were ~22.3, 6.6, and 21.5 ppb, respectively, compared to 7.4, 2.1, and 16.9 ppb in their absence. A rate of production analysis showed that occupancy reduced oxidant concentrations, while enhancing formation of nitrated organic compounds, owing to the chemistry that follows from increased aldehyde production. Occupancy also changes the peroxy radical composition, with those formed through isoprene oxidation becoming relatively more important, which also has consequences for subsequent oxidant concentrations.

Behavioral mapping of children's physical activities and social behaviors in an indoor preschool facility: methodological challenges in revealing the influence of space in play.

BACKGROUND: GIS (Geographic Information Systems) based behavior maps are useful for visualizing and analyzing how children utilize their play spaces. However, a GIS needs accurate locational information to ensure that observations are correctly represented on the layout maps of play spaces. The most commonly used tools for observing and coding free play among children in indoor play spaces require that locational data be collected alongside other play variables. There is a need for a practical, cost-effective approach for extending most tools for analyzing free play by adding geospatial locational information to children's behavior data collected in indoor play environments. RESULTS: We provide a non-intrusive approach to adding locational information to behavior data acquired from video recordings of preschool children in their indoor play spaces. The gridding technique showed to be a cost-effective method of gathering locational information about children from video recordings of their indoor physical activities and social behaviors. Visualizing the proportions of categories and observed intervals was done using bubble pie charts which allowed for the merging of multiple categorical information on one map. The addition of locational information to other play activity and social behavior data presented the opportunity to assess what types of equipment or play areas may encourage different physical activities and social behaviors among preschool children. CONCLUSIONS: Gridding is an effective method for providing locational data when analyzing physical activities and social behaviors of preschool children in indoor spaces. It is also reproducible for most GIS behavior mapping focusing on indoor environments. This bypasses the need to have positioning devices attached to children during observations, which can raise ethical considerations regarding children's privacy and methodological implications with children playing less naturally. It also supports visualizations on behavior maps making them easier to interpret.

Topological Frontier-Based Exploration and Map-Building Using Semantic Information.

Exploration of unknown environments is a fundamental problem in autonomous robotics that deals with the complexity of autonomously traversing an unknown area while acquiring the most important information of the environment. In this work, a mobile robot exploration algorithm for indoor environments is proposed. It combines frontier-based concepts with behavior-based strategies in order to build a topological representation of the environment. Frontier-based approaches assume that, to gain the most information of an environment, the robot has to move to the regions on the boundary between open space and unexplored space. The novelty of this work is in the semantic frontier classification and frontier selection according to a cost-utility function. In addition, a probabilistic loop closure algorithm is proposed to solve cyclic situations. The system outputs a topological map of the free areas of the environment for further navigation. Finally, simulated and real-world experiments have been carried out, their results and the comparison to other state-of-the-art algorithms show the feasibility of the exploration algorithm proposed and the improvement that it offers with regards to execution time and travelled distance.