On the Evaluation of Diverse Vision Systems towards Detecting Human Pose in Collaborative Robot Applications.

Tracking human operators working in the vicinity of collaborative robots can improve the design of safety architecture, ergonomics, and the execution of assembly tasks in a human-robot collaboration scenario. Three commercial spatial computation kits were used along with their Software Development Kits that provide various real-time functionalities to track human poses. The paper explored the possibility of combining the capabilities of different hardware systems and software frameworks that may lead to better performance and accuracy in detecting the human pose in collaborative robotic applications. This study assessed their performance in two different human poses at six depth levels, comparing the raw data and noise-reducing filtered data. In addition, a laser measurement device was employed as a ground truth indicator, together with the average Root Mean Square Error as an error metric. The obtained results were analysed and compared in terms of positional accuracy and repeatability, indicating the dependence of the sensors' performance on the tracking distance. A Kalman-based filter was applied to fuse the human skeleton data and then to reconstruct the operator's poses considering their performance in different distance zones. The results indicated that at a distance less than 3 m, Microsoft Azure Kinect demonstrated better tracking performance, followed by Intel RealSense D455 and Stereolabs ZED2, while at ranges higher than 3 m, ZED2 had superior tracking performance.

Interferon alpha-induced hashimoto thyroiditis followed by transient graves disease in a patient with chronic HCV infection.

The case of a 37-year-old man with chronic hepatitis C virus (HCV) infection is presented. The patient had received a 6-month course of antiviral therapy with peg interferon alpha-2a and ribavirin, with concomitant clearance of hepatitis C virus ribonucleic acid (HCV-RNA) from serum at the end of treatment. Three months after the treatment course he developed clinical and laboratory features of hypothyroidism along with high titers of thyroid peroxidase antibodies. Later on, while on treatment with levothyroxine, he developed all the clinical features of Graves disease along with increased levels of thyroid stimulating hormone (TSH)-receptor antibodies.This patient exhibited a rare sequence of immune-mediated thyroid disorders as a result of interferon alpha treatment. At the end of treatment, the patient developed Hashimoto thyroiditis, a typically Th1-response-mediated disease, followed sequentially after 6 months by Graves disease, a typically Th2-response-mediated disorder. Although both clinical entities have been described in patients receiving interferon-based regimens, to our knowledge, the changing pattern of immune-mediated thyroid disease in the same individual has not been reported in the literature.