Bioimpedance a Diagnostic Tool for Tobacco Induced Oral Lesions: a Mixed Model cross-sectional study

Introduction: Electrical impedance spectroscopy (EIS) has recently developed as a novel diagnostic device for screening and evaluating cervical dysplasia, prostate cancer, breast cancer and basal cell carcinoma. The current study aimed to validate and evaluate bioimpedance as a diagnostic tool for tobacco-induced oral lesions. Methodology: The study comprised 50 OSCC and OPMD tissue specimens for in-vitro study and 320 subjects for in vivo study. Bioimpedance device prepared and calibrated. EIS measurements were done for the habit and control groups and were compared. Results: The impedance value in the control group was significantly higher compared to the OPMD and OSCC groups. Diagnosis based on BIS measurements has a sensitivity of 95.9% and a specificity of 86.7%. Conclusion: Bioimpedance device can help in decision-making for differentiating OPMD and OSCC cases and their management, especially in primary healthcare settings. Keywords: Impedance, Cancer, Diagnosis, Device, Community

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the robot travels in crowded areas or when encountering adversarial pedestrians. Freezing the robot in response to contact might be detrimental to bystanders' safety and prevents it from achieving its task. Unavoidable contacts must hence be controlled to ensure the safe and smooth travelling of robots in pedestrian alleys. We present a force-limited and obstacle avoidance controller integrated into a time-invariant dynamical system (DS) in a closed-loop force controller that let the robot react instantaneously to contact or to the sudden appearance of pedestrians. Mitigating the risk of collision is done by modulating the velocity commands upon detecting a contact and by absorbing part of the contact force through active compliant control when the robot bumps inadvertently against a pedestrian. We evaluated our method with a personal mobility robot -- Qolo -- showing contact mitigation with passive and active compliance. We showed the robot able to overcome an adversarial pedestrian within 9 N of the set limit contact force for speeds under 1 m/s. Moreover, we evaluated integrated obstacle avoidance proving the ability to advance without incurring any other collision.