WorldWideScience

Sample records for autonomous real-time tracking

  1. XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker

    Science.gov (United States)

    Viman, Liviu; Daraban, Mihai; Fizesan, Raul; Iuonas, Mircea

    2016-01-01

    This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet. PMID:26978360

  2. Printed Tag Real-time Tracking

    KAUST Repository

    Bilal, Rana M.

    2014-09-18

    Disclosed are various embodiments for monitoring tracking devices capable of seamless indoor and outdoor tracking transitions. A tracking device may comprise, for example, printable circuitry and antennas combined with one or more receivers/transceivers on a substrate. The tracking device may be configured, for example, to localize the tracking device via GPS or an alternative localization strategy based on a determination of whether GPS communication is available. A modified RSSI fingerprinting methodology may be used to accurately determine a location of the tracking device using Wi-Fi access points. A device monitoring service may communicate with internal and/or external mapping API\\'s to render a device monitoring user interface comprising a visual representation of the location of the tracking device.

  3. Real-time logo detection and tracking in video

    Science.gov (United States)

    George, M.; Kehtarnavaz, N.; Rahman, M.; Carlsohn, M.

    2010-05-01

    This paper presents a real-time implementation of a logo detection and tracking algorithm in video. The motivation of this work stems from applications on smart phones that require the detection of logos in real-time. For example, one application involves detecting company logos so that customers can easily get special offers in real-time. This algorithm uses a hybrid approach by initially running the Scale Invariant Feature Transform (SIFT) algorithm on the first frame in order to obtain the logo location and then by using an online calibration of color within the SIFT detected area in order to detect and track the logo in subsequent frames in a time efficient manner. The results obtained indicate that this hybrid approach allows robust logo detection and tracking to be achieved in real-time.

  4. Handheld portable real-time tracking and communications device

    Science.gov (United States)

    Wiseman, James M [Albuquerque, NM; Riblett, Jr., Loren E.; Green, Karl L [Albuquerque, NM; Hunter, John A [Albuquerque, NM; Cook, III, Robert N.; Stevens, James R [Arlington, VA

    2012-05-22

    Portable handheld real-time tracking and communications devices include; a controller module, communications module including global positioning and mesh network radio module, data transfer and storage module, and a user interface module enclosed in a water-resistant enclosure. Real-time tracking and communications devices can be used by protective force, security and first responder personnel to provide situational awareness allowing for enhance coordination and effectiveness in rapid response situations. Such devices communicate to other authorized devices via mobile ad-hoc wireless networks, and do not require fixed infrastructure for their operation.

  5. Autonomous real-time interventional scan plane control with a 3-D shape-sensing needle.

    Science.gov (United States)

    Elayaperumal, Santhi; Plata, Juan Camilo; Holbrook, Andrew B; Park, Yong-Lae; Pauly, Kim Butts; Daniel, Bruce L; Cutkosky, Mark R

    2014-11-01

    This study demonstrates real-time scan plane control dependent on three-dimensional needle bending, as measured from magnetic resonance imaging (MRI)-compatible optical strain sensors. A biopsy needle with embedded fiber Bragg grating (FBG) sensors to measure surface strains is used to estimate its full 3-D shape and control the imaging plane of an MR scanner in real-time, based on the needle's estimated profile. The needle and scanner coordinate frames are registered to each other via miniature radio-frequency (RF) tracking coils, and the scan planes autonomously track the needle as it is deflected, keeping its tip in view. A 3-D needle annotation is superimposed over MR-images presented in a 3-D environment with the scanner's frame of reference. Scan planes calculated based on the FBG sensors successfully follow the tip of the needle. Experiments using the FBG sensors and RF coils to track the needle shape and location in real-time had an average root mean square error of 4.2 mm when comparing the estimated shape to the needle profile as seen in high resolution MR images. This positional variance is less than the image artifact caused by the needle in high resolution SPGR (spoiled gradient recalled) images. Optical fiber strain sensors can estimate a needle's profile in real-time and be used for MRI scan plane control to potentially enable faster and more accurate physician response.

  6. Model-Based Real-Time Head Tracking

    Directory of Open Access Journals (Sweden)

    Ström Jacob

    2002-01-01

    Full Text Available This paper treats real-time tracking of a human head using an analysis by synthesis approach. The work is based on the Structure from Motion (SfM algorithm from Azarbayejani and Pentland (1995. We will analyze the convergence properties of the SfM algorithm for planar objects, and extend it to handle new points. The extended algorithm is then used for head tracking. The system tracks feature points in the image using a texture mapped three-dimensional model of the head. The texture is updated adaptively so that points in the ear region can be tracked when the user′s head is rotated far, allowing out-of-plane rotation of up to without losing track. The covariance of the - and the -coordinates are estimated and forwarded to the Kalman filter, making the tracker robust to occlusion. The system automatically detects tracking failure and reinitializes the algorithm using information gathered in the original initialization process.

  7. A low-cost test-bed for real-time landmark tracking

    Science.gov (United States)

    Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

    2007-04-01

    A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

  8. Real-time gaze estimation via pupil center tracking

    Directory of Open Access Journals (Sweden)

    Cazzato Dario

    2018-02-01

    Full Text Available Automatic gaze estimation not based on commercial and expensive eye tracking hardware solutions can enable several applications in the fields of human computer interaction (HCI and human behavior analysis. It is therefore not surprising that several related techniques and methods have been investigated in recent years. However, very few camera-based systems proposed in the literature are both real-time and robust. In this work, we propose a real-time user-calibration-free gaze estimation system that does not need person-dependent calibration, can deal with illumination changes and head pose variations, and can work with a wide range of distances from the camera. Our solution is based on a 3-D appearance-based method that processes the images from a built-in laptop camera. Real-time performance is obtained by combining head pose information with geometrical eye features to train a machine learning algorithm. Our method has been validated on a data set of images of users in natural environments, and shows promising results. The possibility of a real-time implementation, combined with the good quality of gaze tracking, make this system suitable for various HCI applications.

  9. Low Cost Real Time Autonomous Remote Monitoring Platform

    Science.gov (United States)

    Rodríguez, J. R.; Maldonado, P. M.; Pierson, J. J.; Harris, L.

    2016-02-01

    Environmental scientists have a need for gathering multiple parameters during specific time periods to answer their research questions. Most available monitoring systems are very expensive and closed systems, which limits the potential to scale up research projects. We developed a low cost, autonomous, real-time monitoring platform that is both open hardware/software and easy to build, deploy, manage and maintain. The hardware is built with off-the-shelf components and a credit card sized computer called Raspberry Pi, running an open source operating (Raspbian). The system runs off a set of batteries and a solar panel, which makes it ideal for remote locations. The software is divided into three parts: 1) a framework for abstracting the sensors (initializing, pooling and communications) designed in python and using a fully object-oriented design, making it easy for new sensor to be added with minimal code changes, 2) a web front end for managing the entire system, 3) a data store (database) framework for local and remote data retrieval and reporting services. Connectivity to the system can be accomplished through a Wi-Fi or cellular Internet connection. Scientists are being forced to do more with less, in response our platform will provide them with a flexible system that can improve the process of data gathering with an accessible, modular, low-cost, and efficient monitoring system. Currently, we have the required permits from the Department of Natural Resources in Puerto Rico to deploy the platform at the Laguna Grande Bioluminescence Lagoon in Fajardo, PR. This station will include probes for pH, DO, Conductivity and water temperature.

  10. A paper based inkjet printed real time location tracking TAG

    KAUST Repository

    Farooqui, Muhammad Fahad

    2013-06-01

    This paper presents, for the first time, an inkjet printed, wearable, low-cost, light weight and miniaturized real time locating TAG on an ordinary photo-paper. The 29 grams, 9 cm×8 cm×0.5 cm TAG integrates a GPS/GSM module, a microcontroller with on-paper GPS and GSM antennas. A novel monopole antenna with an L shaped slit is introduced to achieve the required circular polarization for the GPS band. Issues related to integration of active components (e.g. BGA chip) on inkjet-printed paper substrates are discussed. The system enables location tracking through a user-friendly interface accessible through all internet enabled devices. Field tests show an update interval of 15 sec, stationary position error of 6.2m and real time tracking error of 4.7m which is 4 times better than the state-of-the-art. Due to the flexible nature of the paper substrate, the TAG can be designed for different shapes such as a wrist band for child tracking or a collar band for pet tracking applications. © 2013 IEEE.

  11. Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems

    National Research Council Canada - National Science Library

    Larsen, Michael; Beard, Randal W; McLain, Timothy W

    2006-01-01

    ... to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase 1 of this STTR project, real-time path planning and trajectory generation techniques for two dimensional flight were developed and demonstrated in software simulation...

  12. Target tracking via real-time adaptive correlation

    Science.gov (United States)

    Stufflebeam, Joseph L.; Remley, Dennis M.; King, Brad A.

    2003-08-01

    An approach to target tracking is presented that utilizes adaptive gray-scale correlation. The algorithm is implemented in software and executed in real-time on commercial-off-the-shelf image processing hardware. The basic correlation scheme utilizes non-adaptive commercial library calls that rely on image pyramids for speed. A framework is described for implementing a general-purpose adaptive correlation capability. The approach is robust and tolerant to scenarios involving rotation, scale changes, and contrast reversal. The algorithm also solves problems associated with walk-off.

  13. Real-time tumor-tracking radiation therapy

    International Nuclear Information System (INIS)

    Shirato, Hiroki

    2002-01-01

    To achieve precise three dimensional (3D) conformal radiotherapy for mobile tumors, a new radiotherapy system and its treatment planning system were developed and used for clinical practice. We developed a linear accelerator synchronized with a fluoroscopic real-time tumor tracking system by which 3D co-ordinates of a 2.0 mm gold marker in the tumor can be determined every 0.03 seconds. The 3D relationships between the marker and the tumor at different respiratory phases are evaluated using CT image at each respiratory phase, whereby the optimum phase can be selected to synchronize with irradiation (4D treatment planning). That is, the linac is triggered to irradiate the tumor only when the marker is located within the region of the planned co-ordinates relative to the isocenter. The co-ordinates of the marker were detected with an accuracy of ±1 mm during radiotherapy in the phantom experiment. The time delay between recognition of the marker position and the start or stop of megavoltage x-ray irradiation was 0.03 seconds. One-hundred and two patients with various tumors were treated by conformal radiotherapy with a ''tight'' safety margin. Fluoroscopic real-time tumor tracking radiotherapy following 4D treatment planning was developed and shown to be feasible to improve the accuracy of the radiotherapy for mobile tumors. (author)

  14. 2010 winter games tracks energy in real time

    Energy Technology Data Exchange (ETDEWEB)

    Anon.

    2010-01-15

    An online energy tracker was developed by BC Hydro to publicly monitor the real-time energy consumption at the Vancouver 2010 Olympic winter game sites within Vancouver, Richmond, Whistler and Whistler Blackcomb. The venues and associated sites participating in the live energy tracking project were the Richmond Olympic Oval, Canada Hockey Place, Vancouver Olympic/Paralympic Centre, South East False Creek Community Centre, Whistler Blackcomb Roundhouse Lodge and snowmaking facilities, and the Olympic and Paralympic Villages. The system was developed to allow venue managers to optimize their use of electricity on an hourly and daily basis. An energy tracking display board developed by Pulse Energy enabled them to compare their performance to similar facilities in real time, and to determine the greenhouse gas savings achieved as result of building and operating practices. Some venues had the potential to save as much as 15 to 20 per cent in energy costs with corresponding reductions in carbon emissions. Efficiency and conservation was built into the design of many new venues. The retrofits made to several existing buildings will continue to contribute to British Columbia's conservation goals long after the 2010 winter games are over.

  15. Tracking errors in a prototype real-time tumour tracking system

    International Nuclear Information System (INIS)

    Sharp, Gregory C; Jiang, Steve B; Shimizu, Shinichi; Shirato, Hiroki

    2004-01-01

    In motion-compensated radiation therapy, radio-opaque markers can be implanted in or near a tumour and tracked in real-time using fluoroscopic imaging. Tracking these implanted markers gives highly accurate position information, except when tracking fails due to poor or ambiguous imaging conditions. This study investigates methods for automatic detection of tracking errors, and assesses the frequency and impact of tracking errors on treatments using the prototype real-time tumour tracking system. We investigated four indicators for automatic detection of tracking errors, and found that the distance between corresponding rays was most effective. We also found that tracking errors cause a loss of gating efficiency of between 7.6 and 10.2%. The incidence of treatment beam delivery during tracking errors was estimated at between 0.8% and 1.25%

  16. Real-time tumor-tracking radiotherapy for adrenal tumors

    International Nuclear Information System (INIS)

    Katoh, Norio; Onimaru, Rikiya; Sakuhara, Yusuke; Abo, Daisuke; Shimizu, Shinichi; Taguchi, Hiroshi; Watanabe, Yoshiaki; Shinohara, Nobuo; Ishikawa, Masayori; Shirato, Hiroki

    2008-01-01

    Purpose: To investigate the three-dimensional movement of internal fiducial markers near the adrenal tumors using a real-time tumor-tracking radiotherapy (RTRT) system and to examine the feasibility of high-dose hypofractionated radiotherapy for the adrenal tumors. Materials and methods: The subjects considered in this study were 10 markers of the 9 patients treated with RTRT. A total of 72 days in the prone position and 61 treatment days in the supine position for nine of the 10 markers were analyzed. All but one patient were prescribed 48 Gy in eight fractions at the isocenter. Results: The average absolute amplitude of the marker movement in the prone position was 6.1 ± 4.4 mm (range 2.3-14.4), 11.1 ± 7.1 mm (3.5-25.2), and 7.0 ± 3.5 mm (3.9-12.5) in the left-right (LR), craniocaudal (CC), and anterior-posterior (AP) directions, respectively. The average absolute amplitude in the supine position was 3.4 ± 2.9 mm (0.6-9.1), 9.9 ± 9.8 mm (1.1-27.1), and 5.4 ± 5.2 mm (1.7-26.6) in the LR, CC, and AP directions, respectively. Of the eight markers, which were examined in both the prone and supine positions, there was no significant difference in the average absolute amplitude between the two positions. No symptomatic adverse effects were observed within the median follow-up period of 16 months (range 5-21 months). The actuarial freedom-from-local-progression rate was 100% at 12 months. Conclusions: Three-dimensional motion of a fiducial marker near the adrenal tumors was detected. Hypofractionated RTRT for adrenal tumors was feasible for patients with metastatic tumors

  17. A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

    Science.gov (United States)

    Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

    2015-04-08

    A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  18. A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

    Directory of Open Access Journals (Sweden)

    Shaowu Pan

    2015-04-01

    Full Text Available A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT, which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  19. Real-time object detection, tracking and occlusion reasoning

    Energy Technology Data Exchange (ETDEWEB)

    Divakaran, Ajay; Yu, Qian; Tamrakar, Amir; Sawhney, Harpreet Singh; Zhu, Jiejie; Javed, Omar; Liu, Jingen; Cheng, Hui; Eledath, Jayakrishnan

    2018-02-27

    A system for object detection and tracking includes technologies to, among other things, detect and track moving objects, such as pedestrians and/or vehicles, in a real-world environment, handle static and dynamic occlusions, and continue tracking moving objects across the fields of view of multiple different cameras.

  20. Real-Time Location Tracking of Multiple Construction Laborers.

    Science.gov (United States)

    Lim, Jin-Sun; Song, Ki-Il; Lee, Hang-Lo

    2016-11-06

    A real-time location (RTL) system was developed to improve safety for multiple laborers in confined construction sites. The RTL system can monitor the location and movement of multiple laborers in real time. A portable RTL system with a low-battery mode was developed to accommodate various constraints in the construction site. A conventional RTL system that uses radio signal strength indicators (RSSIs) has high error, so an accelerometer with Bluetooth Low Energy (BLE) was added, and a calculation process is suggested. Field tests were performed for validation in underground construction and bridge overlay sites. The results show that the accelerometer and BLE can be used as effective sensors to detect the movement of laborers. When the sensor is fixed, the average error ranges 0.2-0.22 m, and when the sensor is moving, the average error ranges 0.1-0.47 m.

  1. Real-Time Location Tracking of Multiple Construction Laborers

    Directory of Open Access Journals (Sweden)

    Jin-Sun Lim

    2016-11-01

    Full Text Available A real-time location (RTL system was developed to improve safety for multiple laborers in confined construction sites. The RTL system can monitor the location and movement of multiple laborers in real time. A portable RTL system with a low-battery mode was developed to accommodate various constraints in the construction site. A conventional RTL system that uses radio signal strength indicators (RSSIs has high error, so an accelerometer with Bluetooth Low Energy (BLE was added, and a calculation process is suggested. Field tests were performed for validation in underground construction and bridge overlay sites. The results show that the accelerometer and BLE can be used as effective sensors to detect the movement of laborers. When the sensor is fixed, the average error ranges 0.2–0.22 m, and when the sensor is moving, the average error ranges 0.1–0.47 m.

  2. Real Time MRI Motion Correction with Markerless Tracking

    DEFF Research Database (Denmark)

    Benjaminsen, Claus; Jensen, Rasmus Ramsbøl; Wighton, Paul

    Prospective motion correction for MRI neuroimaging has been demonstrated using MR navigators and external tracking systems using markers. The drawbacks of these two motion estimation methods include prolonged scan time plus lack of compatibility with all image acquisitions, and difficulties...... validating marker attachment resulting in uncertain estimation of the brain motion respectively. We have developed a markerless tracking system, and in this work we demonstrate the use of our system for prospective motion correction, and show that despite being computationally demanding, markerless tracking...

  3. Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

    Science.gov (United States)

    Phelps, Geoffrey A.; Ippolito, C.; Lee, R.; Spritzer, R.; Yeh, Y.

    2014-01-01

    The U.S. Geological Survey and the National Aeronautics and Space Administration are cooperatively investigating the utility of unmanned vehicles for near-real-time autonomous surveys of geophysical data collection. Initially focused on unmanned ground vehicle collection of magnetic data, this cooperative effort has brought unmanned surveying, precision guidance, near-real-time communication, on-the-fly data processing, and near-real-time data interpretation into the realm of ground geophysical surveying, all of which offer advantages over current methods of manned collection of ground magnetic data. An unmanned ground vehicle mission has demonstrated that these vehicles can successfully complete missions to collect geophysical data, and add advantages in data collection, processing, and interpretation. We view the current experiment as an initial phase in further unmanned vehicle data-collection missions, including aerial surveying.

  4. TractorEYE: Vision-based Real-time Detection for Autonomous Vehicles in Agriculture

    DEFF Research Database (Denmark)

    Christiansen, Peter

    ) using a smaller memory footprint and 7.3-times faster processing. Low memory footprint and fast processing makes DeepAnomaly suitable for real-time applications running on an embedded GPU. FieldSAFE is a multi-modal dataset for detection of static and moving obstacles in agriculture. The dataset...... the safety of vehicle and especially surroundings such as humans and animals. To get fully autonomous vehicles certified for farming, computer vision algorithms and sensor technologies must detect obstacles with equivalent or better than human-level performance. Furthermore, detections must run in real-time...... algorithm is proposed DeepAnomaly to perform real-time anomaly detection of distant, heavy occluded and unknown obstacles in agriculture. DeepAnomaly is - compared to a state-of-the-art object detector Faster R-CNN - for an agricultural use-case able to detect humans better and at longer ranges (45-90m...

  5. Real-time skeleton tracking for embedded systems

    Science.gov (United States)

    Coleca, Foti; Klement, Sascha; Martinetz, Thomas; Barth, Erhardt

    2013-03-01

    Touch-free gesture technology is beginning to become more popular with consumers and may have a significant future impact on interfaces for digital photography. However, almost every commercial software framework for gesture and pose detection is aimed at either desktop PCs or high-powered GPUs, making mobile implementations for gesture recognition an attractive area for research and development. In this paper we present an algorithm for hand skeleton tracking and gesture recognition that runs on an ARM-based platform (Pandaboard ES, OMAP 4460 architecture). The algorithm uses self-organizing maps to fit a given topology (skeleton) into a 3D point cloud. This is a novel way of approaching the problem of pose recognition as it does not employ complex optimization techniques or data-based learning. After an initial background segmentation step, the algorithm is ran in parallel with heuristics, which detect and correct artifacts arising from insufficient or erroneous input data. We then optimize the algorithm for the ARM platform using fixed-point computation and the NEON SIMD architecture the OMAP4460 provides. We tested the algorithm with two different depth-sensing devices (Microsoft Kinect, PMD Camboard). For both input devices we were able to accurately track the skeleton at the native framerate of the cameras.

  6. Real time eye tracking using Kalman extended spatio-temporal context learning

    Science.gov (United States)

    Munir, Farzeen; Minhas, Fayyaz ul Amir Asfar; Jalil, Abdul; Jeon, Moongu

    2017-06-01

    Real time eye tracking has numerous applications in human computer interaction such as a mouse cursor control in a computer system. It is useful for persons with muscular or motion impairments. However, tracking the movement of the eye is complicated by occlusion due to blinking, head movement, screen glare, rapid eye movements, etc. In this work, we present the algorithmic and construction details of a real time eye tracking system. Our proposed system is an extension of Spatio-Temporal context learning through Kalman Filtering. Spatio-Temporal Context Learning offers state of the art accuracy in general object tracking but its performance suffers due to object occlusion. Addition of the Kalman filter allows the proposed method to model the dynamics of the motion of the eye and provide robust eye tracking in cases of occlusion. We demonstrate the effectiveness of this tracking technique by controlling the computer cursor in real time by eye movements.

  7. Testbeam results of the first real-time embedded tracking system with artificial retina

    Energy Technology Data Exchange (ETDEWEB)

    Neri, N., E-mail: nicola.neri@mi.infn.it; Abba, A.; Caponio, F.; Citterio, M.; Coelli, S.; Fu, J.; Merli, A.; Monti, M.; Petruzzo, M.

    2017-02-11

    We present the testbeam results of the first real-time embedded tracking system based on artificial retina algorithm. The tracking system prototype is capable of fast track reconstruction with a latency of the response below 1 μs and track parameter resolutions that are comparable with the offline results. The artificial retina algorithm was implemented in hardware in a custom data acquisition board based on commercial FPGA. The system was tested successfully using a 180 GeV/c proton beam at the CERN SPS with a maximum track rate of about 280 kHz. Online track parameters were found in good agreement with offline results and with the simulated response. - Highlights: • First real-time tracking system based on artificial retina algorithm tested on beam. • Fast track reconstruction within one microsecond latency and offline like quality. • Fast tracking algorithm implemented in commercial FPGAs.

  8. Real-time tumor tracking in the lung using an electromagnetic tracking system.

    Science.gov (United States)

    Shah, Amish P; Kupelian, Patrick A; Waghorn, Benjamin J; Willoughby, Twyla R; Rineer, Justin M; Mañon, Rafael R; Vollenweider, Mark A; Meeks, Sanford L

    2013-07-01

    To describe the first use of the commercially available Calypso 4D Localization System in the lung. Under an institutional review board-approved protocol and an investigational device exemption from the US Food and Drug Administration, the Calypso system was used with nonclinical methods to acquire real-time 4-dimensional lung tumor tracks for 7 lung cancer patients. The aims of the study were to investigate (1) the potential for bronchoscopic implantation; (2) the stability of smooth-surface beacon transponders (transponders) after implantation; and (3) the ability to acquire tracking information within the lung. Electromagnetic tracking was not used for any clinical decision making and could only be performed before any radiation delivery in a research setting. All motion tracks for each patient were reviewed, and values of the average displacement, amplitude of motion, period, and associated correlation to a sinusoidal model (R(2)) were tabulated for all 42 tracks. For all 7 patients at least 1 transponder was successfully implanted. To assist in securing the transponder at the tumor site, it was necessary to implant a secondary fiducial for most transponders owing to the transponder's smooth surface. For 3 patients, insertion into the lung proved difficult, with only 1 transponder remaining fixed during implantation. One patient developed a pneumothorax after implantation of the secondary fiducial. Once implanted, 13 of 14 transponders remained stable within the lung and were successfully tracked with the tracking system. Our initial experience with electromagnetic guidance within the lung demonstrates that transponder implantation and tracking is achievable though not clinically available. This research investigation proved that lung tumor motion exhibits large variations from fraction to fraction within a single patient and that improvements to both transponder and tracking system are still necessary to create a clinical daily-use system to assist with actual

  9. A real-time method for autonomous passive acoustic detection-classification of humpback whales.

    Science.gov (United States)

    Abbot, Ted A; Premus, Vincent E; Abbot, Philip A

    2010-05-01

    This paper describes a method for real-time, autonomous, joint detection-classification of humpback whale vocalizations. The approach adapts the spectrogram correlation method used by Mellinger and Clark [J. Acoust. Soc. Am. 107, 3518-3529 (2000)] for bowhead whale endnote detection to the humpback whale problem. The objective is the implementation of a system to determine the presence or absence of humpback whales with passive acoustic methods and to perform this classification with low false alarm rate in real time. Multiple correlation kernels are used due to the diversity of humpback song. The approach also takes advantage of the fact that humpbacks tend to vocalize repeatedly for extended periods of time, and identification is declared only when multiple song units are detected within a fixed time interval. Humpback whale vocalizations from Alaska, Hawaii, and Stellwagen Bank were used to train the algorithm. It was then tested on independent data obtained off Kaena Point, Hawaii in February and March of 2009. Results show that the algorithm successfully classified humpback whales autonomously in real time, with a measured probability of correct classification in excess of 74% and a measured probability of false alarm below 1%.

  10. CamOn: A Real-Time Autonomous Camera Control System

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    This demonstration presents CamOn, an autonomous cam- era control system for real-time 3D games. CamOn employs multiple Artificial Potential Fields (APFs), a robot motion planning technique, to control both the location and orienta- tion of the camera. Scene geometry from the 3D environment...... contributes to the potential field that is used to determine po- sition and movement of the camera. Composition constraints for the camera are modelled as potential fields for controlling the view target of the camera. CamOn combines the compositional benefits of constraint- based camera systems, and improves...... on real-time motion planning of the camera. Moreover, the recasting of camera constraints into potential fields is visually more accessible to game designers and has the potential to be implemented as a plug-in to 3D level design and editing tools currently avail- able with games. Introduction...

  11. Real-time seam tracking for robotic laser welding using trajectory-based control

    NARCIS (Netherlands)

    de Graaf, M.W.; Aarts, Ronald G.K.M.; Jonker, Jan B.; Meijer, J.

    2010-01-01

    In this paper a real-time seam tracking algorithm is proposed that can cope with the accuracy demands of robotic laser welding. A trajectory-based control architecture is presented, which had to be developed for this seam tracking algorithm. Cartesian locations (position and orientation) are added

  12. Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras

    DEFF Research Database (Denmark)

    Rasmussen, Niels Tjørnly; Störring, Morritz; Moeslund, Thomas B.

    2006-01-01

    This paper presents a real-time outside-in camera-based tracking system for wireless 3D pose tracking of a user’s head and hand in a virtual environment. The system uses four unsynchronised cameras as sensors and passive retroreflective markers arranged in rigid bodies as targets. In order...

  13. A Spatial Reference Grid for Real-Time Autonomous Underwater Modeling using 3-D Sonar

    Energy Technology Data Exchange (ETDEWEB)

    Auran, P.G.

    1996-12-31

    The offshore industry has recognized the need for intelligent underwater robotic vehicles. This doctoral thesis deals with autonomous underwater vehicles (AUVs) and concentrates on a data representation for real-time image formation and analysis. Its main objective is to develop a 3-D image representation suitable for autonomous perception objectives underwater, assuming active sonar as the main sensor for perception. The main contributions are: (1) A dynamical image representation for 3-D range data, (2) A basic electronic circuit and software system for 3-D sonar sampling and amplitude thresholding, (3) A model for target reliability, (4) An efficient connected components algorithm for 3-D segmentation, (5) A method for extracting general 3-D geometrical representations from segmented echo clusters, (6) Experimental results of planar and curved target modeling. 142 refs., 120 figs., 10 tabs.

  14. BJUT at TREC 2015 Microblog Track: Real-Time Filtering Using Non-negative Matrix Factorization

    Science.gov (United States)

    2015-11-20

    BJUT at TREC 2015 Microblog Track: Real-Time Filtering Using Non- negative Matrix Factorization Chaoyang Li1,2,3, Zhen Yang1,2,3,⇤, Kefeng Fan1,4 1...results for scenario B: periodic e- mail digest. In this ad hoc search task, we introduced a real-time filtering framework using non- negative ma- trix... negative ma- trix factorization based Microblog retrieval model (N- MF Framework). Then after a review of the potential in- fluencing factors in

  15. Real-time passive acoustic detection of marine mammals from a variety of autonomous platforms

    Science.gov (United States)

    Baumgartner, M.; Van Parijs, S. M.; Hotchkin, C. F.; Gurnee, J.; Stafford, K.; Winsor, P.; Davies, K. T. A.; Taggart, C. T.

    2016-02-01

    Over the past two decades, passive acoustic monitoring has proven to be an effective means of estimating the occurrence of marine mammals. The vast majority of applications involve archival recordings from bottom-mounted instruments or towed hydrophones from moving ships; however, there is growing interest in assessing marine mammal occurrence from autonomous platforms, particularly in real time. The Woods Hole Oceanographic Institution has developed the capability to detect, classify, and remotely report in near real time the calls of marine mammals via passive acoustics from a variety of autonomous platforms, including Slocum gliders, wave gliders, and moored buoys. The mobile Slocum glider can simultaneously measure marine mammal occurrence and oceanographic conditions throughout the water column, making it well suited for studying both marine mammal distribution and habitat. Wave gliders and moored buoys provide complementary observations over much larger spatial scales and longer temporal scales, respectively. The near real-time reporting capability of these platforms enables follow-up visual observations, on-water research, or responsive management action. We have recently begun to use this technology to regularly monitor baleen whales off the coast of New England, USA and Nova Scotia, Canada, as well as baleen whales, beluga whales, and bearded seals in the Chukchi Sea off the northwest coast of Alaska, USA. Our long-range goal is to monitor occurrence over wide spatial and temporal extents as part of the regional and global ocean observatory initiatives to improve marine mammal conservation and management and to study changes in marine mammal distribution over multi-annual time scales in response to climate change.

  16. Management of three-dimensional intrafraction motion through real-time DMLC tracking

    International Nuclear Information System (INIS)

    Sawant, Amit; Venkat, Raghu; Srivastava, Vikram; Carlson, David; Povzner, Sergey; Cattell, Herb; Keall, Paul

    2008-01-01

    Tumor tracking using a dynamic multileaf collimator (DMLC) represents a promising approach for intrafraction motion management in thoracic and abdominal cancer radiotherapy. In this work, we develop, empirically demonstrate, and characterize a novel 3D tracking algorithm for real-time, conformal, intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT)-based radiation delivery to targets moving in three dimensions. The algorithm obtains real-time information of target location from an independent position monitoring system and dynamically calculates MLC leaf positions to account for changes in target position. Initial studies were performed to evaluate the geometric accuracy of DMLC tracking of 3D target motion. In addition, dosimetric studies were performed on a clinical linac to evaluate the impact of real-time DMLC tracking for conformal, step-and-shoot (S-IMRT), dynamic (D-IMRT), and VMAT deliveries to a moving target. The efficiency of conformal and IMRT delivery in the presence of tracking was determined. Results show that submillimeter geometric accuracy in all three dimensions is achievable with DMLC tracking. Significant dosimetric improvements were observed in the presence of tracking for conformal and IMRT deliveries to moving targets. A gamma index evaluation with a 3%-3 mm criterion showed that deliveries without DMLC tracking exhibit between 1.7 (S-IMRT) and 4.8 (D-IMRT) times more dose points that fail the evaluation compared to corresponding deliveries with tracking. The efficiency of IMRT delivery, as measured in the lab, was observed to be significantly lower in case of tracking target motion perpendicular to MLC leaf travel compared to motion parallel to leaf travel. Nevertheless, these early results indicate that accurate, real-time DMLC tracking of 3D tumor motion is feasible and can potentially result in significant geometric and dosimetric advantages leading to more effective management of intrafraction motion

  17. Autonomously bioluminescent mammalian cells for continuous and real-time monitoring of cytotoxicity.

    Science.gov (United States)

    Xu, Tingting; Close, Dan M; Webb, James D; Ripp, Steven A; Sayler, Gary S

    2013-10-28

    Mammalian cell-based in vitro assays have been widely employed as alternatives to animal testing for toxicological studies but have been limited due to the high monetary and time costs of parallel sample preparation that are necessitated due to the destructive nature of firefly luciferase-based screening methods. This video describes the utilization of autonomously bioluminescent mammalian cells, which do not require the destructive addition of a luciferin substrate, as an inexpensive and facile method for monitoring the cytotoxic effects of a compound of interest. Mammalian cells stably expressing the full bacterial bioluminescence (luxCDABEfrp) gene cassette autonomously produce an optical signal that peaks at 490 nm without the addition of an expensive and possibly interfering luciferin substrate, excitation by an external energy source, or destruction of the sample that is traditionally performed during optical imaging procedures. This independence from external stimulation places the burden for maintaining the bioluminescent reaction solely on the cell, meaning that the resultant signal is only detected during active metabolism. This characteristic makes the lux-expressing cell line an excellent candidate for use as a biosentinel against cytotoxic effects because changes in bioluminescent production are indicative of adverse effects on cellular growth and metabolism. Similarly, the autonomous nature and lack of required sample destruction permits repeated imaging of the same sample in real-time throughout the period of toxicant exposure and can be performed across multiple samples using existing imaging equipment in an automated fashion.

  18. GPU based real-time instrument tracking with three dimensional ultrasound.

    Science.gov (United States)

    Novotny, Paul M; Stoll, Jeffrey A; Vasilyev, Nikolay V; del Nido, Pedro J; Dupont, Pierre E; Howe, Robert D

    2006-01-01

    Real-time 3D ultrasound can enable new image-guided surgical procedures, but high data rates prohibit the use of traditional tracking techniques. We present a new method based on the modified Radon transform that identifies the axis of instrument shafts as bright patterns in planar projections. Instrument rotation and tip location are then determined using fiducial markers. These techniques are amenable to rapid execution on the current generation of personal computer graphics processor units (GPU). Our GPU implementation detected a surgical instrument in 31 ms, sufficient for real-time tracking at the 26 volumes per second rate of the ultrasound machine. A water tank experiment found instrument tip position errors of less than 0.2 mm, and an in vivo study tracked an instrument inside a beating porcine heart. The tracking results showed good correspondence to the actual movements of the instrument.

  19. Real-time vehicle detection and tracking in video based on faster R-CNN

    Science.gov (United States)

    Zhang, Yongjie; Wang, Jian; Yang, Xin

    2017-08-01

    Vehicle detection and tracking is a significant part in auxiliary vehicle driving system. Using the traditional detection method based on image information has encountered enormous difficulties, especially in complex background. To solve this problem, a detection method based on deep learning, Faster R-CNN, which has very high detection accuracy and flexibility, is introduced. An algorithm of target tracking with the combination of Camshift and Kalman filter is proposed for vehicle tracking. The computation time of Faster R-CNN cannot achieve realtime detection. We use multi-thread technique to detect and track vehicle by parallel computation for real-time application.

  20. Real time explosive hazard information sensing, processing, and communication for autonomous operation

    Science.gov (United States)

    Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

    2015-02-24

    Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

  1. Autonomous real-time all-sky cloud detection over Mauna Kea

    Science.gov (United States)

    Mahoney, William; Morrison, Glenn; Matsushige, Grant

    2012-09-01

    Canada-France-Hawaii-Telescope (CFHT) Corporation operates and maintains under automation an all-sky mid-infrared (IR) camera providing the Mauna Kea community with real-time cloud detection and sky monitoring solutions. From the cloud's mid-IR black body emission detected in a medium bandwidth filter (10-12μm), time-based differentials are obtained permitting clouds to be detected for global and specific sky regions above Mauna Kea. The instrument interfaces with CFHT environmental monitors for autonomous operations and weather-induced shutdowns. Development efforts are continuing to eventually provide the following new data products: cloud cover determination, photometric quality assessment, sky and cloud brightness and color-based temperatures. The initial dataset provided by the instrument has shown to be invaluable for all modes of ground-based astronomical observing.

  2. A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments.

    Science.gov (United States)

    Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

    2018-02-02

    A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle's irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.

  3. Real time explosive hazard information sensing, processing, and communication for autonomous operation

    Energy Technology Data Exchange (ETDEWEB)

    Versteeg, Roelof J.; Few, Douglas A.; Kinoshita, Robert A.; Johnson, Douglas; Linda, Ondrej

    2015-12-15

    Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

  4. Donor Tracker: An Innovative Real-Time Tracking System for Blood ...

    African Journals Online (AJOL)

    In this paper, we explore the possibility of using location-aware computing to track blood donors in Mauritius and locate the nearest donor in cases of emergencies and whenever fresh blood is ... Keywords: Context-awareness, location-awareness, mobile and ubiquitous computing, location sensing technique, real-time.

  5. Real-Time Generic Face Tracking in the Wild with CUDA

    NARCIS (Netherlands)

    Cheng, Shiyang; Asthana, Akshay; Asthana, Ashish; Zafeiriou, Stefanos; Shen, Jie; Pantic, Maja

    We present a robust real-time face tracking system based on the Constrained Local Models framework by adopting the novel regression-based Discriminative Response Map Fitting (DRMF) method. By exploiting the algorithm's potential parallelism, we present a hybrid CPU-GPU implementation capable of

  6. Real-Time Tracking of Singlet Exciton Diffusion in Organic Semiconductors

    NARCIS (Netherlands)

    Kozlov, Oleg V.; de Haan, Foppe; Kerner, Ross A.; Rand, Barry P.; Cheyns, David; Pshenichnikov, Maxim S.

    2016-01-01

    Exciton diffusion in organic materials provides the operational basis for functioning of such devices as organic solar cells and light-emitting diodes. Here we track the exciton diffusion process in organic semiconductors in real time with a novel technique based on femtosecond photoinduced

  7. A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

    2017-01-01

    Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

  8. A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

    Science.gov (United States)

    2017-01-01

    Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently. PMID:28255297

  9. Continuous, real-time bioimaging of chemical bioavailability and toxicology using autonomously bioluminescent human cell lines

    Science.gov (United States)

    Xu, Tingting; Close, Dan M.; Webb, James D.; Price, Sarah L.; Ripp, Steven A.; Sayler, Gary S.

    2013-05-01

    Bioluminescent imaging is an emerging biomedical surveillance strategy that uses external cameras to detect in vivo light generated in small animal models of human physiology or in vitro light generated in tissue culture or tissue scaffold mimics of human anatomy. The most widely utilized of reporters is the firefly luciferase (luc) gene; however, it generates light only upon addition of a chemical substrate, thus only generating intermittent single time point data snapshots. To overcome this disadvantage, we have demonstrated substrate-independent bioluminescent imaging using an optimized bacterial bioluminescence (lux) system. The lux reporter produces bioluminescence autonomously using components found naturally within the cell, thereby allowing imaging to occur continuously and in real-time over the lifetime of the host. We have validated this technology in human cells with demonstrated chemical toxicological profiling against exotoxin exposures at signal strengths comparable to existing luc systems (~1.33 × 107 photons/second). As a proof-in-principle demonstration, we have engineered breast carcinoma cells to express bioluminescence for real-time screening of endocrine disrupting chemicals and validated detection of 17β-estradiol (EC50 = ~ 10 pM). These and other applications of this new reporter technology will be discussed as potential new pathways towards improved models of target chemical bioavailability, toxicology, efficacy, and human safety.

  10. SU-G-BRA-09: Estimation of Motion Tracking Uncertainty for Real-Time Adaptive Imaging

    Energy Technology Data Exchange (ETDEWEB)

    Yan, H [Capital Medical University, Beijing, Beijing (China); Chen, Z [Yale New Haven Hospital, New Haven, CT (United States); Nath, R; Liu, W [Yale University School of Medicine, New Haven, CT (United States)

    2016-06-15

    Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertainty through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the

  11. SU-G-BRA-09: Estimation of Motion Tracking Uncertainty for Real-Time Adaptive Imaging

    International Nuclear Information System (INIS)

    Yan, H; Chen, Z; Nath, R; Liu, W

    2016-01-01

    Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertainty through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the

  12. Real-Time Dynamic MLC Tracking for Intensity Modulated Arc Therapy

    DEFF Research Database (Denmark)

    Falk, Marianne

    Motion management of intra-fraction tumour motion during radiotherapy treatment can be a challenging task in order to achieve tumour control as well as minimizing the dose to the surrounding healthy tissue. Real-time dynamic multileaf collimator (MLC) tracking is a novel method for intra-fraction......Motion management of intra-fraction tumour motion during radiotherapy treatment can be a challenging task in order to achieve tumour control as well as minimizing the dose to the surrounding healthy tissue. Real-time dynamic multileaf collimator (MLC) tracking is a novel method for intra....... The over all goals of the studies in this thesis were to evaluate clinical gains of intrafraction motion management with MLC tracking, to investigate which patients that would benefit from this kind of treatment as well as what treatment plans that can be used with this technique....

  13. Study on Sensor Design Technique for Real-Time Robotic Welding Tracking System

    Science.gov (United States)

    Liu, C. J.; Li, Y. B.; Zhu, J. G.; Ye, S. H.

    2006-10-01

    Based on visual measurement techniques, the real-time robotic welding tracking system achieves real-time adjustment for robotic welding according to the position and shape changes of a workpiece. In system design, the sensor design technique is so important that its performance directly affects the precision and stability of the tracking system. Through initiative visual measurement technology, a camera unit for real-time sampling is built with multiple-strip structured light and a high-performance CMOS image sensor including 1.3 million pixels; to realize real-time data process and transmission, an image process unit is built with FPGA and DSP. Experiments show that the precision of this sensor reaches 0.3mm, and band rate comes up to 10Mbps, which effectively improves robot welding quality.With the development of advanced manufacturing technology, it becomes an inexorable trend to realize the automatic, flexible and intelligent welding product manufacture. With the advantage of interchangeability and reliability, robotic welding can boost productivity, improve work condition, stabilize and guarantee weld quality, and realize welding automation of the short run products [1]. At present, robotic welding has already become the application trend of automatic welding technology. Traditional welding robots are play-back ones, which cannot adapt environment and weld distortion. Especially in the more and more extensive arc-welding course, the deficiency and limitation of play-back welding technology becomes more prominent because of changeable welding condition. It becomes one of the key technology influencing the development of modern robotic welding technology to eliminate or decrease uncertain influence on quality of welding such as changing welding condition etc [2]. Based on visual measuring principle, this text adopts active visual measuring technology, cooperated with high-speed image process and transmission technology to structure a tracking sensor, to realize

  14. Motion-compensated real-time MR thermometry augmented by tracking coils.

    Science.gov (United States)

    Wang, Peng; Unal, Orhan

    2015-03-01

    To develop and evaluate a real-time proton resonant frequency (PRF) based MR thermometry method with a novel motion compensation technique, using linear phase model and active tracking coils. A 6F catheter with multiple tracking coils and radiofrequency (RF) ablation tip was built for ex vivo experiments using excised bovine liver on a 1.5 Tesla scanner. A real-time MR acquisition scheme with interleaved active catheter tracking and multislice imaging was implemented. To evaluate the proposed method, in-plane periodic linear motion and through-plane irregular motion were induced by the rocker capability of the scanner and hand, respectively. Real-time temperature maps of the tissue undergoing a 2-min RF ablation cycle were obtained and used to compare the performance of the proposed method with that of the multi-baseline method. The temporal window achieved per acquisition of one slice and catheter tracking is ∼380 ms. The standard deviations of tracking errors are less than 1 mm for both irregular and periodic motions in x-y plane. The measurements at the heated and unheated regions demonstrate that the proposed thermometry method perform equally well for both in-plane and through-plane motion while maintaining a similar accuracy (σ = 1.10 versus 1.04°C) compared with the conventional multi-baseline method. The new MR thermometry method using catheter-based tracking coils and linear phase model for motion compensation and phase correction is promising and may offer reliable MR thermometry for real-time MRI-guided thermal therapies. © 2014 Wiley Periodicals, Inc.

  15. A real time tracking vision system and its application to robotics

    International Nuclear Information System (INIS)

    Inoue, Hirochika

    1994-01-01

    Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

  16. Observation of nuclear track in organic material by atomic force microscopy in real time during etching

    CERN Document Server

    Palmino, F; Labrune, J C

    1999-01-01

    The developments of Atomic Force Microscopy (AFM) allow to investigated solid surfaces with a nanometer scale. These techniques are useful methods allowing direct observation of surface morphologies. Particularly in the nuclear track fields, they offer a new tool to give many new informations on track formation. In this paper we present the preliminary results of a new use of this technique to characterize continuously the formation of the revealed track in a cellulose nitrate detector (LR115) after an alpha particle irradiation. For that, a specific cell has been used to observe, by nano-observations, the evolution of track shapes simultaneously with chemical treatment. Thus, the track shape evolution has been studied; visualizing the evolution of the tracks in real time, in situ during the chemical etching process.

  17. Real-time markerless tracking for augmented reality: the virtual visual servoing framework.

    Science.gov (United States)

    Comport, Andrew I; Marchand, Eric; Pressigout, Muriel; Chaumette, François

    2006-01-01

    Tracking is a very important research subject in a real-time augmented reality context. The main requirements for trackers are high accuracy and little latency at a reasonable cost. In order to address these issues, a real-time, robust, and efficient 3D model-based tracking algorithm is proposed for a "video see through" monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, nonlinear pose estimation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different 3D geometrical primitives including straight lines, circles, cylinders, and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating an M-estimator into the visual control law via an iteratively reweighted least squares implementation. This approach is then extended to address the 3D model-free augmented reality problem. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination, and mistracking.

  18. Real-time tracking with a 3D-Flow processor array

    International Nuclear Information System (INIS)

    Crosetto, D.

    1993-06-01

    The problem of real-time track-finding has been performed to date with CAM (Content Addressable Memories) or with fast coincidence logic, because the processing scheme was thought to have much slower performance. Advances in technology together with a new architectural approach make it feasible to also explore the computing technique for real-time track finding thus giving the advantages of implementing algorithms that can find more parameters such as calculate the sagitta, curvature, pt, etc., with respect to the CAM approach. The report describes real-time track finding using new computing approach technique based on the 3D-Flow array processor system. This system consists of a fixed interconnection architecture scheme, allowing flexible algorithm implementation on a scalable platform. The 3D-Flow parallel processing system for track finding is scalable in size and performance by either increasing the number of processors, or increasing the speed or else the number of pipelined stages. The present article describes the conceptual idea and the design stage of the project

  19. Real-time tracking with a 3D-flow processor array

    International Nuclear Information System (INIS)

    Crosetto, D.

    1993-01-01

    The problem of real-time track-finding has been performed to date with CAM (Content Addressable Memories) or with fast coincidence logic, because the processing scheme was though to have much slower performance. Advances in technology together with a new architectural approach make it feasible to also explore the computing technique for real-time track finding thus giving the advantages of implementing algorithms that can find more parameters such as calculate the sagitta, curvature, pt, etc. with respect to the CAM approach. This report describes real-time track finding using a new computing approach technique based on the 3D-flow array processor system. This system consists of a fixed interconnection architexture scheme, allowing flexible algorithm implementation on a scalable platform. The 3D-Flow parallel processing system for track finding is scalable in size and performance by either increasing the number of processors, or increasing the speed or else the number of pipelined stages. The present article describes the conceptual idea and the design stage of the project

  20. Real-time tracking mitochondrial dynamic remodeling with two-photon phosphorescent iridium (III) complexes.

    Science.gov (United States)

    Huang, Huaiyi; Yang, Liang; Zhang, Pingyu; Qiu, Kangqiang; Huang, Juanjuan; Chen, Yu; Diao, JiaJie; Liu, Jiankang; Ji, Liangnian; Long, Jiangang; Chao, Hui

    2016-03-01

    Mitochondrial fission and fusion control the shape, size, number, and function of mitochondria in the cells of organisms from yeast to mammals. The disruption of mitochondrial fission and fusion is involved in severe human diseases such as Parkinson's disease, Alzheimer's disease, metabolic diseases, and cancers. Agents that can real-time track the mitochondrial dynamics are of great importance. However, the short excitation wavelengths and rapidly photo-bleaching properties of commercial mitochondrial dyes render them unsuitable for tracking mitochondrial dynamics. Thus, mitochondrial targeting agents that exhibit superior photo-stability under continual light irradiation, deep tissue penetration and at intrinsically high three-dimensional resolutions are urgently needed. Two-photon-excited compounds employ low-energy near-infrared light and have emerged as a non-invasive tool for real-time cell imaging. Here, cyclometalated Ir(III) complexes (Ir1-Ir5) are demonstrated as one- and two-photon phosphorescent probes for the real-time imaging and tracking of mitochondrial fission and fusion. The results indicate that Ir2 is well suited for two-photon phosphorescent tracking of mitochondrial fission and fusion in living cells and in Caenorhabditis elegans (C. elegans). This study provides a practical use for mitochondrial targeting two-photon phosphorescent Ir(III) complexes. Copyright © 2016 Elsevier Ltd. All rights reserved.

  1. Real-time elastography in autonomously functioning thyroid nodules: relationship with TSH levels, scintigraphy, and ultrasound patterns.

    Science.gov (United States)

    Trimboli, Pierpaolo; Paone, Gaetano; Zatelli, Maria Chiara; Ceriani, Luca; Giovanella, Luca

    2017-12-01

    Real-time elastography has been proposed to increase the sensitivity of ultrasound and improve the detection of thyroid nodules at risk of malignancy. To date sparse data on real-time elastography assessment of autonomously functioning thyroid nodules exist. Here, we investigated the potential role of real-time elastography in autonomously functioning thyroid nodule assessment. Specifically, the correlation between serum hormones and real-time elastography score, as well as other clinical and ultrasound features, was analyzed. Patients with autonomously functioning thyroid nodule identified by I-123 scintigraphy from September 2015 to July 2016 and undergoing ultrasound, real-time elastography, and thyroid function evaluation were selected. All autonomously functioning thyroid nodule were classified as RTE I (prevalence of red or green color with blue in up to 25% of the nodule area), RTE II (blue in 25-75%), or RTE III (blue in more than 75%). The association between suppressed thyroid stimulating hormone and patient's age, nodule's size, ultrasound presentation, and real-time elastography scoring was analyzed by Odds Ratio in univariate fashion and multivariate model. A number of 47 subjects with single autonomously functioning thyroid nodule were enrolled. Median age of 63 years, median size of 2.0 cm, and suppressed thyroid stimulating hormone levels in 32% of cases were found. Those nodules classified by ultrasound at high risk underwent fine-needle aspiration cytology and cancer was excluded. At real-time elastography evaluation, a 45% of autonomously functioning thyroid nodule had a hard appearance (RTE III) and had thyroid stimulating hormone significantly lower than the other (p < 0.0001). A model of multivariate logistic regression including nodule's size, ultrasound characteristics, and elastographic presentation showed that only RTE III was significantly associated with suppressed thyroid stimulating hormone (Odds Ratio of 50). Autonomously

  2. Development of a scintillation-fiber detector for real-time particle tracking

    Science.gov (United States)

    Lo Presti, D.; Bonanno, D. L.; Longhitano, F.; Pugliatti, C.; Russo, G. V.; Aiello, S.; Cirrone, G. A. P.; Giordano, V.; Leonora, E.; Randazzo, N.; Romano, F.; Russo, M.; Sipala, V.; Stancampiano, C.; Reito, S.

    2013-04-01

    The prototype of the OFFSET (Optical Fiber Folded Scintillating Extended Tracker) tracker is presented. It exploits a novel system for particle tracking, designed to achieve real-time imaging, large detection areas, and a high spatial resolution especially suitable for use in medical diagnostics. The main results regarding the system architecture have been used as a demonstration of the technique which has been patented by the Istituto Nazionale di Fisica Nucleare (INFN). The prototype of this tracker, presented in this paper, has a 20 × 20 cm2 sensitive area, consisting of two crossed ribbons of 500 micron square scintillating fibers. The track position information is extracted in real time in an innovative way, using a reduced number of read-out channels to obtain very large detection area with moderate enough costs and complexity. The performance of the tracker was investigated using beta sources, cosmic rays, and a 62 MeV proton beam.

  3. Real Time Optima Tracking Using Harvesting Models of the Genetic Algorithm

    Science.gov (United States)

    Baskaran, Subbiah; Noever, D.

    1999-01-01

    Tracking optima in real time propulsion control, particularly for non-stationary optimization problems is a challenging task. Several approaches have been put forward for such a study including the numerical method called the genetic algorithm. In brief, this approach is built upon Darwinian-style competition between numerical alternatives displayed in the form of binary strings, or by analogy to 'pseudogenes'. Breeding of improved solution is an often cited parallel to natural selection in.evolutionary or soft computing. In this report we present our results of applying a novel model of a genetic algorithm for tracking optima in propulsion engineering and in real time control. We specialize the algorithm to mission profiling and planning optimizations, both to select reduced propulsion needs through trajectory planning and to explore time or fuel conservation strategies.

  4. Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras

    DEFF Research Database (Denmark)

    Rasmussen, Niels Tjørnly; Störring, Morritz; Moeslund, Thomas B.

    2006-01-01

    This paper presents a real-time outside-in camera-based tracking system for wireless 3D pose tracking of a user’s head and hand in a virtual environment. The system uses four unsynchronised cameras as sensors and passive retroreflective markers arranged in rigid bodies as targets. In order...... to achieve high update rates and to cope with the unsynchronised data a single-constraint-at-a-time (SCAAT) Extended Kalman Filtering approach is used that recursively integrates measurements as soon as they are available one-at-a-time. Tests show that this approach is more robust to occlusions and provides...

  5. Automatic multimodal real-time tracking for image plane alignment in interventional Magnetic Resonance Imaging

    International Nuclear Information System (INIS)

    Neumann, Markus

    2014-01-01

    Interventional magnetic resonance imaging (MRI) aims at performing minimally invasive percutaneous interventions, such as tumor ablations and biopsies, under MRI guidance. During such interventions, the acquired MR image planes are typically aligned to the surgical instrument (needle) axis and to surrounding anatomical structures of interest in order to efficiently monitor the advancement in real-time of the instrument inside the patient's body. Object tracking inside the MRI is expected to facilitate and accelerate MR-guided interventions by allowing to automatically align the image planes to the surgical instrument. In this PhD thesis, an image-based work-flow is proposed and refined for automatic image plane alignment. An automatic tracking work-flow was developed, performing detection and tracking of a passive marker directly in clinical real-time images. This tracking work-flow is designed for fully automated image plane alignment, with minimization of tracking-dedicated time. Its main drawback is its inherent dependence on the slow clinical MRI update rate. First, the addition of motion estimation and prediction with a Kalman filter was investigated and improved the work-flow tracking performance. Second, a complementary optical sensor was used for multi-sensor tracking in order to decouple the tracking update rate from the MR image acquisition rate. Performance of the work-flow was evaluated with both computer simulations and experiments using an MR compatible test bed. Results show a high robustness of the multi-sensor tracking approach for dynamic image plane alignment, due to the combination of the individual strengths of each sensor. (author)

  6. Online 4D ultrasound guidance for real-time motion compensation by MLC tracking.

    Science.gov (United States)

    Ipsen, Svenja; Bruder, Ralf; O'Brien, Rick; Keall, Paul J; Schweikard, Achim; Poulsen, Per R

    2016-10-01

    With the trend in radiotherapy moving toward dose escalation and hypofractionation, the need for highly accurate targeting increases. While MLC tracking is already being successfully used for motion compensation of moving targets in the prostate, current real-time target localization methods rely on repeated x-ray imaging and implanted fiducial markers or electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging can yield volumetric data in real-time (3D + time = 4D) without ionizing radiation. The authors report the first results of combining these promising techniques-online 4D ultrasound guidance and MLC tracking-in a phantom. A software framework for real-time target localization was installed directly on a 4D ultrasound station and used to detect a 2 mm spherical lead marker inside a water tank. The lead marker was rigidly attached to a motion stage programmed to reproduce nine characteristic tumor trajectories chosen from large databases (five prostate, four lung). The 3D marker position detected by ultrasound was transferred to a computer program for MLC tracking at a rate of 21.3 Hz and used for real-time MLC aperture adaption on a conventional linear accelerator. The tracking system latency was measured using sinusoidal trajectories and compensated for by applying a kernel density prediction algorithm for the lung traces. To measure geometric accuracy, static anterior and lateral conformal fields as well as a 358° arc with a 10 cm circular aperture were delivered for each trajectory. The two-dimensional (2D) geometric tracking error was measured as the difference between marker position and MLC aperture center in continuously acquired portal images. For dosimetric evaluation, VMAT treatment plans with high and low modulation were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using 3%/3 mm and 2

  7. Three-dimensional liver motion tracking using real-time two-dimensional MRI.

    Science.gov (United States)

    Brix, Lau; Ringgaard, Steffen; Sørensen, Thomas Sangild; Poulsen, Per Rugaard

    2014-04-01

    Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Axial, sagittal, and coronal 2D MRI series

  8. Three-dimensional liver motion tracking using real-time two-dimensional MRI

    Energy Technology Data Exchange (ETDEWEB)

    Brix, Lau, E-mail: lau.brix@stab.rm.dk [Department of Procurement and Clinical Engineering, Region Midt, Olof Palmes Allé 15, 8200 Aarhus N, Denmark and MR Research Centre, Aarhus University Hospital, Skejby, Brendstrupgaardsvej 100, 8200 Aarhus N (Denmark); Ringgaard, Steffen [MR Research Centre, Aarhus University Hospital, Skejby, Brendstrupgaardsvej 100, 8200 Aarhus N (Denmark); Sørensen, Thomas Sangild [Department of Computer Science, Aarhus University, Aabogade 34, 8200 Aarhus N, Denmark and Department of Clinical Medicine, Aarhus University, Brendstrupgaardsvej 100, 8200 Aarhus N (Denmark); Poulsen, Per Rugaard [Department of Clinical Medicine, Aarhus University, Brendstrupgaardsvej 100, 8200 Aarhus N, Denmark and Department of Oncology, Aarhus University Hospital, Nørrebrogade 44, 8000 Aarhus C (Denmark)

    2014-04-15

    Purpose: Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. Methods: The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Results: Axial, sagittal

  9. Three-dimensional liver motion tracking using real-time two-dimensional MRI

    International Nuclear Information System (INIS)

    Brix, Lau; Ringgaard, Steffen; Sørensen, Thomas Sangild; Poulsen, Per Rugaard

    2014-01-01

    Purpose: Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. Methods: The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Results: Axial, sagittal

  10. Real-time probe tracking using EM-optical sensor for MRI-guided cryoablation.

    Science.gov (United States)

    Gao, Wenpeng; Jiang, Baichuan; Kacher, Daniel F; Fetics, Barry; Nevo, Erez; Lee, Thomas C; Jayender, Jagadeesan

    2018-02-01

    A method of real-time, accurate probe tracking at the entrance of the MRI bore is developed, which, fused with pre-procedural MR images, will enable clinicians to perform cryoablation efficiently in a large workspace with image guidance. Electromagnetic (EM) tracking coupled with optical tracking is used to track the probe. EM tracking is achieved with an MRI-safe EM sensor working under the scanner's magnetic field to compensate the line-of-sight issue of optical tracking. Unscented Kalman filter-based probe tracking is developed to smooth the EM sensor measurements when occlusion occurs and to improve the tracking accuracy by fusing the measurements of two sensors. Experiments with a spine phantom show that the mean targeting errors using the EM sensor alone and using the proposed method are 2.21 mm and 1.80 mm, respectively. The proposed method achieves more accurate probe tracking than using an EM sensor alone at the MRI scanner entrance. Copyright © 2017 John Wiley & Sons, Ltd.

  11. Real Time 3D Facial Movement Tracking Using a Monocular Camera

    Directory of Open Access Journals (Sweden)

    Yanchao Dong

    2016-07-01

    Full Text Available The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

  12. WE-G-213CD-06: Implementation of Real-Time Tumor Tracking Using Robotic Couch.

    Science.gov (United States)

    Buzurovic, I; Yu, Y; Podder, T

    2012-06-01

    The purpose of this study was to present a novel method for real- time tumor tracking using a commercially available robotic treatment couch, and to evaluate tumor tracking accuracy. Commercially available robotic couches are capable of positioning patients with high level of accuracy; however, currently there is no provision for compensating tumor motion using these systems. Elekta's existing commercial couch (PreciseTM Table) was used without changing its design. To establish the real-time couch motion for tracking, a novel control system was developed and implemented. The tabletop could be moved in horizontal plane (laterally and longitudinally) using two Maxon-24V motors with gearbox combination. Vertical motion was obtained using robust 70V-Rockwell Automation motor. For vertical motor position sensing, we used Model 755A-Accu- Coder encoder. Two Baumer-ITD_01_4mm shaft encoders were used for the lateral and longitudinal motions of the couch. Motors were connected to the Advance Motion Controls (AMC) amplifiers: for the vertical motion, motor AMC-20A20-INV amplifier was used, and two AMC-Z6A8 amplifiers were applied for the lateral and longitudinal couch motions. The Galil DMC-4133 controller was connected to standard PC computer using USB port. The system had two independent power supplies: Galil PSR-12- 24-12A, 24vdc power supply with diodes for controller and 24vdc motors and amplifiers, and Galil-PS300W72 72vdc power supply for vertical motion. Control algorithms were developed for position and velocity adjustment. The system was tested for real-time tracking in the range of 50mm in all 3 directions (superior-inferior, lateral, anterior- posterior). Accuracies were 0.15, 0.20, and 0.18mm, respectively. Repeatability of the desired motion was within ± 0.2mm. Experimental results of couch tracking show feasibility of real-time tumor tracking with high level of accuracy (within sub-millimeter range). This tracking technique potentially offers a simple and

  13. Real-time tumor tracking using implanted positron emission markers: Concept and simulation study

    International Nuclear Information System (INIS)

    Xu Tong; Wong, Jerry T.; Shikhaliev, Polad M.; Ducote, Justin L.; Al-Ghazi, Muthana S.; Molloi, Sabee

    2006-01-01

    The delivery accuracy of radiation therapy for pulmonary and abdominal tumors suffers from tumor motion due to respiration. Respiratory gating should be applied to avoid the use of a large target volume margin that results in a substantial dose to the surrounding normal tissue. Precise respiratory gating requires the exact spatial position of the tumor to be determined in real time during treatment. Usually, fiducial markers are implanted inside or next to the tumor to provide both accurate patient setup and real-time tumor tracking. However, current tumor tracking systems require either substantial x-ray exposure to the patient or large fiducial markers that limit the value of their application for pulmonary tumors. We propose a real-time tumor tracking system using implanted positron emission markers (PeTrack). Each marker will be labeled with low activity positron emitting isotopes, such as 124 I, 74 As, or 84 Rb. These isotopes have half-lives comparable to the duration of radiation therapy (from a few days to a few weeks). The size of the proposed PeTrack marker will be 0.5-0.8 mm, which is approximately one-half the size of markers currently employed in other techniques. By detecting annihilation gammas using position-sensitive detectors, multiple positron emission markers can be tracked in real time. A multimarker localization algorithm was developed using an Expectation-Maximization clustering technique. A Monte Carlo simulation model was developed for the PeTrack system. Patient dose, detector sensitivity, and scatter fraction were evaluated. Depending on the isotope, the lifetime dose from a 3.7 MBq PeTrack marker was determined to be 0.7-5.0 Gy at 10 mm from the marker. At the center of the field of view (FOV), the sensitivity of the PeTrack system was 240-320 counts/s per 1 MBq marker activity within a 30 cm thick patient. The sensitivity was reduced by 45% when the marker was near the edge of the FOV. The scatter fraction ranged from 12% ( 124 I, 74 As

  14. Real Time Tracking of Magmatic Intrusions by means of Ground Deformation Modeling during Volcanic Crises

    Science.gov (United States)

    Cannavò, Flavio; Camacho, Antonio G.; González, Pablo J.; Mattia, Mario; Puglisi, Giuseppe; Fernández, José

    2015-01-01

    Volcano observatories provide near real-time information and, ultimately, forecasts about volcano activity. For this reason, multiple physical and chemical parameters are continuously monitored. Here, we present a new method to efficiently estimate the location and evolution of magmatic sources based on a stream of real-time surface deformation data, such as High-Rate GPS, and a free-geometry magmatic source model. The tool allows tracking inflation and deflation sources in time, providing estimates of where a volcano might erupt, which is important in understanding an on-going crisis. We show a successful simulated application to the pre-eruptive period of May 2008, at Mount Etna (Italy). The proposed methodology is able to track the fast dynamics of the magma migration by inverting the real-time data within seconds. This general method is suitable for integration in any volcano observatory. The method provides first order unsupervised and realistic estimates of the locations of magmatic sources and of potential eruption sites, information that is especially important for civil protection purposes. PMID:26055494

  15. Fast leaf-fitting with generalized underdose/overdose constraints for real-time MLC tracking

    International Nuclear Information System (INIS)

    Moore, Douglas; Sawant, Amit; Ruan, Dan

    2016-01-01

    Purpose: Real-time multileaf collimator (MLC) tracking is a promising approach to the management of intrafractional tumor motion during thoracic and abdominal radiotherapy. MLC tracking is typically performed in two steps: transforming a planned MLC aperture in response to patient motion and refitting the leaves to the newly generated aperture. One of the challenges of this approach is the inability to faithfully reproduce the desired motion-adapted aperture. This work presents an optimization-based framework with which to solve this leaf-fitting problem in real-time. Methods: This optimization framework is designed to facilitate the determination of leaf positions in real-time while accounting for the trade-off between coverage of the PTV and avoidance of organs at risk (OARs). Derived within this framework, an algorithm is presented that can account for general linear transformations of the planned MLC aperture, particularly 3D translations and in-plane rotations. This algorithm, together with algorithms presented in Sawant et al. [“Management of three-dimensional intrafraction motion through real-time DMLC tracking,” Med. Phys. 35, 2050–2061 (2008)] and Ruan and Keall [Presented at the 2011 IEEE Power Engineering and Automation Conference (PEAM) (2011) (unpublished)], was applied to apertures derived from eight lung intensity modulated radiotherapy plans subjected to six-degree-of-freedom motion traces acquired from lung cancer patients using the kilovoltage intrafraction monitoring system developed at the University of Sydney. A quality-of-fit metric was defined, and each algorithm was evaluated in terms of quality-of-fit and computation time. Results: This algorithm is shown to perform leaf-fittings of apertures, each with 80 leaf pairs, in 0.226 ms on average as compared to 0.082 and 64.2 ms for the algorithms of Sawant et al., Ruan, and Keall, respectively. The algorithm shows approximately 12% improvement in quality-of-fit over the Sawant et al

  16. Real-time surgical tool tracking and pose estimation using a hybrid cylindrical marker.

    Science.gov (United States)

    Zhang, Lin; Ye, Menglong; Chan, Po-Ling; Yang, Guang-Zhong

    2017-06-01

    To provide an integrated visualisation of intraoperative ultrasound and endoscopic images to facilitate intraoperative guidance, real-time tracking of the ultrasound probe is required. State-of-the-art methods are suitable for planar targets while most of the laparoscopic ultrasound probes are cylindrical objects. A tracking framework for cylindrical objects with a large work space will improve the usability of the intraoperative ultrasound guidance. A hybrid marker design that combines circular dots and chessboard vertices is proposed for facilitating tracking cylindrical tools. The circular dots placed over the curved surface are used for pose estimation. The chessboard vertices are employed to provide additional information for resolving the ambiguous pose problem due to the use of planar model points under a monocular camera. Furthermore, temporal information between consecutive images is considered to minimise tracking failures with real-time computational performance. Detailed validation confirms that our hybrid marker provides a large working space for different tool sizes (6-14 mm in diameter). The tracking framework allows translational movements between 40 and 185 mm along the depth direction and rotational motion around three local orthogonal axes up to [Formula: see text]. Comparative studies with the current state of the art confirm that our approach outperforms existing methods by providing nearly 100% detection rates and accurate pose estimation with mean errors of 2.8 mm and 0.72[Formula: see text]. The tracking algorithm runs at 20 frames per second for [Formula: see text] image resolution videos. Experiments show that the proposed hybrid marker can be applied to a wide range of surgical tools with superior detection rates and pose estimation accuracies. Both the qualitative and quantitative results demonstrate that our framework can be used not only for assisting intraoperative ultrasound guidance but also for tracking general surgical tools in

  17. Study on a real-time visual measuring and tracking system for industry robot welding

    Science.gov (United States)

    Liu, Chang-jie; Zhu, Ji-gui; Li, Yan-bin; Ye, Sheng-hua

    2006-06-01

    The industry welding robot can't real-time adjust its movement path according to the change in the position of the workpiece in a welding procedure, which affects the quality of welding a lot. The Real-time Visual Measuring and Tracking system acquires the three coordinates of the workpiece by visual measurement method, and navigates the robot to the correct position, consequently the welding quality improves. The system mainly includes micro structured-light visual sensors, a high-speed data processing unit, a display and setting unit, and protection equipments. From the experiment, it's shown that the system can measure the workpiece six times per second, and the precision of the measurement is better than 0.3mm. In a word, the system can effectively improve the robot welding quality.

  18. Real-Time Dynamic MLC Tracking for Intensity Modulated Arc Therapy

    DEFF Research Database (Denmark)

    Falk, Marianne

    -fraction motion management that uses the MLC of the treatment machine to reshape the beam to follow the tumour movements. The 3D MLC tracking algorithm recalculates the planned MLC positions using information about the tumour location from an independent monitoring system and the leaves are adjusted accordingly....... The over all goals of the studies in this thesis were to evaluate clinical gains of intrafraction motion management with MLC tracking, to investigate which patients that would benefit from this kind of treatment as well as what treatment plans that can be used with this technique.......Motion management of intra-fraction tumour motion during radiotherapy treatment can be a challenging task in order to achieve tumour control as well as minimizing the dose to the surrounding healthy tissue. Real-time dynamic multileaf collimator (MLC) tracking is a novel method for intra...

  19. Real-time tracking of liver motion and deformation using a flexible needle

    Science.gov (United States)

    Lei, Peng; Moeslein, Fred; Wood, Bradford J.

    2012-01-01

    Purpose A real-time 3D image guidance system is needed to facilitate treatment of liver masses using radiofrequency ablation, for example. This study investigates the feasibility and accuracy of using an electromagnetically tracked flexible needle inserted into the liver to track liver motion and deformation. Methods This proof-of-principle study was conducted both ex vivo and in vivo with a CT scanner taking the place of an electromagnetic tracking system as the spatial tracker. Deformations of excised livers were artificially created by altering the shape of the stage on which the excised livers rested. Free breathing or controlled ventilation created deformations of live swine livers. The positions of the needle and test targets were determined through CT scans. The shape of the needle was reconstructed using data simulating multiple embedded electromagnetic sensors. Displacement of liver tissues in the vicinity of the needle was derived from the change in the reconstructed shape of the needle. Results The needle shape was successfully reconstructed with tracking information of two on-needle points. Within 30 mm of the needle, the registration error of implanted test targets was 2.4 ± 1.0 mm ex vivo and 2.8 ± 1.5 mm in vivo. Conclusion A practical approach was developed to measure the motion and deformation of the liver in real time within a region of interest. The approach relies on redesigning the often-used seeker needle to include embedded electromagnetic tracking sensors. With the nonrigid motion and deformation information of the tracked needle, a single- or multimodality 3D image of the intraprocedural liver, now clinically obtained with some delay, can be updated continuously to monitor intraprocedural changes in hepatic anatomy. This capability may be useful in radiofrequency ablation and other percutaneous ablative procedures. PMID:20700662

  20. Real-time automatic fiducial marker tracking in low contrast cine-MV images

    International Nuclear Information System (INIS)

    Lin, Wei-Yang; Lin, Shu-Fang; Yang, Sheng-Chang; Liou, Shu-Cheng; Nath, Ravinder; Liu Wu

    2013-01-01

    Purpose: To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT). Methods: Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite. Previous marker detection methods are all based on template matching or its derivatives. Template matching needs to match object shape that changes significantly for different implantation and projection angle. While these methods require a large number of templates to cover various situations, they are often forced to use a smaller number of templates to reduce the computation load because their methods all require exhaustive search in the region of interest. The authors solve this problem by synergetic use of modern but well-tested computer vision and artificial intelligence techniques; specifically the authors detect implanted markers utilizing discriminant analysis for initialization and use mean-shift feature space analysis for sequential tracking. This novel approach avoids exhaustive search by exploiting the temporal correlation between consecutive frames and makes it possible to perform more sophisticated detection at the beginning to improve the accuracy, followed by ultrafast sequential tracking after the initialization. The method was evaluated and validated using 1149 cine-MV images from two prostate IGRT patients and compared with manual marker detection results from six researchers. The average of the manual detection results is considered as the ground truth for comparisons. Results: The average root-mean-square errors of our real-time automatic tracking method from the ground truth are 1.9 and 2.1 pixels for the two patients (0.26 mm/pixel). The

  1. Combined kV and MV imaging for real-time tracking of implanted fiducial markers

    International Nuclear Information System (INIS)

    Wiersma, R. D.; Mao Weihua; Xing, L.

    2008-01-01

    In the presence of intrafraction organ motion, target localization uncertainty can greatly hamper the advantage of highly conformal dose techniques such as intensity modulated radiation therapy (IMRT). To minimize the adverse dosimetric effect caused by tumor motion, a real-time knowledge of the tumor position is required throughout the beam delivery process. The recent integration of onboard kV diagnostic imaging together with MV electronic portal imaging devices on linear accelerators can allow for real-time three-dimensional (3D) tumor position monitoring during a treatment delivery. The aim of this study is to demonstrate a near real-time 3D internal fiducial tracking system based on the combined use of kV and MV imaging. A commercially available radiotherapy system equipped with both kV and MV imaging systems was used in this work. A hardware video frame grabber was used to capture both kV and MV video streams simultaneously through independent video channels at 30 frames per second. The fiducial locations were extracted from the kV and MV images using a software tool. The geometric tracking capabilities of the system were evaluated using a pelvic phantom with embedded fiducials placed on a moveable stage. The maximum tracking speed of the kV/MV system is approximately 9 Hz, which is primarily limited by the frame rate of the MV imager. The geometric accuracy of the system is found to be on the order of less than 1 mm in all three spatial dimensions. The technique requires minimal hardware modification and is potentially useful for image-guided radiation therapy systems

  2. Real-time heart rate measurement for multi-people using compressive tracking

    Science.gov (United States)

    Liu, Lingling; Zhao, Yuejin; Liu, Ming; Kong, Lingqin; Dong, Liquan; Ma, Feilong; Pang, Zongguang; Cai, Zhi; Zhang, Yachu; Hua, Peng; Yuan, Ruifeng

    2017-09-01

    The rise of aging population has created a demand for inexpensive, unobtrusive, automated health care solutions. Image PhotoPlethysmoGraphy(IPPG) aids in the development of these solutions by allowing for the extraction of physiological signals from video data. However, the main deficiencies of the recent IPPG methods are non-automated, non-real-time and susceptible to motion artifacts(MA). In this paper, a real-time heart rate(HR) detection method for multiple subjects simultaneously was proposed and realized using the open computer vision(openCV) library, which consists of getting multiple subjects' facial video automatically through a Webcam, detecting the region of interest (ROI) in the video, reducing the false detection rate by our improved Adaboost algorithm, reducing the MA by our improved compress tracking(CT) algorithm, wavelet noise-suppression algorithm for denoising and multi-threads for higher detection speed. For comparison, HR was measured simultaneously using a medical pulse oximetry device for every subject during all sessions. Experimental results on a data set of 30 subjects show that the max average absolute error of heart rate estimation is less than 8 beats per minute (BPM), and the processing speed of every frame has almost reached real-time: the experiments with video recordings of ten subjects under the condition of the pixel resolution of 600× 800 pixels show that the average HR detection time of 10 subjects was about 17 frames per second (fps).

  3. Real-time tracking using stereo and motion: Visual perception for space robotics

    Science.gov (United States)

    Nishihara, H. Keith; Thomas, Hans; Huber, Eric; Reid, C. Ann

    1994-01-01

    The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

  4. A Reliable and Real-Time Tracking Method with Color Distribution

    Directory of Open Access Journals (Sweden)

    Zishu Zhao

    2017-10-01

    Full Text Available Occlusion is a challenging problem in visual tracking. Therefore, in recent years, many trackers have been explored to solve this problem, but most of them cannot track the target in real time because of the heavy computational cost. A spatio-temporal context (STC tracker was proposed to accelerate the task by calculating context information in the Fourier domain, alleviating the performance in handling occlusion. In this paper, we take advantage of the high efficiency of the STC tracker and employ salient prior model information based on color distribution to improve the robustness. Furthermore, we exploit a scale pyramid for accurate scale estimation. In particular, a new high-confidence update strategy and a re-searching mechanism are used to avoid the model corruption and handle occlusion. Extensive experimental results demonstrate our algorithm outperforms several state-of-the-art algorithms on the OTB2015 dataset.

  5. Motion Tracking by Sensors for Real-time Human Skeleton Animation

    Directory of Open Access Journals (Sweden)

    S.P. Kasthuri Arachchi

    2016-12-01

    Full Text Available Human Computer Interaction based Research has emerged in the early 1980s with the advent of computer technology. Human Motion Capture is the process of recording the movement of people. Among many kinds of human motion capture devises, Microsoft Kinect sensor and inertial sensors are most popular nowadays. In this paper we propose an efficient motion tracking mechanism to construct real time human skeleton animation using inertial sensors. We compare the results of our proposed method with the Microsoft Kinect sensor over the complicated motion tracking and joint position. During the experiment we observed that our results are much steady than Microsoft Kinect results. Some motions like hand cross over or leg cross over, our method showed better results than Kinect because the Kinect may lose skeleton of the blocked parts. On the other hand, since we use radio frequency inertial sensors, our method has a larger working area than Kinect.

  6. Using LabView for real-time monitoring and tracking of multiple biological objects

    Science.gov (United States)

    Nikolskyy, Aleksandr I.; Krasilenko, Vladimir G.; Bilynsky, Yosyp Y.; Starovier, Anzhelika

    2017-04-01

    Today real-time studying and tracking of movement dynamics of various biological objects is important and widely researched. Features of objects, conditions of their visualization and model parameters strongly influence the choice of optimal methods and algorithms for a specific task. Therefore, to automate the processes of adaptation of recognition tracking algorithms, several Labview project trackers are considered in the article. Projects allow changing templates for training and retraining the system quickly. They adapt to the speed of objects and statistical characteristics of noise in images. New functions of comparison of images or their features, descriptors and pre-processing methods will be discussed. The experiments carried out to test the trackers on real video files will be presented and analyzed.

  7. Real-time multiple objects tracking on Raspberry-Pi-based smart embedded camera

    Science.gov (United States)

    Dziri, Aziz; Duranton, Marc; Chapuis, Roland

    2016-07-01

    Multiple-object tracking constitutes a major step in several computer vision applications, such as surveillance, advanced driver assistance systems, and automatic traffic monitoring. Because of the number of cameras used to cover a large area, these applications are constrained by the cost of each node, the power consumption, the robustness of the tracking, the processing time, and the ease of deployment of the system. To meet these challenges, the use of low-power and low-cost embedded vision platforms to achieve reliable tracking becomes essential in networks of cameras. We propose a tracking pipeline that is designed for fixed smart cameras and which can handle occlusions between objects. We show that the proposed pipeline reaches real-time processing on a low-cost embedded smart camera composed of a Raspberry-Pi board and a RaspiCam camera. The tracking quality and the processing speed obtained with the proposed pipeline are evaluated on publicly available datasets and compared to the state-of-the-art methods.

  8. Multi-camera real-time three-dimensional tracking of multiple flying animals.

    Science.gov (United States)

    Straw, Andrew D; Branson, Kristin; Neumann, Titus R; Dickinson, Michael H

    2011-03-06

    Automated tracking of animal movement allows analyses that would not otherwise be possible by providing great quantities of data. The additional capability of tracking in real time--with minimal latency--opens up the experimental possibility of manipulating sensory feedback, thus allowing detailed explorations of the neural basis for control of behaviour. Here, we describe a system capable of tracking the three-dimensional position and body orientation of animals such as flies and birds. The system operates with less than 40 ms latency and can track multiple animals simultaneously. To achieve these results, a multi-target tracking algorithm was developed based on the extended Kalman filter and the nearest neighbour standard filter data association algorithm. In one implementation, an 11-camera system is capable of tracking three flies simultaneously at 60 frames per second using a gigabit network of nine standard Intel Pentium 4 and Core 2 Duo computers. This manuscript presents the rationale and details of the algorithms employed and shows three implementations of the system. An experiment was performed using the tracking system to measure the effect of visual contrast on the flight speed of Drosophila melanogaster. At low contrasts, speed is more variable and faster on average than at high contrasts. Thus, the system is already a useful tool to study the neurobiology and behaviour of freely flying animals. If combined with other techniques, such as 'virtual reality'-type computer graphics or genetic manipulation, the tracking system would offer a powerful new way to investigate the biology of flying animals.

  9. Four-dimensional treatment planning and fluoroscopic real-time tumor tracking radiotherapy for moving tumor

    International Nuclear Information System (INIS)

    Shirato, Hiroki; Shimizu, Shinichi; Kitamura, Kei; Nishioka, Takeshi; Kagei, Kenji; Hashimoto, Seiko; Aoyama, Hidefumi; Kunieda, Tatsuya; Shinohara, Nobuo; Dosaka-Akita, Hirotoshi; Miyasaka, Kazuo

    2000-01-01

    Purpose: To achieve precise three-dimensional (3D) conformal radiotherapy for mobile tumors, a new radiotherapy system and its treatment planning system were developed and used for clinical practice. Methods and Materials: We developed a linear accelerator synchronized with a fluoroscopic real-time tumor tracking system by which 3D coordinates of a 2.0-mm gold marker in the tumor can be determined every 0.03 second. The 3D relationships between the marker and the tumor at different respiratory phases are evaluated using CT image at each respiratory phase, whereby the optimum phase can be selected to synchronize with irradiation (4D treatment planning). The linac is triggered to irradiate the tumor only when the marker is located within the region of the planned coordinates relative to the isocenter. Results: The coordinates of the marker were detected with an accuracy of ± 1 mm during radiotherapy in the phantom experiment. The time delay between recognition of the marker position and the start or stop of megavoltage X-ray irradiation was 0.03 second. Fourteen patients with various tumors were treated by conformal radiotherapy with a 'tight' planning target volume (PTV) margin. They were surviving without relapse or complications with a median follow-up of 6 months. Conclusion: Fluoroscopic real-time tumor tracking radiotherapy following 4D treatment planning was developed and shown to be feasible to improve the accuracy of the radiotherapy for mobile tumors

  10. Real-Time Motion Tracking for Indoor Moving Sphere Objects with a LiDAR Sensor

    Directory of Open Access Journals (Sweden)

    Lvwen Huang

    2017-08-01

    Full Text Available Object tracking is a crucial research subfield in computer vision and it has wide applications in navigation, robotics and military applications and so on. In this paper, the real-time visualization of 3D point clouds data based on the VLP-16 3D Light Detection and Ranging (LiDAR sensor is achieved, and on the basis of preprocessing, fast ground segmentation, Euclidean clustering segmentation for outliers, View Feature Histogram (VFH feature extraction, establishing object models and searching matching a moving spherical target, the Kalman filter and adaptive particle filter are used to estimate in real-time the position of a moving spherical target. The experimental results show that the Kalman filter has the advantages of high efficiency while adaptive particle filter has the advantages of high robustness and high precision when tested and validated on three kinds of scenes under the condition of target partial occlusion and interference, different moving speed and different trajectories. The research can be applied in the natural environment of fruit identification and tracking, robot navigation and control and other fields.

  11. GPU based real-time instrument tracking with three-dimensional ultrasound.

    Science.gov (United States)

    Novotny, Paul M; Stoll, Jeff A; Vasilyev, Nikolay V; del Nido, Pedro J; Dupont, Pierre E; Zickler, Todd E; Howe, Robert D

    2007-10-01

    Real-time three-dimensional ultrasound enables new intracardiac surgical procedures, but the distorted appearance of instruments in ultrasound poses a challenge to surgeons. This paper presents a detection technique that identifies the position of the instrument within the ultrasound volume. The algorithm uses a form of the generalized Radon transform to search for long straight objects in the ultrasound image, a feature characteristic of instruments and not found in cardiac tissue. When combined with passive markers placed on the instrument shaft, the full position and orientation of the instrument is found in 3D space. This detection technique is amenable to rapid execution on the current generation of personal computer graphics processor units (GPU). Our GPU implementation detected a surgical instrument in 31 ms, sufficient for real-time tracking at the 25 volumes per second rate of the ultrasound machine. A water tank experiment found instrument orientation errors of 1.1 degrees and tip position errors of less than 1.8mm. Finally, an in vivo study demonstrated successful instrument tracking inside a beating porcine heart.

  12. Optimized Carrier Tracking Loop Design for Real-Time High-Dynamics GNSS Receivers

    Directory of Open Access Journals (Sweden)

    Pedro A. Roncagliolo

    2012-01-01

    Full Text Available Carrier phase estimation in real-time Global Navigation Satellite System (GNSS receivers is usually performed by tracking loops due to their very low computational complexity. We show that a careful design of these loops allows them to operate properly in high-dynamics environments, that is, accelerations up to 40 g or more. Their phase and frequency discriminators and loop filter are derived considering the digital nature of the loop inputs. Based on these ideas, we propose a new loop structure named Unambiguous Frequency-Aided Phase-Locked Loop (UFA-PLL. In terms of tracking capacity and noise resistance UFA-PLL has the same advantages of frequently used coupled-loop schemes, but it is simpler to design and to implement. Moreover, it can keep phase lock in situations where other loops cannot. The loop design is completed selecting the correlation time and loop bandwidth that minimize the pull-out probability, without relying on typical rules of thumb. Optimal and efficient ways to smooth the phase estimates are also presented. Hence, high-quality phase measurements—usually exploited in offline and quasistatic applications—become practical for real-time and high-dynamics receivers. Experiments with fixed-point implementations of the proposed loops and actual radio signals are also shown.

  13. Registration of clinical volumes to beams-eye-view images for real-time tracking

    Energy Technology Data Exchange (ETDEWEB)

    Bryant, Jonathan H.; Rottmann, Joerg; Lewis, John H.; Mishra, Pankaj; Berbeco, Ross I., E-mail: rberbeco@lroc.harvard.edu [Department of Radiation Oncology, Brigham and Women’s Hospital, Dana-Farber Cancer Institute and Harvard Medical School, Boston, Massachusetts 02115 (United States); Keall, Paul J. [Radiation Physics Laboratory, Sydney Medical School, University of Sydney, Sydney, New South Wales 2006 (Australia)

    2014-12-15

    Purpose: The authors combine the registration of 2D beam’s eye view (BEV) images and 3D planning computed tomography (CT) images, with relative, markerless tumor tracking to provide automatic absolute tracking of physician defined volumes such as the gross tumor volume (GTV). Methods: During treatment of lung SBRT cases, BEV images were continuously acquired with an electronic portal imaging device (EPID) operating in cine mode. For absolute registration of physician-defined volumes, an intensity based 2D/3D registration to the planning CT was performed using the end-of-exhale (EoE) phase of the four dimensional computed tomography (4DCT). The volume was converted from Hounsfield units into electron density by a calibration curve and digitally reconstructed radiographs (DRRs) were generated for each beam geometry. Using normalized cross correlation between the DRR and an EoE BEV image, the best in-plane rigid transformation was found. The transformation was applied to physician-defined contours in the planning CT, mapping them into the EPID image domain. A robust multiregion method of relative markerless lung tumor tracking quantified deviations from the EoE position. Results: The success of 2D/3D registration was demonstrated at the EoE breathing phase. By registering at this phase and then employing a separate technique for relative tracking, the authors are able to successfully track target volumes in the BEV images throughout the entire treatment delivery. Conclusions: Through the combination of EPID/4DCT registration and relative tracking, a necessary step toward the clinical implementation of BEV tracking has been completed. The knowledge of tumor volumes relative to the treatment field is important for future applications like real-time motion management, adaptive radiotherapy, and delivered dose calculations.

  14. Effective real-time vehicle tracking using discriminative sparse coding on local patches

    Science.gov (United States)

    Chen, XiangJun; Ye, Feiyue; Ruan, Yaduan; Chen, Qimei

    2016-01-01

    A visual tracking framework that provides an object detector and tracker, which focuses on effective and efficient visual tracking in surveillance of real-world intelligent transport system applications, is proposed. The framework casts the tracking task as problems of object detection, feature representation, and classification, which is different from appearance model-matching approaches. Through a feature representation of discriminative sparse coding on local patches called DSCLP, which trains a dictionary on local clustered patches sampled from both positive and negative datasets, the discriminative power and robustness has been improved remarkably, which makes our method more robust to a complex realistic setting with all kinds of degraded image quality. Moreover, by catching objects through one-time background subtraction, along with offline dictionary training, computation time is dramatically reduced, which enables our framework to achieve real-time tracking performance even in a high-definition sequence with heavy traffic. Experiment results show that our work outperforms some state-of-the-art methods in terms of speed, accuracy, and robustness and exhibits increased robustness in a complex real-world scenario with degraded image quality caused by vehicle occlusion, image blur of rain or fog, and change in viewpoint or scale.

  15. A comparison of gantry-mounted x-ray-based real-time target tracking methods.

    Science.gov (United States)

    Montanaro, Tim; Nguyen, Doan Trang; Keall, Paul J; Booth, Jeremy; Caillet, Vincent; Eade, Thomas; Haddad, Carol; Shieh, Chun-Chien

    2018-03-01

    Most modern radiotherapy machines are built with a 2D kV imaging system. Combining this imaging system with a 2D-3D inference method would allow for a ready-made option for real-time 3D tumor tracking. This work investigates and compares the accuracy of four existing 2D-3D inference methods using both motion traces inferred from external surrogates and measured internally from implanted beacons. Tumor motion data from 160 fractions (46 thoracic/abdominal patients) of Synchrony traces (inferred traces), and 28 fractions (7 lung patients) of Calypso traces (internal traces) from the LIGHT SABR trial (NCT02514512) were used in this study. The motion traces were used as the ground truth. The ground truth trajectories were used in silico to generate 2D positions projected on the kV detector. These 2D traces were then passed to the 2D-3D inference methods: interdimensional correlation, Gaussian probability density function (PDF), arbitrary-shape PDF, and the Kalman filter. The inferred 3D positions were compared with the ground truth to determine tracking errors. The relationships between tracking error and motion magnitude, interdimensional correlation, and breathing periodicity index (BPI) were also investigated. Larger tracking errors were observed from the Calypso traces, with RMS and 95th percentile 3D errors of 0.84-1.25 mm and 1.72-2.64 mm, compared to 0.45-0.68 mm and 0.74-1.13 mm from the Synchrony traces. The Gaussian PDF method was found to be the most accurate, followed by the Kalman filter, the interdimensional correlation method, and the arbitrary-shape PDF method. Tracking error was found to strongly and positively correlate with motion magnitude for both the Synchrony and Calypso traces and for all four methods. Interdimensional correlation and BPI were found to negatively correlate with tracking error only for the Synchrony traces. The Synchrony traces exhibited higher interdimensional correlation than the Calypso traces especially in the anterior

  16. Detection of lung tumor movement in real-time tumor-tracking radiotherapy

    International Nuclear Information System (INIS)

    Shimizu, Shinichi; Shirato, Hiroki; Ogura, Shigeaki; Akita-Dosaka, Hirotoshi; Kitamura, Kei; Nishioka, Takeshi; Kagei, Kenji; Nishimura, Masaji; Miyasaka, Kazuo

    2001-01-01

    Purpose: External radiotherapy for lung tumors requires reducing the uncertainty due to setup error and organ motion. We investigated the three-dimensional movement of lung tumors through an inserted internal marker using a real-time tumor-tracking system and evaluated the efficacy of this system at reducing the internal margin. Methods and Materials: Four patients with lung cancer were analyzed. A 2.0-mm gold marker was inserted into the tumor. The real-time tumor-tracking system calculates and stores three-dimensional coordinates of the marker 30 times/s. The system can trigger the linear accelerator to irradiate the tumor only when the marker is located within the predetermined 'permitted dislocation'. The value was set at ±1 to ±3 mm according to the patient's characteristics. We analyzed 10,413-14,893 data sets for each of the 4 patients. The range of marker movement during normal breathing (beam-off period) was compared with that during gated irradiation (beam-on period) by Student's t test. Results: The range of marker movement during the beam-off period was 5.5-10.0 mm in the lateral direction (x), 6.8-15.9 mm in the craniocaudal direction (y) and 8.1-14.6 mm in the ventrodorsal direction (z). The range during the beam-on period was reduced to within 5.3 mm in all directions in all 4 patients. A significant difference was found between the mean of the range during the beam-off period and the mean of the range during the beam-on period in the x (p=0.007), y (p=0.025), and z (p=0.002) coordinates, respectively. Conclusion: The real-time tumor-tracking radiotherapy system was useful to analyze the movement of an internal marker. Treatment with megavoltage X-rays was properly given when the tumor marker moved into the 'permitted dislocation' zone from the planned position

  17. Recent innovation in microbial source tracking using bacterial real-time PCR markers in shellfish

    International Nuclear Information System (INIS)

    Mauffret, A.; Mieszkin, S.; Morizur, M.; Alfiansah, Y.; Lozach, S.; Gourmelon, M.

    2013-01-01

    Highlights: ► DNA extraction from intravalvular liquid is promising for microbial source tracking in oysters. ► Host-associated bacterial markers in shellfish digestive tissues were difficult to assess with real-time PCR. ► DNA extracts from shellfish flesh appeared to have low inhibitor levels but low marker levels. ► Protocol transfer from one shellfish species to another does not appear possible. -- Abstract: We assessed the capacity of real-time PCR markers to identify the origin of contamination in shellfish. Oyster, cockles or clams were either contaminated with fecal materials and host-associated markers designed from Bacteroidales or Catellicoccus marimammalium 16S RNA genes were extracted from their intravalvular liquid, digestive tissues or shellfish flesh. Extraction of bacterial DNA from the oyster intravalvular liquid with FastDNA spin kit for soil enabled the selected markers to be quantified in 100% of artificially contaminated samples, and the source of contamination to be identified in 13 out of 38 naturally contaminated batches from European Class B and Class C areas. However, this protocol did not enable the origin of the contamination to be identified in cockle or clam samples. Although results are promising for extracts from intravalvular liquid in oyster, it is unlikely that a single protocol could be the best across all bacterial markers and types of shellfish

  18. Real-time non-rigid target tracking for ultrasound-guided clinical interventions

    Science.gov (United States)

    Zachiu, C.; Ries, M.; Ramaekers, P.; Guey, J.-L.; Moonen, C. T. W.; de Senneville, B. Denis

    2017-10-01

    Biological motion is a problem for non- or mini-invasive interventions when conducted in mobile/deformable organs due to the targeted pathology moving/deforming with the organ. This may lead to high miss rates and/or incomplete treatment of the pathology. Therefore, real-time tracking of the target anatomy during the intervention would be beneficial for such applications. Since the aforementioned interventions are often conducted under B-mode ultrasound (US) guidance, target tracking can be achieved via image registration, by comparing the acquired US images to a separate image established as positional reference. However, such US images are intrinsically altered by speckle noise, introducing incoherent gray-level intensity variations. This may prove problematic for existing intensity-based registration methods. In the current study we address US-based target tracking by employing the recently proposed EVolution registration algorithm. The method is, by construction, robust to transient gray-level intensities. Instead of directly matching image intensities, EVolution aligns similar contrast patterns in the images. Moreover, the displacement is computed by evaluating a matching criterion for image sub-regions rather than on a point-by-point basis, which typically provides more robust motion estimates. However, unlike similar previously published approaches, which assume rigid displacements in the image sub-regions, the EVolution algorithm integrates the matching criterion in a global functional, allowing the estimation of an elastic dense deformation. The approach was validated for soft tissue tracking under free-breathing conditions on the abdomen of seven healthy volunteers. Contact echography was performed on all volunteers, while three of the volunteers also underwent standoff echography. Each of the two modalities is predominantly specific to a particular type of non- or mini-invasive clinical intervention. The method demonstrated on average an accuracy of

  19. Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping.

    Directory of Open Access Journals (Sweden)

    Joan Navarro

    Full Text Available Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis. In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal coverage, even of the most hazardous sites, while GPS data accessibility through the internet enables rapid intervention. Our results suggest that multi-species guilds of feathered detectives equipped with GPS and cameras could help fight illegal dumping at continental scales. We encourage further experimental studies, to infer waste detection thresholds in gulls and other scavenging species exploiting human waste dumps.

  20. Feathered Detectives: Real-Time GPS Tracking of Scavenging Gulls Pinpoints Illegal Waste Dumping.

    Science.gov (United States)

    Navarro, Joan; Grémillet, David; Afán, Isabel; Ramírez, Francisco; Bouten, Willem; Forero, Manuela G

    2016-01-01

    Urban waste impacts human and environmental health, and waste management has become one of the major challenges of humanity. Concurrently with new directives due to manage this human by-product, illegal dumping has become one of the most lucrative activities of organized crime. Beyond economic fraud, illegal waste disposal strongly enhances uncontrolled dissemination of human pathogens, pollutants and invasive species. Here, we demonstrate the potential of novel real-time GPS tracking of scavenging species to detect environmental crime. Specifically, we were able to detect illegal activities at an officially closed dump, which was visited recurrently by 5 of 19 GPS-tracked yellow-legged gulls (Larus michahellis). In comparison with conventional land-based surveys, GPS tracking allows a much wider and cost-efficient spatiotemporal coverage, even of the most hazardous sites, while GPS data accessibility through the internet enables rapid intervention. Our results suggest that multi-species guilds of feathered detectives equipped with GPS and cameras could help fight illegal dumping at continental scales. We encourage further experimental studies, to infer waste detection thresholds in gulls and other scavenging species exploiting human waste dumps.

  1. Real-time optical tracking for motion compensated irradiation with scanned particle beams at CNAO

    Energy Technology Data Exchange (ETDEWEB)

    Fattori, G., E-mail: giovanni.fattori@psi.ch [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Seregni, M. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Pella, A. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Riboldi, M. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Capasso, L. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Donetti, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Ciocca, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Giordanengo, S. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Pullia, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Marchetto, F. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Baroni, G. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy)

    2016-08-11

    Purpose: We describe the interface developed at the National Center for Oncological Hadrontherapy in Pavia to provide the dose delivery systems with real time respiratory motion information captured with an optical tracking system. An experimental study is presented to assess the technical feasibility of the implemented organ motion compensation framework, by analyzing the film response when irradiated with proton beams. Methods: The motion monitoring solution is based on a commercial hardware for motion capture running in-house developed software for respiratory signal processing. As part of the integration, the latency of data transmission to the dose delivery system was experimentally quantified and accounted for by signal time prediction. A respiratory breathing phantom is presented and used to test tumor tracking based either on the optical measurement of the target position or internal-external correlation models and beam gating, as driven by external surrogates. Beam tracking was tested considering the full target motion excursion (25×18 mm), whereas it is limited to 6×2 mm in the gating window. The different motion mitigation strategies were evaluated by comparing the experimental film responses with respect to static irradiation conditions. Dose inhomogeneity (IC) and conformity (CI) are provided as main indexes for dose quality assessment considering the irradiation in static condition as reference. Results: We measured 20.6 ms overall latency for motion signal processing. Dose measurements showed that beam tracking largely preserved dose homogeneity and conformity, showing maximal IC and CI variations limited to +0.10 and −0.01 with respect to the static reference. Gating resulted in slightly larger discrepancies (ΔIC=+0.20, ΔCI=−0.13) due to uncompensated residual motion in the gating window. Conclusions: The preliminary beam tracking and gating results verified the functionality of the prototypal solution for organ motion compensation based on

  2. A parallelizable real-time motion tracking algorithm with applications to ultrasonic strain imaging

    International Nuclear Information System (INIS)

    Jiang, J; Hall, T J

    2007-01-01

    Ultrasound-based mechanical strain imaging systems utilize signals from conventional diagnostic ultrasound systems to image tissue elasticity contrast that provides new diagnostically valuable information. Previous works (Hall et al 2003 Ultrasound Med. Biol. 29 427, Zhu and Hall 2002 Ultrason. Imaging 24 161) demonstrated that uniaxial deformation with minimal elevation motion is preferred for breast strain imaging and real-time strain image feedback to operators is important to accomplish this goal. The work reported here enhances the real-time speckle tracking algorithm with two significant modifications. One fundamental change is that the proposed algorithm is a column-based algorithm (a column is defined by a line of data parallel to the ultrasound beam direction, i.e. an A-line), as opposed to a row-based algorithm (a row is defined by a line of data perpendicular to the ultrasound beam direction). Then, displacement estimates from its adjacent columns provide good guidance for motion tracking in a significantly reduced search region to reduce computational cost. Consequently, the process of displacement estimation can be naturally split into at least two separated tasks, computed in parallel, propagating outward from the center of the region of interest (ROI). The proposed algorithm has been implemented and optimized in a Windows (registered) system as a stand-alone ANSI C++ program. Results of preliminary tests, using numerical and tissue-mimicking phantoms, and in vivo tissue data, suggest that high contrast strain images can be consistently obtained with frame rates (10 frames s -1 ) that exceed our previous methods

  3. Real-time optical multiple-object recognition and tracking demonstration: A friendly challenge to the digital field

    Science.gov (United States)

    Chao, Tien-Hsin; Liu, Hua-Kuang

    1980-01-01

    Researchers demonstrated the first optical multiple object tracking system. The system is capable of simultaneous tracking of multiple objects, each with independent movements in real-time, limited only to the TV frame rate (30 msec). In order to perform a similar tracking operation, a large computer system and very complex software would be needed. Although researchers have demonstrated the tracking of only 3 objects, the system capacity can easily be expanded by 2 orders of magnitude.

  4. Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy

    International Nuclear Information System (INIS)

    Via, Riccardo; Fassi, Aurora; Fattori, Giovanni; Fontana, Giulia; Pella, Andrea; Tagaste, Barbara; Ciocca, Mario; Riboldi, Marco; Baroni, Guido; Orecchia, Roberto

    2015-01-01

    Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring

  5. Optical eye tracking system for real-time noninvasive tumor localization in external beam radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Via, Riccardo, E-mail: riccardo.via@polimi.it; Fassi, Aurora; Fattori, Giovanni [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano 20133 (Italy); Fontana, Giulia; Pella, Andrea; Tagaste, Barbara; Ciocca, Mario [CNAO Centro Nazionale di Adroterapia Oncologica, Pavia 27100 (Italy); Riboldi, Marco; Baroni, Guido [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano 20133, Italy and CNAO Centro Nazionale di Adroterapia Oncologica, Pavia 27100 (Italy); Orecchia, Roberto [CNAO Centro Nazionale di Adroterapia Oncologica, Pavia 27100, Italy and European Institute of Oncology, Milano 20141 (Italy)

    2015-05-15

    Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring

  6. Image processing algorithm design and implementation for real-time autonomous inspection of mixed waste

    International Nuclear Information System (INIS)

    Schalkoff, R.J.; Shaaban, K.M.; Carver, A.E.

    1996-01-01

    The ARIES number-sign 1 (Autonomous Robotic Inspection Experimental System) vision system is used to acquire drum surface images under controlled conditions and subsequently perform autonomous visual inspection leading to a classification as 'acceptable' or 'suspect'. Specific topics described include vision system design methodology, algorithmic structure,hardware processing structure, and image acquisition hardware. Most of these capabilities were demonstrated at the ARIES Phase II Demo held on Nov. 30, 1995. Finally, Phase III efforts are briefly addressed

  7. Assessment of MLC tracking performance during hypofractionated prostate radiotherapy using real-time dose reconstruction

    International Nuclear Information System (INIS)

    Fast, M F; Kamerling, C P; Ziegenhein, P; Menten, M J; Bedford, J L; Nill, S; Oelfke, U

    2016-01-01

    By adapting to the actual patient anatomy during treatment, tracked multi-leaf collimator (MLC) treatment deliveries offer an opportunity for margin reduction and healthy tissue sparing. This is assumed to be especially relevant for hypofractionated protocols in which intrafractional motion does not easily average out. In order to confidently deliver tracked treatments with potentially reduced margins, it is necessary to monitor not only the patient anatomy but also the actually delivered dose during irradiation. In this study, we present a novel real-time online dose reconstruction tool which calculates actually delivered dose based on pre-calculated dose influence data in less than 10 ms at a rate of 25 Hz. Using this tool we investigate the impact of clinical target volume (CTV) to planning target volume (PTV) margins on CTV coverage and organ-at-risk dose. On our research linear accelerator, a set of four different CTV-to-PTV margins were tested for three patient cases subject to four different motion conditions. Based on this data, we can conclude that tracking eliminates dose cold spots which can occur in the CTV during conventional deliveries even for the smallest CTV-to-PTV margin of 1 mm. Changes of organ-at-risk dose do occur frequently during MLC tracking and are not negligible in some cases. Intrafractional dose reconstruction is expected to become an important element in any attempt of re-planning the treatment plan during the delivery based on the observed anatomy of the day. (paper)

  8. Quantitative analysis of the improvement in omnidirectional maritime surveillance and tracking due to real-time image enhancement

    CSIR Research Space (South Africa)

    De Villiers, JP

    2011-04-01

    Full Text Available field of view the targets may be only a few pixels each. The improvement in tracking small boats, after using real-time image enhancement techniques to mitigate the atmospheric blurring and loss of contrast, is evaluated for several common tracking...

  9. Autonomous real-time adaptive management of soil salinity using a receding horizon control algorithm: a pilot-scale demonstration.

    Science.gov (United States)

    Park, Yeonjeong; Harmon, Thomas C

    2011-10-01

    Soil salinization is a potentially negative side effect of irrigation with reclaimed water. While optimization schemes have been applied to soil salinity control, these have typically failed to take advantage of real-time sensor feedback. This study incorporates current soil observation technologies into the optimal feedback-control scheme known as Receding Horizon Control (RHC) to enable successful autonomous control of soil salinization. RHC uses real-time sensor measurements, physically-based state prediction models, and optimization algorithms to drive field conditions to a desired environmental state by manipulating application rate or irrigation duration/frequency. A simulation model including the Richards equation coupled to energy and solute transport equations is employed as a state estimator. Vertical multi-sensor arrays installed in the soil provide initial conditions and continuous feedback to the control scheme. An optimization algorithm determines the optimal irrigation rate or frequency subject to imposed constraints protective of soil salinization. A small-scale field test demonstrates that the RHC scheme is capable of autonomously maintaining specified salt levels at a prescribed soil depth. This finding suggests that, given an adequately structured and trained simulation model, sensor networks, and optimization algorithms can be integrated using RHC to autonomously achieve water reuse and agricultural objectives while managing soil salinization. Copyright © 2011 Elsevier Ltd. All rights reserved.

  10. Creation of a RFID based real time tracking (R-RTT) system for small healthcare clinics.

    Science.gov (United States)

    Chen, Joseph C; Collins, Thomas J

    2012-12-01

    A well-managed healthcare system improves the quality of the patient experience. However, many small healthcare clinics have suboptimal systems for scheduling and locating patients and medical staff, delaying the relay of information and creating poor resource and room utilization. This paper proposes a Radio Frequency Identification (RFID)-based Real-Time Tracking (R-RTT) System for optimizing small healthcare facility operations, enabling further optimization of throughput time, room utilization, and patient flow. In the proposed scenario, RFID readers were equipped in strategic locations throughout the facility. Patients and medical staff were issued personalized RFID tags. When they pass through the reader's interrogation zone, it reads their RFID tag and sends the information to a central computer equipped with software capable of filtering the RFID data into useable information. A Visual Basic Application (VBA) program uses the information received from the ID tags to display the location of the patients and staff as they move throughout the facility. This increases their visibility within the facility by allowing medical staff to determine where their colleagues and patients are at all times. The VBA program was also able to record the data in order to track the time each stage of the appointment process takes to complete. The recorded time data can be broken into processes, making it easier to determine if it adds value. This data can then be transformed into a value stream map for further analysis and improvement.

  11. Real-time tracking of vertebral body movement with implantable reference microsensors.

    Science.gov (United States)

    Mularski, Sven; Picht, Thomas; Kuehn, Björn; Kombos, Theodoros; Brock, Mario; Suess, Olaf

    2006-05-01

    In the spine, navigation techniques serve mainly to control and accurately target insertion of implants. The main source of error is that the spine is not a rigid organ, but rather a chain of semiflexible movement segments. Any intraoperative manipulation of the patient alters the geometry and volumetry as compared to the 3D volume model created from the image data. Thus, the objective of the study was to implement the theoretical principle of microsensor referencing in a model experiment and to clarify which anatomical structures are suitable for intermittent implantation of positional sensors, as illustrated with cervical vertebral bodies. Laboratory tests were conducted using 70 models of human cervical vertebral bodies. The first experiment investigated whether arbitrary movements of vertebral bodies can be tracked with the positional information from the implanted microsensors. The accuracy of this movement monitoring was determined quantitatively on the basis of positional error measurement. In the second experiment, different ventral and dorsal surgical operations were simulated on five models of the cervical spine. Quantifiable measurement values such as the spatial extension of the intervertebral space and the relative positions of the planes of the upper plates were determined. With respect to the differing anatomy of the individual vertebral bodies of the cervical spine, the sensors could be placed securely with a 5x2 mm drill. The registration error (RE) was determined as a root mean square error. The mean value was 0.9425 mm (range: 0.57-1.2 mm; median: 0.9400 mm; SD: 0.1903 mm). The precision of the movement monitoring of the vertebral body was investigated along its three main axes. The error tolerance between post-interventional 3D reconstruction and direct measurement on the model did not exceed 1.3 mm in the distance measurements or 2.5 degrees in the angular measurements. The tomograms on the system monitor could be updated in close to real time

  12. Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive Visual-Inertial Fusion.

    Science.gov (United States)

    Fang, Wei; Zheng, Lianyu; Deng, Huanjun; Zhang, Hongbo

    2017-05-05

    In mobile augmented/virtual reality (AR/VR), real-time 6-Degree of Freedom (DoF) motion tracking is essential for the registration between virtual scenes and the real world. However, due to the limited computational capacity of mobile terminals today, the latency between consecutive arriving poses would damage the user experience in mobile AR/VR. Thus, a visual-inertial based real-time motion tracking for mobile AR/VR is proposed in this paper. By means of high frequency and passive outputs from the inertial sensor, the real-time performance of arriving poses for mobile AR/VR is achieved. In addition, to alleviate the jitter phenomenon during the visual-inertial fusion, an adaptive filter framework is established to cope with different motion situations automatically, enabling the real-time 6-DoF motion tracking by balancing the jitter and latency. Besides, the robustness of the traditional visual-only based motion tracking is enhanced, giving rise to a better mobile AR/VR performance when motion blur is encountered. Finally, experiments are carried out to demonstrate the proposed method, and the results show that this work is capable of providing a smooth and robust 6-DoF motion tracking for mobile AR/VR in real-time.

  13. Swarming visual sensor network for real-time multiple object tracking

    Science.gov (United States)

    Baranov, Yuri P.; Yarishev, Sergey N.; Medvedev, Roman V.

    2016-04-01

    Position control of multiple objects is one of the most actual problems in various technology areas. For example, in construction area this problem is represented as multi-point deformation control of bearing constructions in order to prevent collapse, in mining - deformation control of lining constructions, in rescue operations - potential victims and sources of ignition location, in transport - traffic control and traffic violations detection, in robotics -traffic control for organized group of robots and many other problems in different areas. Usage of stationary devices for solving these problems is inappropriately due to complex and variable geometry of control areas. In these cases self-organized systems of moving visual sensors is the best solution. This paper presents a concept of scalable visual sensor network with swarm architecture for multiple object pose estimation and real-time tracking. In this article recent developments of distributed measuring systems were reviewed with consequent investigation of advantages and disadvantages of existing systems, whereupon theoretical principles of design of swarming visual sensor network (SVSN) were declared. To measure object coordinates in the world coordinate system using TV-camera intrinsic (focal length, pixel size, principal point position, distortion) and extrinsic (rotation matrix, translation vector) calibration parameters were needed to be determined. Robust camera calibration was a too resource-intensive task for using moving camera. In this situation position of the camera is usually estimated using a visual mark with known parameters. All measurements were performed in markcentered coordinate systems. In this article a general adaptive algorithm of coordinate conversion of devices with various intrinsic parameters was developed. Various network topologies were reviewed. Minimum error in objet tracking was realized by finding the shortest path between object of tracking and bearing sensor, which set

  14. Autonomous and 3D real-time multi-beam manipulation in a microfluidic environment

    DEFF Research Database (Denmark)

    Perch-Nielsen, I.; Rodrigo, P.J.; Alonzo, C.A.

    2006-01-01

    The Generalized Phase Contrast (GPC) method of optical 3D manipulation has previously been used for controlled spatial manipulation of live biological specimen in real-time. These biological experiments were carried out over a time-span of several hours while an operator intermittently optimized...... the optical system. Here we present GPC-based optical micromanipulation in a microfluidic system where trapping experiments are computer-automated and thereby capable of running with only limited supervision. The system is able to dynamically detect living yeast cells using a computer-interfaced CCD camera...

  15. Autonomous watersheds: Reducing flooding and stream erosion through real-time control

    Science.gov (United States)

    Kerkez, B.; Wong, B. P.

    2017-12-01

    We introduce an analytical toolchain, based on dynamical system theory and feedback control, to determine how many control points (valves, gates, pumps, etc.) are needed to transform urban watersheds from static to adaptive. Advances and distributed sensing and control stand to fundamentally change how we manage urban watersheds. In lieu of new and costly infrastructure, the real-time control of stormwater systems will reduce flooding, mitigate stream erosion, and improve the treatment of polluted runoff. We discuss the how open source technologies, in the form of wireless sensor nodes and remotely-controllable valves (open-storm.org), have been deployed to build "smart" stormwater systems in the Midwestern US. Unlike "static" infrastructure, which cannot readily adapt to changing inputs and land uses, these distributed control assets allow entire watersheds to be reconfigured on a storm-by-storm basis. Our results show how the control of even just a few valves within urban catchments (1-10km^2) allows for the real-time "shaping" of hydrographs, which reduces downstream erosion and flooding. We also introduce an equivalence framework that can be used by decision-makers to objectively compare investments into "smart" system to more traditional solutions, such as gray and green stormwater infrastructure.

  16. Alternative fiducial markers for Vero real-time tumor tracking radiotherapy: A phantom study

    Science.gov (United States)

    Park, Shin-Hyung; Kim, Jae-Chul; Kim, Sung Joon

    2016-12-01

    The objective of this study was to investigate the feasibility of potential fiducial markers consisting of various materials in a Vero real-time tumor-tracking (RTTT) system. In order to determine the applicability of fiducial markers for the Vero RTTT system, we tested various markers consisting of 8 kinds of material (titanium, stainless steel, high-carbon steel, pure steel, copper, silver, tantalum, and gold) with various diameters ranging from 0.3 mm to 1.6 mm and a length of 5 mm. Additionally, a commercial gold coil marker (Visicoil™, IBA dosimetry, Schwarzenbruck, Germany) of diameter 0.5 mm and length 1 cm was included for evaluation. The radiologic visibility on kV fluoroscopy/kV CT scan images of the fiducial markers was evaluated. The detectability on the RTTT system was tested using a two-dimensional moving phantom (Brainlab AG, Feldkirchen, Germany), producing sinusoidal motion. The target center's accuracy was evaluated by calculating the deviation of the position of a metal sphere from the center on the dose profile. Dose profiles were measured using Gafchromic EBT2 films (International Specialty Products, NJ, USA). All markers were visible on kV fluoroscopy/kV CT while markers with atomic number ≥ 25.7 were detectable on the Vero RTTT system. All the detected markers showed excellent geometric accuracy.

  17. Monitoring, Tracking, and Recording Pancreas-Related Health Issues in Real Time

    Science.gov (United States)

    Chrysikos, Theofilos; Zisi, Iliana; Katsini, Christina; Raptis, George E.; Kotsopoulos, Stavros

    2017-11-01

    The monitoring of pancreas-related health issues in real-time and outside the medical room is a challenge in the wide e-health domain. This paper introduces WHEAMO, a novel e-health platform which employs medical implants (biosensors), which function as antennas, planted in the pancreas. WHEAMO uses wireless in-body propagation to track, monitor, and record critical parameters, such as glucose. The signal reaches the skin and then it is propagated in an indoor environment (e.g., medical room) over to a terminal equipped with adaptive, user-configurable, and intelligent mechanisms which provide personalized recommendations to varying WHEAMO users (e.g., medical personnel, health care workers, patients). The personalized nature of the provided recommendations is based on patients unique characteristics via a sophisticated knowledge-base. The fundamentals of in-body and on-body wireless propagation and channel characterization have been studied in a series of published works. Researchers have tested both electric-field (dipole) and magnetic-field (patch, loop) antennas. Another important aspect concerns the frequency band in which the signal propagation will occur. Among the frequencies that have gathered scientific and academic interest are the Medical Implant Communication Service (MICS) band at 402-405 MHz, the 900 MHz channel and the industrial, scientific and medical (ISM) radio band at 2.45 GHz.

  18. Real-Time Tracking of Parental Histones Reveals Their Contribution to Chromatin Integrity Following DNA Damage.

    Science.gov (United States)

    Adam, Salomé; Dabin, Juliette; Chevallier, Odile; Leroy, Olivier; Baldeyron, Céline; Corpet, Armelle; Lomonte, Patrick; Renaud, Olivier; Almouzni, Geneviève; Polo, Sophie E

    2016-10-06

    Chromatin integrity is critical for cell function and identity but is challenged by DNA damage. To understand how chromatin architecture and the information that it conveys are preserved or altered following genotoxic stress, we established a system for real-time tracking of parental histones, which characterize the pre-damage chromatin state. Focusing on histone H3 dynamics after local UVC irradiation in human cells, we demonstrate that parental histones rapidly redistribute around damaged regions by a dual mechanism combining chromatin opening and histone mobilization on chromatin. Importantly, parental histones almost entirely recover and mix with new histones in repairing chromatin. Our data further define a close coordination of parental histone dynamics with DNA repair progression through the damage sensor DDB2 (DNA damage-binding protein 2). We speculate that this mechanism may contribute to maintaining a memory of the original chromatin landscape and may help preserve epigenome stability in response to DNA damage. Copyright © 2016 The Author(s). Published by Elsevier Inc. All rights reserved.

  19. Energy Tracking in Classrooms - A Real Time Experiment with Grade 5 Students

    Science.gov (United States)

    Lam, H. M.; Ho, F.

    2015-12-01

    ISF Academy, a K-G12 school in Hong Kong with over 1500 students and currently spanning 3 buildings, is retrofitting the school with an energy tracking system in three phases. The first phase during the fall of 2015 will include retrofitting eight Grade 5 classrooms. This new program will show the daily energy usage data from these classrooms. The Grade 5 students receive feedback on their energy use in real time as they compete over two months in their homeroom classes to lower their electrical use, and subsequently their carbon footprint. This competition style initiative will teach the 180 Grade 5 students about their energy usage in a fun and informative manner. ISF Academy has over 400 air-conditioners and we have already determined that the air conditioners are the largest single use of energy in the school. The energy tracking system installed and maintained by from Global Design Corporation utilizes uniquely identified current detectors attached to circuit breakers, to monitor electrical use of individual circuits. These detectors will also monitor the energy used for classroom lighting, fans and plugs, as well as the air conditioners. The system has been installed and the Grade 5 classrooms averaged between 40 kWh and 120 kWh of usage in May 2015. This data will be used as the baseline for the competition. Further analysis can also be done with the data, such as calculating the carbon emissions reduction throughout the school year, providing possible class learning activities and also aiding in future energy use and carbon footprint predictions. The data collected will help refine phase 2 and 3 of the installation, expanding the system to more buildings and also giving insight to the rollout of the system to the whole school when the systems are fully in place.

  20. Real-Time Communications in Autonomic Networks: System Implementation and Performance Evaluation

    Directory of Open Access Journals (Sweden)

    C. Tselios

    2012-01-01

    Full Text Available This paper describes the design and prototype implementation of a communication platform aiming to provide voice and video communication in a distributed networking environment. Performance considerations and network characteristics have also been taken into account in order to provide the set of properties dictated by the sensitive nature and the real-time characteristics of the targeted application scenarios. The proposed system has been evaluated both by experimental means as well as subjective tests taken by an extensive number of users. The results show that the proposed platform operates seamlessly in two hops, while in the four hops scenario, audio and video are delivered with marginal distortion. The conducted survey indicates that the user experience in terms of Quality of Service has obtained higher scores in the scenario with the two hops.

  1. Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach

    Directory of Open Access Journals (Sweden)

    Weiwei Kong

    2017-06-01

    Full Text Available [-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft’s real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach.

  2. A novel autonomous real-time position method based on polarized light and geomagnetic field.

    Science.gov (United States)

    Wang, Yinlong; Chu, Jinkui; Zhang, Ran; Wang, Lu; Wang, Zhiwen

    2015-04-08

    Many animals exploit polarized light in order to calibrate their magnetic compasses for navigation. For example, some birds are equipped with biological magnetic and celestial compasses enabling them to migrate between the Western and Eastern Hemispheres. The Vikings' ability to derive true direction from polarized light is also widely accepted. However, their amazing navigational capabilities are still not completely clear. Inspired by birds' and Vikings' ancient navigational skills. Here we present a combined real-time position method based on the use of polarized light and geomagnetic field. The new method works independently of any artificial signal source with no accumulation of errors and can obtain the position and the orientation directly. The novel device simply consists of two polarized light sensors, a 3-axis compass and a computer. The field experiments demonstrate device performance.

  3. Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach.

    Science.gov (United States)

    Kong, Weiwei; Hu, Tianjiang; Zhang, Daibing; Shen, Lincheng; Zhang, Jianwei

    2017-06-19

    [-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft's real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach.

  4. Real-time object detection and semantic segmentation for autonomous driving

    Science.gov (United States)

    Li, Baojun; Liu, Shun; Xu, Weichao; Qiu, Wei

    2018-02-01

    In this paper, we proposed a Highly Coupled Network (HCNet) for joint objection detection and semantic segmentation. It follows that our method is faster and performs better than the previous approaches whose decoder networks of different tasks are independent. Besides, we present multi-scale loss architecture to learn better representation for different scale objects, but without extra time in the inference phase. Experiment results show that our method achieves state-of-the-art results on the KITTI datasets. Moreover, it can run at 35 FPS on a GPU and thus is a practical solution to object detection and semantic segmentation for autonomous driving.

  5. Autonomous real-time detection of plumes and jets from moons and comets

    Energy Technology Data Exchange (ETDEWEB)

    Wagstaff, Kiri L.; Thompson, David R.; Bue, Brian D.; Fuchs, Thomas J., E-mail: kiri.l.wagstaff@jpl.nasa.gov [Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109 (United States)

    2014-10-10

    Dynamic activity on the surface of distant moons, asteroids, and comets can manifest as jets or plumes. These phenomena provide information about the interior of the bodies and the forces (gravitation, radiation, thermal) they experience. Fast detection and follow-up study is imperative since the phenomena may be time-varying and because the observing window may be limited (e.g., during a flyby). We have developed an advanced method for real-time detection of plumes and jets using onboard analysis of the data as it is collected. In contrast to prior work, our technique is not restricted to plume detection from spherical bodies, making it relevant for irregularly shaped bodies such as comets. Further, our study analyzes raw data, the form in which it is available on board the spacecraft, rather than fully processed image products. In summary, we contribute a vital assessment of a technique that can be used on board tomorrow's deep space missions to detect, and respond quickly to, new occurrences of plumes and jets.

  6. Autonomous real-time detection of plumes and jets from moons and comets

    International Nuclear Information System (INIS)

    Wagstaff, Kiri L.; Thompson, David R.; Bue, Brian D.; Fuchs, Thomas J.

    2014-01-01

    Dynamic activity on the surface of distant moons, asteroids, and comets can manifest as jets or plumes. These phenomena provide information about the interior of the bodies and the forces (gravitation, radiation, thermal) they experience. Fast detection and follow-up study is imperative since the phenomena may be time-varying and because the observing window may be limited (e.g., during a flyby). We have developed an advanced method for real-time detection of plumes and jets using onboard analysis of the data as it is collected. In contrast to prior work, our technique is not restricted to plume detection from spherical bodies, making it relevant for irregularly shaped bodies such as comets. Further, our study analyzes raw data, the form in which it is available on board the spacecraft, rather than fully processed image products. In summary, we contribute a vital assessment of a technique that can be used on board tomorrow's deep space missions to detect, and respond quickly to, new occurrences of plumes and jets.

  7. Toward a generic real-time compression correction framework for tracked ultrasound.

    Science.gov (United States)

    Pheiffer, Thomas S; Miga, Michael I

    2015-11-01

    Tissue compression during ultrasound imaging leads to error in the location and geometry of subsurface targets during soft tissue interventions. We present a novel compression correction method, which models a generic block of tissue and its subsurface tissue displacements resulting from application of a probe to the tissue surface. The advantages of the new method are that it can be realized independent of preoperative imaging data and is capable of near-video framerate compression compensation for real-time guidance. The block model is calibrated to the tip of any tracked ultrasound probe. Intraoperative digitization of the tissue surface is used to measure the depth of compression and provide boundary conditions to the biomechanical model of the tissue. The tissue displacement field solution of the model is inverted to nonrigidly transform the ultrasound images to an estimation of the tissue geometry prior to compression. This method was compared to a previously developed method using a patient-specific model and within the context of simulation, phantom, and clinical data. Experimental results with gel phantoms demonstrated that the proposed generic method reduced the mock tumor margin modified Hausdorff distance (MHD) from 5.0 ± 1.6 to 2.1 ± 0.7 mm and reduced mock tumor centroid alignment error from 7.6 ± 2.6 to 2.6 ± 1.1mm. The method was applied to a clinical case and reduced the in vivo tumor margin MHD error from 5.4 ± 0.1 to 2.9 ± 0.1mm, and the centroid alignment error from 7.2 ± 0.2 to 3.8 ± 0.4 mm. The correction method was found to effectively improve alignment of ultrasound and tomographic images and was more efficient compared to a previously proposed correction.

  8. Observations on Real-Time Prostate Gland Motion Using Electromagnetic Tracking

    International Nuclear Information System (INIS)

    Langen, Katja M.; Willoughby, Twyla R.; Meeks, Sanford L.; Santhanam, Anand; Cunningham, Alexis; Levine, Lisa; Kupelian, Patrick A.

    2008-01-01

    Purpose: To quantify and describe the real-time movement of the prostate gland in a large data set of patients treated with radiotherapy. Methods and Materials: The Calypso four-dimensional localization system was used for target localization in 17 patients, with electromagnetic markers implanted in the prostate of each patient. We analyzed a total of 550 continuous tracking sessions. The fraction of time that the prostate was displaced by >3, >5, >7, and >10 mm was calculated for each session and patient. The frequencies of displacements after initial patient positioning were analyzed over time. Results: Averaged over all patients, the prostate was displaced >3 and >5 mm for 13.6% and 3.3% of the total treatment time, respectively. For individual patients, the corresponding maximal values were 36.2% and 10.9%. For individual fractions, the corresponding maximal values were 98.7% and 98.6%. Displacements >3 mm were observed at 5 min after initial alignment in about one-eighth of the observations, and increased to one-quarter by 10 min. For individual patients, the maximal value of the displacements >3 mm at 5 and 10 min after initial positioning was 43% and 75%, respectively. Conclusion: On average, the prostate was displaced by >3 mm and >5 mm approximately 14% and 3% of the time, respectively. For individual patients, these values were up to three times greater. After the initial positioning, the likelihood of displacement of the prostate gland increased with elapsed time. This highlights the importance of initiating treatment shortly after initially positioning the patient

  9. Real-Time Obstacle Avoidance for a Swarm of Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Ramdane Hedjar

    2014-04-01

    Full Text Available In this paper, we propose a computational trajectory generation algorithm for swarm mobile robots using local information in a dynamic environment. The algorithm plans a reference path based on constrained convex nonlinear optimization which avoids both static and dynamic obstacles. This algorithm is combined with one-step-ahead predictive control for a swarm of mobile robots to track the generated paths and reach the goals without collision. The numerical simulations and experimental results demonstrate the effectiveness of the proposed free-collision path planning algorithm.

  10. The influence of real-time rural transit tracking on traveler perception.

    Science.gov (United States)

    2013-03-01

    Public transportation systems require accurate and reliable information as part of their : day-to-day operations and are increasingly engaging their customers through a variety of online : services and smart phone applications, such as real-time vehi...

  11. Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals

    NARCIS (Netherlands)

    Vaquero, V.; Repiso, E.; Sanfeliu, A.; Vissers, J.; Kwakkernaat, M.

    2016-01-01

    The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm

  12. Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft

    Science.gov (United States)

    Owlia, Shahboddin

    The GeoSurv II is an Unmanned Aerial Vehicle (UAV) being developed by Carleton University and Sander Geophysics. This thesis is in support of the GeoSurv II project. The objective of the GeoSurv II project is to create a fully autonomous UAV capable of performing geophysical surveys. In order to achieve this level of autonomy, the UAV, which due to the nature of its surveys flies at low altitude, must be able to avoid potential obstacles such as trees, powerlines, telecommunication towers, etc. Developing a method to avoid these obstacles is the objective of this thesis. The literature is rich in methods for trajectory planning and mid-air collision avoidance with other aircraft. In contrast, in this thesis, a method for avoiding static obstacles that are not known a priori is developed. The potential flow theory and panel method are borrowed from fluid mechanics and are employed to generate evasive maneuvers when obstacles are encountered. By means of appropriate modelling of obstacles, the aircraft's constraints are taken into account such that the evasive maneuvers are feasible for the UAV. Moreover, the method is developed with consideration of the limitations of obstacle detection in GeoSurv II. Due to the unavailability of the GeoSurv II aircraft, and the lack of a complete model for GeoSurv II, the method developed is implemented on the non-linear model of the Aerosonde UAV. The Aerosonde model is then subjected to various obstacle scenarios and it is seen that the UAV successfully avoids the obstacles.

  13. Multi-GPU based framework for real-time motion analysis and tracking in multi-user scenarios

    Directory of Open Access Journals (Sweden)

    Sidi Ahmed Mahmoudi

    2015-02-01

    Full Text Available Video processing algorithms present a necessary tool for various domains related to computer vision such as motion tracking, event detection and localization in multi-user scenarios (crowd videos, mobile camera, scenes with noise, etc.. However, the new video standards, especially those in high definitions require more computation since their treatment is applied on large video frames. As result, the current implementations, even running on modern hardware, cannot provide a real-time processing (25 frames per second, fps. Several solutions have been proposed to overcome this constraint, by exploiting graphic processing units (GPUs. Although they exploit GPU platforms, they are not able to provide a real-time processing of high definition video sequences. In this work, we propose a new framework that enables an efficient exploitation of single and multiple GPUs, in order to achieve real-time processing of Full HD or even 4K video standards. Moreover, the framework includes several GPU based primitive functions related to motion analysis and tracking methods, such as silhouette extraction, contours extraction, corners detection and tracking using optical flow estimation. Based on this framework, we developed several real-time and GPU based video processing applications such as motion detection using moving camera, event detection and event localization

  14. Stability of Markers Used for Real-Time Tumor Tracking After Percutaneous Intrapulmonary Placement

    International Nuclear Information System (INIS)

    Voort van Zyp, Noelle C. van der; Hoogeman, Mischa S.; Water, Steven van de; Levendag, Peter C.; Holt, Bronno van der; Heijmen, Ben J.M.; Nuyttens, Joost J.

    2011-01-01

    Purpose: To determine the stability of markers used for real-time tumor tracking after percutaneous intrapulmonary placement. Methods and Materials: A total of 42 patients with 44 lesions, 111 markers, and ≥2 repeat computed tomography (CT) scans were studied. The tumor on the repeat CT scans was registered with the tumor on the planning CT scan. Next, the three-dimensional marker coordinates were determined on the planning CT scan and repeat CT scans. Marker stability was analyzed by the displacement of the markers and the displacement of the center of mass (COM) of the marker configurations. In addition, we assessed the reliability of using the intermarker distance as a check for displacements in the COM of the marker configurations. Results: The median marker displacement was 1.3 mm (range, 0.1-53.6). The marker displacement was >5 mm in 12% of the markers and >10 mm in 5% of the markers. The causes of marker displacement >5 mm included marker migration (2 of 13) and target volume changes (5 of 13). Nonsynchronous tumor and marker movement during breathing might have been responsible for the displacements >5 mm in the other 6 of 13 markers. The median displacement in the COM of the marker configurations was 1.0 mm (range, 0.1-23.3). Displacements in the COM of the marker configurations of ≥2.0 mm were detected by changes in the intermarker distance of >1.5 mm in 96% of the treatment fractions. Conclusion: The median marker displacement was small (1.3 mm). Nevertheless, displacements >5 mm occurred in 12% of the markers. Therefore, we recommend the implantation of multiple markers because multiple markers will enable a quick and reliable check of marker displacement by determining the change in the intermarker distance. A displacement in the COM of the marker configuration of ≥2.0 mm was almost always detected (96%) by a change in the distance between the markers of >1.5 mm. This enabled the displaced marker to be disabled, such that tumor localization was

  15. Real-time piscicide tracking using Rhodamine WT dye for support of application, transport, and deactivation strategies in riverine environments

    Science.gov (United States)

    Jackson, Patrick Ryan; Lageman, Jonathan D.

    2013-01-01

    Piscicide applications in riverine environments are complicated by the advection and dispersion of the piscicide by the flowing water. Proper deactivation of the fish toxin is required outside of the treatment reach to ensure that there is minimal collateral damage to fisheries downstream or in connecting and adjacent water bodies. In urban settings and highly managed waterways, further complications arise from the influence of industrial intakes and outfalls, stormwater outfalls, lock and dam operations, and general unsteady flow conditions. These complications affect the local hydrodynamics and ultimately the transport and fate of the piscicide. This report presents two techniques using Rhodamine WT dye for real-time tracking of a piscicide plume—or any passive contaminant—in rivers and waterways in natural and urban settings. Passive contaminants are those that are present in such low concentration that there is no effect (such as buoyancy) on the fluid dynamics of the receiving water body. These methods, when combined with data logging and archiving, allow for visualization and documentation of the application and deactivation process. Real-time tracking and documentation of rotenone applications in rivers and urban waterways was accomplished by encasing the rotenone plume in a plume of Rhodamine WT dye and using vessel-mounted submersible fluorometers together with acoustic Doppler current profilers (ADCP) and global positioning system (GPS) receivers to track the dye and map the water currents responsible for advection and dispersion. In this study, two methods were used to track rotenone plumes: (1) simultaneous injection of dye with rotenone and (2) delineation of the upstream and downstream boundaries of the treatment zone with dye. All data were logged and displayed on a shipboard laptop computer, so that survey personnel provided real-time feedback about the extent of the rotenone plume to rotenone application and deactivation personnel. Further

  16. SU-G-JeP1-11: Feasibility Study of Markerless Tracking Using Dual Energy Fluoroscopic Images for Real-Time Tumor-Tracking Radiotherapy System

    Energy Technology Data Exchange (ETDEWEB)

    Shiinoki, T; Shibuya, K [Yamaguchi University, Ube, Yamaguchi (Japan); Sawada, A [Kyoto college of medical science, Nantan, Kyoto (Japan); Uehara, T; Yuasa, Y; Koike, M; Kawamura, S [Yamaguchi University Hospital, Ube, Yamaguchi (Japan)

    2016-06-15

    Purpose: The new real-time tumor-tracking radiotherapy (RTRT) system was installed in our institution. This system consists of two x-ray tubes and color image intensifiers (I.I.s). The fiducial marker which was implanted near the tumor was tracked using color fluoroscopic images. However, the implantation of the fiducial marker is very invasive. Color fluoroscopic images enable to increase the recognition of the tumor. However, these images were not suitable to track the tumor without fiducial marker. The purpose of this study was to investigate the feasibility of markerless tracking using dual energy colored fluoroscopic images for real-time tumor-tracking radiotherapy system. Methods: The colored fluoroscopic images of static and moving phantom that had the simulated tumor (30 mm diameter sphere) were experimentally acquired using the RTRT system. The programmable respiratory motion phantom was driven using the sinusoidal pattern in cranio-caudal direction (Amplitude: 20 mm, Time: 4 s). The x-ray condition was set to 55 kV, 50 mA and 105 kV, 50 mA for low energy and high energy, respectively. Dual energy images were calculated based on the weighted logarithmic subtraction of high and low energy images of RGB images. The usefulness of dual energy imaging for real-time tracking with an automated template image matching algorithm was investigated. Results: Our proposed dual energy subtraction improve the contrast between tumor and background to suppress the bone structure. For static phantom, our results showed that high tracking accuracy using dual energy subtraction images. For moving phantom, our results showed that good tracking accuracy using dual energy subtraction images. However, tracking accuracy was dependent on tumor position, tumor size and x-ray conditions. Conclusion: We indicated that feasibility of markerless tracking using dual energy fluoroscopic images for real-time tumor-tracking radiotherapy system. Furthermore, it is needed to investigate the

  17. Histopathologic Consideration of Fiducial Gold Markers Inserted for Real-Time Tumor-Tracking Radiotherapy Against Lung Cancer

    International Nuclear Information System (INIS)

    Imura, Mikado; Yamazaki, Koichi; Kubota, Kanako C.; Itoh, Tomoo; Onimaru, Rikiya; Cho, Yasushi; Hida, Yasuhiro; Kaga, Kichizo; Onodera, Yuya; Ogura, Shigeaki; Dosaka-Akita, Hirotoshi; Shirato, Hiroki; Nishimura, Masaharu

    2008-01-01

    Purpose: Internal fiducial gold markers, safely inserted with bronchoscopy, have been used in real-time tumor-tracking radiotherapy for lung cancer. We investigated the histopathologic findings at several points after the insertion of the gold markers. Methods and Materials: Sixteen gold markers were inserted for preoperative marking in 7 patients who subsequently underwent partial resection of tumors by video-assisted thoracoscopic surgery within 7 days. Results: Fibrotic changes and hyperplasia of type 2 pneumocytes around the markers were seen 5 or 7 days after insertion, and fibrin exudation without fibrosis was detected 1 or 2 days after insertion. Conclusions: Because fibroblastic changes start approximately 5 days after gold marker insertion, real-time tumor-tracking radiotherapy should be started >5 days after gold marker insertion

  18. A Real-Time Model-Based Human Motion Tracking and Analysis for Human-Computer Interface Systems

    Directory of Open Access Journals (Sweden)

    Chung-Lin Huang

    2004-09-01

    Full Text Available This paper introduces a real-time model-based human motion tracking and analysis method for human computer interface (HCI. This method tracks and analyzes the human motion from two orthogonal views without using any markers. The motion parameters are estimated by pattern matching between the extracted human silhouette and the human model. First, the human silhouette is extracted and then the body definition parameters (BDPs can be obtained. Second, the body animation parameters (BAPs are estimated by a hierarchical tritree overlapping searching algorithm. To verify the performance of our method, we demonstrate different human posture sequences and use hidden Markov model (HMM for posture recognition testing.

  19. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

    International Nuclear Information System (INIS)

    Menten, Martin J.; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe

    2015-01-01

    Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

  20. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy.

    Science.gov (United States)

    Menten, Martin J; Fast, Martin F; Nill, Simeon; Oelfke, Uwe

    2015-12-01

    Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Regular dual-energy imaging was able to increase tracking accuracy in left-right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. This study has highlighted the influence of patient anatomy on the success rate of real-time

  1. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Menten, Martin J., E-mail: martin.menten@icr.ac.uk; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe, E-mail: uwe.oelfke@icr.ac.uk [Joint Department of Physics at The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

    2015-12-15

    Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

  2. Optimization of single injection liver arterial phase gadolinium enhanced MRI using bolus track real-time imaging.

    Science.gov (United States)

    Sharma, Puneet; Kalb, Bobby; Kitajima, Hiroumi D; Salman, Khalil N; Burrow, Bobbie; Ray, Gaye L; Martin, Diego R

    2011-01-01

    To measure contrast agent enhancement kinetics in the liver and to further evaluate and develop an optimized gadolinium enhanced MRI using a single injection real-time bolus-tracking method for reproducible imaging of the transient arterial-phase. A total of 18 subjects with hypervascular liver lesions were imaged with four dimensional (4D) perfusion scans to measure time-to-peak (TTP) delays of arterial (aorta-celiac axis), liver parenchyma, liver lesion, portal, and hepatic veins. Time delays were calculated from the TTP-aorta signal, and then related to the gradient echo (GRE) k-space acquisition design, to determine optimized timing for real-time bolus-track triggering methodology. As another measure of significance, 200 clinical patients were imaged with 3D-GRE using either a fixed time-interval or by individualized arterial bolus real-time triggering. Bolus TTP-aorta was calculated and arterial-phase acquisitions were compared for accuracy and reproducibility using specific vascular enhancement indicators. The mean bolus transit-time to peak-lesion contrast was 8.1 ± 2.7 seconds following arterial detection, compared to 32.1 ± 5.4 seconds from contrast injection, representing a 62.1% reduction in the time-variability among subjects (N = 18). The real-time bolus-triggered technique more consistently captured the targeted arterial phase (94%), compared to the fixed timing technique (73%), representing an expected improvement of timing accuracy in 28% of patients (P = 0.0001389). Our results show detailed timing window analysis required for optimized arterial real-time bolus-triggering acquisition of transient arterial phase features of liver lesions, with optimized arterial triggering expected to improve reproducibility in a significant number of patients. Copyright © 2010 Wiley-Liss, Inc.

  3. Real-time ultrasound-tagging to track the 2D motion of the common carotid artery wall in vivo

    Energy Technology Data Exchange (ETDEWEB)

    Zahnd, Guillaume, E-mail: g.zahnd@erasmusmc.nl [Biomedical Imaging Group Rotterdam, Departments of Radiology and Medical Informatics, Erasmus MC, Rotterdam 3000 CA (Netherlands); Salles, Sébastien; Liebgott, Hervé; Vray, Didier [Université de Lyon, CREATIS, CNRS UMR 5220, INSERM U1044, INSA-Lyon, Université Lyon 1, Lyon 69100 (France); Sérusclat, André [Department of Radiology, Louis Pradel Hospital, Lyon 69500 (France); Moulin, Philippe [Department of Endocrinology, Louis Pradel Hospital, Hospices Civils de Lyon, Université Lyon 1, Lyon 69100, France and INSERM UMR 1060, Lyon 69500 (France)

    2015-02-15

    Purpose: Tracking the motion of biological tissues represents an important issue in the field of medical ultrasound imaging. However, the longitudinal component of the motion (i.e., perpendicular to the beam axis) remains more challenging to extract due to the rather coarse resolution cell of ultrasound scanners along this direction. The aim of this study is to introduce a real-time beamforming strategy dedicated to acquire tagged images featuring a distinct pattern in the objective to ease the tracking. Methods: Under the conditions of the Fraunhofer approximation, a specific apodization function was applied to the received raw channel data, in real-time during image acquisition, in order to introduce a periodic oscillations pattern along the longitudinal direction of the radio frequency signal. Analytic signals were then extracted from the tagged images, and subpixel motion tracking of the intima–media complex was subsequently performed offline, by means of a previously introduced bidimensional analytic phase-based estimator. Results: The authors’ framework was applied in vivo on the common carotid artery from 20 young healthy volunteers and 6 elderly patients with high atherosclerosis risk. Cine-loops of tagged images were acquired during three cardiac cycles. Evaluated against reference trajectories manually generated by three experienced analysts, the mean absolute tracking error was 98 ± 84 μm and 55 ± 44 μm in the longitudinal and axial directions, respectively. These errors corresponded to 28% ± 23% and 13% ± 9% of the longitudinal and axial amplitude of the assessed motion, respectively. Conclusions: The proposed framework enables tagged ultrasound images of in vivo tissues to be acquired in real-time. Such unconventional beamforming strategy contributes to improve tracking accuracy and could potentially benefit to the interpretation and diagnosis of biomedical images.

  4. Real-time x-ray fluoroscopy-based catheter detection and tracking for cardiac electrophysiology interventions

    Energy Technology Data Exchange (ETDEWEB)

    Ma Yingliang; Housden, R. James; Razavi, Reza; Rhode, Kawal S. [Division of Imaging Sciences and Biomedical Engineering, King' s College London, London SE1 7EH (United Kingdom); Gogin, Nicolas; Cathier, Pascal [Medisys Research Group, Philips Healthcare, Paris 92156 (France); Gijsbers, Geert [Interventional X-ray, Philips Healthcare, Best 5680 DA (Netherlands); Cooklin, Michael; O' Neill, Mark; Gill, Jaswinder; Rinaldi, C. Aldo [Department of Cardiology, Guys and St. Thomas' Hospitals NHS Foundation Trust, London SE1 7EH (United Kingdom)

    2013-07-15

    Purpose: X-ray fluoroscopically guided cardiac electrophysiology (EP) procedures are commonly carried out to treat patients with arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of a three-dimensional (3D) roadmap derived from preprocedural volumetric images can be used to add anatomical information. It is useful to know the position of the catheter electrodes relative to the cardiac anatomy, for example, to record ablation therapy locations during atrial fibrillation therapy. Also, the electrode positions of the coronary sinus (CS) catheter or lasso catheter can be used for road map motion correction.Methods: In this paper, the authors present a novel unified computational framework for image-based catheter detection and tracking without any user interaction. The proposed framework includes fast blob detection, shape-constrained searching and model-based detection. In addition, catheter tracking methods were designed based on the customized catheter models input from the detection method. Three real-time detection and tracking methods are derived from the computational framework to detect or track the three most common types of catheters in EP procedures: the ablation catheter, the CS catheter, and the lasso catheter. Since the proposed methods use the same blob detection method to extract key information from x-ray images, the ablation, CS, and lasso catheters can be detected and tracked simultaneously in real-time.Results: The catheter detection methods were tested on 105 different clinical fluoroscopy sequences taken from 31 clinical procedures. Two-dimensional (2D) detection errors of 0.50 {+-} 0.29, 0.92 {+-} 0.61, and 0.63 {+-} 0.45 mm as well as success rates of 99.4%, 97.2%, and 88.9% were achieved for the CS catheter, ablation catheter, and lasso catheter, respectively. With the tracking method, accuracies were increased to 0.45 {+-} 0.28, 0.64 {+-} 0.37, and 0.53 {+-} 0.38 mm and success rates increased to 100%, 99

  5. Tracking yarns in high resolution fabric images: a real-time approach for online fabric flaw detection

    Science.gov (United States)

    Schneider, Dorian

    2013-02-01

    An algorithmic framework for real-time localization of single yarns within industrial fabric images is presented. The information about precise yarn locations forms the foundation for a fabric flaw detection system which is based on individual yarn measurements. Matching a camera frame rate of 15 fps, we define the term "real-time" by the capability of tracking all yarns within a 5 megapixel image in less than 35 ms, leaving a time slot of 31ms for further image processing and defect detection algorithms. The processing pipeline comprises adaptive histogram equalization, Wiener deconvolution, normalized template matching and a novel feature point sorting scheme. To meet real-time requirements, extensive use of the NVIDIA CUDA framework is made. Implementation details are given and source code for selected algorithms is provided. Evaluation results show that wefts and warps can be tracked reliably and independently of the fabric material or binding. Video and image footage is provided on the project website to expand the paper content.

  6. ADAPTIVE BACKGROUND DENGAN METODE GAUSSIAN MIXTURE MODELS UNTUK REAL-TIME TRACKING

    Directory of Open Access Journals (Sweden)

    Silvia Rostianingsih

    2008-01-01

    Full Text Available Nowadays, motion tracking application is widely used for many purposes, such as detecting traffic jam and counting how many people enter a supermarket or a mall. A method to separate background and the tracked object is required for motion tracking. It will not be hard to develop the application if the tracking is performed on a static background, but it will be difficult if the tracked object is at a place with a non-static background, because the changing part of the background can be recognized as a tracking area. In order to handle the problem an application can be made to separate background where that separation can adapt to change that occur. This application is made to produce adaptive background using Gaussian Mixture Models (GMM as its method. GMM method clustered the input pixel data with pixel color value as it’s basic. After the cluster formed, dominant distributions are choosen as background distributions. This application is made by using Microsoft Visual C 6.0. The result of this research shows that GMM algorithm could made adaptive background satisfactory. This proofed by the result of the tests that succeed at all condition given. This application can be developed so the tracking process integrated in adaptive background maker process. Abstract in Bahasa Indonesia : Saat ini, aplikasi motion tracking digunakan secara luas untuk banyak tujuan, seperti mendeteksi kemacetan dan menghitung berapa banyak orang yang masuk ke sebuah supermarket atau sebuah mall. Sebuah metode untuk memisahkan antara background dan obyek yang di-track dibutuhkan untuk melakukan motion tracking. Membuat aplikasi tracking pada background yang statis bukanlah hal yang sulit, namun apabila tracking dilakukan pada background yang tidak statis akan lebih sulit, dikarenakan perubahan background dapat dikenali sebagai area tracking. Untuk mengatasi masalah tersebut, dapat dibuat suatu aplikasi untuk memisahkan background dimana aplikasi tersebut dapat

  7. Real-Time Eye Detection and Tracking under Various Light Conditions

    Directory of Open Access Journals (Sweden)

    Feng Jiao

    2007-10-01

    Full Text Available This paper describes a real-time online prototype automobile and truck driver-fatigue monitor. It uses remotely located charge-coupled-device cameras equipped with active infrared illuminators to acquire video images of the driver. Various visual cues that typically characterize the level of alertness of a person are extracted in real time and systematically combined to infer the fatigue level of the driver. The visual cues employed characterize eyelid movement, gaze movement, head movement, and facial expression. A probabilistic model is developed to model human fatigue and to predict fatigue based on the visual cues obtained. The simultaneous use of multiple visual cues and their systematic combination yields a much more robust and accurate fatigue characterization than using a single visual cue. This system was validated under real-life fatigue conditions with human subjects of different ethnic backgrounds, genders, and ages; with/without glasses; and under different illumination conditions. It was found to be reasonably robust, reliable, and accurate in fatigue characterization.

  8. Real-time dynamic MLC tracking for inversely optimized arc radiotherapy

    DEFF Research Database (Denmark)

    Falk, Marianne; af Rosenschöld, Per Munck; Keall, Paul

    2010-01-01

    Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory.......Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory....

  9. Expanding the use of real-time electromagnetic tracking in radiation oncology.

    Science.gov (United States)

    Shah, Amish P; Kupelian, Patrick A; Willoughby, Twyla R; Meeks, Sanford L

    2011-11-15

    In the past 10 years, techniques to improve radiotherapy delivery, such as intensity-modulated radiation therapy (IMRT), image-guided radiation therapy (IGRT) for both inter- and intrafraction tumor localization, and hypofractionated delivery techniques such as stereotactic body radiation therapy (SBRT), have evolved tremendously. This review article focuses on only one part of that evolution, electromagnetic tracking in radiation therapy. Electromagnetic tracking is still a growing technology in radiation oncology and, as such, the clinical applications are limited, the expense is high, and the reimbursement is insufficient to cover these costs. At the same time, current experience with electromagnetic tracking applied to various clinical tumor sites indicates that the potential benefits of electromagnetic tracking could be significant for patients receiving radiation therapy. Daily use of these tracking systems is minimally invasive and delivers no additional ionizing radiation to the patient, and these systems can provide explicit tumor motion data. Although there are a number of technical and fiscal issues that need to be addressed, electromagnetic tracking systems are expected to play a continued role in improving the precision of radiation delivery.

  10. Real-time track-less Cherenkov ring fitting trigger system based on Graphics Processing Units

    Science.gov (United States)

    Ammendola, R.; Biagioni, A.; Chiozzi, S.; Cretaro, P.; Cotta Ramusino, A.; Di Lorenzo, S.; Fantechi, R.; Fiorini, M.; Frezza, O.; Gianoli, A.; Lamanna, G.; Lo Cicero, F.; Lonardo, A.; Martinelli, M.; Neri, I.; Paolucci, P. S.; Pastorelli, E.; Piandani, R.; Piccini, M.; Pontisso, L.; Rossetti, D.; Simula, F.; Sozzi, M.; Vicini, P.

    2017-12-01

    The parallel computing power of commercial Graphics Processing Units (GPUs) is exploited to perform real-time ring fitting at the lowest trigger level using information coming from the Ring Imaging Cherenkov (RICH) detector of the NA62 experiment at CERN. To this purpose, direct GPU communication with a custom FPGA-based board has been used to reduce the data transmission latency. The GPU-based trigger system is currently integrated in the experimental setup of the RICH detector of the NA62 experiment, in order to reconstruct ring-shaped hit patterns. The ring-fitting algorithm running on GPU is fed with raw RICH data only, with no information coming from other detectors, and is able to provide more complex trigger primitives with respect to the simple photodetector hit multiplicity, resulting in a higher selection efficiency. The performance of the system for multi-ring Cherenkov online reconstruction obtained during the NA62 physics run is presented.

  11. Comparative Analysis of Several Real-Time Systems for Tracking People and/or Moving Objects using GPS

    OpenAIRE

    Radinski, Gligorcho; Mileva, Aleksandra

    2015-01-01

    When we talk about real-time systems for tracking people and/or moving objects using a Global Positioning System (GPS), there are several categories of such systems and the ways in which they work. Some uses additional hardware to extend the functionality of the offered opportunities, some are free, some are too complex and cost too much money. This paper aims to provide a clearer picture of several such systems and to show results from a comparative analysis of some popular systems for trac...

  12. A Low-Power High-Speed Spintronics-Based Neuromorphic Computing System Using Real Time Tracking Method

    DEFF Research Database (Denmark)

    Farkhani, Hooman; Tohidi, Mohammad; Farkhani, Sadaf

    2018-01-01

    of such NCSs. Moreover, current NCSs need an extra phase to read the MTJ state after stimulation which is in contrast with real neuron functionality in human body. In this paper, the read circuit is replaced with a proposed real-time sensing (RTS) circuit. The RTS circuit tracks the MTJ state during...... stimulation phase. As soon as switching happens, the RTS circuit terminates the MTJ current and stimulates the post neuron. Hence, the RTS circuit not only improves the energy consumption and speed, but also makes the operation of NCS similar to real neuron functionality. The simulation results in 65-nm CMOS...

  13. A Low-Power High-Speed Spintronics-Based Neuromorphic Computing System Using Real Time Tracking Method

    DEFF Research Database (Denmark)

    Farkhani, Hooman; Tohidi, Mohammad; Farkhani, Sadaf

    2018-01-01

    In spintronic-based neuromorphic computing systems (NCS), the switching of magnetic moment in a magnetic tunnel junction (MTJ) is used to mimic neuron firing. However, the stochastic switching behavior of the MTJ and process variations effect lead to a significant increase in stimulation time...... of such NCSs. Moreover, current NCSs need an extra phase to read the MTJ state after stimulation which is in contrast with real neuron functionality in human body. In this paper, the read circuit is replaced with a proposed real-time sensing (RTS) circuit. The RTS circuit tracks the MTJ state during...

  14. Experimental validation of concept for real-time wavelength monitoring and tracking in densely populated WDM networks

    Science.gov (United States)

    Vukovic, Alex; Savoie, Michel; Hua, Heng; Campbell, Scott; Nguyen, Thao

    2005-10-01

    As the telecom industry responds with technological innovations to requests for higher data rates, increased number of wavelengths at higher densities, longer transmission distances and more intelligence for next generation optical networks, new monitoring schemes based on monitoring and tracking of each wavelength need to be developed and deployed. An optical layer monitoring scheme, based on tracking key optical parameters per each wavelength, is considered to be one of enablers for the transformation of today's opaque networks to dynamic, agile future networks. Ever-tighter network monitoring and control will be required to fulfill customer Service Level Agreements (SLAs). A wavelength monitoring and tracking concept was developed as a three-step approach. It started with the identification of all critical parameters required to obtain sufficient information about each wavelength; followed by the deployment of a cost-efficient device to provide simultaneous, accurate measurements in real-time of all critical parameters; and finally, the formulation of a specification for wavelength monitoring and tracking devices for real-time, simultaneous measurements and processing the data. A prototype solution based on a commercially available integrated modular spectrometer within a testbed environment associated with the all-optical network (AON) demonstrator program was used to verify and validate the wavelength monitoring and tracking concept. The developed concept verified that it can manage tracking of 32 wavelengths within a wavelength division multiplexing network. The developed concept presented in this paper can be used inside the transparent domains of networks to detect, identify and locate signal degradations in real-time, even sometimes to recognize the cause of the failure. Aside from the reduction of operational expenses due to the elimination of the need for operators at every site and skilled field technicians to isolate and repair faults, the developed

  15. Donor Tracker: An Innovative Real-Time Tracking System for Blood ...

    African Journals Online (AJOL)

    User

    The problem is even worse if the blood group is rare. In this paper, we explore the possibility of using location-aware computing to track blood donors in Mauritius and locate the nearest donor in cases of emergencies and whenever fresh blood is required. A number of blood donor management systems exist but none of ...

  16. Real-time subpixel-accuracy tracking of single mitochondria in neurons reveals heterogeneous mitochondrial motion.

    Science.gov (United States)

    Alsina, Adolfo; Lai, Wu Ming; Wong, Wai Kin; Qin, Xianan; Zhang, Min; Park, Hyokeun

    2017-11-04

    Mitochondria are essential for cellular survival and function. In neurons, mitochondria are transported to various subcellular regions as needed. Thus, defects in the axonal transport of mitochondria are related to the pathogenesis of neurodegenerative diseases, and the movement of mitochondria has been the subject of intense research. However, the inability to accurately track mitochondria with subpixel accuracy has hindered this research. Here, we report an automated method for tracking mitochondria based on the center of fluorescence. This tracking method, which is accurate to approximately one-tenth of a pixel, uses the centroid of an individual mitochondrion and provides information regarding the distance traveled between consecutive imaging frames, instantaneous speed, net distance traveled, and average speed. Importantly, this new tracking method enables researchers to observe both directed motion and undirected movement (i.e., in which the mitochondrion moves randomly within a small region, following a sub-diffusive motion). This method significantly improves our ability to analyze the movement of mitochondria and sheds light on the dynamic features of mitochondrial movement. Copyright © 2017 Elsevier Inc. All rights reserved.

  17. Real-time three-dimensional speckle tracking echocardiography: technical aspects and clinical applications

    Directory of Open Access Journals (Sweden)

    Sorrentino R

    2016-11-01

    Full Text Available Regina Sorrentino, Roberta Esposito, Enrica Pezzullo, Maurizio Galderisi Department of Advanced Biomedical Sciences, Interdepartmental Laboratory of Cardiac Imaging, Federico II University Hospital, Naples, Italy Abstract: Three-dimensional speckle tracking echocardiography (3D STE is a novel technique for the quantification of cardiac deformation based on tracking of ultrasonic speckles in gray scale full-volume 3D images. Developments in ultrasound technologies have made 3D speckle tracking widely available. Two-dimensional echocardiography has intrinsic limitations regarding estimation of left ventricular (LV volumes, ejection fraction, and LV mechanics, due to its inherent foreshortening errors and dependency on geometric models. The development of 3D echocardiography has improved reproducibility and accuracy. Data regarding the feasibility, accuracy, and clinical applications of 3D STE are rapidly assembling. From the tracking results, 3D STE derives several parameters, including longitudinal, circumferential and radial strain, as well as a combined assessment of longitudinal and circumferential strain, termed area strain. 3D STE can also quantify LV rotational movements such as rotation, twist, and torsion. 3D STE provides a better insight on global and regional myocardial deformation. Main applications include detection of subclinical myocardial involvement in heart failure, arterial hypertension, dyssynchrony, and ischemic heart disease. Emerging areas of application include a large spectrum of heart-involving systemic conditions, such as prediction of rejection in heart transplant patients, early detection of cardiotoxicity in patients receiving chemotherapy for cancer, and deeper physiological understanding of LV contraction mechanics in different types of athletes. Aim of this review is to discuss background, technical acquisition and processing aspects as well as recognized and developing clinical applications of this emerging

  18. Covert Attention Tracking: Towards Two-Dimensional Real-Time Recordings

    OpenAIRE

    Gregori Grgic, Regina; de'Sperati, Claudio

    2016-01-01

    Achieving attention tracking as easily as recording eye movements is still beyond reach. However, by exploiting Steady-State Visual Evoked Potentials (SSVEPs) we could recently record in a satisfactory way the horizontal trajectory of covert visuospatial attention in single trials, both when attending target motion and during mental motion extrapolation. Here we show that, despite the different cortical functional architecture for horizontal and vertical motion processing, the same result is ...

  19. Tracking nautical objects in real-time via layered saliency detection

    Science.gov (United States)

    Dawkins, Matthew; Sun, Zhaohui; Basharat, Arslan; Perera, Amitha; Hoogs, Anthony

    2014-06-01

    Traditional motion-based trackers often fail in maritime environments due to a lack of image features to help stabilize video. In this paper, we describe a computationally efficient approach which automatically detects, tracks and classifies different objects within aerial full motion video (FMV) sequences in the maritime domain. A multi-layered saliency detector is utilized to first remove any image regions likely belonging to background categories (ie, calm water) followed-by progressively pruning out distractor categories such as wake, debris, and reflection. This pruning stage combines features generated at the level of each individual pixel, with 2D descriptors formulated around the outputs of prior stages grouped into connected components. Additional false positive reduction is performed via aggregating detector outputs across multiple frames, by formulating object tracks from these detections and, lastly, by classifying the resultant tracks using machine learning techniques. As a by-product, our system also produces image descriptors specific to each individual object, which are useful in later pipeline elements for appearance-based indexing and matching.

  20. A robotic approach to 4D real-time tumor tracking for radiotherapy

    International Nuclear Information System (INIS)

    Buzurovic, I; Yu, Y; Huang, K; Podder, T K

    2011-01-01

    Respiratory and cardiac motions induce displacement and deformation of the tumor volumes in various internal organs. To accommodate this undesired movement and other errors, physicians incorporate a large margin around the tumor to delineate the planning target volume, so that the clinical target volume receives the prescribed radiation dose under any scenario. Consequently, a large volume of healthy tissue is irradiated and sometimes it is difficult to spare critical organs adjacent to the tumor. In this study we have proposed a novel approach to the 4D active tracking and dynamic delivery incorporating the tumor motion prediction technique. This method has been applied to the two commercially available robotic treatment couches. The proposed algorithm can predict the tumor position and the robotic systems are able to continuously track the tumor during radiation dose delivery. Therefore a precise dose is given to a moving target while the dose to the nearby critical organs is reduced to improve the patient treatment outcome. The efficacy of the proposed method has been investigated by extensive computer simulation. The tumor tracking method is simulated for two couches: HexaPOD robotic couch and ELEKTA Precise Table. The comparison results have been presented in this paper. In order to assess the clinical significance, dosimetric effects of the proposed method have been analyzed.

  1. The dosimetric impact of inversely optimized arc radiotherapy plan modulation for real-time dynamic MLC tracking delivery

    DEFF Research Database (Denmark)

    Falk, Marianne; Larsson, Tobias; Keall, P.

    2012-01-01

    of MLC tracking delivery of an inversely optimized arc radiotherapy plan can be improved by incorporating leaf position constraints in the objective function without otherwise affecting the plan quality. The dosimetric robustness may be estimated prior to delivery by evaluating the ALDw of the plan.......Purpose: Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced...... by using a leaf position constraint (LPC) that reduces the difference in the position of adjacent MLC leaves in the plan. The purpose of this study was to investigate the impact of the LPC on the quality of inversely optimized arc radiotherapy plans and the effect of the MLC motion pattern...

  2. Effect of Body Mass Index on Intrafraction Prostate Displacement Monitored by Real-Time Electromagnetic Tracking

    International Nuclear Information System (INIS)

    Butler, Wayne M.; Morris, Mallory N.; Merrick, Gregory S.; Kurko, Brian S.; Murray, Brian C.

    2012-01-01

    Purpose: To evaluate, using real-time monitoring of implanted radiofrequency transponders, the intrafraction prostate displacement of patients as a function of body mass index (BMI). Methods and Materials: The motions of Beacon radiofrequency transponders (Calypso Medical Technologies, Seattle, WA) implanted in the prostate glands of 66 men were monitored throughout the course of intensity modulated radiation therapy. Data were acquired at 10 Hz from setup to the end of treatment, but only the 1.7 million data points with a “beam on” tag were used in the analysis. There were 21 obese patients, with BMI ≥30 and 45 nonobese patients in the study. Results: Mean displacements were least in the left-right lateral direction (0.56 ± 0.24 mm) and approximately twice that magnitude in the superior-inferior and anterior-posterior directions. The net vector displacement was larger still, 1.95 ± 0.47 mm. Stratified by BMI cohort, the mean displacements per patient in the 3 Cartesian axes as well as the net vector for patients with BMI ≥30 were slightly less (<0.2 mm) but not significantly different than the corresponding values for patients with lower BMIs. As a surrogate for the magnitude of oscillatory noise, the standard deviation for displacements in all measured planes showed no significant differences in the prostate positional variability between the lower and higher BMI groups. Histograms of prostate displacements showed a lower frequency of large displacements in obese patients, and there were no significant differences in short-term and long-term velocity distributions. Conclusions: After patients were positioned accurately using implanted radiofrequency transponders, the intrafractional displacements in the lateral, superior-inferior, and anterior-posterior directions as well as the net vector displacements were smaller, but not significantly so, for obese men than for those with lower BMI.

  3. Real-time correction by optical tracking with integrated geometric distortion correction for reducing motion artifacts in functional MRI.

    Science.gov (United States)

    Rotenberg, David; Chiew, Mark; Ranieri, Shawn; Tam, Fred; Chopra, Rajiv; Graham, Simon J

    2013-03-01

    Head motion artifacts are a major problem in functional MRI that limit its use in neuroscience research and clinical settings. Real-time scan-plane correction by optical tracking has been shown to correct slice misalignment and nonlinear spin-history artifacts; however, residual artifacts due to dynamic magnetic field nonuniformity may remain in the data. A recently developed correction technique, Phase Labeling for Additional Coordinate Encoding, can correct for absolute geometric distortion using only the complex image data from two echo planar images with slightly shifted k-space trajectories. An approach is presented that integrates Phase Labeling for Additional Coordinate Encoding into a real-time scan-plane update system by optical tracking, applied to a tissue-equivalent phantom undergoing complex motion and an functional MRI finger tapping experiment with overt head motion to induce dynamic field nonuniformity. Experiments suggest that such integrated volume-by-volume corrections are very effective at artifact suppression, with potential to expand functional MRI applications. Copyright © 2012 Wiley Periodicals, Inc.

  4. Stereotactic radiotherapy with real-time tumor tracking for non-small cell lung cancer: Clinical outcome

    International Nuclear Information System (INIS)

    Voort van Zyp, Noelle C. van der; Prevost, Jean-Briac; Hoogeman, Mischa S.; Praag, John; Holt, Bronno van der; Levendag, Peter C.; Klaveren, Robertus J. van; Pattynama, Peter; Nuyttens, Joost J.

    2009-01-01

    Purpose: To report the clinical outcome of treatment using real-time tumor tracking for 70 patients with inoperable stage I non-small cell lung cancer (NSCLC). Materials and methods: Seventy inoperable patients with peripherally located early-stage NSCLC were treated with 45 or 60 Gy in three fractions using CyberKnife. Pathology was available in 51% of patients. Thirty-nine patients had a T1-tumor and 31 had a T2-tumor. Markers were placed using the vascular, percutaneous intra-, or extra-pulmonary approach, depending on the risk of pneumothorax. Results: The actuarial 2-year local control rate for patients treated with 60 Gy was 96%, compared to 78% for patients treated with a total dose of 45 Gy (p = 0.197). All local recurrences (n = 4) occurred in patients with T2-tumors. Overall survival for the whole group at two years was 62% and the cause specific survival was 85%. The median follow-up was 15 months. Grade 3 toxicity occurred in two patients (3%) after marker placement. Treatment-related late grade 3 toxicity occurred in 7 patients (10%). No grade ≥4 toxicity occurred. Conclusion: Excellent local control of 96% at 1- and 2-years was achieved using 60 Gy in three fractions for NSCLC patients treated with the real-time tumor tracking. Toxicity was low.

  5. FTK: A Hardware Real-Time Track Finder for the ATLAS Trigger System

    CERN Document Server

    ATLAS Collaboration; The ATLAS collaboration

    2016-01-01

    An overview of the ATLAS Fast Tracker processor will be presented, reporting the design of the system, its expected performance, and the current integration status. The Fast TracKer is an upgrade of the trigger system at the ATLAS experiment. This system is designed to lower the event rate from the proton-proton collisions occurring at 40 MHz to about 1 kHz for the expected LHC luminosity (2x1034cm-2s-1). To achieve this selection rate an intensive use of particle tracking must be exploited. For such a demanding application a dedicated hardware tracker was designed, the Fast TracKer processor. To achieve the required performance Fast TracKer uses a combination of custom designed VLSI chips and latest generation FPGAs, all embedded in custom designed boards, exploiting a fully parallel architecture. Fast TracKer provides track reconstruction based on the full silicon (inner) detector with resolution comparable to the offline reconstruction with a latency of approximately 100μs.

  6. Real-time 3D motion tracking for small animal brain PET

    Science.gov (United States)

    Kyme, A. Z.; Zhou, V. W.; Meikle, S. R.; Fulton, R. R.

    2008-05-01

    High-resolution positron emission tomography (PET) imaging of conscious, unrestrained laboratory animals presents many challenges. Some form of motion correction will normally be necessary to avoid motion artefacts in the reconstruction. The aim of the current work was to develop and evaluate a motion tracking system potentially suitable for use in small animal PET. This system is based on the commercially available stereo-optical MicronTracker S60 which we have integrated with a Siemens Focus-220 microPET scanner. We present measured performance limits of the tracker and the technical details of our implementation, including calibration and synchronization of the system. A phantom study demonstrating motion tracking and correction was also performed. The system can be calibrated with sub-millimetre accuracy, and small lightweight markers can be constructed to provide accurate 3D motion data. A marked reduction in motion artefacts was demonstrated in the phantom study. The techniques and results described here represent a step towards a practical method for rigid-body motion correction in small animal PET. There is scope to achieve further improvements in the accuracy of synchronization and pose measurements in future work.

  7. Real-time optical multiple object recognition and tracking system and method

    Science.gov (United States)

    Chao, Tien-Hsin (Inventor); Liu, Hua-Kuang (Inventor)

    1990-01-01

    System for optically recognizing and tracking a plurality of objects within a field of vision. Laser (46) produces a coherent beam (48). Beam splitter (24) splits the beam into object (26) and reference (28) beams. Beam expanders (50) and collimators (52) transform the beams (26, 28) into coherent collimated light beams (26', 28'). A two-dimensional SLM (54), disposed in the object beam (26'), modulates the object beam with optical information as a function of signals from a first camera (16) which develops X and Y signals reflecting the contents of its field of vision. A hololens (38), positioned in the object beam (26') subsequent to the modulator (54), focuses the object beam at a plurality of focal points (42). A planar transparency-forming film (32), disposed with the focal points on an exposable surface, forms a multiple position interference filter (62) upon exposure of the surface and development processing of the film (32). A reflector (53) directing the reference beam (28') onto the film (32), exposes the surface, with images focused by the hololens (38), to form interference patterns on the surface. There is apparatus (16', 64) for sensing and indicating light passage through respective ones of the positions of the filter (62), whereby recognition of objects corresponding to respective ones of the positions of the filter (62) is affected. For tracking, apparatus (64) focuses light passing through the filter (62) onto a matrix of CCD's in a second camera (16') to form a two-dimensional display of the recognized objects.

  8. Fast Tracker : A Hardware Real Time Track Finder for the ATLAS Trigger System

    CERN Document Server

    Kimura, N; The ATLAS collaboration

    2013-01-01

    The Large Hadron Collider (LHC) after the 2013-­‐2014 shutdown period is expected to improve the yet impressive performance obtained up to this year: collisions’ energy will increase to 14 TeV and instantaneous luminosity will reach and then overcome 10^34 cm‐2s‐1, with a bunch crossing period of 25 ns. The LHC experiments will need to adapt to the more crowded events, maintaining the physics output and the quality of the final results. The pileup higher than the LHC run 1, with peaks expected to reach 50 or more, will make more difficult to have efficient online selection of rare events based mostly on calorimeters and muon detectors as it is done now. A more extensive use of the information collected by the tracking detector will allow building more robust selections, limiting the degradation effects due to the high pileup. We report on the development of the Fast Tracker (FTK) processor for the ATLAS experiment, devoted to reconstruct tracks with transverse momentum above 1 GeV in the whole detect...

  9. Real-time multisensor data fusion for target detection, classification, tracking, counting, and range estimates

    Science.gov (United States)

    Tsui, Eddy K.; Thomas, Russell L.

    2004-09-01

    As part of the Commanding General of Army Material Command's Research, Development & Engineering Command (RDECOM), the U.S. Army Research Development and Engineering Center (ARDEC), Picatinny funded a joint development effort with McQ Associates, Inc. to develop an Advanced Minefield Sensor (AMS) as a technology evaluation prototype for the Anti-Personnel Landmine Alternatives (APLA) Track III program. This effort laid the fundamental groundwork of smart sensors for detection and classification of targets, identification of combatant or noncombatant, target location and tracking at and between sensors, fusion of information across targets and sensors, and automatic situation awareness to the 1st responder. The efforts have culminated in developing a performance oriented architecture meeting the requirements of size, weight, and power (SWAP). The integrated digital signal processor (DSP) paradigm is capable of computing signals from sensor modalities to extract needed information within either a 360° or fixed field of view with acceptable false alarm rate. This paper discusses the challenges in the developments of such a sensor, focusing on achieving reasonable operating ranges, achieving low power, small size and low cost, and applications for extensions of this technology.

  10. Distributed radar network for real-time tracking of bullet trajectory

    Science.gov (United States)

    Zhang, Yimin; Li, Xin; Jin, Yuanwei; Amin, Moeness G.; Eydgahi, Ali

    2009-05-01

    Gunshot detection, sniper localization, and bullet trajectory prediction are of significant importance in military and homeland security applications. While the majority of existing work is based on acoustic and electro-optical sensors, this paper develops a framework of networked radar systems that uses distributed radar sensor networks to achieve the aforementioned objectives. The use of radio frequency radar systems allows the achievement of subtime- of-flight tracking response, enabling to response before the bullet reaches its target and, as such, effectively leading to the reduction of injuries and casualties in military and homeland security operations. The focus of this paper is to examine the MIMO radar concept with concurrent transmission of low-correlation waveforms from multiple radar sets to ensure wide surveillance coverage and maintain a high waveform repetition frequency for long coherent time interval required to achieve return signal concentration.

  11. A Real-Time Position-Locating Algorithm for CCD-Based Sunspot Tracking

    Science.gov (United States)

    Taylor, Jaime R.

    1996-01-01

    NASA Marshall Space Flight Center's (MSFC) EXperimental Vector Magnetograph (EXVM) polarimeter measures the sun's vector magnetic field. These measurements are taken to improve understanding of the sun's magnetic field in the hopes to better predict solar flares. Part of the procedure for the EXVM requires image motion stabilization over a period of a few minutes. A high speed tracker can be used to reduce image motion produced by wind loading on the EXVM, fluctuations in the atmosphere and other vibrations. The tracker consists of two elements, an image motion detector and a control system. The image motion detector determines the image movement from one frame to the next and sends an error signal to the control system. For the ground based application to reduce image motion due to atmospheric fluctuations requires an error determination at the rate of at least 100 hz. It would be desirable to have an error determination rate of 1 kHz to assure that higher rate image motion is reduced and to increase the control system stability. Two algorithms are presented that are typically used for tracking. These algorithms are examined for their applicability for tracking sunspots, specifically their accuracy if only one column and one row of CCD pixels are used. To examine the accuracy of this method two techniques are used. One involves moving a sunspot image a known distance with computer software, then applying the particular algorithm to see how accurately it determines this movement. The second technique involves using a rate table to control the object motion, then applying the algorithms to see how accurately each determines the actual motion. Results from these two techniques are presented.

  12. Optimization of fluoroscopy parameters using pattern matching prediction in the real-time tumor-tracking radiotherapy system.

    Science.gov (United States)

    Miyamoto, Naoki; Ishikawa, Masayori; Bengua, Gerard; Sutherland, Kenneth; Suzuki, Ryusuke; Kimura, Suguru; Shimizu, Shinichi; Onimaru, Rikiya; Shirato, Hiroki

    2011-08-07

    In the real-time tumor-tracking radiotherapy system, fluoroscopy is used to determine the real-time position of internal fiducial markers. The pattern recognition score (PRS) ranging from 0 to 100 is computed by a template pattern matching technique in order to determine the marker position on the fluoroscopic image. The PRS depends on the quality of the fluoroscopic image. However, the fluoroscopy parameters such as tube voltage, current and exposure duration are selected manually and empirically in the clinical situation. This may result in an unnecessary imaging dose from the fluoroscopy or loss of the marker because of too much or insufficient x-ray exposure. In this study, a novel optimization method is proposed in order to minimize the fluoroscopic dose while keeping the image quality usable for marker tracking. The PRS can be predicted in a region where the marker appears to move in the fluoroscopic image by the proposed method. The predicted PRS can be utilized to judge whether the marker can be tracked with accuracy. In this paper, experiments were performed to show the feasibility of the PRS prediction method under various conditions. The predicted PRS showed good agreement with the measured PRS. The root mean square error between the predicted PRS and the measured PRS was within 1.44. An experiment using a motion controller and an anthropomorphic chest phantom was also performed in order to imitate a clinical fluoroscopy situation. The result shows that the proposed prediction method is expected to be applicable in a real clinical situation.

  13. Online dose reconstruction for tracked volumetric arc therapy: Real-time implementation and offline quality assurance for prostate SBRT.

    Science.gov (United States)

    Kamerling, Cornelis Ph; Fast, Martin F; Ziegenhein, Peter; Menten, Martin J; Nill, Simeon; Oelfke, Uwe

    2017-11-01

    Firstly, this study provides a real-time implementation of online dose reconstruction for tracked volumetric arc therapy (VMAT). Secondly, this study describes a novel offline quality assurance tool, based on commercial dose calculation algorithms. Online dose reconstruction for VMAT is a computationally challenging task in terms of computer memory usage and calculation speed. To potentially reduce the amount of memory used, we analyzed the impact of beam angle sampling for dose calculation on the accuracy of the dose distribution. To establish the performance of the method, we planned two single-arc VMAT prostate stereotactic body radiation therapy cases for delivery with dynamic MLC tracking. For quality assurance of our online dose reconstruction method we have also developed a stand-alone offline dose reconstruction tool, which utilizes the RayStation treatment planning system to calculate dose. For the online reconstructed dose distributions of the tracked deliveries, we could establish strong resemblance for 72 and 36 beam co-planar equidistant beam samples with less than 1.2% deviation for the assessed dose-volume indicators (clinical target volume D98 and D2, and rectum D2). We could achieve average runtimes of 28-31 ms per reported MLC aperture for both dose computation and accumulation, meeting our real-time requirement. To cross-validate the offline tool, we have compared the planned dose to the offline reconstructed dose for static deliveries and found excellent agreement (3%/3 mm global gamma passing rates of 99.8%-100%). Being able to reconstruct dose during delivery enables online quality assurance and online replanning strategies for VMAT. The offline quality assurance tool provides the means to validate novel online dose reconstruction applications using a commercial dose calculation engine. © 2017 The Authors. Medical Physics published by Wiley Periodicals, Inc. on behalf of American Association of Physicists in Medicine.

  14. Study on large scale knowledge base with real time operation for autonomous nuclear power plant. 1. Basic concept and expecting performance

    International Nuclear Information System (INIS)

    Ozaki, Yoshihiko; Suda, Kazunori; Yoshikawa, Shinji; Ozawa, Kenji

    1996-04-01

    Since it is desired to enhance availability and safety of nuclear power plants operation and maintenance by removing human factor, there are many researches and developments for intelligent operation or diagnosis using artificial intelligence (AI) technique. We have been developing an autonomous operation and maintenance system for nuclear power plants by substituting AI's and intelligent robots. It is indispensable to use various and large scale knowledge relative to plant design, operation, and maintenance, that is, whole life cycle data of the plant for the autonomous nuclear power plant. These knowledge must be given to AI system or intelligent robots adequately and opportunely. Moreover, it is necessary to insure real time operation using the large scale knowledge base for plant control and diagnosis performance. We have been studying on the large scale and real time knowledge base system for autonomous plant. In the report, we would like to present the basic concept and expecting performance of the knowledge base for autonomous plant, especially, autonomous control and diagnosis system. (author)

  15. Autonomous Multicamera Tracking on Embedded Smart Cameras

    Directory of Open Access Journals (Sweden)

    Bischof Horst

    2007-01-01

    Full Text Available There is currently a strong trend towards the deployment of advanced computer vision methods on embedded systems. This deployment is very challenging since embedded platforms often provide limited resources such as computing performance, memory, and power. In this paper we present a multicamera tracking method on distributed, embedded smart cameras. Smart cameras combine video sensing, processing, and communication on a single embedded device which is equipped with a multiprocessor computation and communication infrastructure. Our multicamera tracking approach focuses on a fully decentralized handover procedure between adjacent cameras. The basic idea is to initiate a single tracking instance in the multicamera system for each object of interest. The tracker follows the supervised object over the camera network, migrating to the camera which observes the object. Thus, no central coordination is required resulting in an autonomous and scalable tracking approach. We have fully implemented this novel multicamera tracking approach on our embedded smart cameras. Tracking is achieved by the well-known CamShift algorithm; the handover procedure is realized using a mobile agent system available on the smart camera network. Our approach has been successfully evaluated on tracking persons at our campus.

  16. A Novel Real-Time Coal Miner Localization and Tracking System Based on Self-Organized Sensor Networks

    Directory of Open Access Journals (Sweden)

    Wang Yang

    2010-01-01

    Full Text Available With the development of information technology, we envision that the key of improving coal mine safety is how to get real-time positions of miners. In this paper, we propose a prototype system for real-time coal miner localization and tracking based on self-organized sensor networks. The system is composed of hardware and software platform. We develop a set of localization hardware devices with the Safety Certificate of Approval for Mining Products include miner node, wired fixed access station, and base with optical port. On the software side, we develop a layered software architecture of node application, server management, and information dissemination and broadcasting. We also develop three key localization technologies: an underground localization algorithm using received signal strength indication- (RSSI- verifying algorithm to reduce the influence of the severe environment in a coal mine; a robust fault-tolerant localization mechanism to improve the inherent defect of instability of RSSI localization; an accurate localization algorithm based on Monte Carlo localization (MCL to adapt to the underground tunnel structure. In addition, we conduct an experimental evaluation based on a real prototype implementation using MICA2 motes. The results show that our system is more accurate and more adaptive in general than traditional localization algorithms.

  17. Single-Camera Closed-Form Real-Time Needle Tracking for Ultrasound-Guided Needle Insertion.

    Science.gov (United States)

    Najafi, Mohammad; Abolmaesumi, Purang; Rohling, Robert

    2015-10-01

    Many common needle intervention procedures are performed with ultrasound guidance because it is a flexible, cost-effective and widely available intra-operative imaging modality. In a needle insertion procedure with ultrasound guidance, real-time calculation and visualization of the needle trajectory can help to guide the choice of puncture site and needle angle to reach the target depicted in the ultrasound image. We found that it is feasible to calculate the needle trajectory with a single camera mounted directly on the ultrasound transducer by using the needle markings. Higher accuracy is achieved compared with other similar transducer-mounted needle trackers. We used an inexpensive, real-time and easy-to-use tracking method based on an automatic feature extraction algorithm and a closed-form method for pose estimation of the needle. The overall accuracy was 0.94 ± 0.46 mm. Copyright © 2015 World Federation for Ultrasound in Medicine & Biology. Published by Elsevier Inc. All rights reserved.

  18. A Low-Power High-Speed Spintronics-Based Neuromorphic Computing System Using Real Time Tracking Method

    DEFF Research Database (Denmark)

    Farkhani, Hooman; Tohidi, Mohammad; Farkhani, Sadaf

    2018-01-01

    of such NCSs. Moreover, current NCSs need an extra phase to read the MTJ state after stimulation which is in contrast with real neuron functionality in human body. In this paper, the read circuit is replaced with a proposed real-time sensing (RTS) circuit. The RTS circuit tracks the MTJ state during...... stimulation phase. As soon as switching happens, the RTS circuit terminates the MTJ current and stimulates the post neuron. Hence, the RTS circuit not only improves the energy consumption and speed, but also makes the operation of NCS similar to real neuron functionality. The simulation results in 65-nm CMOS...... technology confirm that the energy consumption and speed of the proposed RTS-based NCS are improved at least by 40% and 2.22X compared with a typical NCS, respectively. Finally, utilizing the RTS-based NCS in image processing applications such as character recognition and edge detection can lead to 90...

  19. Radical stereotactic radiosurgery with real-time tumor motion tracking in the treatment of small peripheral lung tumors

    Directory of Open Access Journals (Sweden)

    Chang Thomas

    2007-10-01

    Full Text Available Abstract Background Recent developments in radiotherapeutic technology have resulted in a new approach to treating patients with localized lung cancer. We report preliminary clinical outcomes using stereotactic radiosurgery with real-time tumor motion tracking to treat small peripheral lung tumors. Methods Eligible patients were treated over a 24-month period and followed for a minimum of 6 months. Fiducials (3–5 were placed in or near tumors under CT-guidance. Non-isocentric treatment plans with 5-mm margins were generated. Patients received 45–60 Gy in 3 equal fractions delivered in less than 2 weeks. CT imaging and routine pulmonary function tests were completed at 3, 6, 12, 18, 24 and 30 months. Results Twenty-four consecutive patients were treated, 15 with stage I lung cancer and 9 with single lung metastases. Pneumothorax was a complication of fiducial placement in 7 patients, requiring tube thoracostomy in 4. All patients completed radiation treatment with minimal discomfort, few acute side effects and no procedure-related mortalities. Following treatment transient chest wall discomfort, typically lasting several weeks, developed in 7 of 11 patients with lesions within 5 mm of the pleura. Grade III pneumonitis was seen in 2 patients, one with prior conventional thoracic irradiation and the other treated with concurrent Gefitinib. A small statistically significant decline in the mean % predicted DLCO was observed at 6 and 12 months. All tumors responded to treatment at 3 months and local failure was seen in only 2 single metastases. There have been no regional lymph node recurrences. At a median follow-up of 12 months, the crude survival rate is 83%, with 3 deaths due to co-morbidities and 1 secondary to metastatic disease. Conclusion Radical stereotactic radiosurgery with real-time tumor motion tracking is a promising well-tolerated treatment option for small peripheral lung tumors.

  20. Radical stereotactic radiosurgery with real-time tumor motion tracking in the treatment of small peripheral lung tumors

    International Nuclear Information System (INIS)

    Collins, Brian T; Levy, Elliot; Chang, Thomas; Jamis-Dow, Carlos; Banovac, Filip; Anderson, Eric D; Erickson, Kelly; Reichner, Cristina A; Collins, Sean P; Gagnon, Gregory J; Dieterich, Sonja; McRae, Don A; Zhang, Ying; Yousefi, Shadi

    2007-01-01

    Recent developments in radiotherapeutic technology have resulted in a new approach to treating patients with localized lung cancer. We report preliminary clinical outcomes using stereotactic radiosurgery with real-time tumor motion tracking to treat small peripheral lung tumors. Eligible patients were treated over a 24-month period and followed for a minimum of 6 months. Fiducials (3–5) were placed in or near tumors under CT-guidance. Non-isocentric treatment plans with 5-mm margins were generated. Patients received 45–60 Gy in 3 equal fractions delivered in less than 2 weeks. CT imaging and routine pulmonary function tests were completed at 3, 6, 12, 18, 24 and 30 months. Twenty-four consecutive patients were treated, 15 with stage I lung cancer and 9 with single lung metastases. Pneumothorax was a complication of fiducial placement in 7 patients, requiring tube thoracostomy in 4. All patients completed radiation treatment with minimal discomfort, few acute side effects and no procedure-related mortalities. Following treatment transient chest wall discomfort, typically lasting several weeks, developed in 7 of 11 patients with lesions within 5 mm of the pleura. Grade III pneumonitis was seen in 2 patients, one with prior conventional thoracic irradiation and the other treated with concurrent Gefitinib. A small statistically significant decline in the mean % predicted DLCO was observed at 6 and 12 months. All tumors responded to treatment at 3 months and local failure was seen in only 2 single metastases. There have been no regional lymph node recurrences. At a median follow-up of 12 months, the crude survival rate is 83%, with 3 deaths due to co-morbidities and 1 secondary to metastatic disease. Radical stereotactic radiosurgery with real-time tumor motion tracking is a promising well-tolerated treatment option for small peripheral lung tumors

  1. WE-G-BRD-03: Development of a Real-Time Optical Tracking Goggle System (OTGS) for Intracranial Stereotactic Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Mittauer, K; Yan, G; Lu, B; Barraclough, B; Li, J; Liu, C [University of Florida, Gainesville, FL (United States)

    2014-06-15

    Purpose: Optical tracking systems (OTS) are an acceptable alternative to frame-based stereotactic radiotherapy (SRT). However, current surface-based OTS lack the ability to target exclusively rigid/bony anatomical features. We propose a novel marker-based optical tracking goggle system (OTGS) that provides real-time guidance based on the nose/facial bony anatomy. This ongoing study involves the development and characterization of the OTGS for clinical implementation in intracranial stereotactic radiotherapy. Methods: The OTGS consists of eye goggles, a custom thermoplastic nosepiece, and 6 infrared markers pre-attached to the goggles. A phantom and four healthy volunteers were used to evaluate the calibration/registration accuracy, intrafraction accuracy, interfraction reproducibility, and end-to-end accuracy of the OTGS. The performance of the OTGS was compared with that of the frameless SonArray system and cone-beam computed tomography (CBCT) for volunteer and phantom cases, respectively. The performance of the OTGS with commercial immobilization devices and under treatment conditions (i.e., couch rotation and translation range) was also evaluated. Results: The difference in the calibration/registration accuracy of 24 translations or rotation combinations between CBCT and in-house OTS software was within 0.5 mm/0.4°. The mean intrafraction and interfraction accuracy among the volunteers was 0.004+/−0.4mm with −0.09+/−0.5° (n=6,170) and −0.26+/−0.8mm with 0.15+/0.8° (n=11), respectively. The difference in end-to-end accuracy between the OTGS and CBCT was within 1.3 mm/1.1°. The predetermined marker pattern (1) minimized marker occlusions, (2) allowed for continuous tracking for couch angles +/− 90°, (3) and eliminated individual marker misplacement. The device was feasible with open and half masks for immobilization. Conclusion: Bony anatomical localization eliminated potential errors due to facial hair changes and/or soft tissue deformation. The

  2. Real-time image-processing algorithm for markerless tumour tracking using X-ray fluoroscopic imaging.

    Science.gov (United States)

    Mori, S

    2014-05-01

    To ensure accuracy in respiratory-gating treatment, X-ray fluoroscopic imaging is used to detect tumour position in real time. Detection accuracy is strongly dependent on image quality, particularly positional differences between the patient and treatment couch. We developed a new algorithm to improve the quality of images obtained in X-ray fluoroscopic imaging and report the preliminary results. Two oblique X-ray fluoroscopic images were acquired using a dynamic flat panel detector (DFPD) for two patients with lung cancer. The weighting factor was applied to the DFPD image in respective columns, because most anatomical structures, as well as the treatment couch and port cover edge, were aligned in the superior-inferior direction when the patient lay on the treatment couch. The weighting factors for the respective columns were varied until the standard deviation of the pixel values within the image region was minimized. Once the weighting factors were calculated, the quality of the DFPD image was improved by applying the factors to multiframe images. Applying the image-processing algorithm produced substantial improvement in the quality of images, and the image contrast was increased. The treatment couch and irradiation port edge, which were not related to a patient's position, were removed. The average image-processing time was 1.1 ms, showing that this fast image processing can be applied to real-time tumour-tracking systems. These findings indicate that this image-processing algorithm improves the image quality in patients with lung cancer and successfully removes objects not related to the patient. Our image-processing algorithm might be useful in improving gated-treatment accuracy.

  3. CNR considerations for rapid real-time MRI tumor tracking in radiotherapy hybrid devices: Effects of B0 field strength

    International Nuclear Information System (INIS)

    Wachowicz, K.; De Zanche, N.; Yip, E.; Volotovskyy, V.; Fallone, B. G.

    2016-01-01

    Purpose: This work examines the subject of contrast-to-noise ratio (CNR), specifically between tumor and tissue background, and its dependence on the MRI field strength, B 0 . This examination is motivated by the recent interest and developments in MRI/radiotherapy hybrids where real-time imaging can be used to guide treatment beams. The ability to distinguish a tumor from background tissue is of primary importance in this field, and this work seeks to elucidate the complex relationship between the CNR and B 0 that is too often assumed to be purely linear. Methods: Experimentally based models of B 0 -dependant relaxation for various tumor and normal tissues from the literature were used in conjunction with signal equations for MR sequences suitable for rapid real-time imaging to develop field-dependent predictions for CNR. These CNR models were developed for liver, lung, breast, glioma, and kidney tumors for spoiled gradient-echo, balanced steady-state free precession (bSSFP), and single-shot half-Fourier fast spin echo sequences. Results: Due to the pattern in which the relaxation properties of tissues are found to vary over B 0 field (specifically the T 1 time), there was always an improved CNR at lower fields compared to linear dependency. Further, in some tumor sites, the CNR at lower fields was found to be comparable to, or sometimes higher than those at higher fields (i.e., bSSFP CNR for glioma, kidney, and liver tumors). Conclusions: In terms of CNR, lower B 0 fields have been shown to perform as well or better than higher fields for some tumor sites due to superior T 1 contrast. In other sites this effect was less pronounced, reversing the CNR advantage. This complex relationship between CNR and B 0 reveals both low and high magnetic fields as viable options for tumor tracking in MRI/radiotherapy hybrids.

  4. Robotic Autonomous Navigation and Orientation Tracking System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — To address the NASA Johnson Space Center (JSC) needs for improved robotic platform navigation and real-time position and orientation tracking on the...

  5. Development of an autonomous target tracking system

    Science.gov (United States)

    Gidda, Venkata Ramaiah

    In recent years, surveillance and border patrol have become one of the key research areas in UAV research. Increase in the computational capability of the computers and embedded electronics, coupled with compatibility of various commercial vision algorithms and commercial off the shelf (COTS) embedded electronics, and has further fuelled the research. The basic task in these applications is perception of environment through the available visual sensors like camera. Visual tracking, as the name implies, is tracking of objects using a camera. The process of autonomous target tracking starts with the selection of the target in a sequence of video frames transmitted from the on-board camera. We use an improved fast dynamic template matching algorithm coupled with Kalman Filter to track the selected target in consecutive video frames. The selected target is saved as a reference template. On the ground station computer, the reference template is overlaid on the live streaming video from the on-board system, starting from the upper left corner of the video frame. The template is slid pixel by pixel over the entire source image. A comparison of the pixels is performed between the template and source image. A confidence value R of the match is calculated at each pixel. Based on the method used to perform the template matching, the best match pixel location is found according to the highest or lowest confidence value R. The best match pixel location is communicated to the on-board gimbal controller over the wireless Xbee network. The software on the controller actuates the pan-tilt servos to continuously to hold the selected target at the center of the video frame. The complete system is a portable control system assembled from commercial off the shelf parts. The tracking system is tested on a target having several motion patterns.

  6. Development of real-time quantitative polymerase chain reaction assays to track treatment response in retinoid resistant acute promyelocytic leukemia

    Directory of Open Access Journals (Sweden)

    Jelena V Jovanovic

    2011-10-01

    Full Text Available Molecular detection of minimal residual disease (MRD has become established to assess remission status and guide therapy in patients with PML-RARA+ acute promyelocytic leukemia (APL. However, there are few data on tracking disease response in patients with rarer retinoid resistant subtypes of APL, characterized by PLZF-RARA and STAT5b-RARA. Despite their relative rarity (<1% of APL we identified 6 cases (PLZF-RARA, n=5; STAT5b-RARA, n=1, established the respective breakpoint junction regions and designed real-time quantitative polymerase chain reaction (RQ-PCR assays to detect leukemic transcripts. The relative level of fusion gene expression in diagnostic samples was comparable to that observed in t(15;17-associated APL, affording assay sensitivities of ~1 in 104-105. Serial samples were available from 2 PLZF-RARA APL patients. One showed persistent PCR positivity, predicting subsequent relapse, and remains in CR2, ~11 years post-autograft. The other, achieved molecular remission (CRm with combination chemotherapy, remaining in CR1 at 6 years. The STAT5b-RARA patient failed to achieve CRm following frontline combination chemotherapy and ultimately proceeded to allogeneic transplant on the basis of a steadily rising fusion transcript level. These data highlight the potential of RQ-PCR detection of MRD to facilitate development of more individualized approaches to the management of rarer molecularly-defined subsets of acute leukemia.

  7. Magnetic marker monitoring: high resolution real-time tracking of oral solid dosage forms in the gastrointestinal tract.

    Science.gov (United States)

    Weitschies, Werner; Blume, Henning; Mönnikes, Hubert

    2010-01-01

    Knowledge about the performance of dosage forms in the gastrointestinal tract is essential for the development of new oral delivery systems, as well as for the choice of the optimal formulation technology. Magnetic Marker Monitoring (MMM) is an imaging technology for the investigation of the behaviour of solid oral dosage forms within the gastrointestinal tract, which is based on the labelling of solid dosage forms as a magnetic dipole and determination of the location, orientation and strength of the dipole after oral administration using measurement equipment and localization methods that are established in biomagnetism. MMM enables the investigation of the performance of solid dosage forms in the gastrointestinal tract with a temporal resolution in the range of a few milliseconds and a spatial resolution in 3D in the range of some millimetres. Thereby, MMM provides real-time tracking of dosage forms in the gastrointestinal tract. MMM is also suitable for the determination of dosage form disintegration and for quantitative measurement of in vivo drug release in case of appropriate extended release dosage forms like hydrogel-forming matrix tablets. The combination of MMM with pharmacokinetic measurements (pharmacomagnetography) enables the determination of in vitro-in vivo correlations (IVIC) and the delineation of absorption sites in the gastrointestinal tract. Copyright 2009 Elsevier B.V. All rights reserved.

  8. Novel real-time alignment and calibration of LHCb detector for Run II and tracking for the upgrade.

    CERN Document Server

    AUTHOR|(CDS)2091576

    2016-01-01

    LHCb has introduced a novel real-time detector alignment and calibration strategy for LHC Run II. Data collected at the start of the fill is processed in a few minutes and used to update the alignment, while the calibration constants are evaluated for each run. The procedure aims to improve the quality of the online selection and performance stability. The required computing time constraints are met thanks to a new dedicated framework using the multi-core farm infrastructure for the trigger. A similar scheme is planned to be used for Run III foreseen to start in 2020. At that time LHCb will run at an instantaneous luminosity of $2 \\times 10^{33}$ cm$^2$ s$^1$ and a fully software based trigger strategy will be used. The new running conditions and the tighter timing constraints in the software trigger (only 13 ms per event are available) represent a big challenge for track reconstruction. The new software based trigger strategy implies a full detector read-out at the collision rate of 40 MHz. High performance ...

  9. Development of a lower limb rehabilitation exoskeleton based on real-time gait detection and gait tracking

    Directory of Open Access Journals (Sweden)

    Chao Zhang

    2016-01-01

    Full Text Available Hemiplegia, apoplexia, or traffic accidents often lead to unilateral lower limb movement disorders. Traditional lower limb rehabilitation equipments usually execute walk training based on fixed gait trajectory; however, this type is unsuitable for unilateral lower limb disorders because they still have athletic ability and initiative walking intention on the healthy side. This article describes a wearable lower limb rehabilitation exoskeleton with a walk-assisting platform for safety and anti-gravity support. The exoskeleton detects and tracks the motion of the healthy leg, which is then used as the control input of the dyskinetic leg with half a gate-cycle delay. The patient can undergo walk training on his own intention, including individual walking habit, stride length, and stride frequency, which likely contribute to the training initiative. The series elastic actuator is chosen for the exoskeleton because the torque output can be accurately detected and used to calculate the assisted torque on the dyskinetic leg. This parameter corresponds to the recovery level of a patient’s muscle force. Finally, the walk-assisting experiments reveal that the rehabilitation exoskeleton in this article can provide the necessary assisting torques on the dyskinetic leg, which can be accurately monitored in real time to evaluate a patient’s rehabilitation status.

  10. Adaptive radiation therapy for postprostatectomy patients using real-time electromagnetic target motion tracking during external beam radiation therapy.

    Science.gov (United States)

    Zhu, Mingyao; Bharat, Shyam; Michalski, Jeff M; Gay, Hiram A; Hou, Wei-Hsien; Parikh, Parag J

    2013-03-15

    Using real-time electromagnetic (EM) transponder tracking data recorded by the Calypso 4D Localization System, we report inter- and intrafractional target motion of the prostate bed, describe a strategy to evaluate treatment adequacy in postprostatectomy patients receiving intensity modulated radiation therapy (IMRT), and propose an adaptive workflow. Tracking data recorded by Calypso EM transponders was analyzed for postprostatectomy patients that underwent step-and-shoot IMRT. Rigid target motion parameters during beam delivery were calculated from recorded transponder positions in 16 patients with rigid transponder geometry. The delivered doses to the clinical target volume (CTV) were estimated from the planned dose matrix and the target motion for the first 3, 5, 10, and all fractions. Treatment adequacy was determined by comparing the delivered minimum dose (Dmin) with the planned Dmin to the CTV. Treatments were considered adequate if the delivered CTV Dmin is at least 95% of the planned CTV Dmin. Translational target motion was minimal for all 16 patients (mean: 0.02 cm; range: -0.12 cm to 0.07 cm). Rotational motion was patient-specific, and maximum pitch, yaw, and roll were 12.2, 4.1, and 10.5°, respectively. We observed inadequate treatments in 5 patients. In these treatments, we observed greater target rotations along with large distances between the CTV centroid and transponder centroid. The treatment adequacy from the initial 10 fractions successfully predicted the overall adequacy in 4 of 5 inadequate treatments and 10 of 11 adequate treatments. Target rotational motion could cause underdosage to partial volume of the postprostatectomy targets. Our adaptive treatment strategy is applicable to post-prostatectomy patients receiving IMRT to evaluate and improve radiation therapy delivery. Copyright © 2013 Elsevier Inc. All rights reserved.

  11. Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

    Science.gov (United States)

    Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

    2014-11-18

    This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

  12. EyeFrame: Real-time memory aid improves human multitasking via domain-general eye tracking procedures

    Directory of Open Access Journals (Sweden)

    P. eTaylor

    2015-09-01

    Full Text Available OBJECTIVE: We developed an extensively general closed-loop system to improve human interaction in various multitasking scenarios, with semi-autonomous agents, processes, and robots. BACKGROUND: Much technology is converging toward semi-independent processes with intermittent human supervision distributed over multiple computerized agents. Human operators multitask notoriously poorly, in part due to cognitive load and limited working memory. To multitask optimally, users must remember task order, e.g., the most neglected task, since longer times not monitoring an element indicates greater probability of need for user input. The secondary task of monitoring attention history over multiple spatial tasks requires similar cognitive resources as primary tasks themselves. Humans can not reliably make more than ~2 decisions/s. METHODS: Participants managed a range of 4-10 semi-autonomous agents performing rescue tasks. To optimize monitoring and controlling multiple agents, we created an automated short term memory aid, providing visual cues from users' gaze history. Cues indicated when and where to look next, and were derived from an inverse of eye fixation recency. RESULTS: Contingent eye tracking algorithms drastically improved operator performance, increasing multitasking capacity. The gaze aid reduced biases, and reduced cognitive load, measured by smaller pupil dilation. CONCLUSIONS: Our eye aid likely helped by delegating short-term memory to the computer, and by reducing decision making load. Past studies used eye position for gaze-aware control and interactive updating of displays in application-specific scenarios, but ours is the first to successfully implement domain-general algorithms. Procedures should generalize well to: process control, factory operations, robot control, surveillance, aviation, air traffic control, driving, military, mobile search and rescue, and many tasks where probability of utility is predicted by duration since last

  13. Real-Time Localization of Moving Dipole Sources for Tracking Multiple Free-Swimming Weakly Electric Fish.

    Directory of Open Access Journals (Sweden)

    James Jaeyoon Jun

    Full Text Available In order to survive, animals must quickly and accurately locate prey, predators, and conspecifics using the signals they generate. The signal source location can be estimated using multiple detectors and the inverse relationship between the received signal intensity (RSI and the distance, but difficulty of the source localization increases if there is an additional dependence on the orientation of a signal source. In such cases, the signal source could be approximated as an ideal dipole for simplification. Based on a theoretical model, the RSI can be directly predicted from a known dipole location; but estimating a dipole location from RSIs has no direct analytical solution. Here, we propose an efficient solution to the dipole localization problem by using a lookup table (LUT to store RSIs predicted by our theoretically derived dipole model at many possible dipole positions and orientations. For a given set of RSIs measured at multiple detectors, our algorithm found a dipole location having the closest matching normalized RSIs from the LUT, and further refined the location at higher resolution. Studying the natural behavior of weakly electric fish (WEF requires efficiently computing their location and the temporal pattern of their electric signals over extended periods. Our dipole localization method was successfully applied to track single or multiple freely swimming WEF in shallow water in real-time, as each fish could be closely approximated by an ideal current dipole in two dimensions. Our optimized search algorithm found the animal's positions, orientations, and tail-bending angles quickly and accurately under various conditions, without the need for calibrating individual-specific parameters. Our dipole localization method is directly applicable to studying the role of active sensing during spatial navigation, or social interactions between multiple WEF. Furthermore, our method could be extended to other application areas involving dipole

  14. Automated Real-Time Needle-Guide Tracking for Fast 3-T MR-guided Transrectal Prostate Biopsy: A Feasibility Study

    NARCIS (Netherlands)

    Zamecnik, P.; Schouten, M.G.; Krafft, A.J.; Maier, F.; Schlemmer, H.-P.; Barentsz, J.O.; Bock, M. de; Futterer, J.J.

    2014-01-01

    Purpose To assess the feasibility of automatic needle-guide tracking by using a real-time phase-only cross correlation (POCC) algorithm-based sequence for transrectal 3-T in-bore magnetic resonance (MR)-guided prostate biopsies. Materials and Methods This study was approved by the ethics review

  15. Planning Study Comparison of Real-Time Target Tracking and Four-Dimensional Inverse Planning for Managing Patient Respiratory Motion

    International Nuclear Information System (INIS)

    Zhang Peng; Hugo, Geoffrey D.; Yan Di

    2008-01-01

    Purpose: Real-time target tracking (RT-TT) and four-dimensional inverse planning (4D-IP) are two potential methods to manage respiratory target motion. In this study, we evaluated each method using the cumulative dose-volume criteria in lung cancer radiotherapy. Methods and Materials: Respiration-correlated computed tomography scans were acquired for 4 patients. Deformable image registration was applied to generate a displacement mapping for each phase image of the respiration-correlated computed tomography images. First, the dose distribution for the organs of interest obtained from an idealized RT-TT technique was evaluated, assuming perfect knowledge of organ motion and beam tracking. Inverse planning was performed on each phase image separately. The treatment dose to the organs of interest was then accumulated from the optimized plans. Second, 4D-IP was performed using the probability density function of respiratory motion. The beam arrangement, prescription dose, and objectives were consistent in both planning methods. The dose-volume and equivalent uniform dose in the target volume, lung, heart, and spinal cord were used for the evaluation. Results: The cumulative dose in the target was similar for both techniques. The equivalent uniform dose of the lung, heart, and spinal cord was 4.6 ± 2.2, 11 ± 4.4, and 11 ± 6.6 Gy for RT-TT with a 0-mm target margin, 5.2 ± 3.1, 12 ± 5.9, and 12 ± 7.8 Gy for RT-TT with a 2-mm target margin, and 5.3 ± 2.3, 11.9 ± 5.0, and 12 ± 5.6 Gy for 4D-IP, respectively. Conclusion: The results of our study have shown that 4D-IP can achieve plans similar to those achieved by RT-TT. Considering clinical implementation, 4D-IP could be a more reliable and practical method to manage patient respiration-induced motion

  16. TH-AB-202-02: Real-Time Verification and Error Detection for MLC Tracking Deliveries Using An Electronic Portal Imaging Device

    International Nuclear Information System (INIS)

    J Zwan, B; Colvill, E; Booth, J; J O’Connor, D; Keall, P; B Greer, P

    2016-01-01

    Purpose: The added complexity of the real-time adaptive multi-leaf collimator (MLC) tracking increases the likelihood of undetected MLC delivery errors. In this work we develop and test a system for real-time delivery verification and error detection for MLC tracking radiotherapy using an electronic portal imaging device (EPID). Methods: The delivery verification system relies on acquisition and real-time analysis of transit EPID image frames acquired at 8.41 fps. In-house software was developed to extract the MLC positions from each image frame. Three comparison metrics were used to verify the MLC positions in real-time: (1) field size, (2) field location and, (3) field shape. The delivery verification system was tested for 8 VMAT MLC tracking deliveries (4 prostate and 4 lung) where real patient target motion was reproduced using a Hexamotion motion stage and a Calypso system. Sensitivity and detection delay was quantified for various types of MLC and system errors. Results: For both the prostate and lung test deliveries the MLC-defined field size was measured with an accuracy of 1.25 cm 2 (1 SD). The field location was measured with an accuracy of 0.6 mm and 0.8 mm (1 SD) for lung and prostate respectively. Field location errors (i.e. tracking in wrong direction) with a magnitude of 3 mm were detected within 0.4 s of occurrence in the X direction and 0.8 s in the Y direction. Systematic MLC gap errors were detected as small as 3 mm. The method was not found to be sensitive to random MLC errors and individual MLC calibration errors up to 5 mm. Conclusion: EPID imaging may be used for independent real-time verification of MLC trajectories during MLC tracking deliveries. Thresholds have been determined for error detection and the system has been shown to be sensitive to a range of delivery errors.

  17. High-accuracy and real-time 3D positioning, tracking system for medical imaging applications based on 3D digital image correlation

    Science.gov (United States)

    Xue, Yuan; Cheng, Teng; Xu, Xiaohai; Gao, Zeren; Li, Qianqian; Liu, Xiaojing; Wang, Xing; Song, Rui; Ju, Xiangyang; Zhang, Qingchuan

    2017-01-01

    This paper presents a system for positioning markers and tracking the pose of a rigid object with 6 degrees of freedom in real-time using 3D digital image correlation, with two examples for medical imaging applications. Traditional DIC method was improved to meet the requirements of the real-time by simplifying the computations of integral pixel search. Experiments were carried out and the results indicated that the new method improved the computational efficiency by about 4-10 times in comparison with the traditional DIC method. The system was aimed for orthognathic surgery navigation in order to track the maxilla segment after LeFort I osteotomy. Experiments showed noise for the static point was at the level of 10-3 mm and the measurement accuracy was 0.009 mm. The system was demonstrated on skin surface shape evaluation of a hand for finger stretching exercises, which indicated a great potential on tracking muscle and skin movements.

  18. A Real-Time High Performance Computation Architecture for Multiple Moving Target Tracking Based on Wide-Area Motion Imagery via Cloud and Graphic Processing Units

    Directory of Open Access Journals (Sweden)

    Kui Liu

    2017-02-01

    Full Text Available This paper presents the first attempt at combining Cloud with Graphic Processing Units (GPUs in a complementary manner within the framework of a real-time high performance computation architecture for the application of detecting and tracking multiple moving targets based on Wide Area Motion Imagery (WAMI. More specifically, the GPU and Cloud Moving Target Tracking (GC-MTT system applied a front-end web based server to perform the interaction with Hadoop and highly parallelized computation functions based on the Compute Unified Device Architecture (CUDA©. The introduced multiple moving target detection and tracking method can be extended to other applications such as pedestrian tracking, group tracking, and Patterns of Life (PoL analysis. The cloud and GPUs based computing provides an efficient real-time target recognition and tracking approach as compared to methods when the work flow is applied using only central processing units (CPUs. The simultaneous tracking and recognition results demonstrate that a GC-MTT based approach provides drastically improved tracking with low frame rates over realistic conditions.

  19. A Real-Time High Performance Computation Architecture for Multiple Moving Target Tracking Based on Wide-Area Motion Imagery via Cloud and Graphic Processing Units.

    Science.gov (United States)

    Liu, Kui; Wei, Sixiao; Chen, Zhijiang; Jia, Bin; Chen, Genshe; Ling, Haibin; Sheaff, Carolyn; Blasch, Erik

    2017-02-12

    This paper presents the first attempt at combining Cloud with Graphic Processing Units (GPUs) in a complementary manner within the framework of a real-time high performance computation architecture for the application of detecting and tracking multiple moving targets based on Wide Area Motion Imagery (WAMI). More specifically, the GPU and Cloud Moving Target Tracking (GC-MTT) system applied a front-end web based server to perform the interaction with Hadoop and highly parallelized computation functions based on the Compute Unified Device Architecture (CUDA©). The introduced multiple moving target detection and tracking method can be extended to other applications such as pedestrian tracking, group tracking, and Patterns of Life (PoL) analysis. The cloud and GPUs based computing provides an efficient real-time target recognition and tracking approach as compared to methods when the work flow is applied using only central processing units (CPUs). The simultaneous tracking and recognition results demonstrate that a GC-MTT based approach provides drastically improved tracking with low frame rates over realistic conditions.

  20. The effect of tumor location and respiratory function on tumor movement estimated by real-time tracking radiotherapy (RTRT) system

    International Nuclear Information System (INIS)

    Onimaru, Rikiya; Shirato, Hiroki; Fujino, Masaharu; Suzuki, Keishiro; Yamazaki, Kouichi; Nishimura, Masaharu; Dosaka-Akita, Hirotoshi; Miyasaka, Kazuo

    2005-01-01

    Purpose: The effects of tumor location and pulmonary function on the motion of fiducial markers near lung tumors were evaluated to deduce simple guidelines for determining the internal margin in radiotherapy without fiducial markers. Methods and Materials: Pooled data collected by a real-time tumor-tracking radiotherapy system on 42 markers in 39 patients were analyzed. The pulmonary functions of all patients were assessed before radiotherapy. Using chest X-ray film, the position of the marker was expressed relative to the geometry of the unilateral lung. Posterior location meant the area of the posterior half of the lung in a lateral chest X-ray film, and caudal location meant the caudal half of the chest X-ray film; these categories were determined by measuring the distance between the marker and anatomic landmarks, including the apex, costophrenic angle, midline of spinal canal, lateral, anterior, and posterior boundary of the lung. Results: Before the radiotherapy, 18 patients had obstructive respiratory dysfunction (ratio of forced expiratory volume in 1 s to forced vital capacity [FEV 1.0 /FVC] 1.0 /FVC and %VC were 97.0% and 66.5%, respectively. Median tumor movements in the x (left-right), y (anteroposterior), and z (craniocaudal) directions were 1.1 mm, 2.3 mm, and 5.4 mm, respectively. There was no significant correlation between respiratory function and magnitude of marker movement in any direction. Median marker movement in the z direction was 2.6 mm for the cranial location and 11.8 mm for the caudal location, respectively (p < 0.001). Median movement in the z direction was 11.8 mm for posterior location and 3.4 mm for anterior location, respectively (p < 0.01). Conclusions: Simple measurement of the relative location on plain chest X-ray film was related, but respiratory function test was not related, to the craniocaudal amplitude of the motion of the fiducial marker near lung tumors

  1. Real-Time Tracking of Implanted Markers During Radiation Treatment by Use of Simultaneous kV and MV Imaging

    Science.gov (United States)

    2009-03-01

    issue, and potentially can reduce normal tissue complications while increasing local control through dose escalation to mobile tumors in the thorax and...major factor hindering the full exploitation of the efficacy of modulated arc therapy for disease sites such as the thorax or upper abdomen. Real-time...organs in real time,” Semin. Radiat. Oncol. 14, 91–100 2004. 32J. Zhang et al., “Multiplexing radiography for ultra-fast computed tomog- raphy: A feasibility study,” Med. Phys. 34, 2527 2007.

  2. Integration of real-time internal electromagnetic position monitoring coupled with dynamic multileaf collimator tracking: an intensity-modulated radiation therapy feasibility study.

    Science.gov (United States)

    Smith, Ryan L; Sawant, Amit; Santanam, Lakshmi; Venkat, Raghu B; Newell, Laurence J; Cho, Byung-Chul; Poulsen, Per; Catell, Herbert; Keall, Paul J; Parikh, Parag J

    2009-07-01

    Continuous tumor position measurement coupled with a tumor tracking system would result in a highly accurate radiation therapy system. Previous internal position monitoring systems have been limited by fluoroscopic radiation dose and low delivery efficiency. We aimed to incorporate a continuous, electromagnetic, three-dimensional position tracking system (Calypso 4D Localization System) with a dynamic multileaf collimator (DMLC)-based dose delivery system. A research version of the Calypso System provided real-time position of three Beacon transponders. These real-time three-dimensional positions were sent to research MLC controller with a motion-tracking algorithm that changed the planned leaf sequence. Electromagnetic transponders were embedded in a solid water film phantom that moved with patient lung trajectories while being irradiated with two different plans: a step-and-shoot intensity-modulated radiation therapy (S-IMRT) field and a dynamic IMRT (D-IMRT) field. Dosimetric results were recorded under three conditions: no intervention, DMLC tracking, and a spatial gating system. Dosimetric accuracy was comparable for gating and DMLC tracking. Failure rates for gating/DMLC tracking are as follows: +/-3 cGy 10.9/ 7.5% for S-IMRT, 3.3/7.2% for D-IMRT; gamma (3mm/3%) 0.2/1.2% for S-IMRT, 0.2/0.2% for D-IMRT. DMLC tracking proved to be as efficient as standard delivery, with a two- to fivefold efficiency increase over gating. Real-time target position information was successfully integrated into a DMLC effector system to modify dose delivery. Experimental results show both comparable dosimetric accuracy as well as improved efficiency compared with spatial gating.

  3. Autonomous portable solar ultraviolet spectroradiometer (APSUS) - a new CCD spectrometer system for localized, real-time solar ultraviolet (280-400 nm) radiation measurement.

    Science.gov (United States)

    Hooke, Rebecca; Pearson, Andy; O'Hagan, John

    2014-01-01

    Terrestrial solar ultraviolet (UV) radiation has significant implications for human health and increasing levels are a key concern regarding the impact of climate change. Monitoring solar UV radiation at the earth's surface is therefore of increasing importance. A new prototype portable CCD (charge-coupled device) spectrometer-based system has been developed that monitors UV radiation (280-400 nm) levels at the earth's surface. It has the ability to deliver this information to the public in real time. Since the instrument can operate autonomously, it is called the Autonomous Portable Solar Ultraviolet Spectroradiometer (APSUS). This instrument incorporates an Ocean Optics QE65000 spectrometer which is contained within a robust environmental housing. The APSUS system can gather reliable solar UV spectral data from approximately April to October inclusive (depending on ambient temperature) in the UK. In this study the new APSUS unit and APSUS system are presented. Example solar UV spectra and diurnal UV Index values as measured by the APSUS system in London and Weymouth in the UK in summer 2012 are shown. © 2014 Crown copyright. Photochemistry and Photobiology © 2014 The American Society of Photobiology. This article is published with the permission of the Controller of HMSO and the Queen's Printer for Scotland and Public Health England.

  4. Penggunaan Accelerometer dan Magnetometer pada Sistem Real Time Tracking Indoor Position untuk Studi Kasus Pada Gedung Teknik Informatika ITS

    Directory of Open Access Journals (Sweden)

    Dinar Winia Mahandhira

    2017-01-01

    Full Text Available Indoor Positioning System (IPS menggunakan perangkat mobile seperti smartphone masih menjadi permasalahan yang menantang. Seperti GPS yang tidak bekerja secara akurat di dalam gedung, IPS juga memiliki kelemahan yaitu sangat bergantung pada infrastruktur gedung seperti sinyal WiFi yang terkadang tidak tersebar secara merata di seluruh bagian gedung, sehingga membuat sistem ini terkadang tidak dapat bekerja secara optimal dan real time di setiap bagian gedung. Untuk itulah dikembangkan IPS yang menggunakan sensor gerak seperti accelerometer dan magnetometer sebagai tambahan untuk melakukan update posisi secara real time dengan mendeteksi langkah dan arah hadap pengguna saat berjalan. Pertama, posisi awal pengguna harus ditentukan terlebih dahulu misalnya menggunakan sinyal WiFi yang diproses melalui klasifikasi. Setelah posisi pengguna telah ditentukan, sistem akan mendeteksi pergerakan pengguna secara real time menggunakan sensor gerak. Uji coba dilakukan menggunakan studi kasus gedung Teknik Informatika lantai tiga. Hasil yang diberikan pada saat pengujian memberikan performa yang cukup baik dengan rata-rata persentase akurasi untuk pendeteksian langkah dan estimasi arah hadap pengguna adalah sebesar 94,8% dan 94,48%.

  5. Validation of a method for real time foot position and orientation tracking with Microsoft Kinect technology for use in virtual reality and treadmill based gait training programs.

    Science.gov (United States)

    Paolini, Gabriele; Peruzzi, Agnese; Mirelman, Anat; Cereatti, Andrea; Gaukrodger, Stephen; Hausdorff, Jeffrey M; Della Croce, Ugo

    2014-09-01

    The use of virtual reality for the provision of motor-cognitive gait training has been shown to be effective for a variety of patient populations. The interaction between the user and the virtual environment is achieved by tracking the motion of the body parts and replicating it in the virtual environment in real time. In this paper, we present the validation of a novel method for tracking foot position and orientation in real time, based on the Microsoft Kinect technology, to be used for gait training combined with virtual reality. The validation of the motion tracking method was performed by comparing the tracking performance of the new system against a stereo-photogrammetric system used as gold standard. Foot position errors were in the order of a few millimeters (average RMSD from 4.9 to 12.1 mm in the medio-lateral and vertical directions, from 19.4 to 26.5 mm in the anterior-posterior direction); the foot orientation errors were also small (average %RMSD from 5.6% to 8.8% in the medio-lateral and vertical directions, from 15.5% to 18.6% in the anterior-posterior direction). The results suggest that the proposed method can be effectively used to track feet motion in virtual reality and treadmill-based gait training programs.

  6. Autonomous & Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles

    Science.gov (United States)

    2015-02-01

    and appreciate all the trips to Italy and other cruise and conference travel he has let me participate in right up until the end of my time here...every cruise we were on together. ank you also for being my partner in crime on cruise, on travel , and in life. I could not have completed this...tracking on board ( solo and multiple) AUVs, addressing AUV autonomy, multi-AUV communication, and feature detection and tracking strategies. An emphasis is

  7. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  8. Quantitative analysis of the improvement in high zoom maritime tracking due to real-time image enhancement

    CSIR Research Space (South Africa)

    Bachoo, AK

    2011-04-01

    Full Text Available to be determined. Common tracking techniques including level-sets, Kalman filters and particle filters were implemented to run on the central processing unit of the tracking computer. Image enhancement techniques including multi-scale tone mapping, interpolated...

  9. Magnetic Particle / Magnetic Resonance Imaging: In-Vitro MPI-Guided Real Time Catheter Tracking and 4D Angioplasty Using a Road Map and Blood Pool Tracer Approach.

    Science.gov (United States)

    Salamon, Johannes; Hofmann, Martin; Jung, Caroline; Kaul, Michael Gerhard; Werner, Franziska; Them, Kolja; Reimer, Rudolph; Nielsen, Peter; Vom Scheidt, Annika; Adam, Gerhard; Knopp, Tobias; Ittrich, Harald

    2016-01-01

    In-vitro evaluation of the feasibility of 4D real time tracking of endovascular devices and stenosis treatment with a magnetic particle imaging (MPI) / magnetic resonance imaging (MRI) road map approach and an MPI-guided approach using a blood pool tracer. A guide wire and angioplasty-catheter were labeled with a thin layer of magnetic lacquer. For real time MPI a custom made software framework was developed. A stenotic vessel phantom filled with saline or superparamagnetic iron oxide nanoparticles (MM4) was equipped with bimodal fiducial markers for co-registration in preclinical 7T MRI and MPI. In-vitro angioplasty was performed inflating the balloon with saline or MM4. MPI data were acquired using a field of view of 37.3×37.3×18.6 mm3 and a frame rate of 46 volumes/sec. Analysis of the magnetic lacquer-marks on the devices were performed with electron microscopy, atomic absorption spectrometry and micro-computed tomography. Magnetic marks allowed for MPI/MRI guidance of interventional devices. Bimodal fiducial markers enable MPI/MRI image fusion for MRI based roadmapping. MRI roadmapping and the blood pool tracer approach facilitate MPI real time monitoring of in-vitro angioplasty. Successful angioplasty was verified with MPI and MRI. Magnetic marks consist of micrometer sized ferromagnetic plates mainly composed of iron and iron oxide. 4D real time MP imaging, tracking and guiding of endovascular instruments and in-vitro angioplasty is feasible. In addition to an approach that requires a blood pool tracer, MRI based roadmapping might emerge as a promising tool for radiation free 4D MPI-guided interventions.

  10. Magnetic Particle / Magnetic Resonance Imaging: In-Vitro MPI-Guided Real Time Catheter Tracking and 4D Angioplasty Using a Road Map and Blood Pool Tracer Approach.

    Directory of Open Access Journals (Sweden)

    Johannes Salamon

    Full Text Available In-vitro evaluation of the feasibility of 4D real time tracking of endovascular devices and stenosis treatment with a magnetic particle imaging (MPI / magnetic resonance imaging (MRI road map approach and an MPI-guided approach using a blood pool tracer.A guide wire and angioplasty-catheter were labeled with a thin layer of magnetic lacquer. For real time MPI a custom made software framework was developed. A stenotic vessel phantom filled with saline or superparamagnetic iron oxide nanoparticles (MM4 was equipped with bimodal fiducial markers for co-registration in preclinical 7T MRI and MPI. In-vitro angioplasty was performed inflating the balloon with saline or MM4. MPI data were acquired using a field of view of 37.3×37.3×18.6 mm3 and a frame rate of 46 volumes/sec. Analysis of the magnetic lacquer-marks on the devices were performed with electron microscopy, atomic absorption spectrometry and micro-computed tomography.Magnetic marks allowed for MPI/MRI guidance of interventional devices. Bimodal fiducial markers enable MPI/MRI image fusion for MRI based roadmapping. MRI roadmapping and the blood pool tracer approach facilitate MPI real time monitoring of in-vitro angioplasty. Successful angioplasty was verified with MPI and MRI. Magnetic marks consist of micrometer sized ferromagnetic plates mainly composed of iron and iron oxide.4D real time MP imaging, tracking and guiding of endovascular instruments and in-vitro angioplasty is feasible. In addition to an approach that requires a blood pool tracer, MRI based roadmapping might emerge as a promising tool for radiation free 4D MPI-guided interventions.

  11. An optimization algorithm for 3D real-time lung tumor tracking during arc therapy using kV projection images.

    Science.gov (United States)

    Zhuang, Ling; Liang, Jian; Yan, Di; Zhang, Tiezhi; Marina, Ovidiu; Ionascu, Dan

    2013-10-01

    To develop a real-time markerless 3D tumor tracking using kilovoltage (kV) cone-beam CT (CBCT) projection images during volumetric modulated arc therapy (VMAT) treatment of lung tumors. The authors have developed a method to identify the position of lung tumors during VMAT treatment, where the current mean 3D position is detected and subsequently the real time 3D position is obtained. The mean position is evaluated by iteratively minimizing an observation error function between the tumor coordinate detected in the imaging plane and the coordinate of the corresponding projection of the estimated mean position. The 3D trajectory is reconstructed using the same optimization formalism, where an observation error function is minimized for tumor positions confined within a predefined amplitude bin as determined from the superior-inferior tumor motion. Dynamic phantom experiments were performed and image data acquired during patient treatment were analyzed to characterize the reconstruction ability of the proposed method. The proposed algorithm needs to acquire kV projection data until a certain gantry angle is passed through, termed the black-out angle, before accurate estimation mean 3D tumor position is possible. The black-out angle for the mean position method is approximately 20°, while for the 3D trajectory reconstruction an additional ≈ 15° is required. The mean 3D position and 3D trajectory reconstruction are accurate within ± 0.5 mm. The authors present a real-time tracking framework to locate lung tumors during VMAT treatment using an optimization algorithm applied to CBCT kV projection images taken concomitantly with the treatment delivery. The authors' technique does not introduce significant additional dose and can be used for real-time treatment monitoring.

  12. Real-Time Tracking of the Extreme Rainfall of Hurricanes Harvey, Irma, and Maria using UCI CHRS's iRain System

    Science.gov (United States)

    Shearer, E. J.; Nguyen, P.; Ombadi, M.; Palacios, T.; Huynh, P.; Furman, D.; Tran, H.; Braithwaite, D.; Hsu, K. L.; Sorooshian, S.; Logan, W. S.

    2017-12-01

    During the 2017 hurricane season, three major hurricanes-Harvey, Irma, and Maria-devastated the Atlantic coast of the US and the Caribbean Islands. Harvey set the record for the rainiest storm in continental US history, Irma was the longest-lived powerful hurricane ever observed, and Maria was the costliest storm in Puerto Rican history. The recorded maximum precipitation totals for these storms were 65, 16, and 20 inches respectively. These events provided the Center for Hydrometeorology and Remote Sensing (CHRS) an opportunity to test its global real-time satellite precipitation observation system, iRain, for extreme storm events. The iRain system has been under development through a collaboration between CHRS at the University of California, Irvine (UCI) and UNESCO's International Hydrological Program (IHP). iRain provides near real-time high resolution (0.04°, approx. 4km) global (60°N - 60°S) satellite precipitation data estimated by the PERSIANN-Cloud Classification System (PERSIANN-CCS) algorithm developed by the scientists at CHRS. The user-interactive and web-accessible iRain system allows users to visualize and download real-time global satellite precipitation estimates and track the development and path of the current 50 largest storms globally from data generated by the PERSIANN-CCS algorithm. iRain continuously proves to be an effective tool for measuring real-time precipitation amounts of extreme storms-especially in locations that do not have extensive rain gauge or radar coverage. Such areas include large portions of the world's oceans and over continents such as Africa and Asia. CHRS also created a mobile app version of the system named "iRain UCI", available for iOS and Android devices. During these storms, real-time rainfall data generated by PERSIANN-CCS was consistently comparable to radar and rain gauge data. This presentation evaluates iRain's efficiency as a tool for extreme precipitation monitoring and provides an evaluation of the

  13. Note: Real time optical sensing of alpha-radiation emitting radioactive aerosols based on solid state nuclear track detector

    International Nuclear Information System (INIS)

    Kulkarni, A.; Bak, M. S.; Ha, S.; Joshirao, P.; Manchanda, V.; Kim, T.

    2015-01-01

    A sensitive radioactive aerosols sensor has been designed and developed. Its design guidance is based on the need for a low operational cost and reliable measurements to provide daily aerosol monitoring. The exposure of diethylene-glycol bis (allylcarbonate) to radiation causes modification of its physico-chemical properties like surface roughness and reflectance. In the present study, optical sensor based on the reflectance measurement has been developed with an aim to monitor real time presence of alpha radioactive aerosols emitted from thorium nitrate hydrate. The results shows that the fabricated sensor can detect 0.0157 kBq to 0.1572 kBq of radio activity by radioactive aerosols generated from (Th(NO 3 ) 4 ⋅ 5H 2 O) at 0.1 ml/min flow rate. The proposed instrument will be helpful to monitor radioactive aerosols in/around a nuclear facility, building construction sites, mines, and granite polishing factories

  14. Note: Real time optical sensing of alpha-radiation emitting radioactive aerosols based on solid state nuclear track detector

    Science.gov (United States)

    Kulkarni, A.; Ha, S.; Joshirao, P.; Manchanda, V.; Bak, M. S.; Kim, T.

    2015-06-01

    A sensitive radioactive aerosols sensor has been designed and developed. Its design guidance is based on the need for a low operational cost and reliable measurements to provide daily aerosol monitoring. The exposure of diethylene-glycol bis (allylcarbonate) to radiation causes modification of its physico-chemical properties like surface roughness and reflectance. In the present study, optical sensor based on the reflectance measurement has been developed with an aim to monitor real time presence of alpha radioactive aerosols emitted from thorium nitrate hydrate. The results shows that the fabricated sensor can detect 0.0157 kBq to 0.1572 kBq of radio activity by radioactive aerosols generated from (Th(NO3)4 ṡ 5H2O) at 0.1 ml/min flow rate. The proposed instrument will be helpful to monitor radioactive aerosols in/around a nuclear facility, building construction sites, mines, and granite polishing factories.

  15. Note: Real time optical sensing of alpha-radiation emitting radioactive aerosols based on solid state nuclear track detector

    Energy Technology Data Exchange (ETDEWEB)

    Kulkarni, A.; Bak, M. S., E-mail: tkim@skku.edu, E-mail: moonsoo@skku.edu [School of Mechanical Engineering, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Ha, S. [SKKU Advanced Institute of Nano Technology (SAINT), Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Joshirao, P.; Manchanda, V. [Department of Energy Science, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); Kim, T., E-mail: tkim@skku.edu, E-mail: moonsoo@skku.edu [School of Mechanical Engineering, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of); SKKU Advanced Institute of Nano Technology (SAINT), Sungkyunkwan University, Suwon 440-746 (Korea, Republic of)

    2015-06-15

    A sensitive radioactive aerosols sensor has been designed and developed. Its design guidance is based on the need for a low operational cost and reliable measurements to provide daily aerosol monitoring. The exposure of diethylene-glycol bis (allylcarbonate) to radiation causes modification of its physico-chemical properties like surface roughness and reflectance. In the present study, optical sensor based on the reflectance measurement has been developed with an aim to monitor real time presence of alpha radioactive aerosols emitted from thorium nitrate hydrate. The results shows that the fabricated sensor can detect 0.0157 kBq to 0.1572 kBq of radio activity by radioactive aerosols generated from (Th(NO{sub 3}){sub 4} ⋅ 5H{sub 2}O) at 0.1 ml/min flow rate. The proposed instrument will be helpful to monitor radioactive aerosols in/around a nuclear facility, building construction sites, mines, and granite polishing factories.

  16. Quality assurance of a system for improved target localization and patient set-up that combines real-time infrared tracking and stereoscopic X-ray imaging.

    Science.gov (United States)

    Verellen, Dirk; Soete, Guy; Linthout, Nadine; Van Acker, Swana; De Roover, Patsy; Vinh-Hung, Vincent; Van de Steene, Jan; Storme, Guy

    2003-04-01

    The aim of this study is to investigate the positional accuracy of a prototype X-ray imaging tool in combination with a real-time infrared tracking device allowing automated patient set-up in three dimensions. A prototype X-ray imaging tool has been integrated with a commercially released real-time infrared tracking device. The system, consisting of two X-ray tubes mounted to the ceiling and a centrally located amorphous silicon detector has been developed for automated patient positioning from outside the treatment room prior to treatment. Two major functions are supported: (a) automated fusion of the actual treatment images with digitally reconstructed radiographs (DRRs) representing the desired position; (b) matching of implanted radio opaque markers. Measurements of known translational (up to 30.0mm) and rotational (up to 4.0 degrees ) set-up errors in three dimensions as well as hidden target tests have been performed on anthropomorphic phantoms. The system's accuracy can be represented with the mean three-dimensional displacement vector, which yielded 0.6mm (with an overall SD of 0.9mm) for the fusion of DRRs and X-ray images. Average deviations between known translational errors and calculations varied from -0.3 to 0.6mm with a standard deviation in the range of 0.6-1.2mm. The marker matching algorithm yielded a three-dimensional uncertainty of 0.3mm (overall SD: 0.4mm), with averages ranging from 0.0 to 0.3mm and a standard deviation in the range between 0.3 and 0.4mm. The stereoscopic X-ray imaging device integrated with the real-time infrared tracking device represents a positioning tool allowing for the geometrical accuracy that is required for conformal radiation therapy of abdominal and pelvic lesions, within an acceptable time-frame.

  17. Real-time intensity based 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy

    Science.gov (United States)

    Furtado, H.; Steiner, E.; Stock, M.; Georg, D.; Birkfellner, W.

    2014-03-01

    Intra-fractional respiratorymotion during radiotherapy is one of themain sources of uncertainty in dose application creating the need to extend themargins of the planning target volume (PTV). Real-time tumormotion tracking by 2D/3D registration using on-board kilo-voltage (kV) imaging can lead to a reduction of the PTV. One limitation of this technique when using one projection image, is the inability to resolve motion along the imaging beam axis. We present a retrospective patient study to investigate the impact of paired portal mega-voltage (MV) and kV images, on registration accuracy. We used data from eighteen patients suffering from non small cell lung cancer undergoing regular treatment at our center. For each patient we acquired a planning CT and sequences of kV and MV images during treatment. Our evaluation consisted of comparing the accuracy of motion tracking in 6 degrees-of-freedom(DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. We use graphics processing unit rendering for real-time performance. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 3.3 mm to 1.8 mm and the motion along AP was successfully extracted. The mean registration time was of 190+/-35ms. Our evaluation shows that using kVMV image pairs leads to improved motion extraction in 6 DOF. Therefore, this approach is suitable for accurate, real-time tumor motion tracking with a conventional LINAC.

  18. Radiation dose optimization for the bolus tracking technique in abdominal computed tomography: usefulness of real-time iterative reconstruction for monitoring scan.

    Science.gov (United States)

    Ishikawa, Yuya; Urikura, Atsushi; Yoshida, Tsukasa; Takiguchi, Keisuke; Nakaya, Yoshihiro

    2017-06-01

    The purpose of this study was to optimize the monitoring dose, obtained using the conventional filtered back projection (FBP) method and iterative reconstruction algorithms, for the bolus tracking technique. A phantom study was performed to assess the effect of the scan start time in patients grouped according to different body weights. An oval torso phantom was used for simulating the time enhancement curve of the bolus tracking technique. To reproduce image noise levels in the two body weight groups, the phantom diameter was adjusted with a water-equivalent material. The tube currents were 10, 20, 30, and 50 mA. The monitoring scan was performed with the conventional FBP method and real-time adaptive iterative dose reduction by three-dimensional processing (AIDR 3D). The results at different doses were compared with those at 50 mA. The volume computed tomography dose index was 1.31, 2.65, 3.93, and 6.56 mGy at tube currents of 10, 20, 30, and 50 mA, respectively. The scan start time, reconstructed using FBP, was significantly faster at 10 and 20 mA in group A (50-59 kg) and at 20 mA in group B (≥80 kg). The CT values in the region of interest could not be measured at 10 mA because of artifacts. With real-time AIDR 3D, both groups showed no significant differences between the measurements obtained at 30 or 20 mA and those obtained at 50 mA. Our study demonstrated that the real-time AIDR 3D algorithm improved the accuracy of the CT measurements with the bolus tracking technique.

  19. Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV-kV imaging

    International Nuclear Information System (INIS)

    Liu, W; Wiersma, R D; Mao, W; Luxton, G; Xing, L

    2008-01-01

    To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from ∼0.5 mm for the normal adult breathing pattern to ∼1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general, highly accurate real-time

  20. Development and Evaluation of Three Real-Time PCR Assays for Genotyping and Source Tracking Cryptosporidium spp. in Water

    Science.gov (United States)

    Li, Na; Neumann, Norman F.; Ruecker, Norma; Alderisio, Kerri A.; Sturbaum, Gregory D.; Villegas, Eric N.; Chalmers, Rachel; Monis, Paul; Feng, Yaoyu

    2015-01-01

    The occurrence of Cryptosporidium oocysts in drinking source water can present a serious public health risk. To rapidly and effectively assess the source and human-infective potential of Cryptosporidium oocysts in water, sensitive detection and correct identification of oocysts to the species level (genotyping) are essential. In this study, we developed three real-time PCR genotyping assays, two targeting the small-subunit (SSU) rRNA gene (18S-LC1 and 18S-LC2 assays) and one targeting the 90-kDa heat shock protein (hsp90) gene (hsp90 assay), and evaluated the sensitivity and Cryptosporidium species detection range of these assays. Using fluorescence resonance energy transfer probes and melt curve analysis, the 18S-LC1 and hsp90 assays could differentiate common human-pathogenic species (C. parvum, C. hominis, and C. meleagridis), while the 18S-LC2 assay was able to differentiate nonpathogenic species (such as C. andersoni) from human-pathogenic ones commonly found in source water. In sensitivity evaluations, the 18S-LC2 and hsp90 genotyping assays could detect as few as 1 Cryptosporidium oocyst per sample. Thus, the 18S-LC2 and hsp90 genotyping assays might be used in environmental monitoring, whereas the 18S-LC1 genotyping assay could be useful for genotyping Cryptosporidium spp. in clinical specimens or wastewater samples. PMID:26092455

  1. Amaro-autonomous real-time detection of moving maritime objects: introducing a flight experiment for an on-board ship detection system

    Science.gov (United States)

    Schwenk, Kurt; Willburger, Katharina; Pless, Sebastian

    2017-10-01

    Motivated by politics and economy, the monitoring of the world wide ship traffic is a field of high topicality. To detect illegal activities like piracy, illegal fishery, ocean dumping and refugee transportation is of great value. The analysis of satellite images on the ground delivers a great contribution to situation awareness. However, for many applications the up-to-dateness of the data is crucial. With ground based processing, the time between image acquisition and delivery of the data to the end user is in the range of several hours. The highest influence to the duration of ground based processing is the delay caused by the transmission of the large amount of image data from the satellite to the processing centre on the ground. One expensive solution to this issue is the usage of data relay satellites systems like EDRS. Another approach is to analyse the image data directly on-board of the satellite. Since the product data (e.g. ship position, heading, velocity, characteristics) is very small compared to the input image data, real-time connections provided by satellite telecommunication services like Iridium or Orbcomm can be used to send small packets of information directly to the end user without significant delay. The AMARO (Autonomous real-time detection of moving maritime objects) project at DLR is a feasibility study of an on-board ship detection system involving a real-time low bandwidth communication. The operation of a prototype on-board ship detection system will be demonstrated on an airborne platform. In this article, the scope, aim and design of a flight experiment for an on-board ship detection system scheduled for mid of 2018 is presented. First, the scope and the constraints of the experiment are explained in detail. The main goal is to demonstrate the operability of an automatic ship detection system on board of an airplane. For data acquisition the optical high resolution DLR MACS-MARE camera (VIS/NIR) is used. The system will be able to

  2. A block matching based approach with multiple simultaneous templates for the real-time 2D ultrasound tracking of liver vessels.

    Science.gov (United States)

    Shepard, Andrew J; Wang, Bo; Foo, Thomas K F; Bednarz, Bryan P

    2017-11-01

    The implementation of motion management techniques in radiation therapy can aid in mitigating uncertainties and reducing margins. For motion management to be effective, it is necessary to track key structures both accurately and at a real-time speed. Therefore, the focus of this work was to develop a 2D algorithm for the real-time tracking of ultrasound features to aid in radiation therapy motion management. The developed algorithm utilized a similarity measure-based block matching algorithm incorporating training methods and multiple simultaneous templates. The algorithm is broken down into three primary components, all of which use normalized cross-correlation (NCC) as a similarity metric. First, a global feature shift to account for gross displacements from the previous frame is determined using large block sizes which encompass the entirety of the feature. Second, the most similar reference frame is chosen from a series of training images that are accumulated during the first K frames of tracking to aid in contour consistency and provide a starting point for the localized template initialization. Finally, localized block matching is performed through the simultaneous use of both a training frame and the previous frame. The localized block matching utilizes a series of templates positioned at the boundary points of the training and previous contours. The weighted final boundary points from both the previous and the training frame are ultimately combined and used to determine an affine transformation from the previous frame to the current frame. A mean tracking error of 0.72 ± 1.25 mm was observed for 85 point-landmarks across 39 ultrasound sequences relative to manual ground truth annotations. The image processing speed per landmark with the GPU implementation was between 41 and 165 frames per second (fps) during the training set accumulation, and between 73 and 234 fps after training set accumulation. Relative to a comparable multithreaded CPU approach using

  3. Mobile Real-time Tracking of Acute Stroke Patients and Instant, Secure Inter-team Communication - the Join App.

    Science.gov (United States)

    Munich, Stephan A; Tan, Lee A; Nogueira, Danilo M; Keigher, Kiffon M; Chen, Michael; Crowley, R Webster; Conners, James J; Lopes, Demetrius K

    2017-09-01

    The primary correlate to survival and preservation of neurologic function in patients suffering from an acute ischemic stroke is time from symptom onset to initiation of therapy and reperfusion. Communication and coordination among members of the stroke team are essential to maximizing efficiency and subsequently early reperfusion. In this work, we aim to describe our preliminary experience using the Join mobile application as a means to improve interdisciplinary team communication and efficiency. We describe our pilot experience with the initiation of the Join mobile application between July 2015 and July 2016. With this application, a mobile beacon is transported with the patient on the ambulance. Transportation milestone timestamps and geographic coordinates are transmitted to the treating facility and instantly communicated to all treatment team members. The transport team / patient can be tracked en route to the treating facility. During our pilot study, 62 patients were triaged and managed using the Join application. Automated time-stamping of critical events, geographic tracking of patient transport and summary documents were obtained for all patients. Treatment team members had an overall favorable impression of the Join application and recommended its continued use. The Join application is one of several components of a multi-institutional, interdisciplinary effort to improve the treatment of patients with acute ischemic stroke. The ability of the treatment team to track patient transport and communicate with the transporting team may improve reperfusion time and, therefore, improve neurologic outcomes.

  4. SU-G-JeP1-01: A Combination of Real Time Electromagnetic Localization and Tracking with Cone Beam Computed Tomography in Stereotactic Radiosurgery for Brain Tumors

    Energy Technology Data Exchange (ETDEWEB)

    Muralidhar, K Raja; Pangam, Suresh; Ponaganti, Srinivas; Krishna, Jayarama; Sujana, Kolla V; Komanduri, Priya K [American Oncology Institute, Hyderabad, Telangana (India)

    2016-06-15

    Purpose: 1. online verification of patient position during treatment using calypso electromagnetic localization and tracking system. 2. Verification and comparison of positional accuracy between cone beam computed tomography and calypso system. 3. Presenting the advantage of continuation localization in Stereotactic radiosurgery treatments. Methods: Ten brain tumor cases were taken for this study. Patients with head mask were under gone Computed Tomography (CT). Before scanning, mask was cut on the fore head area to keep surface beacons on the skin. Slice thickness of 0.65 mm were taken for this study. x, y, z coordinates of these beacons in TPS were entered into tracking station. Varian True Beam accelerator, equipped with On Board Imager was used to take Cone beam Computed Tomography (CBCT) to localize the patient. Simultaneously Surface beacons were used to localize and track the patient throughout the treatment. The localization values were compared in both systems. For localization CBCT considered as reference. Tracking was done throughout the treatment using Calypso tracking system using electromagnetic array. This array was in tracking position during imaging and treatment. Flattening Filter free beams of 6MV photons along with Volumetric Modulated Arc Therapy was used for the treatment. The patient movement was observed throughout the treatment ranging from 2 min to 4 min. Results: The average variation observed between calypso system and CBCT localization was less than 0.5 mm. These variations were due to manual errors while keeping beacon on the patient. Less than 0.05 cm intra-fraction motion was observed throughout the treatment with the help of continuous tracking. Conclusion: Calypso target localization system is one of the finest tools to perform radiosurgery in combination with CBCT. This non radiographic method of tracking is a real beneficial method to treat patients confidently while observing real-time motion information of the patient.

  5. Laboratory-Scale Simulation and Real-Time Tracking of a Microbial Contamination Event and Subsequent Shock-Chlorination in Drinking Water

    Directory of Open Access Journals (Sweden)

    Michael D. Besmer

    2017-10-01

    Full Text Available Rapid contamination of drinking water in distribution and storage systems can occur due to pressure drop, backflow, cross-connections, accidents, and bio-terrorism. Small volumes of a concentrated contaminant (e.g., wastewater can contaminate large volumes of water in a very short time with potentially severe negative health impacts. The technical limitations of conventional, cultivation-based microbial detection methods neither allow for timely detection of such contaminations, nor for the real-time monitoring of subsequent emergency remediation measures (e.g., shock-chlorination. Here we applied a newly developed continuous, ultra high-frequency flow cytometry approach to track a rapid pollution event and subsequent disinfection of drinking water in an 80-min laboratory scale simulation. We quantified total (TCC and intact (ICC cell concentrations as well as flow cytometric fingerprints in parallel in real-time with two different staining methods. The ingress of wastewater was detectable almost immediately (i.e., after 0.6% volume change, significantly changing TCC, ICC, and the flow cytometric fingerprint. Shock chlorination was rapid and detected in real time, causing membrane damage in the vast majority of bacteria (i.e., drop of ICC from more than 380 cells μl-1 to less than 30 cells μl-1 within 4 min. Both of these effects as well as the final wash-in of fresh tap water followed calculated predictions well. Detailed and highly quantitative tracking of microbial dynamics at very short time scales and for different characteristics (e.g., concentration, membrane integrity is feasible. This opens up multiple possibilities for targeted investigation of a myriad of bacterial short-term dynamics (e.g., disinfection, growth, detachment, operational changes both in laboratory-scale research and full-scale system investigations in practice.

  6. Visual in vivo degradation of injectable hydrogel by real-time and non-invasive tracking using carbon nanodots as fluorescent indicator.

    Science.gov (United States)

    Wang, Lei; Li, Baoqiang; Xu, Feng; Li, Ying; Xu, Zheheng; Wei, Daqing; Feng, Yujie; Wang, Yaming; Jia, Dechang; Zhou, Yu

    2017-11-01

    Visual in vivo degradation of hydrogel by fluorescence-related tracking and monitoring is crucial for quantitatively depicting the degradation profile of hydrogel in a real-time and non-invasive manner. However, the commonly used fluorescent imaging usually encounters limitations, such as intrinsic photobleaching of organic fluorophores and uncertain perturbation of degradation induced by the change in molecular structure of hydrogel. To address these problems, we employed photoluminescent carbon nanodots (CNDs) with low photobleaching, red emission and good biocompatibility as fluorescent indicator for real-time and non-invasive visual in vitro/in vivo degradation of injectable hydrogels that are mixed with CNDs. The in vitro/in vivo toxicity results suggested that CNDs were nontoxic. The embedded CNDs in hydrogels did not diffuse outside in the absence of hydrogel degradation. We had acquired similar degradation kinetics (PBS-Enzyme) between gravimetric and visual determination, and established mathematical equation to quantitatively depict in vitro degradation profile of hydrogels for the predication of in vivo hydrogel degradation. Based on the in vitro data, we developed a visual platform that could quantitatively depict in vivo degradation behavior of new injectable biomaterials by real-time and non-invasive fluorescence tracking. This fluorescence-related visual imaging methodology could be applied to subcutaneous degradation of injectable hydrogel with down to 7 mm depth in small animal trials so far. This fluorescence-related visual imaging methodology holds great potentials for rational design and convenient in vivo screening of biocompatible and biodegradable injectable hydrogels in tissue engineering. Copyright © 2017 Elsevier Ltd. All rights reserved.

  7. Evaluation of the Effectiveness of the Stereotactic Body Frame in Reducing Respiratory Intrafractional Organ Motion Using the Real-Time Tumor-Tracking Radiotherapy System

    International Nuclear Information System (INIS)

    Bengua, Gerard; Ishikawa, Masayori; Sutherland, Kenneth; Horita, Kenji; Yamazaki, Rie; Fujita, Katsuhisa; Onimaru, Rikiya; Katoh, Noriwo; Inoue, Tetsuya; Onodera, Shunsuke; Shirato, Hiroki

    2010-01-01

    Purpose: To evaluate the effectiveness of the stereotactic body frame (SBF), with or without a diaphragm press or a breathing cycle monitoring device (Abches), in controlling the range of lung tumor motion, by tracking the real-time position of fiducial markers. Methods and Materials: The trajectories of gold markers in the lung were tracked with the real-time tumor-tracking radiotherapy system. The SBF was used for patient immobilization and the diaphragm press and Abches were used to actively control breathing and for self-controlled respiration, respectively. Tracking was performed in five setups, with and without immobilization and respiration control. The results were evaluated using the effective range, which was defined as the range that includes 95% of all the recorded marker positions in each setup. Results: The SBF, with or without a diaphragm press or Abches, did not yield effective ranges of marker motion which were significantly different from setups that did not use these materials. The differences in the effective marker ranges in the upper lobes for all the patient setups were less than 1mm. Larger effective ranges were obtained for the markers in the middle or lower lobes. Conclusion: The effectiveness of controlling respiratory-induced organ motion by using the SBF+diaphragm press or SBF + Abches patient setups were highly dependent on the individual patient reaction to the use of these materials and the location of the markers. They may be considered for lung tumors in the lower lobes, but are not necessary for tumors in the upper lobes.

  8. Electromagnetic organ tracking allows for real-time compensation of tissue shift in image-guided laparoscopic rectal surgery

    DEFF Research Database (Denmark)

    Wagner, Martin; Gondan, Matthias; Zöllner, Christian

    2016-01-01

    and intraoperative electromagnetic tracking(EMT) of the rectum. Methods. Three models were compared and evaluated for the compensation of tissue. deformation. For Model A no compensation was performed. Model B moved the corresponding points rigidly to the motion of the EMT sensor. Model C used five nested linear...... regressions with increasing level of complexity to compute the deformation (C1–C5). For evaluation 14 targets and an EMT organ sensor were fit into a silicone-molded rectum of the OpenHELP phantom. Following a computed tomography, the image-guidance was initiated and the rectum was deformed in the same way...

  9. Registration accuracy and possible migration of internal fiducial gold marker implanted in prostate and liver treated with real-time tumor-tracking radiation therapy (RTRT)

    International Nuclear Information System (INIS)

    Kitamura, Kei; Shirato, Hiroki; Shimizu, Shinichi; Shinohara, Nobuo; Harabayashi, Toru; Shimizu, Tadashi; Kodama, Yoshihisa; Endo, Hideho; Onimaru, Rikiya; Nishioka, Seiko; Aoyama, Hidefumi; Tsuchiya, Kazuhiko; Miyasaka, Kazuo

    2002-01-01

    Background and purpose: We have developed a linear accelerator synchronized with a fluoroscopic real-time tumor-tracking system to reduce errors due to setup and organ motion. In the real-time tumor-tracking radiation therapy (RTRT) system, the accuracy of tumor tracking depends on the registration of the marker's coordinates. The registration accuracy and possible migration of the internal fiducial gold marker implanted into prostate and liver was investigated. Materials and methods: Internal fiducial gold markers were implanted in 14 patients with prostate cancer and four patients with liver tumors. Computed tomography (CT) was carried out as a part of treatment planning in the 18 patients. A total of 72 follow-up CT scans were taken. We calculated the relative relationship between the coordinates of the center of mass (CM) of the organs and those of the marker. The discrepancy in the CM coordinates during a follow-up CT compared to those recorded during the planning CT was used to study possible marker migration. Results: The standard deviation (SD) of interobserver variations in the CM coordinates was within 2.0 and 0.4 mm for the organ and the marker, respectively, in seven observers. Assuming that organs do not shrink, grow, or rotate, the maximum SD of migration error in each direction was estimated to be less than 2.5 and 2.0 mm for liver and prostate, respectively. There was no correlation between the marker position and the time after implantation. Conclusion: The degree of possible migration of the internal fiducial marker was within the limits of accuracy of the CT measurement. Most of the marker movement can be attributed to the measurement uncertainty, which also influences registration in actual treatment planning. Thus, even with the gold marker and RTRT system, a planning target volume margin should be used to account for registration uncertainty

  10. Real-time 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy.

    Science.gov (United States)

    Furtado, Hugo; Steiner, Elisabeth; Stock, Markus; Georg, Dietmar; Birkfellner, Wolfgang

    2013-10-01

    Intra-fractional respiratory motion during radiotherapy leads to a larger planning target volume (PTV). Real-time tumor motion tracking by two-dimensional (2D)/3D registration using on-board kilo-voltage (kV) imaging can allow for a reduction of the PTV though motion along the imaging beam axis cannot be resolved using only one projection image. We present a retrospective patient study investigating the impact of paired portal mega-voltage (MV) and kV images on registration accuracy. Material and methods. We used data from 10 patients suffering from non-small cell lung cancer (NSCLC) undergoing stereotactic body radiation therapy (SBRT) lung treatment. For each patient we acquired a planning computed tomography (CT) and sequences of kV and MV images during treatment. We compared the accuracy of motion tracking in six degrees-of-freedom (DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. Results. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 2.9 mm to 1.5 mm and the motion along AP was successfully extracted. Mean registration time was 188 ms. Conclusion. Our evaluation shows that using kV-MV image pairs leads to improved motion extraction in six DOF and is suitable for real-time tumor motion tracking with a conventional LINAC.

  11. TH-AB-BRB-05: Using a Research Real-Time Control Interface to Go Beyond Dynamic MLC Tracking

    International Nuclear Information System (INIS)

    Nill, S.

    2016-01-01

    Current state-of-the art digital C-arm medical linear accelerators are capable of delivering radiation treatments with high level of automation, which affords coordinated motions of gantry, couch, and multileaf collimator (MLC) with dose rate modulations. The new machine capacity has shown the potential to bring substantially improved radiation dosimetry and/or delivery efficiency to many challenging diseases. Combining an integrated beam orientation optimization algorithm with automated machine navigation, markedly improved dose conformity has been achieved using 4ρ therapy. Trajectory modulated radiation therapy (TMAT) can be used to deliver highly conformal dose to partial breast or to carve complex dose distribution for therapy involving extended volumes such as total marrow and total lymph node treatment. Dynamic electron arc radiotherapy (DEAR) not only overcomes the deficiencies of conventional electron therapy in dose conformity and homogeneity but also achieves so without patient-specific shields. The combination of MLC and couch tracking provides improved motion management of thoracic and abdominal tumors. A substantial body of work has been done in these technological advances for clinical translation. The proposed symposium will provide a timely review of these exciting opportunities. Learning Objectives: Recognize the potential of using digitally controlled linacs for clinically significant improvements in delivered dose distributions for various treatment sites. Identify existing approaches to treatment planning, optimization and delivery for treatment techniques utilizing the advanced functions of digital linacs and venues for further development and improvement. Understand methods for testing and validating delivery system performance. Identify tools available on current delivery systems for implementation and control for such treatments. Obtain the update in clinical applications, trials and regulatory approval. K. Sheng, NIH U19AI067769, NIH R43

  12. A Real-Time Method to Detect and Track Moving Objects (DATMO from Unmanned Aerial Vehicles (UAVs Using a Single Camera

    Directory of Open Access Journals (Sweden)

    Bruce MacDonald

    2012-04-01

    Full Text Available We develop a real-time method to detect and track moving objects (DATMO from unmanned aerial vehicles (UAVs using a single camera. To address the challenging characteristics of these vehicles, such as continuous unrestricted pose variation and low-frequency vibrations, new approaches must be developed. The main concept proposed in this work is to create an artificial optical flow field by estimating the camera motion between two subsequent video frames. The core of the methodology consists of comparing this artificial flow with the real optical flow directly calculated from the video feed. The motion of the UAV between frames is estimated with available parallel tracking and mapping techniques that identify good static features in the images and follow them between frames. By comparing the two optical flows, a list of dynamic pixels is obtained and then grouped into dynamic objects. Tracking these dynamic objects through time and space provides a filtering procedure to eliminate spurious events and misdetections. The algorithms have been tested with a quadrotor platform using a commercial camera.

  13. A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

    International Nuclear Information System (INIS)

    Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth

    2015-01-01

    In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. (author)

  14. Real-time measurement system for tracking birefringence, weight, thickness, and surface temperature during drying of solution cast coatings and films

    Science.gov (United States)

    Unsal, E.; Drum, J.; Yucel, O.; Nugay, I. I.; Yalcin, B.; Cakmak, M.

    2012-02-01

    This paper describes the design and performance of a new instrument to track temporal changes in physical parameters during the drying behavior of solutions, as well as curing of monomers. This real-time instrument follows in-plane and out-of-plane birefringence, weight, thickness, and surface temperature during the course of solidification of coatings and films through solvent evaporation and thermal or photocuring in a controlled atmosphere. It is specifically designed to simulate behavior of polymer solutions inside an industrial size, continuous roll-to-roll solution casting line and other coating operations where resins are subjected to ultraviolet (UV) curing from monomer precursors. Controlled processing parameters include air speed, temperature, initial cast thickness, and solute concentration, while measured parameters are thickness, weight, film temperature, in-plane and out-of-plane birefringence. In this paper, we illustrate the utility of this instrument with solution cast and dried poly (amide-imide)/DMAc (Dimethylacetamide) solution, water based black paint, and organo-modified clay/NMP (N-Methylpyrrolidone) solution. In addition, the physical changes that take place during UV photo polymerization of a monomer are tracked. This instrument is designed to be generic and it can be used for tracking any drying/swelling/solidification systems including paper, foodstuffs such as; grains, milk as well as pharmaceutical thin paste and slurries.

  15. Remote-Sensing and Automated Water Resources Tracking: Near Real-Time Decision Support for Water Managers Facing Drought and Flood

    Science.gov (United States)

    Reiter, M. E.; Elliott, N.; Veloz, S.; Love, F.; Moody, D.; Hickey, C.; Fitzgibbon, M.; Reynolds, M.; Esralew, R.

    2016-12-01

    Innovative approaches for tracking the Earth's natural resources, especially water which is essential for all living things, are essential during a time of rapid environmental change. The Central Valley is a nexus for water resources in California, draining the Sacramento and San Joaquin River watersheds. The distribution of water throughout California and the Central Valley, while dynamic, is highly managed through an extensive regional network of canals, levees, and pumps. Water allocation and delivery is determined through a complex set of rules based on water contracts, historic priority, and other California water policies. Furthermore, urban centers, agriculture, and the environment throughout the state are already competing for water, particularly during drought. Competition for water is likely to intensify as California is projected to experience continued increases in demand due to population growth and more arid growing conditions, while also having reduced or modified water supply due to climate change. As a result, it is difficult to understand or predict how water will be used to fulfill wildlife and wetland conservation needs. A better understanding of the spatial distribution of water in near real-time can facilitate adaptation of water resource management to changing conditions on the landscape, both over the near- and long-term. The Landsat satellite mission delivers imagery every 16-days from nearly every place on the earth at a high spatial resolution. We have integrated remote sensing of satellite data, classification modeling, bioinformatics, optimization, and ecological analyses to develop an automated near real-time water resources tracking and decision-support system for the Central Valley of California. Our innovative system has applications for coordinated water management in the Central Valley to support people, places, and wildlife and is being used to understand the factors that drive variation in the distribution and abundance of water

  16. Real-time vision systems

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, R.; Hernandez, J.E.; Lu, Shin-yee [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Many industrial and defence applications require an ability to make instantaneous decisions based on sensor input of a time varying process. Such systems are referred to as `real-time systems` because they process and act on data as it occurs in time. When a vision sensor is used in a real-time system, the processing demands can be quite substantial, with typical data rates of 10-20 million samples per second. A real-time Machine Vision Laboratory (MVL) was established in FY94 to extend our years of experience in developing computer vision algorithms to include the development and implementation of real-time vision systems. The laboratory is equipped with a variety of hardware components, including Datacube image acquisition and processing boards, a Sun workstation, and several different types of CCD cameras, including monochrome and color area cameras and analog and digital line-scan cameras. The equipment is reconfigurable for prototyping different applications. This facility has been used to support several programs at LLNL, including O Division`s Peacemaker and Deadeye Projects as well as the CRADA with the U.S. Textile Industry, CAFE (Computer Aided Fabric Inspection). To date, we have successfully demonstrated several real-time applications: bullet tracking, stereo tracking and ranging, and web inspection. This work has been documented in the ongoing development of a real-time software library.

  17. Rapid position estimation and tracking for autonomous driving

    Science.gov (United States)

    Wang, Patrick K.; Torrione, Peter A.; Collins, Leslie M.; Morton, Kenneth D., Jr.

    2012-06-01

    A method is presented for determining the position and orientation of a vehicle from a single, color video taken from the hood of the vehicle, for the purpose of assisting its autonomous operation at very high speeds on rural roads. An implicit perspective transformation allows estimation of the vehicle's orientation and cross-road image features. From these, an adaptive road model is built and the horizontal position of the vehicle can be estimated. This method makes very few assumptions about the structure of the road or the path of the vehicle. In a realistic, simulated environment, good road model construction and vehicle position estimation are achieved at frame rates suitable for real-time high speed driving.

  18. SU-G-JeP1-08: Dual Modality Verification for Respiratory Gating Using New Real- Time Tumor Tracking Radiotherapy System

    Energy Technology Data Exchange (ETDEWEB)

    Shiinoki, T; Hanazawa, H; Shibuya, K [Yamaguchi University, Ube, Yamaguchi (Japan); Kawamura, S; Koike, M; Yuasa, Y; Uehara, T; Fujimoto, K [Yamaguchi University Hospital, Ube, Yamaguchi (Japan)

    2016-06-15

    Purpose: The respirato ry gating system combined the TrueBeam and a new real-time tumor-tracking radiotherapy system (RTRT) was installed. The RTRT system consists of two x-ray tubes and color image intensifiers. Using fluoroscopic images, the fiducial marker which was implanted near the tumor was tracked and was used as the internal surrogate for respiratory gating. The purposes of this study was to develop the verification technique of the respiratory gating with the new RTRT using cine electronic portal image device images (EPIDs) of TrueBeam and log files of the RTRT. Methods: A patient who underwent respiratory gated SBRT of the lung using the RTRT were enrolled in this study. For a patient, the log files of three-dimensional coordinate of fiducial marker used as an internal surrogate were acquired using the RTRT. Simultaneously, the cine EPIDs were acquired during respiratory gated radiotherapy. The data acquisition was performed for one field at five sessions during the course of SBRT. The residual motion errors were calculated using the log files (E{sub log}). The fiducial marker used as an internal surrogate into the cine EPIDs was automatically extracted by in-house software based on the template-matching algorithm. The differences between the the marker positions of cine EPIDs and digitally reconstructed radiograph were calculated (E{sub EPID}). Results: Marker detection on EPID using in-house software was influenced by low image contrast. For one field during the course of SBRT, the respiratory gating using the RTRT showed the mean ± S.D. of 95{sup th} percentile E{sub EPID} were 1.3 ± 0.3 mm,1.1 ± 0.5 mm,and those of E{sub log} were 1.5 ± 0.2 mm, 1.1 ± 0.2 mm in LR and SI directions, respectively. Conclusion: We have developed the verification method of respiratory gating combined TrueBeam and new real-time tumor-tracking radiotherapy system using EPIDs and log files.

  19. Stereotactic radiotherapy for lung cancer: Non-invasive real-time tumor tracking; Radiotherapie stereotaxique de carcinomes bronchiques primitifs: suivi non invasif de la cible en temps reel

    Energy Technology Data Exchange (ETDEWEB)

    Bibault, J.E.; Prevost, B.; Mirabel, X.; Lacornerie, T.; Dubus, F.; Lartigau, E. [Departement universitaire de radiotherapie, universite Lille 2, CyberKnife Nord-Ouest, centre Oscar-Lambret, 59 - Lille (France); Dansin, E. [Departement d' oncologie generale, centre Oscar-Lambret, 59 - Lille (France)

    2010-12-15

    Purpose: Stereotactic radiation therapy using the CyberKnife{sup R} has been introduced in France in 2006. Two treatment modalities are currently available: the first one (Synchrony{sup R}) is a real-time fiducial-based target tracking system, while the other (Xsight Lung Tracking [XLT] System{sup R}) is completely fiducial-free. Patients and methods: Sixty-eight patients were treated for a pulmonary tumor between June 2007 and November 2009. Since august 2008, the XLT System{sup R} was used for 26 patients. We report the necessary conditions for the XLT System (position, laterality and size of the tumor), the toxicity and outcome of this treatment. Results: Twenty-two patients were analyzed. Median follow-up was 6 months (min = 3; max = 16). Local control rate was 100%. The main toxicity was grade grade 1 pulmonary alveolitis (27%). No grade 3 or 4 toxicities were reported. Conclusion: The high local control rate and low toxicity obtained with the CyberKnife{sup R} XLT System{sup R} suggest that such treatment is an alternative for inoperable patients. (authors)

  20. The FastTrack Real Time Processor and Its Impact on Muon Isolation, Tau and b-Jet Online Selections at ATLAS

    CERN Document Server

    Crescioli, F; The ATLAS collaboration; Zhang, J; Boveia, A; Bevacqua, V; Cheng, Y; Canelli, F; Bogdan, M; Dell'Orso, M; Bossini, E; Citterio, M; Dunford, M; Drake, G; Beretta, M; Genat, JF; Annovi, A; Kim, YK; Kimura, N; Andreazza, A; Kapliy, A; Kasten, M; Piendibene, M; Negri, A; Meroni, C; Giannetti, P; Melachrinos, C; Hoff, J; Liberali, V; McCarn, A; Neubauer, M; Tang, F; Shochet, M; Stabile, A; Sartori, L; Sabatini, F; Proudfoot, J; Riva, M; Liu, T; Punzi, G; Vercesi, V; Tuggle, J; Todri, A; Tripiccione, R; Lanza, A; Wu, J; Yorita, K; Volpi, G; Vitullo, R.A; Sacco, I

    2010-01-01

    As the LHC luminosity is ramped up to 31034 cm−2 s−1 and beyond, the high rates, multiplicities, and energies of particles seen by the detectors will pose a unique challenge. Only a tiny fraction of the produced collisions can be stored on tape and immense real-time data reduction is needed. An effective trigger system must maintain high trigger efficiencies for the physics we are most interested in, and at the same time suppress the enormous QCD backgrounds. This requires massive computing power to minimize the online execution time of complex algorithms. A multi-level trigger is an effective solution for an otherwise impossible problem. The Fast Tracker (FTK) is a proposed upgrade to the current ATLAS trigger system that will operate at full Level-1 output rates and provide high quality tracks reconstructed over the entire detector by the start of processing in Level-2. FTK solves the combinatorial challenge inherent to tracking by exploiting massive parallelism of associative memories that can compa...

  1. Intrafractional Baseline Shift or Drift of Lung Tumor Motion During Gated Radiation Therapy With a Real-Time Tumor-Tracking System

    International Nuclear Information System (INIS)

    Takao, Seishin; Miyamoto, Naoki; Matsuura, Taeko; Onimaru, Rikiya; Katoh, Norio; Inoue, Tetsuya; Sutherland, Kenneth Lee; Suzuki, Ryusuke; Shirato, Hiroki; Shimizu, Shinichi

    2016-01-01

    Purpose: To investigate the frequency and amplitude of baseline shift or drift (shift/drift) of lung tumors in stereotactic body radiation therapy (SBRT), using a real-time tumor-tracking radiation therapy (RTRT) system. Methods and Materials: Sixty-eight patients with peripheral lung tumors were treated with SBRT using the RTRT system. One of the fiducial markers implanted near the tumor was used for the real-time monitoring of the intrafractional tumor motion every 0.033 seconds by the RTRT system. When baseline shift/drift is determined by the system, the position of the treatment couch is adjusted to compensate for the shift/drift. Therefore, the changes in the couch position correspond to the baseline shift/drift in the tumor motion. The frequency and amount of adjustment to the couch positions in the left-right (LR), cranio-caudal (CC), and antero-posterior (AP) directions have been analyzed for 335 fractions administered to 68 patients. Results: The average change in position of the treatment couch during the treatment time was 0.45 ± 2.23 mm (mean ± standard deviation), −1.65 ± 5.95 mm, and 1.50 ± 2.54 mm in the LR, CC, and AP directions, respectively. Overall the baseline shift/drift occurs toward the cranial and posterior directions. The incidence of baseline shift/drift exceeding 3 mm was 6.0%, 15.5%, 14.0%, and 42.1% for the LR, CC, AP, and for the square-root of sum of 3 directions, respectively, within 10 minutes of the start of treatment, and 23.0%, 37.6%, 32.5%, and 71.6% within 30 minutes. Conclusions: Real-time monitoring and frequent adjustments of the couch position and/or adding appropriate margins are suggested to be essential to compensate for possible underdosages due to baseline shift/drift in SBRT for lung cancers.

  2. Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

    Science.gov (United States)

    Kadouf, Hani Hunud A.; Mohd Mustafah, Yasir

    2013-12-01

    With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects.

  3. Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

    International Nuclear Information System (INIS)

    Kadouf, Hani Hunud A; Mustafah, Yasir Mohd

    2013-01-01

    With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects

  4. Real-time tracking of hydrogen peroxide secreted by live cells using MnO{sub 2} nanoparticles intercalated layered doubled hydroxide nanohybrids

    Energy Technology Data Exchange (ETDEWEB)

    Asif, Muhammad; Aziz, Ayesha [Key Laboratory for Large-Format Battery Materials and System, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074 (China); Dao, Anh Quang [Key Laboratory for Large-Format Battery Materials and System, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074 (China); Hue Industrial College, 70 Nguyen Hue, Hue, Thua Thien Hue, 531081 (Viet Nam); Hakeem, Abdul; Wang, Haitao; Dong, Shuang; Zhang, Guoan [Key Laboratory for Large-Format Battery Materials and System, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074 (China); Xiao, Fei [Key Laboratory for Large-Format Battery Materials and System, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074 (China); Shenzhen Institute of Huazhong University of Science & Technology, Shenzhen, 518000 (China); Liu, Hongfang, E-mail: liuhf@hust.edu.cn [Key Laboratory for Large-Format Battery Materials and System, Ministry of Education, Hubei Key Laboratory of Material Chemistry and Service Failure, School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074 (China); Shenzhen Institute of Huazhong University of Science & Technology, Shenzhen, 518000 (China)

    2015-10-22

    We report a facile and green method for the fabrication of new type of electrocatalysts based on MnO{sub 2} nanoparticles incorporated on MgAl LDH P-type semiconductive channel and explore its practical applications as high-performance electrode materials for electrochemical biosensor. A series of MgAl layered doubled hydroxide (LDH) nanohybrids with fixed Mg/Al (M{sup 2+}/M{sup 3+} atomic ratio of 3) and varied amount of MnCl{sub 2}.4H{sub 2}O are fabricated by a facile co-precipitation method. This approach demonstrates the combination of distinct properties including excellent intercalation features of LDH for entrapping nanoparticles and high loading of MnO{sub 2} nanoparticles in the host layers of LDH. Among all samples, Mn5–MgAl with 0.04% loaded manganese has a good crystalline morphology. A well-dispersed MnO{sub 2} nanoparticles encapsulated into the host matrix of hydrotalcite exhibit enhanced electrocatalytic activity towards the reduction of H{sub 2}O{sub 2} as well as excellent stability, selectivity and reproducibility due to synergistic effect of good catalytic ability of MnO{sub 2} and conductive MgAl LDH. Glass carbon electrode (GCE) modified with Mn5–MgAl possesses a wide linear range of 0.05–78 mM, lowest detection limit 5 μM (S/N = 3) and detection sensitivity of 0.9352 μAmM{sup −1}. This outstanding performance enables it to be used for real-time tracking of H{sub 2}O{sub 2} secreted by live HeLa cells. This work may provide new insight in clinical diagnosis, on-site environmental analysis and point of care testing devices. - Highlights: • MnO{sub 2}MgAl nanohybrids have been fabricated by a facile and robust co-precipitation approach. • MgAl layered doubled hydroxide can be used for the intercalation of MnO{sub 2} nanoparticles. • MgAl layered doubled hydroxide nanohybrid serves as p-type semiconductive channel for efficient electrocatalysis. • The nanohybrid electrode demonstrates excellent electrochemical performance

  5. Hardware Approach for Real Time Machine Stereo Vision

    Directory of Open Access Journals (Sweden)

    Michael Tornow

    2006-02-01

    Full Text Available Image processing is an effective tool for the analysis of optical sensor information for driver assistance systems and controlling of autonomous robots. Algorithms for image processing are often very complex and costly in terms of computation. In robotics and driver assistance systems, real-time processing is necessary. Signal processing algorithms must often be drastically modified so they can be implemented in the hardware. This task is especially difficult for continuous real-time processing at high speeds. This article describes a hardware-software co-design for a multi-object position sensor based on a stereophotogrammetric measuring method. In order to cover a large measuring area, an optimized algorithm based on an image pyramid is implemented in an FPGA as a parallel hardware solution for depth map calculation. Object recognition and tracking are then executed in real-time in a processor with help of software. For this task a statistical cluster method is used. Stabilization of the tracking is realized through use of a Kalman filter. Keywords: stereophotogrammetry, hardware-software co-design, FPGA, 3-d image analysis, real-time, clustering and tracking.

  6. WE-AB-BRA-10: Assessment of Fiber Bragg Grating (FBG)-Based Sensing for Real-Time Needle Tracking During MR-Guided Brachytherapy

    Energy Technology Data Exchange (ETDEWEB)

    Borot de Battisti, M; Maenhout, M; Lagendijk, J J W; Van Vulpen, M; Moerland, M A [University Medical Center Utrecht, Department of Radiotherapy, Utrecht (Netherlands); Denis de Senneville, B [IMB, UMR 5251 CNRS/University of Bordeaux, Talence (France); University Medical Center Utrecht, Imaging Division, Utrecht (Netherlands); Hautvast, G; Binnekamp, D [Philips Group Innovation, Biomedical Systems, Eindhoven (Netherlands)

    2016-06-15

    Purpose: This study assesses the potential of Fiber Bragg Grating (FBG)-based sensing for real-time needle (including catheter or tube) tracking during MR-guided HDR brachytherapy. Methods: The proposed FBG-based sensing tracking approach involves a MR-compatible stylet composed of three optic fibers with nine sets of embedded FBG sensors each. When the stylet is inserted inside the lumen of the needle, the FBG sensing system can measure the needle’s deflection. For localization of the needle in physical space, the position and orientation of the stylet base are mandatory. For this purpose, we propose to fix the stylet base and determine its position and orientation using a MR-based calibration as follows. First, the deflection of a needle inserted in a phantom in two different configurations is measured during simultaneous MR-imaging. Then, after segmentation of the needle shapes on the MR-images, the position and orientation of the stylet base is determined using a rigid registration of the needle shapes on both MR and FBG-based measurements. The calibration method was assessed by measuring the deflection of a needle in a prostate phantom in five different configurations using FBG-based sensing during simultaneous MR-imaging. Any two needle shapes were employed for the calibration step and the proposed FGB-tracking approach was subsequently evaluated on the other three needles configurations. The tracking accuracy was evaluated by computing the Euclidian distance between the 3D FBG vs. MR-based measurements. Results: Over all needle shapes tested, the average(standard deviation) Euclidian distance between the FBG and MR-based measurements was 0.79mm(0.37mm). The update rate and latency of the FBG-based measurements were 100ms and 300ms respectively. Conclusion: The proposed FBG-based protocol can measure the needle position with an accuracy, precision, update rate and latency eligible for accurate needle steering during MR-guided HDR brachytherapy. M. Borot de

  7. WE-AB-BRA-10: Assessment of Fiber Bragg Grating (FBG)-Based Sensing for Real-Time Needle Tracking During MR-Guided Brachytherapy

    International Nuclear Information System (INIS)

    Borot de Battisti, M; Maenhout, M; Lagendijk, J J W; Van Vulpen, M; Moerland, M A; Denis de Senneville, B; Hautvast, G; Binnekamp, D

    2016-01-01

    Purpose: This study assesses the potential of Fiber Bragg Grating (FBG)-based sensing for real-time needle (including catheter or tube) tracking during MR-guided HDR brachytherapy. Methods: The proposed FBG-based sensing tracking approach involves a MR-compatible stylet composed of three optic fibers with nine sets of embedded FBG sensors each. When the stylet is inserted inside the lumen of the needle, the FBG sensing system can measure the needle’s deflection. For localization of the needle in physical space, the position and orientation of the stylet base are mandatory. For this purpose, we propose to fix the stylet base and determine its position and orientation using a MR-based calibration as follows. First, the deflection of a needle inserted in a phantom in two different configurations is measured during simultaneous MR-imaging. Then, after segmentation of the needle shapes on the MR-images, the position and orientation of the stylet base is determined using a rigid registration of the needle shapes on both MR and FBG-based measurements. The calibration method was assessed by measuring the deflection of a needle in a prostate phantom in five different configurations using FBG-based sensing during simultaneous MR-imaging. Any two needle shapes were employed for the calibration step and the proposed FGB-tracking approach was subsequently evaluated on the other three needles configurations. The tracking accuracy was evaluated by computing the Euclidian distance between the 3D FBG vs. MR-based measurements. Results: Over all needle shapes tested, the average(standard deviation) Euclidian distance between the FBG and MR-based measurements was 0.79mm(0.37mm). The update rate and latency of the FBG-based measurements were 100ms and 300ms respectively. Conclusion: The proposed FBG-based protocol can measure the needle position with an accuracy, precision, update rate and latency eligible for accurate needle steering during MR-guided HDR brachytherapy. M. Borot de

  8. An algorithm of a real time image tracking system using a camera with pan/tilt motors on an embedded system

    Science.gov (United States)

    Kim, Hie-Sik; Nam, Chul; Ha, Kwan-Yong; Ayurzana, Odgeral; Kwon, Jong-Won

    2005-12-01

    The embedded systems have been applied to many fields, including households and industrial sites. The user interface technology with simple display on the screen was implemented more and more. The user demands are increasing and the system has more various applicable fields due to a high penetration rate of the Internet. Therefore, the demand for embedded system is tend to rise. An embedded system for image tracking was implemented. This system is used a fixed IP for the reliable server operation on TCP/IP networks. Using an USB camera on the embedded Linux system developed a real time broadcasting of video image on the Internet. The digital camera is connected at the USB host port of the embedded board. All input images from the video camera are continuously stored as a compressed JPEG file in a directory at the Linux web-server. And each frame image data from web camera is compared for measurement of displacement Vector. That used Block matching algorithm and edge detection algorithm for past speed. And the displacement vector is used at pan/tilt motor control through RS232 serial cable. The embedded board utilized the S3C2410 MPU, which used the ARM 920T core form Samsung. The operating system was ported to embedded Linux kernel and mounted of root file system. And the stored images are sent to the client PC through the web browser. It used the network function of Linux and it developed a program with protocol of the TCP/IP.

  9. The use of virtual reality and intelligent database systems for procedure planning, visualisation, and real-time component tracking in remote handling operations

    International Nuclear Information System (INIS)

    Robbins, Edward; Sanders, Stephen; Williams, Adrian; Allan, Peter

    2009-01-01

    The organisation of remote handling (RH) operations in fusion environments is increasingly critical as the number of tasks, components and tooling that RH operations teams must deal with inexorably rises. During the recent JET EP1 RH shutdown the existing virtual reality (VR) and procedural database systems proved essential for visualisation and tracking of operations, particularly due to the increasing complexity of remote tasks. A new task planning system for RH operations is in development, and is expected to be ready for use during the next major shutdown, planned for 2009. The system will make use of information available from the remote operations procedures, the RH equipment human-machine interfaces, the on-line RH equipment control systems and also the virtual reality (VR) system to establish a complete database for the location of plant items and RH equipment as RH operations progress. It is intended that the system be used during both preparation and implementation of shutdowns. In the preparations phase the system can be used to validate procedures and overall logistics by allowing an operator to increment through each operation step and to use the VR system to visualise the location and status of all components, manipulators and RH tools. During task development the RH operations engineers can plan and visualise movement of components and tooling to examine handling concepts and establish storage requirements. In the implementation of operations the daily work schedules information will be integrated with the RH operations procedures tracking records to enable the VR system to provide a visual representation of the status of remote operations in real time. Monitoring of the usage history of items will allow estimates of radiation dosage and contaminant exposure to be made. This paper describes the overall aims, structure and use of the system, discusses its application to JET and also considers potential future developments.

  10. AUTONOMOUS DETECTION AND TRACKING OF AN OBJECT AUTONOMOUSLY USING AR.DRONE QUADCOPTER

    Directory of Open Access Journals (Sweden)

    Futuhal Arifin

    2014-08-01

    Full Text Available Abstract Nowadays, there are many robotic applications being developed to do tasks autonomously without any interactions or commands from human. Therefore, developing a system which enables a robot to do surveillance such as detection and tracking of a moving object will lead us to more advanced tasks carried out by robots in the future. AR.Drone is a flying robot platform that is able to take role as UAV (Unmanned Aerial Vehicle. Usage of computer vision algorithm such as Hough Transform makes it possible for such system to be implemented on AR.Drone. In this research, the developed algorithm is able to detect and track an object with certain shape and color. Then the algorithm is successfully implemented on AR.Drone quadcopter for detection and tracking.

  11. TH-AB-202-12: The First Clinical Implementation of a Real-Time Six Degree of Freedom Tracking System During Radiation Therapy

    International Nuclear Information System (INIS)

    Nguyen, D; Kim, J; O’Brien, R; Huang, C; Keall, P; Booth, J; Greer, P; Martin, J; Legge, K; Poulsen, P

    2016-01-01

    Purpose: In current practice, imaging is typically performed prior to treatment; the cancer target motion during treatment is unknown. We present the first clinical implementation of real time Kilovoltage Intrafraction Monitoring (KIM) system which tracks the cancer target translational and rotational motions during treatment. Methods: KIM technology: KIM estimates the 3D position of the target tumour based on segmented 2D positions of the three implanted fiducials in each of the kV images (125 kV, 10 mA at 11 fps) taken continuously during the treatment arc. The 2D-3D target estimation is based on a probability distribution function, obtained during pre-treatment CBCT. Rotations about each axis with the centroid of the markers as the pivot were calculated using the iterative closest point algorithm in real time. Patient: A patient with prostate adenocarcinoma undergoing stereotactic body radiotherapy (SBRT) with 36.25 Gy delivered in 5 fractions (Varian TrueBeam, 6X, VMAT) was enrolled in the study. The trial complies with Australian ethical and regulatory standards. Results: Of the 5 fractions of treatment the patient received, KIM was utilised successfully in 4 fractions with 3 couch shifts due to large persistent prostate movements (>2mm for more than 5 seconds). KIM translational accuracy and precision in comparison with post treatment kV-MV triangulation are 0.28±0.59 mm, −0.19±0.25 mm and 0.23±0.69 mm in the Left-Right, Superior-Inferior and Anterior-Posterior directions, respectively. KIM rotational accuracy as compared with triangulation is: 0.429°±2.22°, −0.44°±4.7° and 0.06°±1.08° in the roll, pitch and yaw direction, respectively. Conclusion: The first six degree of freedom KIM system was successfully implemented clinically. The presented KIM system has sub-millimeters accuracy and precision in all three translational axes, and less than 1° of mean error in all three rotational axes. Acknowledgement: This work is supported by Cancer

  12. Ghost marker detection and elimination in marker-based optical tracking systems for real-time tracking in stereotactic body radiotherapy

    International Nuclear Information System (INIS)

    Yan, Guanghua; Li, Jonathan; Huang, Yin; Mittauer, Kathryn; Lu, Bo; Liu, Chihray

    2014-01-01

    Purpose: To propose a simple model to explain the origin of ghost markers in marker-based optical tracking systems (OTS) and to develop retrospective strategies to detect and eliminate ghost markers. Methods: In marker-based OTS, ghost markers are virtual markers created due to the cross-talk between the two camera sensors, which can lead to system execution failure or inaccuracy in patient tracking. As a result, the users have to limit the number of markers and avoid certain marker configurations to reduce the chances of ghost markers. In this work, the authors propose retrospective strategies to detect and eliminate ghost markers. The two camera sensors were treated as mathematical points in space. The authors identified the coplanar within limit (CWL) condition as the necessary condition for ghost marker occurrence. A simple ghost marker detection method was proposed based on the model. Ghost marker elimination was achieved through pattern matching: a ghost marker-free reference set was matched with the optical marker set observed by the OTS; unmatched optical markers were eliminated as either ghost markers or misplaced markers. The pattern matching problem was formulated as a constraint satisfaction problem (using pairwise distances as constraints) and solved with an iterative backtracking algorithm. Wildcard markers were introduced to address missing or misplaced markers. An experiment was designed to measure the sensor positions and the limit for the CWL condition. The ghost marker detection and elimination algorithms were verified with samples collected from a five-marker jig and a nine-marker anthropomorphic phantom, rotated with the treatment couch from −60° to +60°. The accuracy of the pattern matching algorithm was further validated with marker patterns from 40 patients who underwent stereotactic body radiotherapy (SBRT). For this purpose, a synthetic optical marker pattern was created for each patient by introducing ghost markers, marker position

  13. Ghost marker detection and elimination in marker-based optical tracking systems for real-time tracking in stereotactic body radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Yan, Guanghua, E-mail: yan@ufl.edu; Li, Jonathan; Huang, Yin; Mittauer, Kathryn; Lu, Bo; Liu, Chihray [Department of Radiation Oncology, University of Florida, Gainesville, Florida 32610 (United States)

    2014-10-15

    Purpose: To propose a simple model to explain the origin of ghost markers in marker-based optical tracking systems (OTS) and to develop retrospective strategies to detect and eliminate ghost markers. Methods: In marker-based OTS, ghost markers are virtual markers created due to the cross-talk between the two camera sensors, which can lead to system execution failure or inaccuracy in patient tracking. As a result, the users have to limit the number of markers and avoid certain marker configurations to reduce the chances of ghost markers. In this work, the authors propose retrospective strategies to detect and eliminate ghost markers. The two camera sensors were treated as mathematical points in space. The authors identified the coplanar within limit (CWL) condition as the necessary condition for ghost marker occurrence. A simple ghost marker detection method was proposed based on the model. Ghost marker elimination was achieved through pattern matching: a ghost marker-free reference set was matched with the optical marker set observed by the OTS; unmatched optical markers were eliminated as either ghost markers or misplaced markers. The pattern matching problem was formulated as a constraint satisfaction problem (using pairwise distances as constraints) and solved with an iterative backtracking algorithm. Wildcard markers were introduced to address missing or misplaced markers. An experiment was designed to measure the sensor positions and the limit for the CWL condition. The ghost marker detection and elimination algorithms were verified with samples collected from a five-marker jig and a nine-marker anthropomorphic phantom, rotated with the treatment couch from −60° to +60°. The accuracy of the pattern matching algorithm was further validated with marker patterns from 40 patients who underwent stereotactic body radiotherapy (SBRT). For this purpose, a synthetic optical marker pattern was created for each patient by introducing ghost markers, marker position

  14. Localization and Tracking of Submerged Phytoplankton Bloom Patches by an Autonomous Underwater Vehicle

    Science.gov (United States)

    Godin, M. A.; Ryan, J. P.; Zhang, Y.; Bellingham, J. G.

    2012-12-01

    Observing plankton in their drifting frame of reference permits effective studies of marine ecology from the perspective of microscopic life itself. By minimizing variation caused simply by advection, observations in a plankton-tracking frame of reference focus measurement capabilities on the processes that influence the life history of populations. Further, the patchy nature of plankton populations motivates use of sensor data in real-time to resolve patch boundaries and adapt observing resources accordingly. We have developed capabilities for population-centric plankton observation and sampling by autonomous underwater vehicles (AUVs). Our focus has been on phytoplankton populations, both because of their ecological significance - as the core of the oceanic food web and yet potentially harmful under certain bloom conditions, as well as the accessibility of their signal to simple optical sensing. During the first field deployment of these capabilities in 2010, we tracked a phytoplankton patch containing toxigenic diatoms and found that their toxicity correlated with exposure to resuspended sediments. However, this first deployment was labor intensive as the AUV drove in a pre-programmed pattern centered around a patch-marking drifter; it required a boat deployment of the patch-marking drifter and required full-time operators to periodically estimate of the position of the patch with respect to the drifter and adjust the AUV path accordingly. In subsequent field experiments during 2011 and 2012, the Tethys-class long-range AUVs ran fully autonomous patch tracking algorithms which detected phytoplankton patches and continually updated estimates of each patch center by driving adaptive patterns through the patch. Iterations of the algorithm were generated to overcome the challenges of tracking advecting and evolving patches while minimizing human involvement in vehicle control. Such fully autonomous monitoring will be necessary to perform long-term in

  15. Verification of respiratory-gated radiotherapy with new real-time tumour-tracking radiotherapy system using cine EPID images and a log file.

    Science.gov (United States)

    Shiinoki, Takehiro; Hanazawa, Hideki; Yuasa, Yuki; Fujimoto, Koya; Uehara, Takuya; Shibuya, Keiko

    2017-02-21

    A combined system comprising the TrueBeam linear accelerator and a new real-time tumour-tracking radiotherapy system, SyncTraX, was installed at our institution. The objectives of this study are to develop a method for the verification of respiratory-gated radiotherapy with SyncTraX using cine electronic portal image device (EPID) images and a log file and to verify this treatment in clinical cases. Respiratory-gated radiotherapy was performed using TrueBeam and the SyncTraX system. Cine EPID images and a log file were acquired for a phantom and three patients during the course of the treatment. Digitally reconstructed radiographs (DRRs) were created for each treatment beam using a planning CT set. The cine EPID images, log file, and DRRs were analysed using a developed software. For the phantom case, the accuracy of the proposed method was evaluated to verify the respiratory-gated radiotherapy. For the clinical cases, the intra- and inter-fractional variations of the fiducial marker used as an internal surrogate were calculated to evaluate the gating accuracy and set-up uncertainty in the superior-inferior (SI), anterior-posterior (AP), and left-right (LR) directions. The proposed method achieved high accuracy for the phantom verification. For the clinical cases, the intra- and inter-fractional variations of the fiducial marker were  ⩽3 mm and  ±3 mm in the SI, AP, and LR directions. We proposed a method for the verification of respiratory-gated radiotherapy with SyncTraX using cine EPID images and a log file and showed that this treatment is performed with high accuracy in clinical cases.

  16. Dosimetric and clinical effects of interfraction and intrafraction correlation errors during marker-based real-time tumor tracking for liver SBRT.

    Science.gov (United States)

    Kurosu, Keita; Sumida, Iori; Suzuki, Osamu; Shiomi, Hiroya; Ota, Seiichi; Otani, Keisuke; Tamari, Keisuke; Seo, Yuji; Ogawa, Kazuhiko

    2018-03-01

    Correlation model error (CME) between the internal target and the external surrogate, and marker-tumor correlation error (MTCE) between the tumor and the implanted marker occur during marker-based real-time tumor tracking. The effects of these intrafraction and interfraction errors on the dose coverage in the clinical target volume (CTV) and on tumor control probability (TCP) for hepatocellular carcinoma (HCC) were evaluated in this study. Eight HCC patients treated with non-isocentric dose delivery by a robotic radiosurgery system were enrolled. The CMEs were extracted from the treatment log file, and the MTCEs were calculated from the preceding study. The CMEs and MTCEs were randomly added to each beam's robot position, and the changes in the TCP and the 2%, 95% and 99% dose coverage values for the CTV (D2, D95 and D99) were simulated. The data were statistically analyzed as a function of the CTV to planning target volume (PTV) margin, the dose fraction and the marker-tumor distance. Significant differences were observed in the majority of the CTV D2, D95 and D99 values and the TCP values. However, a linear regression revealed that ∆CTV D2, D95 and D99 have a weak correlation with ∆TCP. A dose-difference metric would be unable to detect a critical error for tumor control if the coverage changes for the CTV and ∆TCP were weakly correlated. Because the simulated TCP-based parameter determination was based on the dose simulation, including predicted interfraction and intrafraction errors, we concluded that a 95th percentile TCP-based parameter determination would be a robust strategy for ensuring tumor control while reducing doses to normal structures.

  17. Verification of respiratory-gated radiotherapy with new real-time tumour-tracking radiotherapy system using cine EPID images and a log file

    Science.gov (United States)

    Shiinoki, Takehiro; Hanazawa, Hideki; Yuasa, Yuki; Fujimoto, Koya; Uehara, Takuya; Shibuya, Keiko

    2017-02-01

    A combined system comprising the TrueBeam linear accelerator and a new real-time tumour-tracking radiotherapy system, SyncTraX, was installed at our institution. The objectives of this study are to develop a method for the verification of respiratory-gated radiotherapy with SyncTraX using cine electronic portal image device (EPID) images and a log file and to verify this treatment in clinical cases. Respiratory-gated radiotherapy was performed using TrueBeam and the SyncTraX system. Cine EPID images and a log file were acquired for a phantom and three patients during the course of the treatment. Digitally reconstructed radiographs (DRRs) were created for each treatment beam using a planning CT set. The cine EPID images, log file, and DRRs were analysed using a developed software. For the phantom case, the accuracy of the proposed method was evaluated to verify the respiratory-gated radiotherapy. For the clinical cases, the intra- and inter-fractional variations of the fiducial marker used as an internal surrogate were calculated to evaluate the gating accuracy and set-up uncertainty in the superior-inferior (SI), anterior-posterior (AP), and left-right (LR) directions. The proposed method achieved high accuracy for the phantom verification. For the clinical cases, the intra- and inter-fractional variations of the fiducial marker were  ⩽3 mm and  ±3 mm in the SI, AP, and LR directions. We proposed a method for the verification of respiratory-gated radiotherapy with SyncTraX using cine EPID images and a log file and showed that this treatment is performed with high accuracy in clinical cases. This work was partly presented at the 58th Annual meeting of American Association of Physicists in Medicine.

  18. Real Time Systems

    DEFF Research Database (Denmark)

    Christensen, Knud Smed

    2000-01-01

    Describes fundamentals of parallel programming and a kernel for that. Describes methods for modelling and checking parallel problems. Real time problems.......Describes fundamentals of parallel programming and a kernel for that. Describes methods for modelling and checking parallel problems. Real time problems....

  19. Three-dimensional intrafractional movement of prostate measured during real-time tumor-tracking radiotherapy in supine and prone treatment positions

    International Nuclear Information System (INIS)

    Kitamura, Kei; Shirato, Hiroki; Seppenwoolde, Yvette; Onimaru, Rikiya; Oda, Makoto; Fujita, Katsuhisa; Shimizu, Shinichi; Shinohara, Nobuo; Harabayashi, Toru; Miyasaka, Kazuo

    2002-01-01

    Purpose: To quantify three-dimensional (3D) movement of the prostate gland with the patient in the supine and prone positions and to analyze the movement frequency for each treatment position. Methods and Materials: The real-time tumor-tracking radiotherapy (RTRT) system was developed to identify the 3D position of a 2-mm gold marker implanted in the prostate 30 times/s using two sets of fluoroscopic images. The linear accelerator was triggered to irradiate the tumor only when the gold marker was located within the region of the planned coordinates relative to the isocenter. Ten patients with prostate cancer treated with RTRT were the subjects of this study. The coordinates of the gold marker were recorded every 0.033 s during RTRT in the supine treatment position for 2 min. The patient was then moved to the prone position, and the marker was tracked for 2 min to acquire data regarding movement in this position. Measurements were taken 5 times for each patient (once a week); a total of 50 sets for the 10 patients was analyzed. The raw data from the RTRT system were filtered to reduce system noise, and the amplitude of movement was then calculated. The discrete Fourier transform of the unfiltered data was performed for the frequency analysis of prostate movement. Results: No apparent difference in movement was found among individuals. The amplitude of 3D movement was 0.1-2.7 mm in the supine and 0.4-24 mm in the prone positions. The amplitude in the supine position was statistically smaller in all directions than that in the prone position (p < 0.0001). The amplitude in the craniocaudal and AP directions was larger than in the left-right direction in the prone position (p < 0.0001). No characteristic movement frequency was detected in the supine position. The respiratory frequency was detected for all patients regarding movement in the craniocaudal and AP directions in the prone position. The results of the frequency analysis suggest that prostate movement is

  20. Real-time shadows

    CERN Document Server

    Eisemann, Elmar; Assarsson, Ulf; Wimmer, Michael

    2011-01-01

    Important elements of games, movies, and other computer-generated content, shadows are crucial for enhancing realism and providing important visual cues. In recent years, there have been notable improvements in visual quality and speed, making high-quality realistic real-time shadows a reachable goal. Real-Time Shadows is a comprehensive guide to the theory and practice of real-time shadow techniques. It covers a large variety of different effects, including hard, soft, volumetric, and semi-transparent shadows.The book explains the basics as well as many advanced aspects related to the domain

  1. Accelerating volumetric cine MRI (VC-MRI) using undersampling for real-time 3D target localization/tracking in radiation therapy: a feasibility study

    Science.gov (United States)

    Harris, Wendy; Yin, Fang-Fang; Wang, Chunhao; Zhang, You; Cai, Jing; Ren, Lei

    2018-01-01

    Purpose. To accelerate volumetric cine MRI (VC-MRI) using undersampled 2D-cine MRI to provide real-time 3D guidance for gating/target tracking in radiotherapy. Methods. 4D-MRI is acquired during patient simulation. One phase of the prior 4D-MRI is selected as the prior images, designated as MRIprior. The on-board VC-MRI at each time-step is considered a deformation of the MRIprior. The deformation field map is represented as a linear combination of the motion components extracted by principal component analysis from the prior 4D-MRI. The weighting coefficients of the motion components are solved by matching the corresponding 2D-slice of the VC-MRI with the on-board undersampled 2D-cine MRI acquired. Undersampled Cartesian and radial k-space acquisition strategies were investigated. The effects of k-space sampling percentage (SP) and distribution, tumor sizes and noise on the VC-MRI estimation were studied. The VC-MRI estimation was evaluated using XCAT simulation of lung cancer patients and data from liver cancer patients. Volume percent difference (VPD) and Center of Mass Shift (COMS) of the tumor volumes and tumor tracking errors were calculated. Results. For XCAT, VPD/COMS were 11.93  ±  2.37%/0.90  ±  0.27 mm and 11.53  ±  1.47%/0.85  ±  0.20 mm among all scenarios with Cartesian sampling (SP  =  10%) and radial sampling (21 spokes, SP  =  5.2%), respectively. When tumor size decreased, higher sampling rate achieved more accurate VC-MRI than lower sampling rate. VC-MRI was robust against noise levels up to SNR  =  20. For patient data, the tumor tracking errors in superior-inferior, anterior-posterior and lateral (LAT) directions were 0.46  ±  0.20 mm, 0.56  ±  0.17 mm and 0.23  ±  0.16 mm, respectively, for Cartesian-based sampling with SP  =  20% and 0.60  ±  0.19 mm, 0.56  ±  0.22 mm and 0.42  ±  0.15 mm, respectively, for

  2. Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Saeed Nakhkoob

    2014-01-01

    Full Text Available In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

  3. PRIMUS: autonomous navigation in open terrain with a tracked vehicle

    Science.gov (United States)

    Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

    2004-09-01

    The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

  4. Autonomous Aerial Refueling Ground Test Demonstration—A Sensor-in-the-Loop, Non-Tracking Method

    Directory of Open Access Journals (Sweden)

    Chao-I Chen

    2015-05-01

    Full Text Available An essential capability for an unmanned aerial vehicle (UAV to extend its airborne duration without increasing the size of the aircraft is called the autonomous aerial refueling (AAR. This paper proposes a sensor-in-the-loop, non-tracking method for probe-and-drogue style autonomous aerial refueling tasks by combining sensitivity adjustments of a 3D Flash LIDAR camera with computer vision based image-processing techniques. The method overcomes the inherit ambiguity issues when reconstructing 3D information from traditional 2D images by taking advantage of ready to use 3D point cloud data from the camera, followed by well-established computer vision techniques. These techniques include curve fitting algorithms and outlier removal with the random sample consensus (RANSAC algorithm to reliably estimate the drogue center in 3D space, as well as to establish the relative position between the probe and the drogue. To demonstrate the feasibility of the proposed method on a real system, a ground navigation robot was designed and fabricated. Results presented in the paper show that using images acquired from a 3D Flash LIDAR camera as real time visual feedback, the ground robot is able to track a moving simulated drogue and continuously narrow the gap between the robot and the target autonomously.

  5. Real time expert systems

    International Nuclear Information System (INIS)

    Asami, Tohru; Hashimoto, Kazuo; Yamamoto, Seiichi

    1992-01-01

    Recently, aiming at the application to the plant control for nuclear reactors and traffic and communication control, the research and the practical use of the expert system suitable to real time processing have become conspicuous. In this report, the condition for the required function to control the object that dynamically changes within a limited time is presented, and the technical difference between the real time expert system developed so as to satisfy it and the expert system of conventional type is explained with the actual examples and from theoretical aspect. The expert system of conventional type has the technical base in the problem-solving equipment originating in STRIPS. The real time expert system is applied to the fields accompanied by surveillance and control, to which conventional expert system is hard to be applied. The requirement for the real time expert system, the example of the real time expert system, and as the techniques of realizing real time processing, the realization of interruption processing, dispersion processing, and the mechanism of maintaining the consistency of knowledge are explained. (K.I.)

  6. Square tracking sensor for autonomous helicopter hover stabilization

    Science.gov (United States)

    Oertel, Carl-Henrik

    1995-06-01

    Sensors for synthetic vision are needed to extend the mission profiles of helicopters. A special task for various applications is the autonomous position hold of a helicopter above a ground fixed or moving target. As a proof of concept for a general synthetic vision solution a restricted machine vision system, which is capable of locating and tracking a special target, was developed by the Institute of Flight Mechanics of Deutsche Forschungsanstalt fur Luft- und Raumfahrt e.V. (i.e., German Aerospace Research Establishment). This sensor, which is specialized to detect and track a square, was integrated in the fly-by-wire helicopter ATTHeS (i.e., Advanced Technology Testing Helicopter System). An existing model following controller for the forward flight condition was adapted for the hover and low speed requirements of the flight vehicle. The special target, a black square with a length of one meter, was mounted on top of a car. Flight tests demonstrated the automatic stabilization of the helicopter above the moving car by synthetic vision.

  7. Quantitative (real-time) PCR

    International Nuclear Information System (INIS)

    Denman, S.E.; McSweeney, C.S.

    2005-01-01

    Many nucleic acid-based probe and PCR assays have been developed for the detection tracking of specific microbes within the rumen ecosystem. Conventional PCR assays detect PCR products at the end stage of each PCR reaction, where exponential amplification is no longer being achieved. This approach can result in different end product (amplicon) quantities being generated. In contrast, using quantitative, or real-time PCR, quantification of the amplicon is performed not at the end of the reaction, but rather during exponential amplification, where theoretically each cycle will result in a doubling of product being created. For real-time PCR, the cycle at which fluorescence is deemed to be detectable above the background during the exponential phase is termed the cycle threshold (Ct). The Ct values obtained are then used for quantitation, which will be discussed later

  8. Real-time radiography

    International Nuclear Information System (INIS)

    Bossi, R.H.; Oien, C.T.

    1981-01-01

    Real-time radiography is used for imaging both dynamic events and static objects. Fluorescent screens play an important role in converting radiation to light, which is then observed directly or intensified and detected. The radiographic parameters for real-time radiography are similar to conventional film radiography with special emphasis on statistics and magnification. Direct-viewing fluoroscopy uses the human eye as a detector of fluorescent screen light or the light from an intensifier. Remote-viewing systems replace the human observer with a television camera. The remote-viewing systems have many advantages over the direct-viewing conditions such as safety, image enhancement, and the capability to produce permanent records. This report reviews real-time imaging system parameters and components

  9. Tracking Object Existence From an Autonomous Patrol Vehicle

    Science.gov (United States)

    Wolf, Michael; Scharenbroich, Lucas

    2011-01-01

    An autonomous vehicle patrols a large region, during which an algorithm receives measurements of detected potential objects within its sensor range. The goal of the algorithm is to track all objects in the region over time. This problem differs from traditional multi-target tracking scenarios because the region of interest is much larger than the sensor range and relies on the movement of the sensor through this region for coverage. The goal is to know whether anything has changed between visits to the same location. In particular, two kinds of alert conditions must be detected: (1) a previously detected object has disappeared and (2) a new object has appeared in a location already checked. For the time an object is within sensor range, the object can be assumed to remain stationary, changing position only between visits. The problem is difficult because the upstream object detection processing is likely to make many errors, resulting in heavy clutter (false positives) and missed detections (false negatives), and because only noisy, bearings-only measurements are available. This work has three main goals: (1) Associate incoming measurements with known objects or mark them as new objects or false positives, as appropriate. For this, a multiple hypothesis tracker was adapted to this scenario. (2) Localize the objects using multiple bearings-only measurements to provide estimates of global position (e.g., latitude and longitude). A nonlinear Kalman filter extension provides these 2D position estimates using the 1D measurements. (3) Calculate the probability that a suspected object truly exists (in the estimated position), and determine whether alert conditions have been triggered (for new objects or disappeared objects). The concept of a probability of existence was created, and a new Bayesian method for updating this probability at each time step was developed. A probabilistic multiple hypothesis approach is chosen because of its superiority in handling the

  10. SU-G-BRA-05: Application of a Feature-Based Tracking Algorithm to KV X-Ray Fluoroscopic Images Toward Marker-Less Real-Time Tumor Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Nakamura, M; Matsuo, Y; Mukumoto, N; Iizuka, Y; Yokota, K; Mizowaki, T; Hiraoka, M [Kyoto University, Graduate School of Medicine, Kyoto (Japan); Nakao, M [Kyoto University, Graduate School of Informatics, Kyoto (Japan)

    2016-06-15

    Purpose: To detect target position on kV X-ray fluoroscopic images using a feature-based tracking algorithm, Accelerated-KAZE (AKAZE), for markerless real-time tumor tracking (RTTT). Methods: Twelve lung cancer patients treated with RTTT on the Vero4DRT (Mitsubishi Heavy Industries, Japan, and Brainlab AG, Feldkirchen, Germany) were enrolled in this study. Respiratory tumor movement was greater than 10 mm. Three to five fiducial markers were implanted around the lung tumor transbronchially for each patient. Before beam delivery, external infrared (IR) markers and the fiducial markers were monitored for 20 to 40 s with the IR camera every 16.7 ms and with an orthogonal kV x-ray imaging subsystem every 80 or 160 ms, respectively. Target positions derived from the fiducial markers were determined on the orthogonal kV x-ray images, which were used as the ground truth in this study. Meanwhile, tracking positions were identified by AKAZE. Among a lot of feature points, AKAZE found high-quality feature points through sequential cross-check and distance-check between two consecutive images. Then, these 2D positional data were converted to the 3D positional data by a transformation matrix with a predefined calibration parameter. Root mean square error (RMSE) was calculated to evaluate the difference between 3D tracking and target positions. A total of 393 frames was analyzed. The experiment was conducted on a personal computer with 16 GB RAM, Intel Core i7-2600, 3.4 GHz processor. Results: Reproducibility of the target position during the same respiratory phase was 0.6 +/− 0.6 mm (range, 0.1–3.3 mm). Mean +/− SD of the RMSEs was 0.3 +/− 0.2 mm (range, 0.0–1.0 mm). Median computation time per frame was 179 msec (range, 154–247 msec). Conclusion: AKAZE successfully and quickly detected the target position on kV X-ray fluoroscopic images. Initial results indicate that the differences between 3D tracking and target position would be clinically acceptable.

  11. SU-G-BRA-05: Application of a Feature-Based Tracking Algorithm to KV X-Ray Fluoroscopic Images Toward Marker-Less Real-Time Tumor Tracking

    International Nuclear Information System (INIS)

    Nakamura, M; Matsuo, Y; Mukumoto, N; Iizuka, Y; Yokota, K; Mizowaki, T; Hiraoka, M; Nakao, M

    2016-01-01

    Purpose: To detect target position on kV X-ray fluoroscopic images using a feature-based tracking algorithm, Accelerated-KAZE (AKAZE), for markerless real-time tumor tracking (RTTT). Methods: Twelve lung cancer patients treated with RTTT on the Vero4DRT (Mitsubishi Heavy Industries, Japan, and Brainlab AG, Feldkirchen, Germany) were enrolled in this study. Respiratory tumor movement was greater than 10 mm. Three to five fiducial markers were implanted around the lung tumor transbronchially for each patient. Before beam delivery, external infrared (IR) markers and the fiducial markers were monitored for 20 to 40 s with the IR camera every 16.7 ms and with an orthogonal kV x-ray imaging subsystem every 80 or 160 ms, respectively. Target positions derived from the fiducial markers were determined on the orthogonal kV x-ray images, which were used as the ground truth in this study. Meanwhile, tracking positions were identified by AKAZE. Among a lot of feature points, AKAZE found high-quality feature points through sequential cross-check and distance-check between two consecutive images. Then, these 2D positional data were converted to the 3D positional data by a transformation matrix with a predefined calibration parameter. Root mean square error (RMSE) was calculated to evaluate the difference between 3D tracking and target positions. A total of 393 frames was analyzed. The experiment was conducted on a personal computer with 16 GB RAM, Intel Core i7-2600, 3.4 GHz processor. Results: Reproducibility of the target position during the same respiratory phase was 0.6 +/− 0.6 mm (range, 0.1–3.3 mm). Mean +/− SD of the RMSEs was 0.3 +/− 0.2 mm (range, 0.0–1.0 mm). Median computation time per frame was 179 msec (range, 154–247 msec). Conclusion: AKAZE successfully and quickly detected the target position on kV X-ray fluoroscopic images. Initial results indicate that the differences between 3D tracking and target position would be clinically acceptable.

  12. Route around real time

    International Nuclear Information System (INIS)

    Terrier, Francois

    1996-01-01

    The greater and greater autonomy and complexity asked to the control and command systems lead to work on introducing techniques such as Artificial Intelligence or concurrent object programming in industrial applications. However, while the critical feature of these systems impose to control the dynamics of the proposed solutions, their complexity often imposes a high adaptability to a partially modelled environment. The studies presented start from low level control and command systems to more complex applications at higher levels, such as 'supervision systems'. Techniques such as temporal reasoning and uncertainty management are proposed for the first studies, while the second are tackled with programming techniques based on the real time object paradigm. The outcomes of this itinerary crystallize on the ACCORD project which targets to manage - on the whole life cycle of a real time application - these two problematics, sometimes antagonistic: control of the dynamics and adaptivity. (author) [fr

  13. Real Time Processing

    CERN Multimedia

    CERN. Geneva; ANDERSON, Dustin James; DOGLIONI, Caterina

    2015-01-01

    The LHC provides experiments with an unprecedented amount of data. Experimental collaborations need to meet storage and computing requirements for the analysis of this data: this is often a limiting factor in the physics program that would be achievable if the whole dataset could be analysed. In this talk, I will describe the strategies adopted by the LHCb, CMS and ATLAS collaborations to overcome these limitations and make the most of LHC data: data parking, data scouting, and real-time analysis.

  14. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  15. A 4D ultrasound real-time tracking system for external beam radiotherapy of upper abdominal lesions under breath-hold

    Energy Technology Data Exchange (ETDEWEB)

    Sihono, Dwi Seno Kuncoro; Vogel, Lena; Thoelking, Johannes; Wenz, Frederik; Boda-Heggemann, Judit; Wertz, Hansjoerg [University of Heidelberg, Department of Radiation Oncology, University Medical Center Mannheim, Mannheim (Germany); Weiss, Christel [University of Heidelberg, Department of Biomathematics and Medical Statistics, University Medical Center Mannheim, Mannheim (Germany); Lohr, Frank [University of Heidelberg, Department of Radiation Oncology, University Medical Center Mannheim, Mannheim (Germany); Az. Ospedaliero-Universitaria di Modena, Struttura Complessa di Radioterapia, Dipartimento di Oncologia, Modena (Italy)

    2017-03-15

    To evaluate a novel four-dimensional (4D) ultrasound (US) tracking system for external beam radiotherapy of upper abdominal lesions under computer-controlled deep-inspiration breath-hold (DIBH). The tracking accuracy of the research 4D US system was evaluated using two motion phantoms programmed with sinusoidal and breathing patterns to simulate free breathing and DIBH. Clinical performance was evaluated with five healthy volunteers. US datasets were acquired in computer-controlled DIBH with varying angular scanning angles. Tracked structures were renal pelvis (spherical structure) and portal/liver vein branches (non-spherical structure). An external marker was attached to the surface of both phantoms and volunteers as a secondary object to be tracked by an infrared camera for comparison. Phantom measurements showed increased accuracy of US tracking with decreasing scanning range/increasing scanning frequency. The probability of lost tracking was higher for small scanning ranges (43.09% for 10 and 13.54% for 20 ).The tracking success rates in healthy volunteers during DIBH were 93.24 and 89.86% for renal pelvis and portal vein branches, respectively. There was a strong correlation between marker motion and US tracking for the majority of analyzed breath-holds: 84.06 and 88.41% of renal pelvis target results and 82.26 and 91.94% of liver vein target results in anteroposterior and superoinferior directions, respectively; Pearson's correlation coefficient was between 0.71 and 0.99. The US system showed a good tracking performance in 4D motion phantoms. The tracking capability of surrogate structures for upper abdominal lesions in DIBH fulfills clinical requirements. Further investigation in a larger cohort of patients is underway. (orig.) [German] Evaluation eines neuen vierdimensionalen (4D) Ultraschall(US)-Tracking-Systems fuer die externe Strahlentherapie von Oberbauchlaesionen unter computergesteuertem tiefem Atemanhalt (DIBH). Die Tracking-Genauigkeit des 4D

  16. Real Time Text Analysis

    Science.gov (United States)

    Senthilkumar, K.; Ruchika Mehra Vijayan, E.

    2017-11-01

    This paper aims to illustrate real time analysis of large scale data. For practical implementation we are performing sentiment analysis on live Twitter feeds for each individual tweet. To analyze sentiments we will train our data model on sentiWordNet, a polarity assigned wordNet sample by Princeton University. Our main objective will be to efficiency analyze large scale data on the fly using distributed computation. Apache Spark and Apache Hadoop eco system is used as distributed computation platform with Java as development language

  17. Real time Faraday spectrometer

    International Nuclear Information System (INIS)

    Smith, T.E.; Struve, K.W.; Colella, N.J.

    1991-01-01

    This patent describes an invention which uses a dipole magnet to bend the path of a charged particle beam. As the deflected particles exit the magnet, they are spatially dispersed in the bend-plane of the magnet according to their respective momenta and pass to a plurality of chambers having Faraday probes positioned therein. Both the current and energy distribution of the particles is then determined by the non-intersecting Faraday probes located along the chambers. The Faraday probes are magnetically isolated from each other by thin metal walls of the chambers, effectively providing real time current-versus-energy particle measurements

  18. Real-time dynamic MR image reconstruction using compressed sensing and principal component analysis (CS-PCA): Demonstration in lung tumor tracking.

    Science.gov (United States)

    Dietz, Bryson; Yip, Eugene; Yun, Jihyun; Fallone, B Gino; Wachowicz, Keith

    2017-08-01

    This work presents a real-time dynamic image reconstruction technique, which combines compressed sensing and principal component analysis (CS-PCA), to achieve real-time adaptive radiotherapy with the use of a linac-magnetic resonance imaging system. Six retrospective fully sampled dynamic data sets of patients diagnosed with non-small-cell lung cancer were used to investigate the CS-PCA algorithm. Using a database of fully sampled k-space, principal components (PC's) were calculated to aid in the reconstruction of undersampled images. Missing k-space data were calculated by projecting the current undersampled k-space data onto the PC's to generate the corresponding PC weights. The weighted PC's were summed together, and the missing k-space was iteratively updated. To gain insight into how the reconstruction might proceed at lower fields, 6× noise was added to the 3T data to investigate how the algorithm handles noisy data. Acceleration factors ranging from 2 to 10× were investigated using CS-PCA and Split Bregman CS for comparison. Metrics to determine the reconstruction quality included the normalized mean square error (NMSE), as well as the dice coefficients (DC) and centroid displacement of the tumor segmentations. Our results demonstrate that CS-PCA performed superior than CS alone. The CS-PCA patient averaged DC for 3T and 6× noise added data remained above 0.9 for acceleration factors up to 10×. The patient averaged NMSE gradually increased with increasing acceleration; however, it remained below 0.06 up to an acceleration factor of 10× for both 3T and 6× noise added data. The CS-PCA reconstruction speed ranged from 5 to 20 ms (Intel i7-4710HQ CPU @ 2.5 GHz), depending on the chosen parameters. A real-time reconstruction technique was developed for adaptive radiotherapy using a Linac-MRI system. Our CS-PCA algorithm can achieve tumor contours with DC greater than 0.9 and NMSE less than 0.06 at acceleration factors of up to, and including, 10×. The

  19. A real-time in-memory discovery service leveraging hierarchical packaging information in a unique identifier network to retrieve track and trace information

    CERN Document Server

    Müller, Jürgen

    2014-01-01

    This book examines how to efficiently retrieve track and trace information for an item that took a certain path through a complex network of manufacturers, wholesalers, retailers and consumers. It includes valuable tips on in-memory data management.

  20. Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

    CERN Document Server

    González, Ramón; Guzmán, José Luis

    2014-01-01

    This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

  1. Real time production optimization

    Energy Technology Data Exchange (ETDEWEB)

    Saputelli, Luigi; Otavio, Joao; Araujo, Turiassu; Escorcia, Alvaro [Halliburton, Houston, TX (United States). Landmark Division

    2004-07-01

    Production optimization encompasses various activities of measuring, analyzing, modeling, prioritizing and implementing actions to enhance productivity of a field. We present a state-of-the-art framework for optimizing production on a continuous basis as new sensor data is acquired in real time. Permanently acquired data is modeled and analyzed in order to create predictive models. A model based control strategy is used to regulate well and field instrumentation. The optimum field operating point, which changes with time, satisfies the maximum economic return. This work is a starting point for further development in automatic, intelligent reservoir technologies which get the most out of the abilities of permanent, instrumented wells and remotely activated downhole completions. The strategy, tested with history-matched data from a compartmentalised giant field, proved to reduce operating costs while increasing oil recovery by 27% in this field. (author)

  2. Real time urbanism

    Directory of Open Access Journals (Sweden)

    Ana Ruiz Varona

    2012-12-01

    Full Text Available Nowadays, given the technological revolution of the society of information, the administrative management of the cities faces a new problem not as related to the projection of the urban space as to the capacity of controlling and measuring the process of direct and centralized production of the cities by part of some non-homogeneous social multitudes, in a hyper-accelerated time towards instantaneity. Against libertarian apologies of the new “participative urbanisms”, the article puts forward a discourse that shows the lost associated to the new problem of temporal instantaneity. In this regard we claim new process of mediation that allow administrations and urbanist monitoring the production of the city. To that end, a previous and necessary step will be the redefinition of the role of a new real time urbanist.

  3. Adaptive pattern recognition in real-time video-based soccer analysis

    DEFF Research Database (Denmark)

    Schlipsing, Marc; Salmen, Jan; Tschentscher, Marc

    2017-01-01

    Computer-aided sports analysis is demanded by coaches and the media. Image processing and machine learning techniques that allow for "live" recognition and tracking of players exist. But these methods are far from collecting and analyzing event data fully autonomously. To generate accurate results......, human interaction is required at different stages including system setup, calibration, supervision of classifier training, and resolution of tracking conflicts. Furthermore, the real-time constraints are challenging: in contrast to other object recognition and tracking applications, we cannot treat data...... collection, annotation, and learning as an offline task. A semi-automatic labeling of training data and robust learning given few examples from unbalanced classes are required. We present a real-time system acquiring and analyzing video sequences from soccer matches. It estimates each player's position...

  4. Cooperative Target Tracking in a Distributed Autonomous Sensor Network

    National Research Council Canada - National Science Library

    Eickstedt, Donald P; Benjamin, Michael R

    2006-01-01

    ... network. This framework has two major components, an intelligent sensor that provides highlevel state information to a behavior-based autonomous vehicle control system and a new approach to behavior-based...

  5. A dosimetric comparison of real-time adaptive and non-adaptive radiotherapy: A multi-institutional study encompassing robotic, gimbaled, multileaf collimator and couch tracking

    DEFF Research Database (Denmark)

    Colvill, Emma; Booth, Jeremy; Nill, Simeon

    2016-01-01

    AND MATERIALS: Ten institutions with robotic(2), gimbaled(2), MLC(4) or couch tracking(2) used common materials including CT and structure sets, motion traces and planning protocols to create a lung and a prostate plan. For each motion trace, the plan was delivered twice to a moving dosimeter; with and without...

  6. A quantitative method to track protein translocation between intracellular compartments in real-time in live cells using weighted local variance image analysis.

    Directory of Open Access Journals (Sweden)

    Guillaume Calmettes

    Full Text Available The genetic expression of cloned fluorescent proteins coupled to time-lapse fluorescence microscopy has opened the door to the direct visualization of a wide range of molecular interactions in living cells. In particular, the dynamic translocation of proteins can now be explored in real time at the single-cell level. Here we propose a reliable, easy-to-implement, quantitative image processing method to assess protein translocation in living cells based on the computation of spatial variance maps of time-lapse images. The method is first illustrated and validated on simulated images of a fluorescently-labeled protein translocating from mitochondria to cytoplasm, and then applied to experimental data obtained with fluorescently-labeled hexokinase 2 in different cell types imaged by regular or confocal microscopy. The method was found to be robust with respect to cell morphology changes and mitochondrial dynamics (fusion, fission, movement during the time-lapse imaging. Its ease of implementation should facilitate its application to a broad spectrum of time-lapse imaging studies.

  7. Real-Time, Multiple, Pan/Tilt/Zoom, Computer Vision Tracking, and 3D Position Estimating System for Unmanned Aerial System Metrology

    Science.gov (United States)

    2013-10-18

    series of successive states until a given name is reached such as: Object Animate Animal Mammal Dog Labrador Chocolate (Brown) Male Name...Processing and Pattern Recognition in Industrial Engineering. 2010. 32 77. Lindholm, G. and R. Cobb. “Closed-Loop Control of a Constrained, Resonant...to a desired amount. This system is tested against truth data obtained using an industrial system. object tracking, pan/tilt/zoom, optical flow, real

  8. WE-G-BRF-03: A Quasi-Cine CBCT Reconstruction Technique for Real-Time On- Board Target Tracking of Lung Cancer Treatment

    International Nuclear Information System (INIS)

    Zhang, Y; Yin, F; Ren, L

    2014-01-01

    Purpose: To develop a quasi-cine CBCT reconstruction technique that uses extremely-small angle (∼3°) projections to generate real-time high-quality lung CBCT images. Method: 4D-CBCT is obtained at the beginning and used as prior images. This study uses extremely-small angle (∼3°) on-board projections acquired at a single respiratory phase to reconstruct the CBCT image at this phase. An adaptive constrained free-form deformation (ACFD) method is developed to deform the prior 4D-CBCT volume at the same phase to reconstruct the new CBCT. Quasi-cine CBCT images are obtained by continuously reconstructing CBCT images at subsequent phases every 3° angle (∼0.5s). Note that the prior 4D-CBCT images are dynamically updated using the latest CBCT images. The 4D digital extended-cardiac-torso (XCAT) phantom was used to evaluate the efficacy of ACFD. A lung patient was simulated with a tumor baseline shift of 2mm along superior-inferior (SI) direction after every respiratory cycle for 5 cycles. Limited-angle projections were simulated for each cycle. The 4D-CBCT reconstructed by these projections were compared with the ground-truth generated in XCAT.Volume-percentage-difference (VPD) and center-of-mass-shift (COMS) were calculated between the reconstructed and the ground-truth tumors to evaluate their geometric differences.The ACFD was also compared to a principal-component-analysis based motion-modeling (MM) method. Results: Using orthogonal-view 3° projections, the VPD/COMS values for tumor baseline shifts of 2mm, 4mm, 6mm, 8mm, 10mm were 11.0%/0.3mm, 25.3%/2.7mm, 22.4%/2.9mm, 49.5%/5.4mm, 77.2%/8.1mm for the MM method, and 2.9%/0.7mm, 3.9%/0.8mm, 6.2%/1mm, 7.9%/1.2mm, 10.1%/1.1mm for the ACFD method. Using orthogonal-view 0° projections (1 projection only), the ACFD method yielded VPD/COMS results of 5.0%/0.9mm, 10.5%/1.2mm, 15.1%/1.4mm, 20.9%/1.6mm and 24.8%/1.6mm. Using single-view instead of orthogonal-view projections yielded less accurate results for ACFD

  9. Watching from a distance: A robotically controlled laser and real-time subject tracking software for the study of conditioned predator/prey-like interactions.

    Science.gov (United States)

    Wilson, James C; Kesler, Mitch; Pelegrin, Sara-Lynn E; Kalvi, LeAnna; Gruber, Aaron; Steenland, Hendrik W

    2015-09-30

    The physical distance between predator and prey is a primary determinant of behavior, yet few paradigms exist to study this reliably in rodents. The utility of a robotically controlled laser for use in a predator-prey-like (PPL) paradigm was explored for use in rats. This involved the construction of a robotic two-dimensional gimbal to dynamically position a laser beam in a behavioral test chamber. Custom software was used to control the trajectory and final laser position in response to user input on a console. The software also detected the location of the laser beam and the rodent continuously so that the dynamics of the distance between them could be analyzed. When the animal or laser beam came within a fixed distance the animal would either be rewarded with electrical brain stimulation or shocked subcutaneously. Animals that received rewarding electrical brain stimulation could learn to chase the laser beam, while animals that received aversive subcutaneous shock learned to actively avoid the laser beam in the PPL paradigm. Mathematical computations are presented which describe the dynamic interaction of the laser and rodent. The robotic laser offers a neutral stimulus to train rodents in an open field and is the first device to be versatile enough to assess distance between predator and prey in real time. With ongoing behavioral testing this tool will permit the neurobiological investigation of predator/prey-like relationships in rodents, and may have future implications for prosthetic limb development through brain-machine interfaces. Copyright © 2015 Elsevier B.V. All rights reserved.

  10. The ALMA Real Time Control System

    Science.gov (United States)

    Kern, Jeffrey S.; Juerges, Thomas A.; Marson, Ralph G.

    2009-01-01

    The Atacama Large Millimeter Array (ALMA) is a revolutionary millimeter and submillimeter array being developed on the Atacama plateau of northern Chile. An international partnership lead by NRAO, ESO, and NAOJ this powerful and flexible telescope will provide unprecedented observations of this relatively unexplored frequency range. The control subsystem for the Atacama Large Millimeter Array must coordinate the monitor and control of at least sixty six antennas (in four different styles), two correlators, and all of the ancillary equipment (samplers, local oscillators, front ends, etc.). This equipment will be spread over tens of kilometers and operated remotely. Operation of the array requires a robust, scalable, and maintainable real time control system. The real time control system is responsible for monitoring and control of any devices where there are fixed deadlines. Examples in the ALMA context are antenna pointing and fringe tracking. Traditionally the real time portion of a large software system is an intricate and error prone portion of the software. As a result the real time portion is very expensive in terms of effort expended both during construction and during maintenance phases of a project. The ALMA real time control system uses a Linux based real time operating system to interact with the hardware and the CORBA based ALMA Common Software to communicate in the distributed computing environment. Mixing the requirements of real time computing and the non-deterministic CORBA middleware has produced an interesting design. We discuss the architecture, design, and implementation of the ALMA real time control system. Highlight some lessons learned along the way, and justify our assertion that this should be the last large scale real time control system in radio astronomy.

  11. Ovation Prime Real-Time

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Ovation Prime Real-Time (OPRT) product is a real-time forecast and nowcast model of auroral power and is an operational implementation of the work by Newell et...

  12. Real-Time Tracking of Neighborhood Surroundings and Mood in Urban Drug Misusers: Application of a New Method to Study Behavior in Its Geographical Context

    Science.gov (United States)

    Epstein, David H.; Tyburski, Matthew; Craig, Ian M.; Phillips, Karran A.; Jobes, Michelle L.; Vahabzadeh, Massoud; Mezghanni, Mustapha; Lin, Jia-Ling; Furr-Holden, C. Debra M.; Preston, Kenzie L.

    2013-01-01

    Background Maladaptive behaviors may be more fully understood and efficiently prevented by ambulatory tools that assess people’s ongoing experience in the context of their environment. Methods To demonstrate new field-deployable methods for assessing mood and behavior as a function of neighborhood surroundings (Geographical Momentary Assessment; GMA), we collected time-stamped GPS data and Ecological Momentary Assessment (EMA) ratings of mood, stress, and drug craving over 16 weeks at randomly prompted times during the waking hours of opioid-dependent polydrug users receiving methadone maintenance. Locations of EMA entries and participants’ travel tracks were calculated for the 12 hours before each EMA entry were mapped. Associations between subjective ratings and objective environmental ratings were evaluated at the whole neighborhood and 12-hour track levels. Results Participants (N=27) were compliant with GMA data collection; 3,711 randomly prompted EMA entries were matched to specific locations. At the neighborhood level, physical disorder was negatively correlated with negative mood, stress, and heroin and cocaine craving (ps <.0001 to .0335); drug activity was negatively correlated with stress, heroin and cocaine craving (ps .0009 to .0134). Similar relationships were found for the environments around respondents’ tracks in the 12 hours preceding EMA entries. Conclusions The results support the feasibility of GMA. The relationships between neighborhood characteristics and participants’ reports were counterintuitive and counter-hypothesized, and challenge some assumptions about how ostensibly stressful environments are associated with lived experience and how such environments ultimately impair health. GMA methodology may have applications for development of individual- or neighborhood-level interventions. PMID:24332365

  13. Acting to gain information: Real-time reasoning meets real-time perception

    Science.gov (United States)

    Rosenschein, Stan

    1994-01-01

    Recent advances in intelligent reactive systems suggest new approaches to the problem of deriving task-relevant information from perceptual systems in real time. The author will describe work in progress aimed at coupling intelligent control mechanisms to real-time perception systems, with special emphasis on frame rate visual measurement systems. A model for integrated reasoning and perception will be discussed, and recent progress in applying these ideas to problems of sensor utilization for efficient recognition and tracking will be described.

  14. Real-time monitoring and control on deep inspiration breath-hold for lung cancer radiotherapy--combination of ABC and external marker tracking.

    Science.gov (United States)

    Wong, Victy Y W; Tung, Stewart Y; Ng, Alice W Y; Li, Francis A S; Leung, Joyce O Y

    2010-09-01

    In this article, the breath-hold and gating concepts were combined for application of lung cancer radiation treatment. The tumor movement was immobilized based on deep inspiration breath hold (DIBH), in which the breath-hold consistency and stability were monitored by infrared (IR) tracking and controlled by gating with a predefined threshold. The authors' goal is to derive the benefits from both techniques, namely, the minimized treatment margin and the known advantages of deep inspiration. The efficacy of the technique in terms of tumor immobility and treatment setup accuracy was evaluated in the study. Fourteen patients who were diagnosed with non small cell lung cancer were included in this study. The control of tumor immobility was investigated interfractionally and intrafractionally. The intrabreath-hold tumor motion was devised based on the external marker movement, in which the tumor-marker correlation was studied. The margin of the planning target volume (PTV) was evaluated based on two factors: (1) The treatment setup error accounts for the patient setup and interbreath-hold variations and (2) the intrabreath-hold tumor motion in which the residual tumor motion during irradiation was studied. As the result of the study, the group systematic error and group random error of treatment setup measured at the isocenter were 0.2(R) +/- 1.6, 1.0(A) +/- 2.0, and 0.3(S) +/- 1.5 mm in the left-right (LR), anterior-posterior (AP), and caudal-cranial (CC) directions, respectively. The Pearson correlation coefficient were 0.81 (LR), 0.76 (AP), and 0.85 (CC) mm and suggest tendency in linear correlation of tumor and marker movement. The intrabreath-hold tumor was small in all directions. The group PTV margins of 3.8 (LR), 4.6 (AP), and 4.8 (CC) mm were evaluated to account for both setup errors and residual tumor motion during irradiation. The study applies the DIBH technique in conjunction with IR positional tracking for tumor immobilization and treatment setup

  15. First evaluation of the CPU, GPGPU and MIC architectures for real time particle tracking based on Hough transform at the LHC

    Science.gov (United States)

    Halyo, V.; LeGresley, P.; Lujan, P.; Karpusenko, V.; Vladimirov, A.

    2014-04-01

    Recent innovations focused around parallel processing, either through systems containing multiple processors or processors containing multiple cores, hold great promise for enhancing the performance of the trigger at the LHC and extending its physics program. The flexibility of the CMS/ATLAS trigger system allows for easy integration of computational accelerators, such as NVIDIA's Tesla Graphics Processing Unit (GPU) or Intel's Xeon Phi, in the High Level Trigger. These accelerators have the potential to provide faster or more energy efficient event selection, thus opening up possibilities for new complex triggers that were not previously feasible. At the same time, it is crucial to explore the performance limits achievable on the latest generation multicore CPUs with the use of the best software optimization methods. In this article, a new tracking algorithm based on the Hough transform will be evaluated for the first time on multi-core Intel i7-3770 and Intel Xeon E5-2697v2 CPUs, an NVIDIA Tesla K20c GPU, and an Intel Xeon Phi 7120 coprocessor. Preliminary time performance will be presented.

  16. First Evaluation of the CPU, GPGPU and MIC Architectures for Real Time Particle Tracking based on Hough Transform at the LHC

    CERN Document Server

    Halyo, V.; Lujan, P.; Karpusenko, V.; Vladimirov, A.

    2014-04-07

    Recent innovations focused around {\\em parallel} processing, either through systems containing multiple processors or processors containing multiple cores, hold great promise for enhancing the performance of the trigger at the LHC and extending its physics program. The flexibility of the CMS/ATLAS trigger system allows for easy integration of computational accelerators, such as NVIDIA's Tesla Graphics Processing Unit (GPU) or Intel's \\xphi, in the High Level Trigger. These accelerators have the potential to provide faster or more energy efficient event selection, thus opening up possibilities for new complex triggers that were not previously feasible. At the same time, it is crucial to explore the performance limits achievable on the latest generation multicore CPUs with the use of the best software optimization methods. In this article, a new tracking algorithm based on the Hough transform will be evaluated for the first time on a multi-core Intel Xeon E5-2697v2 CPU, an NVIDIA Tesla K20c GPU, and an Intel \\x...

  17. Investigation of the change in marker geometry during respiration motion: a preliminary study for dynamic-multi-leaf real-time tumor tracking

    International Nuclear Information System (INIS)

    Yamazaki, Rie; Nishioka, Seiko; Date, Hiroyuki; Shirato, Hiroki; Koike, Takao; Nishioka, Takeshi

    2012-01-01

    The use of stereotactic body radiotherapy (SBRT) is rapidly increasing. Presently, the most accurate method uses fiducial markers implanted near the tumor. A shortcoming of this method is that the beams turn off during the majority of the respiratory cycle, resulting in a prolonged treatment time. Recent advances in collimation technology have enabled continuous irradiation to a moving tumor. However, the lung is a dynamic organ characterized by inhalation exhalation cycles, during which marker/tumor geometry may change (i.e., misalignment), resulting in under-dosing to the tumor. Eight patients with lung cancer who were candidates for stereotactic radiotherapy were examined with 4D high-resolution CT. As a marker surrogate, virtual bronchoscopy using the pulmonary artery (VBPA) was conducted. To detect possible marker/tumor misalignment during the respiration cycle, the distance between the peripheral bronchus, where a marker could be implanted, and the center of gravity of a tumor were calculated for each respiratory phase. When the respiration cycle was divided into 10 phases, the median value was significantly larger for the 30%-70% respiratory phases compared to that for the 10% respiratory phase (P<0.05, Mann–Whitney U-test). These results demonstrate that physiological aspect must be considered when continuous tumor tracking is applied to a moving tumor. To minimize an “additional” internal target volume (ITV) margin, a marker should be placed approximately 2.5 cm from the tumor

  18. Real-Time Tracking of BODIPY-C12 Long-Chain Fatty Acid in Human Term Placenta Reveals Unique Lipid Dynamics in Cytotrophoblast Cells.

    Directory of Open Access Journals (Sweden)

    Kevin Kolahi

    Full Text Available While the human placenta must provide selected long-chain fatty acids to support the developing fetal brain, little is known about the mechanisms underlying the transport process. We tracked the movement of the fluorescently labeled long-chain fatty acid analogue, BODIPY-C12, across the cell layers of living explants of human term placenta. Although all layers took up the fatty acid, rapid esterification of long-chain fatty acids and incorporation into lipid droplets was exclusive to the inner layer cytotrophoblast cells rather than the expected outer syncytiotrophoblast layer. Cytotrophoblast is a progenitor cell layer previously relegated to a repair role. As isolated cytotrophoblasts differentiated into syncytialized cells in culture, they weakened their lipid processing capacity. Syncytializing cells suppress previously active genes that regulate fatty-acid uptake (SLC27A2/FATP2, FABP4, ACSL5 and lipid metabolism (GPAT3, LPCAT3. We speculate that cytotrophoblast performs a previously unrecognized role in regulating placental fatty acid uptake and metabolism.

  19. Trajectory planning and tracking for autonomous vehicles navigation

    OpenAIRE

    Chebly , Alia

    2017-01-01

    In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics,...

  20. A Study on Stereoscopic X-ray Imaging Data Set on the Accuracy of Real-Time Tumor Tracking in External Beam Radiotherapy

    Science.gov (United States)

    Ghorbanzadeh, Leila

    2016-01-01

    At external beam radiotherapy, stereoscopic X-ray imaging system is responsible as tumor motion information provider. This system takes X-ray images intermittently from tumor position (1) at pretreatment step to provide training data set for model construction and (2) during treatment to control the accuracy of correlation model performance. In this work, we investigated the effect of imaging data points provided by this system on treatment quality. Because some information is still lacking about (1) the number of imaging data points, (2) shooting time for capturing each data point, and also (3) additional imaging dose delivered by this system. These 3 issues were comprehensively assessed at (1) pretreatment step while training data set is gathered for prediction model construction and (2) during treatment while model is tested and reconstructed using new arrival data points. A group of real patients treated with CyberKnife Synchrony module was chosen in this work, and an adaptive neuro-fuzzy inference system was considered as consistent correlation model. Results show that a proper model can be constructed while the number of imaging data points is highly enough to represent a good pattern of breathing cycles. Moreover, a trade-off between the number of imaging data points and additional imaging dose is considered in this study. Since breathing phenomena are highly variable at different patients, the time for taking some of imaging data points is very important, while their absence at that critical time may yield wrong tumor tracking. In contrast, the sensitivity of another category of imaging data points is not high, while breathing is normal and in the control range. Therefore, an adaptive supervision on the implementation of stereoscopic X-ray imaging is proposed to intelligently accomplish shooting process, based on breathing motion variations. PMID:27037300

  1. Optimum location of external markers using feature selection algorithms for real-time tumor tracking in external-beam radiotherapy: a virtual phantom study.

    Science.gov (United States)

    Nankali, Saber; Torshabi, Ahmad Esmaili; Miandoab, Payam Samadi; Baghizadeh, Amin

    2016-01-08

    In external-beam radiotherapy, using external markers is one of the most reliable tools to predict tumor position, in clinical applications. The main challenge in this approach is tumor motion tracking with highest accuracy that depends heavily on external markers location, and this issue is the objective of this study. Four commercially available feature selection algorithms entitled 1) Correlation-based Feature Selection, 2) Classifier, 3) Principal Components, and 4) Relief were proposed to find optimum location of external markers in combination with two "Genetic" and "Ranker" searching procedures. The performance of these algorithms has been evaluated using four-dimensional extended cardiac-torso anthropomorphic phantom. Six tumors in lung, three tumors in liver, and 49 points on the thorax surface were taken into account to simulate internal and external motions, respectively. The root mean square error of an adaptive neuro-fuzzy inference system (ANFIS) as prediction model was considered as metric for quantitatively evaluating the performance of proposed feature selection algorithms. To do this, the thorax surface region was divided into nine smaller segments and predefined tumors motion was predicted by ANFIS using external motion data of given markers at each small segment, separately. Our comparative results showed that all feature selection algorithms can reasonably select specific external markers from those segments where the root mean square error of the ANFIS model is minimum. Moreover, the performance accuracy of proposed feature selection algorithms was compared, separately. For this, each tumor motion was predicted using motion data of those external markers selected by each feature selection algorithm. Duncan statistical test, followed by F-test, on final results reflected that all proposed feature selection algorithms have the same performance accuracy for lung tumors. But for liver tumors, a correlation-based feature selection algorithm, in

  2. Real-Time Optimization Of Receiver Bandwidth

    Science.gov (United States)

    Vilnrotter, V. A.; Hurd, W. J.; Brown, D. H.

    1989-01-01

    Estimates of signal and noise spectra enhance reception of weak signals. Carrier-tracking phase-locked loop represented by linear mathematical model at small rms phase errors. Loop continuously generates estimates of received phase. Bandwidth (in effect, scale of complex-frequency variable p) optimized to minimize rms phase error. Minimum signals tracked 5 to 15 dB below those tracked by current receivers. Improvement accomplished by use of bandwidths of 0.1 to 1.0 Hz, in contrast with 3-Hz bandwidth in current use. Principle of real-time optimization of bandwidth adapted to other situations to enhance reception of weak signals otherwise "buried" in noise.

  3. Comparison of a novel real-time SonixGPS needle-tracking ultrasound technique with traditional ultrasound for vascular access in a phantom gel model.

    Science.gov (United States)

    Kopac, Daniel S; Chen, Jerry; Tang, Raymond; Sawka, Andrew; Vaghadia, Himat

    2013-09-01

    . Use of the novel SonixGPS needle-tracking ultrasound system (UltraSonix, Richmond, BC, Canada) was not associated with a higher success rate of vascular puncture compared with the traditional ultrasound-guided technique. Assessment of mental task load significantly favored the use of the ultrasound GPS over the traditional ultrasound technique. Copyright © 2013 Society for Vascular Surgery. Published by Mosby, Inc. All rights reserved.

  4. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  5. Comparison of glycolysis and oxidative phosphorylation as energy sources for mammalian sperm motility, using the combination of fluorescence imaging, laser tweezers, and real-time automated tracking and trapping.

    Science.gov (United States)

    Nascimento, Jaclyn M; Shi, Linda Z; Tam, James; Chandsawangbhuwana, Charlie; Durrant, Barbara; Botvinick, Elliot L; Berns, Michael W

    2008-12-01

    The combination of laser tweezers, fluorescent imaging, and real-time automated tracking and trapping (RATTS) can measure sperm swimming speed and swimming force simultaneously with mitochondrial membrane potential (MMP). This approach is used to study the roles of two sources of ATP in sperm motility: oxidative phosphorylation, which occurs in the mitochondria located in the sperm midpiece and glycolysis, which occurs along the length of the sperm tail (flagellum). The relationships between (a) swimming speed and MMP and (b) swimming force and MMP are studied in dog and human sperm. The effects of glucose, oxidative phosphorylation inhibitors and glycolytic inhibitors on human sperm motility are examined. The results indicate that oxidative phosphorylation does contribute some ATP for human sperm motility, but not enough to sustain high motility. The glycolytic pathway is shown to be a primary source of energy for human sperm motility.

  6. A phase I/II study on stereotactic body radiotherapy with real-time tumor tracking using CyberKnife based on the Monte Carlo algorithm for lung tumors.

    Science.gov (United States)

    Iwata, Hiromitsu; Ishikura, Satoshi; Murai, Taro; Iwabuchi, Michio; Inoue, Mitsuhiro; Tatewaki, Koshi; Ohta, Seiji; Yokota, Naoki; Shibamoto, Yuta

    2017-08-01

    In this phase I/II study, we assessed the safety and initial efficacy of stereotactic body radiotherapy (SBRT) for lung tumors with real-time tumor tracking using CyberKnife based on the Monte Carlo algorithm. Study subjects had histologically confirmed primary non-small-cell lung cancer staged as T1a-T2aN0M0 and pulmonary oligometastasis. The primary endpoint was the incidence of Grade ≥3 radiation pneumonitis (RP) within 180 days of the start of SBRT. The secondary endpoint was local control and overall survival rates. Five patients were initially enrolled at level 1 [50 Gy/4 fractions (Fr)]; during the observation period, level 0 (45 Gy/4 Fr) was opened. The dose was escalated to the next level when grade ≥3 RP was observed in 0 out of 5 or 1 out of 10 patients. Virtual quality assurance planning was performed for 60 Gy/4 Fr; however, dose constraints for the organs at risk did not appear to be within acceptable ranges. Therefore, level 2 (55 Gy/4 Fr) was regarded as the upper limit. After the recommended dose (RD) was established, 15 additional patients were enrolled at the RD. The prescribed dose was normalized at the 95% volume border of the planning target volume based on the Monte Carlo algorithm. Between September 2011 and September 2015, 40 patients (primary 30; metastasis 10) were enrolled. Five patients were enrolled at level 0, 15 at level 1, and 20 at level 2. Only one grade 3 RP was observed at level 1. Two-year local control and overall survival rates were 98 and 81%, respectively. The RD was 55 Gy/4 Fr. SBRT with real-time tumor tracking using CyberKnife based on the Monte Carlo algorithm was tolerated well and appeared to be effective for solitary lung tumors.

  7. Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

    Science.gov (United States)

    2016-03-05

    Pine Tree Road Ithaca, NY 14850 -2820 ABSTRACT Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments...would otherwise be impractical. Contingency Planning This paper presents a novel optimization based path planner capable of planning multiple...adjacent lane. An obstacle trajectory clustering algorithm is also presented to enable the path planner to scale to multiple- obstacle scenarios

  8. Real Time Mapping and Dynamic Navigation for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Maki K. Habib

    2008-11-01

    Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

  9. Four-dimensional dose distributions of step-and-shoot IMRT delivered with real-time tumor tracking for patients with irregular breathing: Constant dose rate vs dose rate regulation

    International Nuclear Information System (INIS)

    Yang Xiaocheng; Han-Oh, Sarah; Gui Minzhi; Niu Ying; Yu, Cedric X.; Yi Byongyong

    2012-01-01

    Purpose: Dose-rate-regulated tracking (DRRT) is a tumor tracking strategy that programs the MLC to track the tumor under regular breathing and adapts to breathing irregularities during delivery using dose rate regulation. Constant-dose-rate tracking (CDRT) is a strategy that dynamically repositions the beam to account for intrafractional 3D target motion according to real-time information of target location obtained from an independent position monitoring system. The purpose of this study is to illustrate the differences in the effectiveness and delivery accuracy between these two tracking methods in the presence of breathing irregularities. Methods: Step-and-shoot IMRT plans optimized at a reference phase were extended to remaining phases to generate 10-phased 4D-IMRT plans using segment aperture morphing (SAM) algorithm, where both tumor displacement and deformation were considered. A SAM-based 4D plan has been demonstrated to provide better plan quality than plans not considering target deformation. However, delivering such a plan requires preprogramming of the MLC aperture sequence. Deliveries of the 4D plans using DRRT and CDRT tracking approaches were simulated assuming the breathing period is either shorter or longer than the planning day, for 4 IMRT cases: two lung and two pancreatic cases with maximum GTV centroid motion greater than 1 cm were selected. In DRRT, dose rate was regulated to speed up or slow down delivery as needed such that each planned segment is delivered at the planned breathing phase. In CDRT, MLC is separately controlled to follow the tumor motion, but dose rate was kept constant. In addition to breathing period change, effect of breathing amplitude variation on target and critical tissue dose distribution is also evaluated. Results: Delivery of preprogrammed 4D plans by the CDRT method resulted in an average of 5% increase in target dose and noticeable increase in organs at risk (OAR) dose when patient breathing is either 10% faster or

  10. GPS with Real Time Kinematics on Communicator 200

    OpenAIRE

    Erlendsdottír, Linda Malin

    2012-01-01

    In today’s heavy-duty vehicles, autonomous systems are used to increase comfort and security by intervening or partially taking over the driver’s tasks. Examples of such existing systems are ABS (Anti Blocking System), EPS (Electronic Stability Program) and ACC (Autonomous Cruise Control). With access to accurate vehicle position these autonomous systems can be developed much further. One way to increase the accuracy is to use Real Time Kinematics (RTK) satellite navigation, which uses data f...

  11. Development of a Remotely Operated Autonomous Satellite Tracking System

    Science.gov (United States)

    2010-03-01

    What methods of data connectivity can be used to enable autonomy in a remotely operated tracking sytem ? Methodology Closed-Loop Control Optical...defined as follows: The centroid of a body is the center of mass when we assume constant density (Boas 2006, 251). In a two-dimensional example, a...the coordinate locations of the elements, and the integrals are over the whole body of mass M. In order to calculate the centroid position, MATLAB’s

  12. Autonomous Path Tracking Steering Controller for Extraterrestrial Terrain Exporation Rover

    Science.gov (United States)

    Ahmed, Mohammed; Sonsalla, Roland; Kirchner, Frank

    Extraterrestrial surface missions typically use a robotic rover platform to carry the science instrumentation (e.g.,the twin MER rovers). Due to the risks in the rover path (i.e. low trafficability of unrecognized soil patches), it is proposed in the FASTER footnote{\\url{https://www.faster-fp7-space.eu}} project that two rovers should be used. A micro scout rover is used for determining the traversability of the terrain and collaborate with a primary rover to lower the risk of entering hazardous areas. That will improve the mission safety and the effective traverse speed for planetary rover exploration. This paper presents the design and implementation of the path following controller for micro scout rover. The objective to synthesize a control law which allows the rover to autonomously follow a desired path in a stable manner. Furthermore, the software architecture controlling the rover and all its subsystems is depicted. The performance of the designed controller is discussed and demonstrated with realistic simulations and experiments, conclusions and an outlook of future work are also given. Key words: Micro Rover, Scout Rover, Mars Exploration, Multi-Rover Team, Mobile, All-Terrain, Hybrid-Legged Wheel, Path Following, Automatic Steer, nonlinear systems.

  13. Real-Time Parameter Identification

    Data.gov (United States)

    National Aeronautics and Space Administration — Armstrong researchers have implemented in the control room a technique for estimating in real time the aerodynamic parameters that describe the stability and control...

  14. Tracking and Interception of Ground-Based RF Sources Using Autonomous Guided Munitions with Passive Bearings-Only Sensors and Tracking Algorithms

    National Research Council Canada - National Science Library

    Ezal, Kenan; Agate, Craig

    2006-01-01

    This paper considers the problem of tracking and intercepting a potentially moving ground-based RF source with an autonomous guided munition that has a passive bearings-only sensor located on its nose...

  15. Intelligent controller for load-tracking performance of an autonomous power system

    Directory of Open Access Journals (Sweden)

    Abhik Banerjee

    2014-12-01

    Full Text Available The design and performance analysis of a Sugeno fuzzy logic (SFL controller for an autonomous power system model is presented in this paper. In gravitational search algorithm (GSA, the searcher agents are collection of masses and their interactions are based on Newtonian laws of gravity and motion. The problem of obtaining the optimal tunable parameters of the studied model is formulated as an optimization problem and the same is solved by a novel opposition based GSA (OGSA. The proposed OGSA of the present work employs opposition-based learning for population initialization and also for generation jumping. In OGSA, opposite numbers are utilized to improve the convergence rate of the basic GSA. GSA and genetic algorithm are taken for the sake of comparison. Time-domain simulation reveals that the developed OGSA-SFL based on-line, off-nominal controller parameters for the studied model give real-time on-line terminal voltage response.

  16. SU-G-BRA-04: Simulation of Errors in Maximal Intensity Projection (MIP)-Based Lung Tumor Internal Target Volumes (ITV) Using Real-Time 2D MRI and Deformable Image Registration Based Lung Tumor Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Thomas, D; Kishan, A; Santhanam, A; Min, Y; O’Connell, D; Lamb, J; Cao, M; Agazaryan, N; Yang, Y; Lee, P; Low, D [University of California, Los Angeles, Ca (United States)

    2016-06-15

    Purpose: To evaluate the effect of inter- and intra-fractional tumor motion on the error in four-dimensional computed tomography (4DCT) maximal intensity projection (MIP)–based lung tumor internal target volumes (ITV), using deformable image registration of real-time 2D-sagital cine-mode MRI acquired during lung SBRT treatments. Methods: Five lung tumor patients underwent free breathing SBRT treatment on the ViewRay, with dose prescribed to PTV (4DCT MIP-based ITV+3–6mm margin). Sagittal slice cine-MR images (3.5×3.5mm pixels) were acquired through the center of the tumor at 4 frames per second throughout the treatments (3–4 fractions of 21–32 minutes duration). Tumor GTVs were contoured on the first frame of the cine and tracked throughout the treatment using off-line optical-flow based deformable registration implemented on a GPU cluster. Pseudo-4DCT MIP-based ITVs were generated from MIPs of the deformed GTV contours limited to short segments of image data. All possible pseudo-4DCT MIP-based ITV volumes were generated with 1s resolution and compared to the ITV volume of the entire treatment course. Varying pseudo-4DCT durations from 10-50s were analyzed. Results: Tumors were covered in their entirety by PTV in the patients analysed here. However, pseudo-4DCT based ITV volumes were observed that were as small as 29% of the entire treatment-ITV, depending on breathing irregularity and the duration of pseudo-4DCT. With an increase in duration of pseudo-4DCT from 10–50s the minimum volume acquired from 95% of all pseudo-4DCTs increased from 62%–81% of the treatment ITV. Conclusion: A 4DCT MIP-based ITV offers a ‘snap-shot’ of breathing motion for the brief period of time the tumor is imaged on a specific day. Real time MRI over prolonged periods of time and over multiple treatment fractions shows that the accuracy of this snap-shot varies according to inter- and intra-fractional tumor motion. Further work is required to investigate the dosimetric

  17. Real-time Human Activity Recognition

    Science.gov (United States)

    Albukhary, N.; Mustafah, Y. M.

    2017-11-01

    The traditional Closed-circuit Television (CCTV) system requires human to monitor the CCTV for 24/7 which is inefficient and costly. Therefore, there’s a need for a system which can recognize human activity effectively in real-time. This paper concentrates on recognizing simple activity such as walking, running, sitting, standing and landing by using image processing techniques. Firstly, object detection is done by using background subtraction to detect moving object. Then, object tracking and object classification are constructed so that different person can be differentiated by using feature detection. Geometrical attributes of tracked object, which are centroid and aspect ratio of identified tracked are manipulated so that simple activity can be detected.

  18. Designing Real Time Assistive Technologies

    DEFF Research Database (Denmark)

    Sonne, Tobias; Obel, Carsten; Grønbæk, Kaj

    2015-01-01

    Children with mental disorders like Attention Deficit Hyperactivity Disorder (ADHD) often experience challenges in school as they struggle to maintain their attention. Based on empirical studies conducted in school contexts and together with teachers and ADHD domain professionals, we identified...... design criteria in relation to three core components (sensing, recognizing, and assisting) for designing real time assistive technologies for children with ADHD. Based on these design criteria, we designed the Child Activity Sensing and Training Tool (CASTT), a real time assistive prototype that captures...... activities and assists the child in maintaining attention. From a preliminary evaluation of CASTT with 20 children in several schools, we and found that: 1) it is possible to create a wearable sensor system for children with ADHD that monitors physical and physiological activities in real time; and that 2...

  19. Numerical simulation of active track tensioning system for autonomous hybrid vehicle

    Science.gov (United States)

    Mȩżyk, Arkadiusz; Czapla, Tomasz; Klein, Wojciech; Mura, Gabriel

    2017-05-01

    One of the most important components of a high speed tracked vehicle is an efficient suspension system. The vehicle should be able to operate both in rough terrain for performance of engineering tasks as well as on the road with high speed. This is especially important for an autonomous platform that operates either with or without human supervision, so that the vibration level can rise compared to a manned vehicle. In this case critical electronic and electric parts must be protected to ensure the reliability of the vehicle. The paper presents a dynamic parameters determination methodology of suspension system for an autonomous high speed tracked platform with total weight of about 5 tonnes and hybrid propulsion system. Common among tracked vehicles suspension solutions and cost-efficient, the torsion-bar system was chosen. One of the most important issues was determining optimal track tensioning - in this case an active hydraulic system was applied. The selection of system parameters was performed with using numerical model based on multi-body dynamic approach. The results of numerical analysis were used to define parameters of active tensioning control system setup. LMS Virtual.Lab Motion was used for multi-body dynamics numerical calculation and Matlab/SIMULINK for control system simulation.

  20. Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle

    Directory of Open Access Journals (Sweden)

    Yahya Zare Khafri

    2012-07-01

    Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.

  1. Optimal tracking controller for an autonomous wheeled mobile robot using fuzzy genetic algorithm

    Science.gov (United States)

    Kim, Sangwon; Park, Chongkug

    2005-12-01

    This paper deals with development of a kinematics model, a trajectory tracking, and a controller of fuzzy-genetics algorithm for 2-DOF Wheeled Mobile Robot (WMR). The global inputs to the WMR are a reference position, P r= (x r,y r,θ r) t and a reference velocity q r=(v r,ω r) t, which are time variables. The global output of WMR is a current posture P c= (x c,y c,θ c) t. The position of WMR is estimated by dead-reckoning algorithm. Dead-reckoning algorithm can determine present position of WMR in real time by adding up the increased position data to the previous one in sampling period. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities q=(v,ω) t on the track of trajectory is necessary. Therefore, a controller using fuzzy-genetic algorithm is proposed to give velocity compensation in this system. Input variables of two fuzzy logic controllers (FLCs) are position errors in every sampling time. The output values of FLCs are compensation velocities. Genetic algorithms (GAs) are implemented to adjust the output gain of fuzzy logic. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

  2. Real Time Sonic Boom Display

    Science.gov (United States)

    Haering, Ed

    2014-01-01

    This presentation will provide general information about sonic boom mitigation technology to the public in order to supply information to potential partners and licensees. The technology is a combination of flight data, atmospheric data and terrain information implemented into a control room real time display for flight planning. This research is currently being performed and as such, any results and conclusions are ongoing.

  3. Real time automatic scene classification

    NARCIS (Netherlands)

    Verbrugge, R.; Israël, Menno; Taatgen, N.; van den Broek, Egon; van der Putten, Peter; Schomaker, L.; den Uyl, Marten J.

    2004-01-01

    This work has been done as part of the EU VICAR (IST) project and the EU SCOFI project (IAP). The aim of the first project was to develop a real time video indexing classification annotation and retrieval system. For our systems, we have adapted the approach of Picard and Minka [3], who categorized

  4. Real Time Conference 2016 Overview

    Science.gov (United States)

    Luchetta, Adriano

    2017-06-01

    This is a special issue of the IEEE Transactions on Nuclear Science containing papers from the invited, oral, and poster presentation of the 20th Real Time Conference (RT2016). The conference was held June 6-10, 2016, at Centro Congressi Padova “A. Luciani,” Padova, Italy, and was organized by Consorzio RFX (CNR, ENEA, INFN, Università di Padova, Acciaierie Venete SpA) and the Istituto Nazionale di Fisica Nucleare. The Real Time Conference is multidisciplinary and focuses on the latest developments in real-time techniques in high-energy physics, nuclear physics, astrophysics and astroparticle physics, nuclear fusion, medical physics, space instrumentation, nuclear power instrumentation, general radiation instrumentation, and real-time security and safety. Taking place every second year, it is sponsored by the Computer Application in Nuclear and Plasma Sciences technical committee of the IEEE Nuclear and Plasma Sciences Society. RT2016 attracted more than 240 registrants, with a large proportion of young researchers and engineers. It had an attendance of 67 students from many countries.

  5. Real-time process algebra

    NARCIS (Netherlands)

    Bergstra, J.A.; Baeten, J.C.M.

    1991-01-01

    We describe an axiom system ACPp that incorporates real timed actions. Many examples are provided in order to explain the intuitive contents of the notation. ACP p is a generalisation of ACP. This implies that some of the axioms have to be relaxed and that ACP can be recovered as a special case from

  6. Real time freeway incident detection.

    Science.gov (United States)

    2014-04-01

    The US Department of Transportation (US-DOT) estimates that over half of all congestion : events are caused by highway incidents rather than by rush-hour traffic in big cities. Real-time : incident detection on freeways is an important part of any mo...

  7. Real Time Control on Firewire

    NARCIS (Netherlands)

    Zhang, Yuchen

    2004-01-01

    The goal of this project is to get insight into the use of Firewire as a field bus for real-time control. A characterization of Firewire's asynchronous transmission has been made by testing the point-to-point roundtrip in a 3-node Firewire network. The results show Firewire's asynchronous

  8. ISTTOK real-time architecture

    Energy Technology Data Exchange (ETDEWEB)

    Carvalho, Ivo S., E-mail: ivoc@ipfn.ist.utl.pt; Duarte, Paulo; Fernandes, Horácio; Valcárcel, Daniel F.; Carvalho, Pedro J.; Silva, Carlos; Duarte, André S.; Neto, André; Sousa, Jorge; Batista, António J.N.; Hekkert, Tiago; Carvalho, Bernardo B.

    2014-03-15

    Highlights: • All real-time diagnostics and actuators were integrated in the same control platform. • A 100 μs control cycle was achieved under the MARTe framework. • Time-windows based control with several event-driven control strategies implemented. • AC discharges with exception handling on iron core flux saturation. • An HTML discharge configuration was developed for configuring the MARTe system. - Abstract: The ISTTOK tokamak was upgraded with a plasma control system based on the Advanced Telecommunications Computing Architecture (ATCA) standard. This control system was designed to improve the discharge stability and to extend the operational space to the alternate plasma current (AC) discharges as part of the ISTTOK scientific program. In order to accomplish these objectives all ISTTOK diagnostics and actuators relevant for real-time operation were integrated in the control system. The control system was programmed in C++ over the Multi-threaded Application Real-Time executor (MARTe) which provides, among other features, a real-time scheduler, an interrupt handler, an intercommunications interface between code blocks and a clearly bounded interface with the external devices. As a complement to the MARTe framework, the BaseLib2 library provides the foundations for the data, code introspection and also a Hypertext Transfer Protocol (HTTP) server service. Taking advantage of the modular nature of MARTe, the algorithms of each diagnostic data processing, discharge timing, context switch, control and actuators output reference generation, run on well-defined blocks of code named Generic Application Module (GAM). This approach allows reusability of the code, simplified simulation, replacement or editing without changing the remaining GAMs. The ISTTOK control system GAMs run sequentially each 100 μs cycle on an Intel{sup ®} Q8200 4-core processor running at 2.33 GHz located in the ATCA crate. Two boards (inside the ATCA crate) with 32 analog

  9. PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

    Directory of Open Access Journals (Sweden)

    Zhigang Xu

    2017-01-01

    Full Text Available With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.

  10. Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

    Science.gov (United States)

    Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

    2012-01-01

    This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

  11. 360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

    Science.gov (United States)

    Wolf, Michael T; Assad, Christopher; Kuwata, Yoshiaki; Howard, Andrew; Aghazarian, Hrand; Zhu, David; Lu, Thomas; Trebi-Ollennu, Ashitey; Huntsberger, Terry

    2010-01-01

    This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

  12. Knowledge exchange between agents in real-time environments

    DEFF Research Database (Denmark)

    Frisvad, Jeppe Revall; Falster, Peter; Møller, Gert Lykke

    2005-01-01

    To obtain unpredictable social interaction between autonomous agents in real-time environments, we present a simple method for logic-based knowledge exchange. A method which is able to form new knowledge rather than do simple exchange of particular rules found in predetermined rule sets. The appl....... The applicability of our concept is demonstrated through a simple visualization of a real-time 3D environment, where agents seek to persuade opponents to join their team. This is done through cooperation with friends and education of neutral agents.......To obtain unpredictable social interaction between autonomous agents in real-time environments, we present a simple method for logic-based knowledge exchange. A method which is able to form new knowledge rather than do simple exchange of particular rules found in predetermined rule sets...

  13. Real-Time Motion Management of Prostate Cancer Radiotherapy

    DEFF Research Database (Denmark)

    Pommer, Tobias

    of this thesis is to manage prostate motion in real-time by aligning the radiation beam to the prostate using the novel dynamic multileaf collimator (DMLC) tracking method. Specifically, the delivered dose with tracking was compared to the planned dose, and the impact of treatment plan complexity and limitations...

  14. Real time psychrometric data collection

    International Nuclear Information System (INIS)

    McDaniel, K.H.

    1996-01-01

    Eight Mine Weather Stations (MWS) installed at the Waste Isolation Pilot Plant (WIPP) to monitor the underground ventilation system are helping to simulate real-time ventilation scenarios. Seasonal weather extremes can result in variations of Natural Ventilation Pressure (NVP) which can significantly effect the ventilation system. The eight MWS(s) (which previously collected and stored temperature, barometric pressure and relative humidity data for subsequent NVP calculations) were upgraded to provide continuous real-time data to the site wide Central monitoring System. This data can now be utilized by the ventilation engineer to create realtime ventilation simulations and trends which assist in the prediction and mitigation of NVP and psychrometric related events

  15. A study of real-time content marketing : formulating real-time content marketing based on content, search and social media

    OpenAIRE

    Nguyen, Thi Kim Duyen

    2015-01-01

    The primary objective of this research is to understand profoundly the new concept of content marketing – real-time content marketing on the aspect of the digital marketing experts. Particularly, the research will focus on the real-time content marketing theories and how to build real-time content marketing strategy based on content, search and social media. It also finds out how marketers measure and keep track of conversion rates of their real-time content marketing plan. Practically, th...

  16. Real-time holographic endoscopy

    Science.gov (United States)

    Smigielski, Paul; Albe, Felix; Dischli, Bernard

    1992-08-01

    Some new experiments concerning holographic endoscopy are presented. The quantitative measurements of deformations of objects are obtained by the double-exposure and double- reference beam method, using either a cw-laser or a pulsed laser. Qualitative experiments using an argon laser with time-average holographic endoscopy are also presented. A video film on real-time endoscopic holographic interferometry was recorded with the help of a frequency-doubled YAG-laser working at 25 Hz for the first time.

  17. [Real time 3D echocardiography

    Science.gov (United States)

    Bauer, F.; Shiota, T.; Thomas, J. D.

    2001-01-01

    Three-dimensional representation of the heart is an old concern. Usually, 3D reconstruction of the cardiac mass is made by successive acquisition of 2D sections, the spatial localisation and orientation of which require complex guiding systems. More recently, the concept of volumetric acquisition has been introduced. A matricial emitter-receiver probe complex with parallel data processing provides instantaneous of a pyramidal 64 degrees x 64 degrees volume. The image is restituted in real time and is composed of 3 planes (planes B and C) which can be displaced in all spatial directions at any time during acquisition. The flexibility of this system of acquisition allows volume and mass measurement with greater accuracy and reproducibility, limiting inter-observer variability. Free navigation of the planes of investigation allows reconstruction for qualitative and quantitative analysis of valvular heart disease and other pathologies. Although real time 3D echocardiography is ready for clinical usage, some improvements are still necessary to improve its conviviality. Then real time 3D echocardiography could be the essential tool for understanding, diagnosis and management of patients.

  18. A model predictive speed tracking control approach for autonomous ground vehicles

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

    This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

  19. REAL TIME SPEED ESTIMATION FROM MONOCULAR VIDEO

    Directory of Open Access Journals (Sweden)

    M. S. Temiz

    2012-07-01

    Full Text Available In this paper, detailed studies have been performed for developing a real time system to be used for surveillance of the traffic flow by using monocular video cameras to find speeds of the vehicles for secure travelling are presented. We assume that the studied road segment is planar and straight, the camera is tilted downward a bridge and the length of one line segment in the image is known. In order to estimate the speed of a moving vehicle from a video camera, rectification of video images is performed to eliminate the perspective effects and then the interest region namely the ROI is determined for tracking the vehicles. Velocity vectors of a sufficient number of reference points are identified on the image of the vehicle from each video frame. For this purpose sufficient number of points from the vehicle is selected, and these points must be accurately tracked on at least two successive video frames. In the second step, by using the displacement vectors of the tracked points and passed time, the velocity vectors of those points are computed. Computed velocity vectors are defined in the video image coordinate system and displacement vectors are measured by the means of pixel units. Then the magnitudes of the computed vectors in the image space are transformed to the object space to find the absolute values of these magnitudes. The accuracy of the estimated speed is approximately ±1 – 2 km/h. In order to solve the real time speed estimation problem, the authors have written a software system in C++ programming language. This software system has been used for all of the computations and test applications.

  20. Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

    Science.gov (United States)

    Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

    2016-08-20

    The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

  1. Real time analysis under EDS

    Science.gov (United States)

    Schneberk, D.

    1985-07-01

    The analysis component of the Enrichment Diagnostic System (EDS) developed for the Atomic Vapor Laser Isotope Separation Program (AVLIS) at Lawrence Livermore National Laboratory (LLNL) is described. Four different types of analysis are performed on data acquired through EDS: (1) absorption spectroscopy on laser-generated spectral lines, (2) mass spectrometer analysis, (3) general purpose waveform analysis, and (4) separation performance calculations. The information produced from this data includes: measures of particle density and velocity, partial pressures of residual gases, and overall measures of isotope enrichment. The analysis component supports a variety of real-time modeling tasks, a means for broadcasting data to other nodes, and a great degree of flexibility for tailoring computations to the exact needs of the process. A particular data base structure and program flow is common to all types of analysis. Key elements of the analysis component are: (1) a fast access data base which can configure all types of analysis, (2) a selected set of analysis routines, (3) a general purpose data manipulation and graphics package for the results of real time analysis.

  2. Real time analysis under EDS

    International Nuclear Information System (INIS)

    Schneberk, D.

    1985-07-01

    This paper describes the analysis component of the Enrichment Diagnostic System (EDS) developed for the Atomic Vapor Laser Isotope Separation Program (AVLIS) at Lawrence Livermore National Laboratory (LLNL). Four different types of analysis are performed on data acquired through EDS: (1) absorption spectroscopy on laser-generated spectral lines, (2) mass spectrometer analysis, (3) general purpose waveform analysis, and (4) separation performance calculations. The information produced from this data includes: measures of particle density and velocity, partial pressures of residual gases, and overall measures of isotope enrichment. The analysis component supports a variety of real-time modeling tasks, a means for broadcasting data to other nodes, and a great degree of flexibility for tailoring computations to the exact needs of the process. A particular data base structure and program flow is common to all types of analysis. Key elements of the analysis component are: (1) a fast access data base which can configure all types of analysis, (2) a selected set of analysis routines, (3) a general purpose data manipulation and graphics package for the results of real time analysis. Each of these components are described with an emphasis upon how each contributes to overall system capability. 3 figs

  3. A Novel Bioinspired Vision System: A Step toward Real-Time Human-Robot Interactions

    Directory of Open Access Journals (Sweden)

    Abdul Rahman Hafiz

    2011-01-01

    Full Text Available Building a human-like robot that could be involved in our daily lives is a dream of many scientists. Achieving a sophisticated robot's vision system, which can enhance the robot's real-time interaction ability with the human, is one of the main keys toward realizing such an autonomous robot. In this work, we are suggesting a bioinspired vision system that helps to develop an advanced human-robot interaction in an autonomous humanoid robot. First, we enhance the robot's vision accuracy online by applying a novel dynamic edge detection algorithm abstracted from the rules that the horizontal cells play in the mammalian retina. Second, in order to support the first algorithm, we improve the robot's tracking ability by designing a variant photoreceptors distribution corresponding to what exists in the human vision system. The experimental results verified the validity of the model. The robot could have a clear vision in real time and build a mental map that assisted it to be aware of the frontal users and to develop a positive interaction with them.

  4. Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

    Science.gov (United States)

    Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

    2005-06-01

    The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

  5. A framework for building real-time expert systems

    Science.gov (United States)

    Lee, S. Daniel

    1991-01-01

    The Space Station Freedom is an example of complex systems that require both traditional and artificial intelligence (AI) real-time methodologies. It was mandated that Ada should be used for all new software development projects. The station also requires distributed processing. Catastrophic failures on the station can cause the transmission system to malfunction for a long period of time, during which ground-based expert systems cannot provide any assistance to the crisis situation on the station. This is even more critical for other NASA projects that would have longer transmission delays (e.g., the lunar base, Mars missions, etc.). To address these issues, a distributed agent architecture (DAA) is proposed that can support a variety of paradigms based on both traditional real-time computing and AI. The proposed testbed for DAA is an autonomous power expert (APEX) which is a real-time monitoring and diagnosis expert system for the electrical power distribution system of the space station.

  6. Real-time scene generator

    Science.gov (United States)

    Lord, Eric; Shand, David J.; Cantle, Allan J.

    1996-05-01

    This paper describes the techniques which have been developed for an infra-red (IR) target, countermeasure and background image generation system working in real time for HWIL and Trial Proving applications. Operation is in the 3 to 5 and 8 to 14 micron bands. The system may be used to drive a scene projector (otherwise known as a thermal picture synthesizer) or for direct injection into equipment under test. The provision of realistic IR target and countermeasure trajectories and signatures, within representative backgrounds, enables the full performance envelope of a missile system to be evaluated. It also enables an operational weapon system to be proven in a trials environment without compromising safety. The most significant technique developed has been that of line by line synthesis. This minimizes the processing delays to the equivalent of 1.5 frames from input of target and sightline positions to the completion of an output image scan. Using this technique a scene generator has been produced for full closed loop HWIL performance analysis for the development of an air to air missile system. Performance of the synthesis system is as follows: 256 * 256 pixels per frame; 350 target polygons per frame; 100 Hz frame rate; and Gouraud shading, simple reflections, variable geometry targets and atmospheric scaling. A system using a similar technique has also bee used for direct insertion into the video path of a ground to air weapon system in live firing trials. This has provided realistic targets without degrading the closed loop performance. Delay of the modified video signal has been kept to less than 5 lines. The technique has been developed using a combination of 4 high speed Intel i860 RISC processors in parallel with the 4000 series XILINX field programmable gate arrays (FPGA). Start and end conditions for each line of target pixels are prepared and ordered in the I860. The merging with background pixels and output shading and scaling is then carried out in

  7. Algorithmic Foundations for Real-Time and Dependable Spacecraft Motion Planning

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this project is to devise real-time, efficient and dependable algorithms for spacecraft autonomous maneuvering, with a special focus on dynamic and...

  8. A real time monitoring system

    International Nuclear Information System (INIS)

    Fontanini, Horacio; Galdoz, Erwin

    1989-01-01

    A real time monitoring system is described. It was initially developed to be used as a man-machine interface between a basic principles simulator of the Embalse Nuclear Power Plant and the operators. This simulator is under construction at the Bariloche Atomic Center's Process Control Division. Due to great design flexibility, this system can also be used in real plants. The system is designed to be run on a PC XT or AT personal computer with high resolution graphics capabilities. Three interrelated programs compose the system: 1) Graphics Editor, to build static image to be used as a reference frame where to show dynamically updated data. 2) Data acquisition and storage module. It is a memory resident module to acquire and store data in background. Data can be acquired and stored without interference with the operating system, via serial port or through analog-to-digital converter attached to the personal computer. 3) Display module. It shows the acquired data according to commands received from configuration files prepared by the operator. (Author) [es

  9. Mobile real time radiography system

    International Nuclear Information System (INIS)

    Vigil, J.; Taggart, D.; Betts, S.

    1997-01-01

    A 450-keV Mobile Real Time Radiography (RTR) System was delivered to Los Alamos National Laboratory (LANL) in January 1996. It was purchased to inspect containers of radioactive waste produced at (LANL). Since its delivery it has been used to radiograph more than 600 drums of radioactive waste at various LANL sites. It has the capability of inspecting waste containers of various sizes from <1-gal. buckets up to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). It has three independent x-ray acquisition formats. The primary system used is a 12- in. image intensifier, the second is a 36-in. linear diode array (LDA) and the last is an open system. It is fully self contained with on board generator, HVAC, and a fire suppression system. It is on a 53-ft long x 8-ft. wide x 14-ft. high trailer that can be moved over any highway requiring only an easily obtainable overweight permit because it weights ∼38 tons. It was built to conform to industry standards for a cabinet system which does not require an exclusion zone. The fact that this unit is mobile has allowed us to operate where the waste is stored, rather than having to move the waste to a fixed facility

  10. Real time 3D photometry

    Science.gov (United States)

    Fernandez-Balbuena, A. A.; Vazquez-Molini, D.; García-Botella, A.; Romo, J.; Serrano, Ana

    2017-09-01

    The photometry and radiometry measurement is a well-developed field. The necessity of measuring optical systems performance involves the use of several techniques like Gonio-photometry. The Gonio photometers are a precise measurement tool that is used in the lighting area like office, luminaire head car lighting, concentrator /collimator measurement and all the designed and fabricated optical systems that works with light. There is one disadvantage in this kind of measurements that obtain the intensity polar curves and the total flux of the optical system. In the industry, there are good Gonio photometers that are precise and reliable but they are very expensive and the measurement time is long. In industry the cost can be of minor importance but measuring time that is around 30 minutes is of major importance due to trained staff cost. We have designed a system to measure photometry in real time; it consists in a curved screen to get a huge measurement angle and a CCD. The system to be measured projects light onto the screen and the CCD records a video of the screen obtaining an image of the projected profile. A complex calibration permits to trace screen data (x,y,z) to intensity polar curve (I,αγ). This intensity is obtained in candels (cd) with an image + processing time below one second.

  11. Wide area surveillance real-time motion detection systems

    CERN Document Server

    2014-01-01

    The book describes a system for visual surveillance using intelligent cameras. The camera uses robust techniques for detecting and tracking moving objects. The real time capture of the objects is then stored int he database. The tracking data stored in the database is analysed to study the camera view, detect and track objects, and study object behavior. These set of models provide a robust framework for coordinating the tracking of objects between overlapping and non-overlapping cameras, and recording the activity of objects detected by the system.

  12. Real-Time Hardware-in-the-Loop Laboratory Testing for Multisensor Sense and Avoid Systems

    Directory of Open Access Journals (Sweden)

    Giancarmine Fasano

    2013-01-01

    Full Text Available This paper focuses on a hardware-in-the-loop facility aimed at real-time testing of architectures and algorithms of multisensor sense and avoid systems. It was developed within a research project aimed at flight demonstration of autonomous non-cooperative collision avoidance for Unmanned Aircraft Systems. In this framework, an optionally piloted Very Light Aircraft was used as experimental platform. The flight system is based on multiple-sensor data integration and it includes a Ka-band radar, four electro-optical sensors, and two dedicated processing units. The laboratory test system was developed with the primary aim of prototype validation before multi-sensor tracking and collision avoidance flight tests. System concept, hardware/software components, and operating modes are described in the paper. The facility has been built with a modular approach including both flight hardware and simulated systems and can work on the basis of experimentally tested or synthetically generated scenarios. Indeed, hybrid operating modes are also foreseen which enable performance assessment also in the case of alternative sensing architectures and flight scenarios that are hardly reproducible during flight tests. Real-time multisensor tracking results based on flight data are reported, which demonstrate reliability of the laboratory simulation while also showing the effectiveness of radar/electro-optical fusion in a non-cooperative collision avoidance architecture.

  13. U27 : real-time commercial vehicle safety & security monitoring final report.

    Science.gov (United States)

    2012-12-01

    Accurate real-time vehicle tracking has a wide range of applications including fleet management, drug/speed/law enforcement, transportation planning, traffic safety, air quality, electronic tolling, and national security. While many alternative track...

  14. Scalable Real-Time Negotiation Toolkit

    National Research Council Canada - National Science Library

    Lesser, Victor

    2004-01-01

    ... to implement an adaptive distributed sensor network. These activities involved the development of a distributed soft, real-time heuristic resource allocation protocol, the development of a domain-independent soft, real time agent architecture...

  15. Real-time petroleum spill detection system

    International Nuclear Information System (INIS)

    Dakin, D.T.

    2001-01-01

    A real-time autonomous oil and fuel spill detection system has been developed to rapidly detect of a wide range of petroleum products floating on, or suspended in water. The system consists of an array of spill detection buoys distributed within the area to be monitored. The buoys are composed of a float and a multispectral fluorometer, which looks up through the top 5 cm of water to detect floating and suspended petroleum products. The buoys communicate to a base station computer that controls the sampling of the buoys and analyses the data from each buoy to determine if a spill has occurred. If statistically significant background petroleum levels are detected, the system raises an oil spill alarm. The system is useful because early detection of a marine oil spill allows for faster containment, thereby minimizing the contaminated area and reducing cleanup costs. This paper also provided test results for biofouling, various petroleum product detection, water turbidity and wave tolerance. The technology has been successfully demonstrated. The UV light source keeps the optic window free from biofouling, and the electronics are fully submerged so there is no risk that the unit could ignite the vapours of a potential oil spill. The system can also tolerate moderately turbid waters and can therefore be used in many rivers, harbours, water intakes and sumps. The system can detect petroleum products with an average thickness of less than 3 micrometers floating on the water surface. 3 refs., 15 figs

  16. Handheld real-time PCR device.

    Science.gov (United States)

    Ahrberg, Christian D; Ilic, Bojan Robert; Manz, Andreas; Neužil, Pavel

    2016-02-07

    Here we report one of the smallest real-time polymerase chain reaction (PCR) systems to date with an approximate size of 100 mm × 60 mm × 33 mm. The system is an autonomous unit requiring an external 12 V power supply. Four simultaneous reactions are performed in the form of virtual reaction chambers (VRCs) where a ≈200 nL sample is covered with mineral oil and placed on a glass cover slip. Fast, 40 cycle amplification of an amplicon from the H7N9 gene was used to demonstrate the PCR performance. The standard curve slope was -3.02 ± 0.16 cycles at threshold per decade (mean ± standard deviation) corresponding to an amplification efficiency of 0.91 ± 0.05 per cycle (mean ± standard deviation). The PCR device was capable of detecting a single deoxyribonucleic acid (DNA) copy. These results further suggest that our handheld PCR device may have broad, technologically-relevant applications extending to rapid detection of infectious diseases in small clinics.

  17. Hard Real-Time Networking on FIrewire

    NARCIS (Netherlands)

    Zhang, Yuchen; Orlic, B.; Visser, P.M.; Broenink, Johannes F.; Marquet, P; McGuire, N; Wurmsdobler, P

    2005-01-01

    This paper investigates the possibility of using standard, low-cost, widely used FireWire as a new generation fieldbus medium for real-time distributed control applications. A real-time software subsys- tem, RT-FireWire was designed that can, in combination with Linux-based real-time operating

  18. An Evaluation of Real-Time Zenith Total Delay Estimates

    Science.gov (United States)

    Ahmed, F.; Teferle, F. N.; Bingley, R.; Laurichesse, D.

    2012-12-01

    The use of modern low-latency Numerical Weather Prediction (NWP) models by meteorological institutions to improve nowcasting operations requires the accurate and timely estimation of the Zenith Total Delay (ZTD). Observations from Global Navigation Satellite Systems (GNSS) can be processed to obtain such ZTD estimates. As of now, meeting the established requirements on the latency (as low as 5 min) and accuracy (up to few millimeters) of the ZTD for its use in nowcasting applications stands as a challenge. However, using, for example, the real-time orbit and clock products from the recently established IGS Real-Time Service, it is possible to estimate the ZTD by different processing strategies and each strategy can result in a different level of accuracy. The Bundesamt für Kartographie und Geodäsie Ntrip Client (BNC) can provide ZTD estimates in real-time using precise point positioning (PPP) without integer ambiguity resolution. Recently, the Centre National d'Etudes Spatiales (CNES) has released a modified version of BNC which produces ZTD estimates in real-time with integer-PPP, i.e. PPP with integer ambiguity resolution using their integer-recovery clock and widelane phase bias information. trackRT from MIT and RTNet from GPS Solutions Inc are also capable of providing real-time estimates of the ZTD. In this study, we present an evaluation of the real-time ZTD estimates obtained from different GNSS processing systems. Furthermore, we compare the real-time estimates to those from a near real-time system and the IGS Final Troposphere products.

  19. Real-time image fusion involving diagnostic ultrasound

    DEFF Research Database (Denmark)

    Ewertsen, Caroline; Săftoiu, Adrian; Gruionu, Lucian G

    2013-01-01

    The aim of our article is to give an overview of the current and future possibilities of real-time image fusion involving ultrasound. We present a review of the existing English-language peer-reviewed literature assessing this technique, which covers technical solutions (for ultrasound and endosc......The aim of our article is to give an overview of the current and future possibilities of real-time image fusion involving ultrasound. We present a review of the existing English-language peer-reviewed literature assessing this technique, which covers technical solutions (for ultrasound...... and endoscopic ultrasound), image fusion in several anatomic regions, and electromagnetic needle tracking....

  20. Application of real-time locating in health care.

    Science.gov (United States)

    Zigman, Dubravko; Krajina, Slaven; Krznarić, Marija

    2009-12-01

    This paper describes real-time locating technology and its possible use in health care. Real time locating may be applied in different segments of everyday life, including hospitals (medical equipment and devices, locating patients, and alarm in case of emergency), working environment (locating persons to control access to restricted areas or in case of fire to see if anyone has been trapped inside the building), sports, logistics, retail trade, and offices. Tagged hospital equipment is easy to trace inside hospital premises and the system makes it possible to track patients and staff, and to redistribute work in particular wards.

  1. Real-Time Head Pose Estimation on Mobile Platforms

    Directory of Open Access Journals (Sweden)

    Jianfeng Ren

    2010-06-01

    Full Text Available Many computer vision applications such as augmented reality require head pose estimation. As far as the real-time implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to satisfy real-time constraints while maintaining reasonable head pose estimation accuracy. The introduced head pose estimation approach in this paper is an attempt to meet this objective. The approach consists of the following components: Viola-Jones face detection, color-based face tracking using an online calibration procedure, and head pose estimation using Hu moment features and Fisher linear discriminant. Experimental results running on an actual mobile device are reported exhibiting both the real- time and accuracy aspects of the developed approach.

  2. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare e ects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction ....... In the Bertrand case, welfare is the same with all or no consumers on smart meters.......We examine welfare e ects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction...... to satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power...

  3. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare eects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction t....... In the Bertrand case, welfare is the same with all or no consumers on smart meters.......We examine welfare eects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction...... to satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power...

  4. Real-time Flavor Tagging in ATLAS:

    CERN Document Server

    Alison, John; The ATLAS collaboration

    2015-01-01

    In high-energy physics experiments, online selection is crucial to select interesting collisions from the large data volume. ATLAS b-jet and tau triggers are designed to identify heavy-flavour content in real-time and provide the only option to efficiently record events with fully hadronic final states containing b-jets or hadronic tau decays. In doing so, two different, but related, challenges are faced. The physics goal is to optimise as far as possible the rejection of light jets, while retaining a high efficiency on selecting b-jets or hadronic taus and maintaining affordable trigger rates without raising jet energy thresholds. This maps into a challenging computing task, as tracks and their corresponding vertices must be reconstructed and analysed for each jet above the desired threshold, regardless of the increasingly harsh pile-up conditions. We present an overview of the ATLAS strategy for online b-jet and tau selection for the LHC Run 2, including the use of novel methods and sophisticated algorithms...

  5. A Real time network at home

    OpenAIRE

    Hanssen, F.T.Y.; Jansen, P.G.; Hartel, Pieter H.; Scholten, Johan; Vervoort, Wiek; Karelse, F.

    2001-01-01

    This paper proposes a home network which integrates both real-time and non-real-time capabilities for one coherent, distributed architecture. Such a network is not yet available. Our network will support inexpensive, small appliances as well as more expensive, large appliances. The network is based on a new type of real-time token protocol that uses scheduling to achieve optimal token-routing through the network. Depending on the scheduling algorithm, bandwidth utilisations of 100 percent are...

  6. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare eects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction...... to satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power...

  7. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    We examine welfare e ects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction...... to satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power...

  8. Real-time Pricing in Power Markets

    DEFF Research Database (Denmark)

    Boom, Anette; Schwenen, Sebastian

    to satisfy demand from retailers acting on behalf of subscribed customers and from consumers with real-time meters. Increasing the number of consumers on real-time pricing does not always increase welfare since risk-averse consumers dislike uncertain and high prices arising through market power......We examine welfare eects of real-time pricing in electricity markets. Before stochastic energy demand is known, competitive retailers contract with nal consumers who exogenously do not have real-time meters. After demand is realized, two electricity generators compete in a uniform price auction...

  9. Research in Distributed Real-Time Systems

    Science.gov (United States)

    Mukkamala, R.

    1997-01-01

    This document summarizes the progress we have made on our study of issues concerning the schedulability of real-time systems. Our study has produced several results in the scalability issues of distributed real-time systems. In particular, we have used our techniques to resolve schedulability issues in distributed systems with end-to-end requirements. During the next year (1997-98), we propose to extend the current work to address the modeling and workload characterization issues in distributed real-time systems. In particular, we propose to investigate the effect of different workload models and component models on the design and the subsequent performance of distributed real-time systems.

  10. An advanced real time energy management system for microgrids

    International Nuclear Information System (INIS)

    Elsied, Moataz; Oukaour, Amrane; Youssef, Tarek; Gualous, Hamid; Mohammed, Osama

    2016-01-01

    This paper presents an advanced Real-Time Energy Management System (RT-EMS) for Microgrid (MG) systems. The proposed strategy of RT-EMS capitalizes on the power of Genetic Algorithms (GAs) to minimize the energy cost and carbon dioxide emissions while maximizing the power of the available renewable energy resources. MATLAB-dSPACE Real-Time Interface Libraries (MLIB/MTRACE) are used as new tools to run the optimization code in Real-Time Operation (RTO). The communication system is developed based on ZigBee communication network which is designed to work in harsh radio environment where the control system is developed based on Advanced Lead-Lag Compensator (ALLC) which its parameters are tuned online to achieve fast convergence and good tracking response. The proposed RT-EMS along with its control and communication systems is experimentally tested to validate the results obtained from the optimization algorithm in a real MG testbed. The simulation and experimental results using real-world data highlight the effectiveness of the proposed RT-EMS for MGs applications. - Highlights: • Real-time energy management system of a typical MG is developed, and analyzed. • RT-EMS considered the nonlinear cost function and emission constraints. • MLIB/MTRACE libraries in dSPACE are used as new tools to run the optimization code. • The communication system is developed based on a Zigbee communication network. • Control system parameters are tuned online to achieve good tracking response.

  11. Adaptive Monocular Visual-Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices.

    Science.gov (United States)

    Piao, Jin-Chun; Kim, Shin-Dug

    2017-11-07

    Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimation and true scale are important. In this paper, we present an adaptive monocular visual-inertial SLAM method for real-time augmented reality applications in mobile devices. First, the SLAM system is implemented based on the visual-inertial odometry method that combines data from a mobile device camera and inertial measurement unit sensor. Second, we present an optical-flow-based fast visual odometry method for real-time camera pose estimation. Finally, an adaptive monocular visual-inertial SLAM is implemented by presenting an adaptive execution module that dynamically selects visual-inertial odometry or optical-flow-based fast visual odometry. Experimental results show that the average translation root-mean-square error of keyframe trajectory is approximately 0.0617 m with the EuRoC dataset. The average tracking time is reduced by 7.8%, 12.9%, and 18.8% when different level-set adaptive policies are applied. Moreover, we conducted experiments with real mobile device sensors, and the results demonstrate the effectiveness of performance improvement using the proposed method.

  12. Real-Time Wireless Data Acquisition System

    Science.gov (United States)

    Valencia, Emilio J.; Perotti, Jose; Lucena, Angel; Mata, Carlos

    2007-01-01

    Current and future aerospace requirements demand the creation of a new breed of sensing devices, with emphasis on reduced weight, power consumption, and physical size. This new generation of sensors must possess a high degree of intelligence to provide critical data efficiently and in real-time. Intelligence will include self-calibration, self-health assessment, and pre-processing of raw data at the sensor level. Most of these features are already incorporated in the Wireless Sensors Network (SensorNet(TradeMark)), developed by the Instrumentation Group at Kennedy Space Center (KSC). A system based on the SensorNet(TradeMark) architecture consists of data collection point(s) called Central Stations (CS) and intelligent sensors called Remote Stations (RS) where one or more CSs can be accommodated depending on the specific application. The CS's major function is to establish communications with the Remote Stations and to poll each RS for data and health information. The CS also collects, stores and distributes these data to the appropriate systems requiring the information. The system has the ability to perform point-to-point, multi-point and relay mode communications with an autonomous self-diagnosis of each communications link. Upon detection of a communication failure, the system automatically reconfigures to establish new communication paths. These communication paths are automatically and autonomously selected as the best paths by the system based on the existing operating environment. The data acquisition system currently under development at KSC consists of the SensorNet(TradeMark) wireless sensors as the remote stations and the central station called the Radio Frequency Health Node (RFHN). The RFF1N is the central station which remotely communicates with the SensorNet(TradeMark) sensors to control them and to receive data. The system's salient feature is the ability to provide deterministic sensor data with accurate time stamps for both time critical and non

  13. Real-time communication protocols: an overview

    NARCIS (Netherlands)

    Hanssen, F.T.Y.; Jansen, P.G.

    2003-01-01

    This paper describes several existing data link layer protocols that provide real-time capabilities on wired networks, focusing on token-ring and Carrier Sense Multiple Access based networks. Existing modifications to provide better real-time capabilities and performance are also described. Finally

  14. A Real time network at home

    NARCIS (Netherlands)

    Hanssen, F.T.Y.; Jansen, P.G.; Hartel, Pieter H.; Scholten, Johan; Vervoort, Wiek; Karelse, F.

    2001-01-01

    This paper proposes a home network which integrates both real-time and non-real-time capabilities for one coherent, distributed architecture. Such a network is not yet available. Our network will support inexpensive, small appliances as well as more expensive, large appliances. The network is based

  15. Real time programming environment for Windows

    Energy Technology Data Exchange (ETDEWEB)

    LaBelle, D.R. [LaBelle (Dennis R.), Clifton Park, NY (United States)

    1998-04-01

    This document provides a description of the Real Time Programming Environment (RTProE). RTProE tools allow a programmer to create soft real time projects under general, multi-purpose operating systems. The basic features necessary for real time applications are provided by RTProE, leaving the programmer free to concentrate efforts on his specific project. The current version supports Microsoft Windows{trademark} 95 and NT. The tasks of real time synchronization and communication with other programs are handled by RTProE. RTProE includes a generic method for connecting a graphical user interface (GUI) to allow real time control and interaction with the programmer`s product. Topics covered in this paper include real time performance issues, portability, details of shared memory management, code scheduling, application control, Operating System specific concerns and the use of Computer Aided Software Engineering (CASE) tools. The development of RTProE is an important step in the expansion of the real time programming community. The financial costs associated with using the system are minimal. All source code for RTProE has been made publicly available. Any person with access to a personal computer, Windows 95 or NT, and C or FORTRAN compilers can quickly enter the world of real time modeling and simulation.

  16. Storm real-time processing cookbook

    CERN Document Server

    Anderson, Quinton

    2013-01-01

    A Cookbook with plenty of practical recipes for different uses of Storm.If you are a Java developer with basic knowledge of real-time processing and would like to learn Storm to process unbounded streams of data in real time, then this book is for you.

  17. Real time refractive index measurement by ESPI

    International Nuclear Information System (INIS)

    Torroba, R.; Joenathan, C.

    1991-01-01

    In this paper a method to measure refractive index variations in real time is reported. A technique to introduce reference fringes in real time is discussed. Both the theoretical and experimental results are presented and an example with phase shifting is given. (author). 8 refs, 5 figs

  18. Validation of RNAi by real time PCR

    DEFF Research Database (Denmark)

    Josefsen, Knud; Lee, Ying Chiu

    2011-01-01

    Real time PCR is the analytic tool of choice for quantification of gene expression, while RNAi is concerned with downregulation of gene expression. Together, they constitute a powerful approach in any loss of function studies of selective genes. We illustrate here the use of real time PCR to verify...

  19. LabVIEW Real-Time

    CERN Multimedia

    CERN. Geneva; Flockhart, Ronald Bruce; Seppey, P

    2003-01-01

    With LabVIEW Real-Time, you can choose from a variety of RT Series hardware. Add a real-time data acquisition component into a larger measurement and automation system or create a single stand-alone real-time solution with data acquisition, signal conditioning, motion control, RS-232, GPIB instrumentation, and Ethernet connectivity. With the various hardware options, you can create a system to meet your precise needs today, while the modularity of the system means you can add to the solution as your system requirements grow. If you are interested in Reliable and Deterministic systems for Measurement and Automation, you will profit from this seminar. Agenda: Real-Time Overview LabVIEW RT Hardware Platforms - Linux on PXI Programming with LabVIEW RT Real-Time Operating Systems concepts Timing Applications Data Transfer

  20. Real-time GNSS volcano deformation monitoring (Invited)

    Science.gov (United States)

    Lisowski, M.; Langbein, J. O.; Hudnut, K. W.

    2013-12-01

    We present comparisons of the precision obtained from several alternative real-time GNSS processing methods, and show how offsets caused by snow and ice on an antenna can be automatically identified in real time using signal-to-noise ratio (SNR) data. We monitor ground deformation using continuous GNSS stations installed on several volcanoes in the Cascade Range and elsewhere, and many of these stations transmit high-rate (1s) data in real-time. We examine real-time, high-rate station position solutions obtained with two implementations of centralized RTNet (GPS Solutions, Inc.) processing, and find that the precision is roughly the same for ambiguity-fixed network solutions and for ambiguity-fixed precise point position solutions (PPPAR). The PPPAR method uses satellite clock corrections provided by GPS Solutions from a network of Plate Boundary Observatory (PBO) stations in western Oregon. The precision of network solutions that include GPS and GLONASS data is similar to the GPS-only solutions, except at stations with a relatively poor view of the sky. An alternative method of processing the real-time GPS data uses clock corrections transmitted directly to the receiver, which then autonomously calculates and transmits positions. We will compare our RTNet results with autonomous point position solutions calculated using Trimble's CenterPoint RTX corrections. RTX performance in repeated, controlled, large antenna-motion tests by USGS and UNAVCO indicates that it meets requirements of USGS volcano-monitoring applications; more thorough testing and performance checks on an ongoing basis would be desirable. GNSS antennas on volcanoes often become temporarily coated with ice or buried by snow in the winter. In these situations, signal delays introduce an apparent offset in the monitoring station's position. We address this problem by implementing in real time a technique developed by Kristine Larson that uses changes in the signal-to-noise ratio (SNR) of GNSS signals

  1. Real-Time Motion Management of Prostate Cancer Radiotherapy

    DEFF Research Database (Denmark)

    Pommer, Tobias

    , and for prostate cancer treatments, the proximity of the bladder and rectum makes radiotherapy treatment of this site a challenging task. Furthermore, the prostate may move during the radiation delivery and treatment margins are necessary to ensure that it is still receiving the intended dose. The main aim...... of this thesis is to manage prostate motion in real-time by aligning the radiation beam to the prostate using the novel dynamic multileaf collimator (DMLC) tracking method. Specifically, the delivered dose with tracking was compared to the planned dose, and the impact of treatment plan complexity and limitations...

  2. Real-Time Motion Management of Prostate Cancer Radiotherapy

    DEFF Research Database (Denmark)

    Pommer, Tobias

    of this thesis is to manage prostate motion in real-time by aligning the radiation beam to the prostate using the novel dynamic multileaf collimator (DMLC) tracking method. Specifically, the delivered dose with tracking was compared to the planned dose, and the impact of treatment plan complexity and limitations...... to the prostate, while the dose to the risk organs varied as the motion either moved them towards or away from the irradiated region. Finally, we investigated the usefulness of plan complexity metrics for untracked treatments. We found clear relationships between plan complexity and the agreement between...

  3. Real-Time Java Commercial Product Assessment

    National Research Council Canada - National Science Library

    Piszcz, Alan; Vidrine, Kent

    2000-01-01

    .... Specification status and implementation towards an industry standard application-programming interface are split between two consortiums striving to introduce different paradigms of Java integration with real-time (RT) services...

  4. Multiprocessor scheduling for real-time systems

    CERN Document Server

    Baruah, Sanjoy; Buttazzo, Giorgio

    2015-01-01

    This book provides a comprehensive overview of both theoretical and pragmatic aspects of resource-allocation and scheduling in multiprocessor and multicore hard-real-time systems.  The authors derive new, abstract models of real-time tasks that capture accurately the salient features of real application systems that are to be implemented on multiprocessor platforms, and identify rules for mapping application systems onto the most appropriate models.  New run-time multiprocessor scheduling algorithms are presented, which are demonstrably better than those currently used, both in terms of run-time efficiency and tractability of off-line analysis.  Readers will benefit from a new design and analysis framework for multiprocessor real-time systems, which will translate into a significantly enhanced ability to provide formally verified, safety-critical real-time systems at a significantly lower cost.

  5. Visualization in Real-Time Experiment Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this project will be to migrate some of the outputs from the WFF Mission Planning Lab (MPL) into a real-time visualization system.  The MPL is...

  6. Interactive Real-time Magnetic Resonance Imaging

    DEFF Research Database (Denmark)

    Brix, Lau

    seeks to implement and assess existing reconstruction algorithms using multi-processors of modern graphics cards and many-core computer processors and to cover some of the potential clinical applications which might benefit from using an interactive real-time MRI system. First an off......Real-time acquisition, reconstruction and interactively changing the slice position using magnetic resonance imaging (MRI) have been possible for years. However, the current clinical use of interactive real-time MRI is limited due to an inherent low spatial and temporal resolution. This PhD project......-line, but interactive, slice alignment tool was used to support the notion that 3D blood flow quantification in the heart possesses the ability to obtain curves and volumes which are not statistical different from standard 2D flow. Secondly, the feasibility of an interactive real-time MRI system was exploited...

  7. Real time monitoring of electron processors

    International Nuclear Information System (INIS)

    Nablo, S.V.; Kneeland, D.R.; McLaughlin, W.L.

    1995-01-01

    A real time radiation monitor (RTRM) has been developed for monitoring the dose rate (current density) of electron beam processors. The system provides continuous monitoring of processor output, electron beam uniformity, and an independent measure of operating voltage or electron energy. In view of the device's ability to replace labor-intensive dosimetry in verification of machine performance on a real-time basis, its application to providing archival performance data for in-line processing is discussed. (author)

  8. Scala for Real-Time Systems?

    DEFF Research Database (Denmark)

    Schoeberl, Martin

    2015-01-01

    Java served well as a general-purpose language. However, during its two decades of constant change it has gotten some weight and legacy in the language syntax and the libraries. Furthermore, Java's success for real-time systems is mediocre. Scala is a modern object-oriented and functional languag...... with interesting new features. Although a new language, it executes on a Java virtual machine, reusing that technology. This paper explores Scala as language for future real-time systems....

  9. Knowledge based support for real time application of multiagent control and automation in electric power systems

    DEFF Research Database (Denmark)

    Saleem, Arshad; Nordstrom, Lars; Lind, Morten

    2011-01-01

    This paper presents a mechanism for developing knowledge based support for real time application of multiagent systems (MAS) in control, automation and diagnosis of electric power systems. In particular it presents a way for autonomous agents to utilize a qualitative means-ends based model...... and choose an appropriate control action. The paper also elaborates on real time interfacing between multi-agent systems and industry standard distribution automation and control system....

  10. AFSC/ABL: Autonomous underwater vehicle for tracking acoustically-tagged fish 2010

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Autonomous underwater vehicles (AUVs) are increasingly being used to collect physical, chemical, and biological information in the marine environment. Recent efforts...

  11. REAL TIME SYSTEM OPERATIONS 2006-2007

    Energy Technology Data Exchange (ETDEWEB)

    Eto, Joseph H.; Parashar, Manu; Lewis, Nancy Jo

    2008-08-15

    The Real Time System Operations (RTSO) 2006-2007 project focused on two parallel technical tasks: (1) Real-Time Applications of Phasors for Monitoring, Alarming and Control; and (2) Real-Time Voltage Security Assessment (RTVSA) Prototype Tool. The overall goal of the phasor applications project was to accelerate adoption and foster greater use of new, more accurate, time-synchronized phasor measurements by conducting research and prototyping applications on California ISO's phasor platform - Real-Time Dynamics Monitoring System (RTDMS) -- that provide previously unavailable information on the dynamic stability of the grid. Feasibility assessment studies were conducted on potential application of this technology for small-signal stability monitoring, validating/improving existing stability nomograms, conducting frequency response analysis, and obtaining real-time sensitivity information on key metrics to assess grid stress. Based on study findings, prototype applications for real-time visualization and alarming, small-signal stability monitoring, measurement based sensitivity analysis and frequency response assessment were developed, factory- and field-tested at the California ISO and at BPA. The goal of the RTVSA project was to provide California ISO with a prototype voltage security assessment tool that runs in real time within California ISO?s new reliability and congestion management system. CERTS conducted a technical assessment of appropriate algorithms, developed a prototype incorporating state-of-art algorithms (such as the continuation power flow, direct method, boundary orbiting method, and hyperplanes) into a framework most suitable for an operations environment. Based on study findings, a functional specification was prepared, which the California ISO has since used to procure a production-quality tool that is now a part of a suite of advanced computational tools that is used by California ISO for reliability and congestion management.

  12. Real-time implementation of logo detection on open source BeagleBoard

    Science.gov (United States)

    George, M.; Kehtarnavaz, N.; Estevez, L.

    2011-03-01

    This paper presents the real-time implementation of our previously developed logo detection and tracking algorithm on the open source BeagleBoard mobile platform. This platform has an OMAP processor that incorporates an ARM Cortex processor. The algorithm combines Scale Invariant Feature Transform (SIFT) with k-means clustering, online color calibration and moment invariants to robustly detect and track logos in video. Various optimization steps that are carried out to allow the real-time execution of the algorithm on BeagleBoard are discussed. The results obtained are compared to the PC real-time implementation results.

  13. Acoustic Observatory Provides Real-Time Underwater Sounds from the Antarctic Ocean

    OpenAIRE

    Boebel, Olaf; Kindermann, Lars; Klinck, Holger; Bornemann, Horst; Plötz, Joachim; Steinhage, Daniel; Riedel, Sven; Burkhardt, Elke

    2006-01-01

    To obtain real-time, year-round acoustic data from the coastal Antarctic Ocean, an autonomous listening station, PALAOA (PerenniAL Acoustic Observatory in the Antarctic Ocean, or Hawaiian whale), was constructed in austral summer 2005/06, 15 km North of the German Neumayer Base. PALAOAs design was guided by demanding prerequisites: perennial, 365/24, autonomous operation, real-time data access, and full frequency and dynamic coverage. The station is located at 70°31S 8°13W, on the Ekström ice...

  14. High Performance Embedded System for Real-Time Pattern Matching

    CERN Document Server

    Sotiropoulou, Calliope Louisa; The ATLAS collaboration; Gkaitatzis, Stamatios; Citraro, Saverio; Giannetti, Paola; Dell'Orso, Mauro

    2016-01-01

    We present an innovative and high performance embedded system for real-time pattern matching. This system is based on the evolution of hardware and algorithms developed for the field of High Energy Physics (HEP) and more specifically for the execution of extremely fast pattern matching for tracking of particles produced by proton-proton collisions in hadron collider experiments. A miniaturized version of this complex system is being developed for pattern matching in generic image processing applications. The design uses the flexibility of Field Programmable Gate Arrays (FPGAs) and the powerful Associative Memory Chip (ASIC) to achieve real-time performance. The system works as a contour identifier able to extract the salient features of an image. It is based on the principles of cognitive image processing, which means that it executes fast pattern matching and data reduction mimicking the operation of the human brain.

  15. Real-time visual mosaicking and navigation on the seafloor

    Science.gov (United States)

    Richmond, Kristof

    Remote robotic exploration holds vast potential for gaining knowledge about extreme environments accessible to humans only with great difficulty. Robotic explorers have been sent to other solar system bodies, and on this planet into inaccessible areas such as caves and volcanoes. In fact, the largest unexplored land area on earth lies hidden in the airless cold and intense pressure of the ocean depths. Exploration in the oceans is further hindered by water's high absorption of electromagnetic radiation, which both inhibits remote sensing from the surface, and limits communications with the bottom. The Earth's oceans thus provide an attractive target for developing remote exploration capabilities. As a result, numerous robotic vehicles now routinely survey this environment, from remotely operated vehicles piloted over tethers from the surface to torpedo-shaped autonomous underwater vehicles surveying the mid-waters. However, these vehicles are limited in their ability to navigate relative to their environment. This limits their ability to return to sites with precision without the use of external navigation aids, and to maneuver near and interact with objects autonomously in the water and on the sea floor. The enabling of environment-relative positioning on fully autonomous underwater vehicles will greatly extend their power and utility for remote exploration in the furthest reaches of the Earth's waters---even under ice and under ground---and eventually in extraterrestrial liquid environments such as Europa's oceans. This thesis presents an operational, fielded system for visual navigation of underwater robotic vehicles in unexplored areas of the seafloor. The system does not depend on external sensing systems, using only instruments on board the vehicle. As an area is explored, a camera is used to capture images and a composite view, or visual mosaic, of the ocean bottom is created in real time. Side-to-side visual registration of images is combined with dead

  16. Real-time dynamic imaging of virus distribution in vivo.

    Directory of Open Access Journals (Sweden)

    Sean E Hofherr

    2011-02-01

    Full Text Available The distribution of viruses and gene therapy vectors is difficult to assess in a living organism. For instance, trafficking in murine models can usually only be assessed after sacrificing the animal for tissue sectioning or extraction. These assays are laborious requiring whole animal sectioning to ascertain tissue localization. They also obviate the ability to perform longitudinal or kinetic studies in one animal. To track viruses after systemic infection, we have labeled adenoviruses with a near-infrared (NIR fluorophore and imaged these after intravenous injection in mice. Imaging was able to track and quantitate virus particles entering the jugular vein simultaneous with injection, appearing in the heart within 500 milliseconds, distributing in the bloodstream and throughout the animal within 7 seconds, and that the bulk of virus distribution was essentially complete within 3 minutes. These data provide the first in vivo real-time tracking of the rapid initial events of systemic virus infection.

  17. Network protocols for real-time applications

    Science.gov (United States)

    Johnson, Marjory J.

    1987-01-01

    The Fiber Distributed Data Interface (FDDI) and the SAE AE-9B High Speed Ring Bus (HSRB) are emerging standards for high-performance token ring local area networks. FDDI was designed to be a general-purpose high-performance network. HSRB was designed specifically for military real-time applications. A workshop was conducted at NASA Ames Research Center in January, 1987 to compare and contrast these protocols with respect to their ability to support real-time applications. This report summarizes workshop presentations and includes an independent comparison of the two protocols. A conclusion reached at the workshop was that current protocols for the upper layers of the Open Systems Interconnection (OSI) network model are inadequate for real-time applications.

  18. Failure analysis of real-time systems

    International Nuclear Information System (INIS)

    Jalashgar, A.; Stoelen, K.

    1998-01-01

    This paper highlights essential aspects of real-time software systems that are strongly related to the failures and their course of propagation. The significant influence of means-oriented and goal-oriented system views in the description, understanding and analysing of those aspects is elaborated. The importance of performing failure analysis prior to reliability analysis of real-time systems is equally addressed. Problems of software reliability growth models taking the properties of such systems into account are discussed. Finally, the paper presents a preliminary study of a goal-oriented approach to model the static and dynamic characteristics of real-time systems, so that the corresponding analysis can be based on a more descriptive and informative picture of failures, their effects and the possibility of their occurrence. (author)

  19. Real Time Structured Light and Applications

    DEFF Research Database (Denmark)

    Wilm, Jakob

    ]. A high performance flexible open source software toolkit is presented [Contribution C], which makes real time scanning possible on commodity hardware. Further, an approach is presented to correct for motion artifacts in dynamic scenes [Contribution E]. An application for such systems is presented......, increased processing power, and methods presented in this thesis, it is possible to perform structured light scans in real time with 20 depth measurements per second. This offers new opportunities for studying dynamic scenes, quality control, human-computer interaction and more. This thesis discusses...... several aspects of real time structured light systems and presents contributions within calibration, scene coding and motion correction aspects. The problem of reliable and fast calibration of such systems is addressed with a novel calibration scheme utilising radial basis functions [Contribution B...

  20. Real Time Linux - The RTOS for Astronomy?

    Science.gov (United States)

    Daly, P. N.

    The BoF was attended by about 30 participants and a free CD of real time Linux-based upon RedHat 5.2-was available. There was a detailed presentation on the nature of real time Linux and the variants for hard real time: New Mexico Tech's RTL and DIAPM's RTAI. Comparison tables between standard Linux and real time Linux responses to time interval generation and interrupt response latency were presented (see elsewhere in these proceedings). The present recommendations are to use RTL for UP machines running the 2.0.x kernels and RTAI for SMP machines running the 2.2.x kernel. Support, both academically and commercially, is available. Some known limitations were presented and the solutions reported e.g., debugging and hardware support. The features of RTAI (scheduler, fifos, shared memory, semaphores, message queues and RPCs) were described. Typical performance statistics were presented: Pentium-based oneshot tasks running > 30kHz, 486-based oneshot tasks running at ~ 10 kHz, periodic timer tasks running in excess of 90 kHz with average zero jitter peaking to ~ 13 mus (UP) and ~ 30 mus (SMP). Some detail on kernel module programming, including coding examples, were presented showing a typical data acquisition system generating simulated (random) data writing to a shared memory buffer and a fifo buffer to communicate between real time Linux and user space. All coding examples were complete and tested under RTAI v0.6 and the 2.2.12 kernel. Finally, arguments were raised in support of real time Linux: it's open source, free under GPL, enables rapid prototyping, has good support and the ability to have a fully functioning workstation capable of co-existing hard real time performance. The counter weight-the negatives-of lack of platforms (x86 and PowerPC only at present), lack of board support, promiscuous root access and the danger of ignorance of real time programming issues were also discussed. See ftp://orion.tuc.noao.edu/pub/pnd/rtlbof.tgz for the StarOffice overheads

  1. Real-time systems scheduling 2 focuses

    CERN Document Server

    Chetto, Maryline

    2014-01-01

    Real-time systems are used in a wide range of applications, including control, sensing, multimedia, etc. Scheduling is a central problem for these computing/communication systems since it is responsible for software execution in a timely manner. This book, the second of two volumes on the subject, brings together knowledge on specific topics and discusses the recent advances for some of them.  It addresses foundations as well as the latest advances and findings in real-time scheduling, giving comprehensive references to important papers, but the chapters are short and not overloaded with co

  2. Machine vision for real time orbital operations

    Science.gov (United States)

    Vinz, Frank L.

    1988-01-01

    Machine vision for automation and robotic operation of Space Station era systems has the potential for increasing the efficiency of orbital servicing, repair, assembly and docking tasks. A machine vision research project is described in which a TV camera is used for inputing visual data to a computer so that image processing may be achieved for real time control of these orbital operations. A technique has resulted from this research which reduces computer memory requirements and greatly increases typical computational speed such that it has the potential for development into a real time orbital machine vision system. This technique is called AI BOSS (Analysis of Images by Box Scan and Syntax).

  3. SignalR real time application development

    CERN Document Server

    Ingebrigtsen, Einar

    2013-01-01

    This step-by-step guide gives you practical advice, tips, and tricks that will have you writing real-time apps quickly and easily.If you are a .NET developer who wants to be at the cutting edge of development, then this book is for you. Real-time application development is made simple in this guide, so as long as you have basic knowledge of .NET, a copy of Visual Studio, and NuGet installed, you are ready to go.

  4. Real-time systems scheduling fundamentals

    CERN Document Server

    Chetto, Maryline

    2014-01-01

    Real-time systems are used in a wide range of applications, including control, sensing, multimedia, etc.  Scheduling is a central problem for these computing/communication systems since responsible of software execution in a timely manner. This book provides state of knowledge in this domain with special emphasis on the key results obtained within the last decade. This book addresses foundations as well as the latest advances and findings in Real-Time Scheduling, giving all references to important papers. But nevertheless the chapters will be short and not overloaded with confusing details.

  5. Image processing in real time radiography

    International Nuclear Information System (INIS)

    Link, R.; Nuding, W.; Sauevwein, K.; Souw, E.K.

    1985-01-01

    Image processing in real time radiography has become an important feature to improve the detectibility of defects. However, often enough, impressed by the tremendous success of image processing of e.g. evaluation of Landsat pictures, people expect the same or nearly the same effect in NDT applications. The magic word image processing thus results in unrealistic demands to the capability even of highly sophisticated image processing systems. In this paper the possibilities as well as the different tasks of image processing in the field of real time radiography is discussed

  6. Real-Time Mesoscale Prediction on workstations.

    Science.gov (United States)

    Cotton, William R.; Thompson, Gregory; Mieike, Paul W., Jr.

    1994-03-01

    Experience in performing real-time mesoscale numerical prediction forecasts using the Regional Atmospheric Modeling System (RAMS) over Colorado for a winter season on high-performance workstations is summarized. Performance evaluation is done for specific case studies and, statistically, for the entire winter season. RAMS forecasts are also compared with nested grid model forecasts. In addition, RAMS precipitation forecasts with a simple "dump bucket" scheme are compared with explicit, bulk microphysics parameterization schemes. The potential applications and political/ social problems of having a readily accessible, real-time mesoscale forecasting capability on low-cost, high-performance workstations is discussed.

  7. Collecting data in real time with postcards

    DEFF Research Database (Denmark)

    Yee, Kwang Chien; Kanstrup, Anne Marie; Bertelsen, Pernille

    2013-01-01

    Systems. These methods often involve cross-sectional, retrospective data collection. This paper describes the postcard method for prospective real-time data collection, both in paper format and electronic format. This paper then describes the results obtained using postcard techniques in Denmark...... and Australia. The benefits of this technique are illustrated. There are limitations in using postcard techniques and this paper provides a detail discussion about these limitations. Postcard techniques provide unique advantages in understanding real time healthcare context and it is an important technique...

  8. A real-time dashboard for managing pathology processes.

    Science.gov (United States)

    Halwani, Fawaz; Li, Wei Chen; Banerjee, Diponkar; Lessard, Lysanne; Amyot, Daniel; Michalowski, Wojtek; Giffen, Randy

    2016-01-01

    The Eastern Ontario Regional Laboratory Association (EORLA) is a newly established association of all the laboratory and pathology departments of Eastern Ontario that currently includes facilities from eight hospitals. All surgical specimens for EORLA are processed in one central location, the Department of Pathology and Laboratory Medicine (DPLM) at The Ottawa Hospital (TOH), where the rapid growth and influx of surgical and cytology specimens has created many challenges in ensuring the timely processing of cases and reports. Although the entire process is maintained and tracked in a clinical information system, this system lacks pre-emptive warnings that can help management address issues as they arise. Dashboard technology provides automated, real-time visual clues that could be used to alert management when a case or specimen is not being processed within predefined time frames. We describe the development of a dashboard helping pathology clinical management to make informed decisions on specimen allocation and tracking. The dashboard was designed and developed in two phases, following a prototyping approach. The first prototype of the dashboard helped monitor and manage pathology processes at the DPLM. The use of this dashboard helped to uncover operational inefficiencies and contributed to an improvement of turn-around time within The Ottawa Hospital's DPML. It also allowed the discovery of additional requirements, leading to a second prototype that provides finer-grained, real-time information about individual cases and specimens. We successfully developed a dashboard that enables managers to address delays and bottlenecks in specimen allocation and tracking. This support ensures that pathology reports are provided within time frame standards required for high-quality patient care. Given the importance of rapid diagnostics for a number of diseases, the use of real-time dashboards within pathology departments could contribute to improving the quality of

  9. Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion

    CSIR Research Space (South Africa)

    Holtzhausen, S

    2008-11-01

    Full Text Available it will be shown how a Kalman Filter is used to estimate the position of an autonomous vehicle in a three dimensional space. The Kalman filter is used to estimate movement and position using measurements from multiple sensors...

  10. Autonomous underwater vehicle motion tracking using a Kalman Filter for sensor fusion

    CSIR Research Space (South Africa)

    Holtzhausen, S

    2008-01-01

    Full Text Available it will be shown how a Kalman Filter is used to estimate the position of an autonomous vehicle in a three dimensional space. The Kalman filter is used to estimate movement and position using measurements from multiple sensors...

  11. Refactoring Real-Time Java Profiles

    DEFF Research Database (Denmark)

    Søndergaard, Hans; Thomsen, Bent; Ravn, Anders P.

    2011-01-01

    Just like other software, Java profiles benefits from refactoring when they have been used and have evolved for some time. This paper presents a refactoring of the Real-Time Specification for Java (RTSJ) and the Safety Critical Java (SCJ) profile (JSR-302). It highlights core concepts and makes...

  12. Real-Time Polymerase Chain Reaction

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 13; Issue 4. Real-Time Polymerase Chain Reaction - A Revolution in Diagnostics. Simarjot Singh Pabla Sarabjot Singh Pabla. General Article Volume 13 Issue 4 April 2008 pp 369-377 ...

  13. Real Time Grid Reliability Management 2005

    Energy Technology Data Exchange (ETDEWEB)

    Eto, Joe; Eto, Joe; Lesieutre, Bernard; Lewis, Nancy Jo; Parashar, Manu

    2008-07-07

    The increased need to manage California?s electricity grid in real time is a result of the ongoing transition from a system operated by vertically-integrated utilities serving native loads to one operated by an independent system operator supporting competitive energy markets. During this transition period, the traditional approach to reliability management -- construction of new transmission lines -- has not been pursued due to unresolved issues related to the financing and recovery of transmission project costs. In the absence of investments in new transmission infrastructure, the best strategy for managing reliability is to equip system operators with better real-time information about actual operating margins so that they can better understand and manage the risk of operating closer to the edge. A companion strategy is to address known deficiencies in offline modeling tools that are needed to ground the use of improved real-time tools. This project: (1) developed and conducted first-ever demonstrations of two prototype real-time software tools for voltage security assessment and phasor monitoring; and (2) prepared a scoping study on improving load and generator response models. Additional funding through two separate subsequent work authorizations has already been provided to build upon the work initiated in this project.

  14. Quantitative real-time imaging of glutathione

    Science.gov (United States)

    Glutathione plays many important roles in biological processes; however, the dynamic changes of glutathione concentrations in living cells remain largely unknown. Here, we report a reversible reaction-based fluorescent probe—designated as RealThiol (RT)—that can quantitatively monitor the real-time ...

  15. Compiling models into real-time systems

    International Nuclear Information System (INIS)

    Dormoy, J.L.; Cherriaux, F.; Ancelin, J.

    1992-08-01

    This paper presents an architecture for building real-time systems from models, and model-compiling techniques. This has been applied for building a real-time model-based monitoring system for nuclear plants, called KSE, which is currently being used in two plants in France. We describe how we used various artificial intelligence techniques for building it: a model-based approach, a logical model of its operation, a declarative implementation of these models, and original knowledge-compiling techniques for automatically generating the real-time expert system from those models. Some of those techniques have just been borrowed from the literature, but we had to modify or invent other techniques which simply did not exist. We also discuss two important problems, which are often underestimated in the artificial intelligence literature: size, and errors. Our architecture, which could be used in other applications, combines the advantages of the model-based approach with the efficiency requirements of real-time applications, while in general model-based approaches present serious drawbacks on this point

  16. Real-time Texture Error Detection

    Directory of Open Access Journals (Sweden)

    Dan Laurentiu Lacrama

    2008-01-01

    Full Text Available This paper advocates an improved solution for the real-time error detection of texture errors that occurs in the production process in textile industry. The research is focused on the mono-color products with 3D texture model (Jacquard fabrics. This is a more difficult task than, for example, 2D multicolor textures.

  17. Feedback as Real-Time Constructions

    Science.gov (United States)

    Keiding, Tina Bering; Qvortrup, Ane

    2014-01-01

    This article offers a re-description of feedback and the significance of time in feedback constructions based on systems theory. It describes feedback as internal, real-time constructions in a learning system. From this perspective, feedback is neither immediate nor delayed, but occurs in the very moment it takes place. This article argues for a…

  18. Real-Time Operating System/360

    Science.gov (United States)

    Hoffman, R. L.; Kopp, R. S.; Mueller, H. H.; Pollan, W. D.; Van Sant, B. W.; Weiler, P. W.

    1969-01-01

    RTOS has a cost savings advantage for real-time applications, such as those with random inputs requiring a flexible data routing facility, display systems simplified by a device independent interface language, and complex applications needing added storage protection and data queuing.

  19. Compiling models into real-time systems

    International Nuclear Information System (INIS)

    Dormoy, J.L.; Cherriaux, F.; Ancelin, J.

    1992-08-01

    This paper presents an architecture for building real-time systems from models, and model-compiling techniques. This has been applied for building a real-time model-base monitoring system for nuclear plants, called KSE, which is currently being used in two plants in France. We describe how we used various artificial intelligence techniques for building it: a model-based approach, a logical model of its operation, a declarative implementation of these models, and original knowledge-compiling techniques for automatically generating the real-time expert system from those models. Some of those techniques have just been borrowed from the literature, but we had to modify or invent other techniques which simply did not exist. We also discuss two important problems, which are often underestimated in the artificial intelligence literature: size, and errors. Our architecture, which could be used in other applications, combines the advantages of the model-based approach with the efficiency requirements of real-time applications, while in general model-based approaches present serious drawbacks on this point

  20. Real-time PCR gene expression profiling

    Czech Academy of Sciences Publication Activity Database

    Kubista, Mikael; Sjögreen, B.; Forootan, A.; Šindelka, Radek; Jonák, Jiří; Andrade, J.M.

    2007-01-01

    Roč. 1, - (2007), s. 56-60 ISSN 1360-8606 R&D Projects: GA AV ČR KJB500520601 Institutional research plan: CEZ:AV0Z50520514 Keywords : real - time PCR, * expression profiling * statistical analysis Subject RIV: EB - Genetics ; Molecular Biology

  1. Refactoring Real-Time Java Profiles

    DEFF Research Database (Denmark)

    Søndergaard, Hans; Thomsen, Bent; Ravn, Anders Peter

    2011-01-01

    Just like other software, Java profiles benefits from refactoring when they have been used and have evolved for some time. This paper presents a refactoring of the Real-Time Specification for Java (RTSJ) and the Safety Critical Java (SCJ) profile (JSR-302). It highlights core concepts and makes...... to comprehend and use for application developers and students....

  2. Robust synthesis for real-time systems

    DEFF Research Database (Denmark)

    Larsen, Kim Guldstrand; Legay, Axel; Traonouez, Louis-Marie

    2014-01-01

    Specification theories for real-time systems allow reasoning about interfaces and their implementation models, using a set of operators that includes satisfaction, refinement, logical and parallel composition. To make such theories applicable throughout the entire design process from an abstract...

  3. Real-time brute force SAR processing

    NARCIS (Netherlands)

    Vlothuizen, W.J.; Ditzel, M.

    2009-01-01

    This paper presents a brute force method to perform real-time SAR processing. The method has several advantages over traditional so-called fast SAR implementations, as it does not make any approximations to alleviate the processing burden. However, the method does allow efficient implementation on

  4. Advances in Real-Time Systems

    CERN Document Server

    Chakraborty, Samarjit

    2012-01-01

    This volume contains the lectures given in honor to Georg Farber as tribute to his contributions in the area of real-time and embedded systems. The chapters of many leading scientists cover a wide range of aspects, like robot or automotive vision systems or medical aspects.

  5. Scene independent real-time indirect illumination

    DEFF Research Database (Denmark)

    Frisvad, Jeppe Revall; Christensen, Niels Jørgen; Falster, Peter

    2005-01-01

    A novel method for real-time simulation of indirect illumination is presented in this paper. The method, which we call Direct Radiance Mapping (DRM), is based on basal radiance calculations and does not impose any restrictions on scene geometry or dynamics. This makes the method tractable for rea...

  6. Aircraft Fault Detection Using Real-Time Frequency Response Estimation

    Science.gov (United States)

    Grauer, Jared A.

    2016-01-01

    A real-time method for estimating time-varying aircraft frequency responses from input and output measurements was demonstrated. The Bat-4 subscale airplane was used with NASA Langley Research Center's AirSTAR unmanned aerial flight test facility to conduct flight tests and collect data for dynamic modeling. Orthogonal phase-optimized multisine inputs, summed with pilot stick and pedal inputs, were used to excite the responses. The aircraft was tested in its normal configuration and with emulated failures, which included a stuck left ruddervator and an increased command path latency. No prior knowledge of a dynamic model was used or available for the estimation. The longitudinal short period dynamics were investigated in this work. Time-varying frequency responses and stability margins were tracked well using a 20 second sliding window of data, as compared to a post-flight analysis using output error parameter estimation and a low-order equivalent system model. This method could be used in a real-time fault detection system, or for other applications of dynamic modeling such as real-time verification of stability margins during envelope expansion tests.

  7. Real Time Flux Control in PM Motors

    Energy Technology Data Exchange (ETDEWEB)

    Otaduy, P.J.

    2005-09-27

    Significant research at the Oak Ridge National Laboratory (ORNL) Power Electronics and Electric Machinery Research Center (PEEMRC) is being conducted to develop ways to increase (1) torque, (2) speed range, and (3) efficiency of traction electric motors for hybrid electric vehicles (HEV) within existing current and voltage bounds. Current is limited by the inverter semiconductor devices' capability and voltage is limited by the stator wire insulation's ability to withstand the maximum back-electromotive force (emf), which occurs at the upper end of the speed range. One research track has been to explore ways to control the path and magnitude of magnetic flux while the motor is operating. The phrase, real time flux control (RTFC), refers to this mode of operation in which system parameters are changed while the motor is operating to improve its performance and speed range. RTFC has potential to meet an increased torque demand by introducing additional flux through the main air gap from an external source. It can augment the speed range by diverting flux away from the main air gap to reduce back-emf at high speeds. Conventional RTFC technology is known as vector control [1]. Vector control decomposes the stator current into two components; one that produces torque and a second that opposes (weakens) the magnetic field generated by the rotor, thereby requiring more overall stator current and reducing the efficiency. Efficiency can be improved by selecting a RTFC method that reduces the back-emf without increasing the average current. This favors methods that use pulse currents or very low currents to achieve field weakening. Foremost in ORNL's effort to develop flux control is the work of J. S. Hsu. Early research [2,3] introduced direct control of air-gap flux in permanent magnet (PM) machines and demonstrated it with a flux-controlled generator. The configuration eliminates the problem of demagnetization because it diverts all the flux from the

  8. Real Time Surface Registration for PET Motion Tracking

    DEFF Research Database (Denmark)

    Wilm, Jakob; Olesen, Oline Vinter; Paulsen, Rasmus Reinhold

    2011-01-01

    Head movement during high resolution Positron Emission Tomography brain studies causes blur and artifacts in the images. Therefore, attempts are being made to continuously monitor the pose of the head and correct for this movement. Specifically, our method uses a structured light scanner system t...

  9. Emergency Department Real Time Location System Patient and Equipment Tracking

    Science.gov (United States)

    2014-10-01

    technology to meet the need. The ability to limit the range for reading an RFID tag to prevent false alerts is presently being worked on. Tag...investigator believes that the RFID /RTLS technology can further assist in the successful management of equipment supply and storage logistics...with RFID and RTLS in managing assets has proven to be an effective, efficient and job satisfying technologic advancement. As described earlier in

  10. Real-Time Minimization of Tracking Error for Aircraft Systems

    Science.gov (United States)

    Garud, Sumedha; Kaneshige, John T.; Krishnakumar, Kalmanje S.; Kulkarni, Nilesh V.; Burken, John

    2013-01-01

    This technology presents a novel, stable, discrete-time adaptive law for flight control in a Direct adaptive control (DAC) framework. Where errors are not present, the original control design has been tuned for optimal performance. Adaptive control works towards achieving nominal performance whenever the design has modeling uncertainties/errors or when the vehicle suffers substantial flight configuration change. The baseline controller uses dynamic inversion with proportional-integral augmentation. On-line adaptation of this control law is achieved by providing a parameterized augmentation signal to a dynamic inversion block. The parameters of this augmentation signal are updated to achieve the nominal desired error dynamics. If the system senses that at least one aircraft component is experiencing an excursion and the return of this component value toward its reference value is not proceeding according to the expected controller characteristics, then the neural network (NN) modeling of aircraft operation may be changed.

  11. Real-time 2-D temperature imaging using ultrasound.

    Science.gov (United States)

    Liu, Dalong; Ebbini, Emad S

    2010-01-01

    We have previously introduced methods for noninvasive estimation of temperature change using diagnostic ultrasound. The basic principle was validated both in vitro and in vivo by several groups worldwide. Some limitations remain, however, that have prevented these methods from being adopted in monitoring and guidance of minimally invasive thermal therapies, e.g., RF ablation and high-intensity-focused ultrasound (HIFU). In this letter, we present first results from a real-time system for 2-D imaging of temperature change using pulse-echo ultrasound. The front end of the system is a commercially available scanner equipped with a research interface, which allows the control of imaging sequence and access to the RF data in real time. A high-frame-rate 2-D RF acquisition mode, M2D, is used to capture the transients of tissue motion/deformations in response to pulsed HIFU. The M2D RF data is streamlined to the back end of the system, where a 2-D temperature imaging algorithm based on speckle tracking is implemented on a graphics processing unit. The real-time images of temperature change are computed on the same spatial and temporal grid of the M2D RF data, i.e., no decimation. Verification of the algorithm was performed by monitoring localized HIFU-induced heating of a tissue-mimicking elastography phantom. These results clearly demonstrate the repeatability and sensitivity of the algorithm. Furthermore, we present in vitro results demonstrating the possible use of this algorithm for imaging changes in tissue parameters due to HIFU-induced lesions. These results clearly demonstrate the value of the real-time data streaming and processing in monitoring, and guidance of minimally invasive thermotherapy.

  12. Autonomous Sub-Pixel Satellite Track Endpoint Determination for Space Based Images

    Energy Technology Data Exchange (ETDEWEB)

    Simms, L M

    2011-03-07

    An algorithm for determining satellite track endpoints with sub-pixel resolution in spaced-based images is presented. The algorithm allows for significant curvature in the imaged track due to rotation of the spacecraft capturing the image. The motivation behind the subpixel endpoint determination is first presented, followed by a description of the methodology used. Results from running the algorithm on real ground-based and simulated spaced-based images are shown to highlight its effectiveness.

  13. Software Agents Applications Using Real-Time CORBA

    Science.gov (United States)

    Fowell, S.; Ward, R.; Nielsen, M.

    This paper describes current projects being performed by SciSys in the area of the use of software agents, built using CORBA middleware, to improve operations within autonomous satellite/ground systems. These concepts have been developed and demonstrated in a series of experiments variously funded by ESA's Technology Flight Opportunity Initiative (TFO) and Leading Edge Technology for SMEs (LET-SME), and the British National Space Centre's (BNSC) National Technology Programme. Some of this earlier work has already been reported in [1]. This paper will address the trends, issues and solutions associated with this software agent architecture concept, together with its implementation using CORBA within an on-board environment, that is to say taking account of its real- time and resource constrained nature.

  14. Desain Kontrol Tracking Underactuated Autonomous Underwater Vehicle (AUV dengan Pengaruh Gangguan Arus Laut

    Directory of Open Access Journals (Sweden)

    Ilmi Rizki I

    2016-11-01

    Full Text Available Paper ini membahas masalah gerak AUV pada bidang horizontal yang dipengaruhi oleh arah sudut yaw. Arah sudut yaw merupakan ukuran utama dalam mengatur gerak horizontal pada AUV. Pengaturan gerak pada AUV berupa perubahan arah sudut yaw merupakan permasalahan kontrol tracking AUV. Kontrol tracking pada paper ini digunakan untuk kebutuhan heading control. Heading control tersebut digunakan untuk mengatur arah sudut yaw AUV agar sesuai dengan sinyal referensi yaw yang diberikan. Kompleksitas dalam mendesain heading control akibat karakteristik-karakteristik dari dinamika AUV yang high nonlinear dan uncertainty parameter yang ditentukan oleh hydrodynamic forces dan environmental forces berupa gangguan ocean current menjadi permasalahan yang tidak mudah dipecahkan. Oleh karena itu dibutuhkan sebuah metode untuk mengatasi permasalahan tersebut, yaitu menggunaan metode State Dependent Riccati Equations berdasarkan Linear Quadratic Tracking (SDRE-LQT. Algoritma ini menghitung perubahan permasalahan tracking pada sudut yaw dan dapat mengatasi gangguan ocean current melalui perhitungan perubahan parameter dari AUV secara online melalui algebraic Riccati equation.sehingga sinyal kontrol yang diberikan ke plant dapat mengikuti perubahan kondisi dari plant itu sendiri, termasuk perubahan parameter akibat gangguan berupa ocean current. Hasil simulasi menunjukkan bahwa metode kontrol yang digunakan mampu membawa sudut yaw pada nilai yang diharapkan dan gangguan arus dapat diatasi dengan memberikan nilai sinyal kontrol yang baru secara online, sehingga AUV dapat melakukan  tracking secara otomatis pada kondisi ada atau tanpa gangguan ocean current dengan dengan nilai error steady state . Kata kunci — AUV, Tracking Control, SDRE-LQT, Ocean Current Disturbance

  15. Real-Time Motion Management of Prostate Cancer Radiotherapy

    DEFF Research Database (Denmark)

    Pommer, Tobias

    The aim of radiation therapy is to deliver a radiation dose to the tumour that is high enough for all cancer cells to be killed, while sparing healthy organs to such an extent that the side effects are as low as possible. Prostate cancer is the most common type of cancer among men in Denmark......, and for prostate cancer treatments, the proximity of the bladder and rectum makes radiotherapy treatment of this site a challenging task. Furthermore, the prostate may move during the radiation delivery and treatment margins are necessary to ensure that it is still receiving the intended dose. The main aim...... of this thesis is to manage prostate motion in real-time by aligning the radiation beam to the prostate using the novel dynamic multileaf collimator (DMLC) tracking method. Specifically, the delivered dose with tracking was compared to the planned dose, and the impact of treatment plan complexity and limitations...

  16. Real-Time Polymerase Chain Reaction (PCR) Capability in Space

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of this project is enabling the real-time polymerase chain reaction (real-time PCR) technology in space. In space, the real-time PCR technology can be used...

  17. Real-Time Alpine Measurement System Using Wireless Sensor Networks.

    Science.gov (United States)

    Malek, Sami A; Avanzi, Francesco; Brun-Laguna, Keoma; Maurer, Tessa; Oroza, Carlos A; Hartsough, Peter C; Watteyne, Thomas; Glaser, Steven D

    2017-11-09

    Monitoring the snow pack is crucial for many stakeholders, whether for hydro-power optimization, water management or flood control. Traditional forecasting relies on regression methods, which often results in snow melt runoff predictions of low accuracy in non-average years. Existing ground-based real-time measurement systems do not cover enough physiographic variability and are mostly installed at low elevations. We present the hardware and software design of a state-of-the-art distributed Wireless Sensor Network (WSN)-based autonomous measurement system with real-time remote data transmission that gathers data of snow depth, air temperature, air relative humidity, soil moisture, soil temperature, and solar radiation in physiographically representative locations. Elevation, aspect, slope and vegetation are used to select network locations, and distribute sensors throughout a given network location, since they govern snow pack variability at various scales. Three WSNs were installed in the Sierra Nevada of Northern California throughout the North Fork of the Feather River, upstream of the Oroville dam and multiple powerhouses along the river. The WSNs gathered hydrologic variables and network health statistics throughout the 2017 water year, one of northern Sierra's wettest years on record. These networks leverage an ultra-low-power wireless technology to interconnect their components and offer recovery features, resilience to data loss due to weather and wildlife disturbances and real-time topological visualizations of the network health. Data show considerable spatial variability of snow depth, even within a 1 km 2 network location. Combined with existing systems, these WSNs can better detect precipitation timing and phase in, monitor sub-daily dynamics of infiltration and surface runoff during precipitation or snow melt, and inform hydro power managers about actual ablation and end-of-season date across the landscape.

  18. Real time automatic discriminating of ultrasonic flaws

    International Nuclear Information System (INIS)

    Suhairy Sani; Mohd Hanif Md Saad; Marzuki Mustafa; Mohd Redzwan Rosli

    2009-01-01

    This paper is concerned with the real time automatic discriminating of flaws from two categories; i. cracks (planar defect) and ii. Non-cracks (volumetric defect such as cluster porosity and slag) using pulse-echo ultrasound. The raw ultrasonic flaws signal were collected from a computerized robotic plane scanning system over the whole of each reflector as the primary source of data. The signal is then filtered and the analysis in both time and frequency domain were executed to obtain the selected feature. The real time feature analysis techniques measured the number of peaks, maximum index, pulse duration, rise time and fall time. The obtained features could be used to distinguish between quantitatively classified flaws by using various tools in artificial intelligence such as neural networks. The proposed algorithm and complete system were implemented in a computer software developed using Microsoft Visual BASIC 6.0 (author)

  19. Real time gamma-ray signature identifier

    Science.gov (United States)

    Rowland, Mark [Alamo, CA; Gosnell, Tom B [Moraga, CA; Ham, Cheryl [Livermore, CA; Perkins, Dwight [Livermore, CA; Wong, James [Dublin, CA

    2012-05-15

    A real time gamma-ray signature/source identification method and system using principal components analysis (PCA) for transforming and substantially reducing one or more comprehensive spectral libraries of nuclear materials types and configurations into a corresponding concise representation/signature(s) representing and indexing each individual predetermined spectrum in principal component (PC) space, wherein an unknown gamma-ray signature may be compared against the representative signature to find a match or at least characterize the unknown signature from among all the entries in the library with a single regression or simple projection into the PC space, so as to substantially reduce processing time and computing resources and enable real-time characterization and/or identification.

  20. Real-time sonography in obstetrics.

    Science.gov (United States)

    Anderson, S G

    1978-03-01

    Three hundred fifty real-time scans were performed on pregnant women for various indications. Placental localization was satisfactorily obtained in 173 of 174 studies. Estimates of fetal gestation from directly measured biparietal diameter were +/-2 weeks of actual gestation in 153 of 172 (88.9%) measurements. The presence or absence of fetal motion and cardiac activity established a diagnosis of fetal viability or fetal death in 32 patients after the first trimester. Accurate diagnosis was made in 52 of 57 patients with threatened abortions, and two of these errors occurred in scans performed before completion of the eighth postmenstrual week. Because of the ability to demonstrate fetal motion, real-time sonography should have many applications in obstetrics.

  1. Studying Complex Interactions in Real Time

    DEFF Research Database (Denmark)

    Mønster, Dan

    2017-01-01

    The study of human behavior must take into account the social context, and real-time, networked experiments with multiple participants is one increasingly popular way to achieve this. In this paper a framework based on Python and XMPP is presented that aims to make it easy to develop such behavio......The study of human behavior must take into account the social context, and real-time, networked experiments with multiple participants is one increasingly popular way to achieve this. In this paper a framework based on Python and XMPP is presented that aims to make it easy to develop...... such behavioral experiments. An illustrative example of how the framework can be used is also presented. This example is a real experiment, which is currently gathering data in the lab....

  2. Real Time Radiation Monitoring Using Nanotechnology

    Science.gov (United States)

    Li, Jing (Inventor); Wilkins, Richard T. (Inventor); Hanratty, James J. (Inventor); Lu, Yijiang (Inventor)

    2016-01-01

    System and method for monitoring receipt and estimating flux value, in real time, of incident radiation, using two or more nanostructures (NSs) and associated terminals to provide closed electrical paths and to measure one or more electrical property change values .DELTA.EPV, associated with irradiated NSs, during a sequence of irradiation time intervals. Effects of irradiation, without healing and with healing, of the NSs, are separately modeled for first order and second order healing. Change values.DELTA.EPV are related to flux, to cumulative dose received by NSs, and to radiation and healing effectivity parameters and/or.mu., associated with the NS material and to the flux. Flux and/or dose are estimated in real time, based on EPV change values, using measured .DELTA.EPV values. Threshold dose for specified changes of biological origin (usually undesired) can be estimated. Effects of time-dependent radiation flux are analyzed in pre-healing and healing regimes.

  3. ERRATARIUM for Real-Time Systems

    OpenAIRE

    Nelissen, Geoffrey

    2017-01-01

    Poster presented in 29th Euromicro Conference on Real-Time Systems (ECRTS 2017). 27 to 30, Jun, 2017, Interactive Session. Dubrovnik, Croatia. Hundreds of papers published each year • Some of them inevitably contain mistakes, errors, typos, … • All errors, big or small, deserve to be known by everyone • To avoid their spread in other works • To avoid teaching wrong results • To allow people to find appropriate solutions • To learn from them and not reproduce them later ...

  4. A real-time Global Warming Index

    OpenAIRE

    Haustein, K; Allen, MR; Forster, PM; Otto, FEL; Mitchell, DM; Matthews, HD; Frame, DJ

    2017-01-01

    We propose a simple real-time index of global human-induced warming and assess its robustness to uncertainties in climate forcing and short-term climate fluctuations. This index provides improved scientific context for temperature stabilisation targets and has the potential to decrease the volatility of climate policy. We quantify uncertainties arising from temperature observations, climate radiative forcings, internal variability and the model response. Our index and the associated rate of h...

  5. Real-time interactive treatment planning

    International Nuclear Information System (INIS)

    Otto, Karl

    2014-01-01

    The goal of this work is to develop an interactive treatment planning platform that permits real-time manipulation of dose distributions including DVHs and other dose metrics. The hypothesis underlying the approach proposed here is that the process of evaluating potential dose distribution options and deciding on the best clinical trade-offs may be separated from the derivation of the actual delivery parameters used for the patient’s treatment. For this purpose a novel algorithm for deriving an Achievable Dose Estimate (ADE) was developed. The ADE algorithm is computationally efficient so as to update dose distributions in effectively real-time while accurately incorporating the limits of what can be achieved in practice. The resulting system is a software environment for interactive real-time manipulation of dose that permits the clinician to rapidly develop a fully customized 3D dose distribution. Graphical navigation of dose distributions is achieved by a sophisticated method of identifying contributing fluence elements, modifying those elements and re-computing the entire dose distribution. 3D dose distributions are calculated in ∼2–20 ms. Including graphics processing overhead, clinicians may visually interact with the dose distribution (e.g. ‘drag’ a DVH) and display updates of the dose distribution at a rate of more than 20 times per second. Preliminary testing on various sites shows that interactive planning may be completed in ∼1–5 min, depending on the complexity of the case (number of targets and OARs). Final DVHs are derived through a separate plan optimization step using a conventional VMAT planning system and were shown to be achievable within 2% and 4% in high and low dose regions respectively. With real-time interactive planning trade-offs between Target(s) and OARs may be evaluated efficiently providing a better understanding of the dosimetric options available to each patient in static or adaptive RT. (paper)

  6. Real-time controller for hydrostatic transmission

    OpenAIRE

    2014-01-01

    M. Ing. (Electrical and Electronic Engineering) This dissertation describes the development of a modular real-time controller implemented on a personal computer for a hydrostatically driven vehicle. In such a vehicle the conventional mechanical transmission is replaced with a hydrostatic pump and two hydrostatic motors, making use of the secondary control principle. The infinitely variable transmission and wheel pair controller gives the vehicle superior traction and mobility over conventi...

  7. Real time closed orbit correction system

    International Nuclear Information System (INIS)

    Yu, L.H.; Biscardi, R.; Bittner, J.; Bozoki, E.; Galayda, J.; Krinsky, S.; Nawrocky, R.; Singh, O.; Vignola, G.

    1989-01-01

    We describe a global closed orbit feedback experiment, based upon a real time harmonic analysis of both the orbit movement and the correction magnetic fields. The feedback forces the coefficients of a few harmonics near the betatron tune to vanish, and significantly improves the global orbit stability. We present the results of the experiment in the UV ring using 4 detectors and 4 trims, in which maximum observed displacement was reduced by a factor of between 3 and 4. 4 refs., 3 figs

  8. Real-time optical information processing

    CERN Document Server

    Javidi, Bahram

    1994-01-01

    Real-Time Optical Information Processing covers the most recent developments in optical information processing, pattern recognition, neural computing, and materials for devices in optical computing. Intended for researchers and graduate students in signal and information processing with some elementary background in optics, the book provides both theoretical and practical information on the latest in information processing in all its aspects. Leading researchers in the field describe the significant signal processing algorithms architectures in optics as well as basic hardware concepts,

  9. Real-time information from seismic networks

    OpenAIRE

    Köhler, Nina

    2010-01-01

    In this thesis, the performance of a novel methodology for the real-time estimation of seismic source parameters is evaluated which can be used in earthquake early warning systems. The method, PreSEIS, uses artificial neural networks to map seismic observations from a network of sensors onto likely source parameters. The method is veryfied using two real earthquake datasets, as well as a synthetic earthquake dataset to evaluate the performance of the Istanbul early warning system.

  10. A Study towards Real Time Camera Calibration

    OpenAIRE

    Choudhury, Ragini

    2000-01-01

    Preliminary Report Prepared for the Project VISTEO; This report provides a detailed study of the problem of real time camera calibration. This analysis, based on the study of literature in the area, as well as the experiments carried out on real and synthetic data, is motivated by the requirements of the VISTEO project. VISTEO deals with a fusion of real images and synthetic environments, objects etc in TV video sequences. It thus deals with a challenging and fast growing area in virtual real...

  11. Advanced real time radioscopy and computed tomography

    International Nuclear Information System (INIS)

    Sauerwein, Ch.; Nuding, W.; Grimm, R.; Wiacker, H.

    1996-01-01

    The paper describes three x-ray inspection systems. One radioscopic system is designed for the inspection of castings. The next integrates a radioscopic and a tomographic mode. The radioscopy has a high resolution camera and real time image processor. Radiation sources are a 450 kV industrial and a 200 kV microfocus tube. The third system is a tomographic system with 30 scintillation detectors for the inspection of nuclear waste containers. (author)

  12. Real-Time Optical Antimicrobial Susceptibility Testing

    DEFF Research Database (Denmark)

    Fredborg, Marlene; Andersen, Klaus R; Jørgensen, Erik

    2013-01-01

    , introduces real-time detection of bacterial growth and antimicrobial susceptibility, with imaging material to support the automatically generated graphs. Automated antibiotic susceptibility tests of a monoculture showed statistically significant antibiotic effect within 6 minutes and within 30 minutes...... from multidrug-resistant pathogenic bacteria. The oCelloScope system can be employed for a broad range of applications within bacteriology and may present new vistas as a point-of-care instrument in both clinical and veterinarian settings....

  13. Real time computer controlled weld skate

    Science.gov (United States)

    Wall, W. A., Jr.

    1977-01-01

    A real time, adaptive control, automatic welding system was developed. This system utilizes the general case geometrical relationships between a weldment and a weld skate to precisely maintain constant weld speed and torch angle along a contoured workplace. The system is compatible with the gas tungsten arc weld process or can be adapted to other weld processes. Heli-arc cutting and machine tool routing operations are possible applications.

  14. Real time ultrasonography in obstructive jaundice

    International Nuclear Information System (INIS)

    Cho, Kyung Sik; Kim, Ho Kyun; Sung, Nak Kwan; Kim, Soon Yong

    1982-01-01

    Ultrasonography is a predominantly accurate, relatively simple unique diagnostic method of obstructive jaundice. The ultrasonographic findings of obstructive jaundice are dilated intra- and extrahepatic duct with intraluminal hyper reflective echo or mass in and/ or around the bile duct. The superiority of high resolution real time ultrasonography for the diagnosis of obstructive jaundice is bases on the easy detectability of extra- and intrahepatic bile ducts by its multiple sectional images in a short time, the flexibility of probe and small crystal size. Author evaluated real time sonographic findings 46 obstructive jaundice patients confirmed by surgery or radiographical examinations. The results were: 1. Diameter of extrahepatic duct in obstructive jaundice were varied from normal to 4.0 Cm, mostly 8 to 10 mm in diameter (26%). Degree of dilatation of biliary duct appeared more prominent in cancer patients than other causes of obstruction. 2. The site of obstruction was detected in 85% (39/46) and its common site was common bile duct in 63% (29/46). 3. The diagnostic accuracy of choledocholithiasis and cancer was 82% (22/27) and 44% (4/9), respectively. Diagnostic accuracy of the real time ultrasonography in obstructive jaundice was over all 75% (34/46)

  15. REAL TIME WIRELESS AIR POLLUTION MONITORING SYSTEM

    Directory of Open Access Journals (Sweden)

    Raja Vara Prasad Y

    2011-06-01

    Full Text Available Air pollution has significant influence on the concentration of constituents in the atmosphere leading to effects like global warming and acid rains. To avoid such adverse imbalances in the nature, an air pollution monitoring system is utmost important. This paper attempts to develop an effective solution for pollution monitoring using wireless sensor networks (WSN on a real time basis namely real time wireless air pollution monitoring system. Commercially available discrete gas sensors for sensing concentration of gases like CO2, NO2, CO and O2 are calibrated using appropriate calibration technologies. These pre-calibrated gas sensors are then integrated with the wireless sensor motes for field deployment at the campus and the Hyderabad city using multi hop data aggregation algorithm. A light weight middleware and a web interface to view the live pollution data in the form of numbers and charts from the test beds was developed and made available from anywhere on the internet. Other parameters like temperature and humidity were also sensed along with gas concentrations to enable data analysis through data fusion techniques. Experimentation carried out using the developed wireless air pollution monitoring system under different physical conditions show that the system collects reliable source of real time fine-grain pollution data.

  16. Real-Time Interactive Tree Animation.

    Science.gov (United States)

    Quigley, Ed; Yu, Yue; Huang, Jingwei; Lin, Winnie; Fedkiw, Ronald

    2018-05-01

    We present a novel method for posing and animating botanical tree models interactively in real time. Unlike other state of the art methods which tend to produce trees that are overly flexible, bending and deforming as if they were underwater plants, our approach allows for arbitrarily high stiffness while still maintaining real-time frame rates without spurious artifacts, even on quite large trees with over ten thousand branches. This is accomplished by using an articulated rigid body model with as-stiff-as-desired rotational springs in conjunction with our newly proposed simulation technique, which is motivated both by position based dynamics and the typical algorithms for articulated rigid bodies. The efficiency of our algorithm allows us to pose and animate trees with millions of branches or alternatively simulate a small forest comprised of many highly detailed trees. Even using only a single CPU core, we can simulate ten thousand branches in real time while still maintaining quite crisp user interactivity. This has allowed us to incorporate our framework into a commodity game engine to run interactively even on a low-budget tablet. We show that our method is amenable to the incorporation of a large variety of desirable effects such as wind, leaves, fictitious forces, collisions, fracture, etc.

  17. Real time ultrasonography in obstructive jaundice

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Kyung Sik; Kim, Ho Kyun; Sung, Nak Kwan; Kim, Soon Yong [Kyung Hee University School of Medicine, Seoul (Korea, Republic of)

    1982-06-15

    Ultrasonography is a predominantly accurate, relatively simple unique diagnostic method of obstructive jaundice. The ultrasonographic findings of obstructive jaundice are dilated intra- and extrahepatic duct with intraluminal hyper reflective echo or mass in and/ or around the bile duct. The superiority of high resolution real time ultrasonography for the diagnosis of obstructive jaundice is bases on the easy detectability of extra- and intrahepatic bile ducts by its multiple sectional images in a short time, the flexibility of probe and small crystal size. Author evaluated real time sonographic findings 46 obstructive jaundice patients confirmed by surgery or radiographical examinations. The results were: 1. Diameter of extrahepatic duct in obstructive jaundice were varied from normal to 4.0 Cm, mostly 8 to 10 mm in diameter (26%). Degree of dilatation of biliary duct appeared more prominent in cancer patients than other causes of obstruction. 2. The site of obstruction was detected in 85% (39/46) and its common site was common bile duct in 63% (29/46). 3. The diagnostic accuracy of choledocholithiasis and cancer was 82% (22/27) and 44% (4/9), respectively. Diagnostic accuracy of the real time ultrasonography in obstructive jaundice was over all 75% (34/46)

  18. A real time hyperelastic tissue model.

    Science.gov (United States)

    Zhong, Hualiang; Peters, Terry

    2007-06-01

    Real-time soft tissue modeling has a potential application in medical training, procedure planning and image-guided therapy. This paper characterizes the mechanical properties of organ tissue using a hyperelastic material model, an approach which is then incorporated into a real-time finite element framework. While generalizable, in this paper we use the published mechanical properties of pig liver to characterize an example application. Specifically, we calibrate the parameters of an exponential model, with a least-squares method (LSM) using the assumption that the material is isotropic and incompressible in a uniaxial compression test. From the parameters obtained, the stress-strain curves generated from the LSM are compared to those from the corresponding computational model solved by ABAQUS and also to experimental data, resulting in mean errors of 1.9 and 4.8%, respectively, which are considerably better than those obtained when employing the Neo-Hookean model. We demonstrate our approach through the simulation of a biopsy procedure, employing a tetrahedral mesh representation of human liver generated from a CT image. Using the material properties along with the geometric model, we develop a nonlinear finite element framework to simulate the behaviour of liver during an interventional procedure with a real-time performance achieved through the use of an interpolation approach.

  19. Real-time multiple image manipulations

    International Nuclear Information System (INIS)

    Arenson, J.S.; Shalev, S.; Legris, J.; Goertzen, Y.

    1984-01-01

    There are many situations in which it is desired to manipulate two or more images under real-time operator control. The authors have investigated a number of such cases in order to determine their value and applicability in clinical medicine and laboratory research. Several examples are presented in detail. The DICOM-8 video image computer system was used due to its capability of storing two 512 x 512 x 8 bit images and operating on them, and/or an incoming video frame, with any of a number of real time operations including addition, subtraction, inversion, averaging, logical AND, NAND, OR, NOR, NOT, XOR and XNOR, as well as combinations of these. Some applications involve manipulations of or among the stored images. In others, a stored image is used as a mask or template for positioning or adjusting a second image to be grabbed via a video camera. The accuracy of radiotherapy treatment is verified by comparing port films with the original radiographic planning film, which is previously digitized and stored. Moving the port film on the light box while viewing the real-time subtraction image allows for adjustments of zoom, translation and rotation, together with contrast and edge enhancement

  20. Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

    Science.gov (United States)

    Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

    2010-01-01

    After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

  1. TransitVision: Approximating Vehicle Locations Using SIRI-SM Real-Time Data

    OpenAIRE

    Nakken, Ole Kristian; Bakke, Sofia Nascimento

    2015-01-01

    Many public transportation agencies around the world track their vehicles using GPS. However, the GPS data is usually not directly accessible by passengers, but is used to provide real-time arrival estimates. This thesis attempts to approximate the locations of vehicles using the available real-time arrival estimates, through a smartphone application named TransitVision. By utilizing the SIRI standard(www.siri.org.uk), TransitVision is interoperable with other public transportation agencies. ...

  2. A POMDP Framework for Coordinated Guidance of Autonomous UAVs for Multitarget Tracking

    Directory of Open Access Journals (Sweden)

    2009-03-01

    Full Text Available This paper discusses the application of the theory of partially observable Markov decision processes (POMDPs to the design of guidance algorithms for controlling the motion of unmanned aerial vehicles (UAVs with onboard sensors to improve tracking of multiple ground targets. While POMDP problems are intractable to solve exactly, principled approximation methods can be devised based on the theory that characterizes optimal solutions. A new approximation method called nominal belief-state optimization (NBO, combined with other application-specific approximations and techniques within the POMDP framework, produces a practical design that coordinates the UAVs to achieve good long-term mean-squared-error tracking performance in the presence of occlusions and dynamic constraints. The flexibility of the design is demonstrated by extending the objective to reduce the probability of a track swap in ambiguous situations.

  3. A practical receding horizon control framework for path planning and control of autonomous vtol vehicles

    Science.gov (United States)

    Liu, C.; Chen, W.-H.

    2013-12-01

    This paper describes an integrated path planning and tracking control framework for autonomous vertical-take-off-and-landing (VTOL) vehicles, particularly quadrotors. The path planning adopts a receding horizon strategy to repeatedly plan a local trajectory that satisfies both the vehicle dynamics and obstacle-free requirement. A tracking controller is then designed to track the planned path. The differential flatness property of the quadrotor is exploited in both path planner and tracking controller designs. The proposed framework is verified by real-time simulations incorporating online optimization.

  4. Real-Time Hand Posture Recognition Using a Range Camera

    Science.gov (United States)

    Lahamy, Herve

    The basic goal of human computer interaction is to improve the interaction between users and computers by making computers more usable and receptive to the user's needs. Within this context, the use of hand postures in replacement of traditional devices such as keyboards, mice and joysticks is being explored by many researchers. The goal is to interpret human postures via mathematical algorithms. Hand posture recognition has gained popularity in recent years, and could become the future tool for humans to interact with computers or virtual environments. An exhaustive description of the frequently used methods available in literature for hand posture recognition is provided. It focuses on the different types of sensors and data used, the segmentation and tracking methods, the features used to represent the hand postures as well as the classifiers considered in the recognition process. Those methods are usually presented as highly robust with a recognition rate close to 100%. However, a couple of critical points necessary for a successful real-time hand posture recognition system require major improvement. Those points include the features used to represent the hand segment, the number of postures simultaneously recognizable, the invariance of the features with respect to rotation, translation and scale and also the behavior of the classifiers against non-perfect hand segments for example segments including part of the arm or missing part of the palm. A 3D time-of-flight camera named SR4000 has been chosen to develop a new methodology because of its capability to provide in real-time and at high frame rate 3D information on the scene imaged. This sensor has been described and evaluated for its capability for capturing in real-time a moving hand. A new recognition method that uses the 3D information provided by the range camera to recognize hand postures has been proposed. The different steps of this methodology including the segmentation, the tracking, the hand

  5. Real-time modeling of heat distributions

    Energy Technology Data Exchange (ETDEWEB)

    Hamann, Hendrik F.; Li, Hongfei; Yarlanki, Srinivas

    2018-01-02

    Techniques for real-time modeling temperature distributions based on streaming sensor data are provided. In one aspect, a method for creating a three-dimensional temperature distribution model for a room having a floor and a ceiling is provided. The method includes the following steps. A ceiling temperature distribution in the room is determined. A floor temperature distribution in the room is determined. An interpolation between the ceiling temperature distribution and the floor temperature distribution is used to obtain the three-dimensional temperature distribution model for the room.

  6. Real-Time Thevenin Impedance Computation

    DEFF Research Database (Denmark)

    Sommer, Stefan Horst; Jóhannsson, Hjörtur

    2013-01-01

    Stable and secure operation of power systems becomes increasingly difficult when a large share of the power production is based on distributed and non-controllable renewable energy sources. Real-time stability assessment is dependent on very fast computation of different properties of the grid......, and parallelization, we develop an algorithm for computing Thevenin impedances an order of magnitude faster than previous approaches. We test the factor-and-solve algorithm with data from several power grids of varying complexity, and we show how the algorithm allows realtime stability assessment of complex power...

  7. Near real-time polarimetric imaging system.

    Science.gov (United States)

    Buscemi, Isabella Chiara; Guyot, Steve

    2013-11-01

    A new imaging technique which enables near real-time multispectral acquisition of the so-called degree of polarization (DOP) in polarimetry using incoherent white light is described. The experimental setup allows the interactive and dynamic acquisition of DOP for all the possible elliptic polarization states. In such a way, a complete chart of light-matter interaction can be obtained and besides many structure details can be enhanced. Thus, we present the calibration and first images acquired with this system. The particular characteristics of this setup allow it to be the perfect candidate for in vivo as well as ex vivo medical applications.

  8. Linear Regression Based Real-Time Filtering

    Directory of Open Access Journals (Sweden)

    Misel Batmend

    2013-01-01

    Full Text Available This paper introduces real time filtering method based on linear least squares fitted line. Method can be used in case that a filtered signal is linear. This constraint narrows a band of potential applications. Advantage over Kalman filter is that it is computationally less expensive. The paper further deals with application of introduced method on filtering data used to evaluate a position of engraved material with respect to engraving machine. The filter was implemented to the CNC engraving machine control system. Experiments showing its performance are included.

  9. Mobility and language change in real time

    DEFF Research Database (Denmark)

    Monka, Malene

    Diachronic studies of the interrelationship between mobility and language change leave us with some unanswered questions of causation. The most important question is whether language change is caused by mobility, or if mobile informants mark themselves linguistically different than their non......-mobile peers prior to being geographically and socially mobile (e.g. Andersson & Thelander 1994). In the presentation I discuss this question by presenting a real time panel-study of language change in 23 speakers from three municipalities in distinct dialect areas in Denmark. The language change of six mobile...

  10. Systems Analyze Water Quality in Real Time

    Science.gov (United States)

    2010-01-01

    A water analyzer developed under Small Business Innovation Research (SBIR) contracts with Kennedy Space Center now monitors treatment processes at water and wastewater facilities around the world. Originally designed to provide real-time detection of nutrient levels in hydroponic solutions for growing plants in space, the ChemScan analyzer, produced by ASA Analytics Inc., of Waukesha, Wisconsin, utilizes spectrometry and chemometric algorithms to automatically analyze multiple parameters in the water treatment process with little need for maintenance, calibration, or operator intervention. The company has experienced a compound annual growth rate of 40 percent over its 15-year history as a direct result of the technology's success.

  11. Real-time teleteaching in medical physics

    Science.gov (United States)

    Woo, M; Ng, KH

    2008-01-01

    Medical physics is a relatively small professional community, usually with a scarcity of expertise that could greatly benefit students entering the field. However, the reach of the profession can span great geographical distances, making the training of students a difficult task. In addition to the requirement of training new students, the evolving field of medical physics, with its many emerging advanced techniques and technologies, could benefit greatly from ongoing continuing education as well as consultation with experts. Many continuing education courses and workshops are constantly being offered, including many web-based study courses and virtual libraries. However, one mode of education and communication that has not been widely used is the real-time interactive process. Video-based conferencing systems do exist, but these usually require a substantial amount of effort and cost to set up. The authors have been working on promoting the ever-expanding capability of the Internet to facilitate the education of medical physics to students entering the field. A pilot project has been carried out for six years and reported previously. The project is a collaboration between the Department of Medical Physics at the Toronto Odette Cancer Centre in Canada and the Department of Biomedical Imaging at the University of Malaya in Malaysia. Since 2001, medical physics graduate students at the University of Malaya have been taught by lecturers from Toronto every year, using the Internet as the main tool of communication. The pilot study explored the different methods that can be used to provide real-time interactive remote education, and delivered traditional classroom lectures as well as hands-on workshops. Another similar project was started in 2007 to offer real-time teaching to a class of medical physics students at Wuhan University in Hubei, China. There are new challenges as well as new opportunities associated with this project. By building an inventory of tools and

  12. General purpose computers in real time

    International Nuclear Information System (INIS)

    Biel, J.R.

    1989-01-01

    I see three main trends in the use of general purpose computers in real time. The first is more processing power. The second is the use of higher speed interconnects between computers (allowing more data to be delivered to the processors). The third is the use of larger programs running in the computers. Although there is still work that needs to be done, I believe that all indications are that the online need for general purpose computers should be available for the SCC and LHC machines. 2 figs

  13. A real-time Global Warming Index.

    Science.gov (United States)

    Haustein, K; Allen, M R; Forster, P M; Otto, F E L; Mitchell, D M; Matthews, H D; Frame, D J

    2017-11-13

    We propose a simple real-time index of global human-induced warming and assess its robustness to uncertainties in climate forcing and short-term climate fluctuations. This index provides improved scientific context for temperature stabilisation targets and has the potential to decrease the volatility of climate policy. We quantify uncertainties arising from temperature observations, climate radiative forcings, internal variability and the model response. Our index and the associated rate of human-induced warming is compatible with a range of other more sophisticated methods to estimate the human contribution to observed global temperature change.

  14. Smart Winery: A Real-Time Monitoring System for Structural Health and Ullage in Fino Style Wine Casks.

    Science.gov (United States)

    Cañete, Eduardo; Chen, Jaime; Martín, Cristian; Rubio, Bartolomé

    2018-03-07

    The rapid development in low-cost sensor and wireless communication technology has made it possible for a large number of devices to coexist and exchange information autonomously. It has been predicted that a substantial number of devices will be able to exchange and provide information about an environment with the goal of improving our lives, under the well-known paradigm of the Internet of Things (IoT). One of the main applications of these kinds of devices is the monitoring of scenarios. In order to improve the current wine elaboration process, this paper presents a real-time monitoring system to supervise the status of wine casks. We have focused on a special kind of white wine, called Fino, principally produced in Andalusia (Southern Spain). The process by which this kind of wind is monitored is completely different from that of red wine, as the casks are not completely full and, due to the fact that they are not renewed very often, are more prone to breakage. A smart cork prototype monitors the structural health, the ullage, and the level of light inside the cask and the room temperature. The advantage of this smart cork is that it allows winemakers to monitor, in real time, the status of each wine cask so that, if an issue is detected (e.g., a crack appears in the cask), they can act immediately to resolve it. Moreover, abnormal parameters or incorrect environmental conditions can be detected in time before the wine loses its desired qualities. The system has been tested in "Bodegas San Acacio," a winery based in Montemayor, a town in the north of Andalusia. Results show that the use of such a system can provide a solution that tracks the evolution and assesses the suitability of the delicate wine elaboration process in real time, which is especially important for the kind of wine considered in this paper.

  15. Novel opportunities for wildlife conservation and research with real-time monitoring.

    Science.gov (United States)

    Wall, Jake; Wittemyer, George; Klinkenberg, Brian; Douglas-Hamilton, Iain

    2014-06-01

    The expansion of global communication networks and advances in animal-tracking technology make possible the real-time telemetry of positional data as recorded by animal-attached tracking units. When combined with continuous, algorithm-based analytical capability, unique opportunities emerge for applied ecological monitoring and wildlife conservation. We present here four broad approaches for algorithmic wildlife monitoring in real time--proximity, geofencing, movement rate, and immobility--designed to examine aspects of wildlife spatial activity and behavior not possible with conventional tracking systems. Application of these four routines to the real-time monitoring of 94 African elephants was made. We also provide details of our cloud-based monitoring system including infrastructure, data collection, and customized software for continuous tracking data analysis. We also highlight future directions of real-time collection and analysis of biological, physiological, and environmental information from wildlife to encourage further development of needed algorithms and monitoring technology. Real-time processing of remotely collected, animal biospatial data promises to open novel directions in ecological research, applied species monitoring, conservation programs, and public outreach and education.

  16. Frequency Based Real-time Pricing for Residential Prosumers

    Science.gov (United States)

    Hambridge, Sarah Mabel

    This work is the first to explore frequency based pricing for secondary frequency control as a price-reactive control mechanism for residential prosumers. A frequency based real-time electricity rate is designed as an autonomous market control mechanism for residential prosumers to provide frequency support as an ancillary service. In addition, prosumers are empowered to participate in dynamic energy transactions, therefore integrating Distributed Energy Resources (DERs), and increasing distributed energy storage onto the distributed grid. As the grid transitions towards DERs, a new market based control system will take the place of the legacy distributed system and possibly the legacy bulk power system. DERs provide many benefits such as energy independence, clean generation, efficiency, and reliability to prosumers during blackouts. However, the variable nature of renewable energy and current lack of installed energy storage on the grid will create imbalances in supply and demand as uptake increases, affecting the grid frequency and system operation. Through a frequency-based electricity rate, prosumers will be encouraged to purchase energy storage systems (ESS) to offset their neighbor's distributed generation (DG) such as solar. Chapter 1 explains the deregulation of the power system and move towards Distributed System Operators (DSOs), as prosumers become owners of microgrids and energy cells connected to the distributed system. Dynamic pricing has been proposed as a benefit to prosumers, giving them the ability to make decisions in the energy market, while also providing a way to influence and control their behavior. Frequency based real-time pricing is a type of dynamic pricing which falls between price-reactive control and transactive control. Prosumer-to-prosumer transactions may take the place of prosumer-to-utility transactions, building The Energy Internet. Frequency based pricing could be a mechanism for determining prosumer prices and supporting

  17. Real-time applications of neural nets

    International Nuclear Information System (INIS)

    Spencer, J.E.

    1989-05-01

    Producing, accelerating and colliding very high power, low emittance beams for long periods is a formidable problem in real-time control. As energy has grown exponentially in time so has the complexity of the machines and their control systems. Similar growth rates have occurred in many areas, e.g., improved integrated circuits have been paid for with comparable increases in complexity. However, in this case, reliability, capability and cost have improved due to reduced size, high production and increased integration which allow various kinds of feedback. In contrast, most large complex systems (LCS) are perceived to lack such possibilities because only one copy is made. Neural nets, as a metaphor for LCS, suggest ways to circumvent such limitations. It is argued that they are logically equivalent to multi-loop feedback/forward control of faulty systems. While complimentary to AI, they mesh nicely with characteristics desired for real-time systems. Such issues are considered, examples given and possibilities discussed. 21 refs., 6 figs

  18. Development of real-time photoacoustic microscopy

    Science.gov (United States)

    Wang, Lidai; Maslov, Konstantin; Yao, Junjie; Li, Li; Wang, Lihong V.

    2011-03-01

    Photoacoustic tomography detecting ultrasound signals generated from photon absorption provides optical absorption contrast in vivo for structural, functional and molecular imaging. Although photoacoustic tomography technology has grown fast in recent years, real-time photoacoustic imaging with cellular spatial resolution are still strongly demanded. We developed a photoacoustic microscopy which has video-rate imaging capability with cellular spatial resolution. The system consists of a single-element focused ultrasound transducer, a fiber-based light-delivery subsystem, a voice-coil translation stage, a motion controller, and a data acquisition subsystem. A compact cube is employed to split optical and acoustic beams. The mass of the entire scanning photoacoustic probe is less than 40 grams, which minimizes potential vibrations and inertial effects, therefore, makes it capable to scan fast. The imaging system is capable of acquiring 20 cross-sectional (B-scan) images per second over 9 mm, and up to 40 B-scan images per second over 1 mm. Focused laser beams provide a lateral resolution of five microns. Confocal deployment of optical and acoustic focuses provides higher SNR than optical scanning approach. Micron-sized carbon particles flowing in silicone tubing and in vivo blood flows were imaged in video-rate, which demonstrated the capability to image highly dynamic biological processes in vivo with cellular resolution. This real-time high-resolution photoacoustic imaging system provides a promising approach for various in vivo imaging and quantitative studies.

  19. NSTX power supply real time controller

    International Nuclear Information System (INIS)

    Neumeyer, C.; Hatcher, R.; Marsala, R.; Ramakrishnan, S.

    2000-01-01

    The NSTX is a new national facility for the study of plasma confinement, heating, and current drive in a low aspect ratio, spherical torus (ST) configuration. The ST configuration is an alternate magnetic confinement concept which is characterized by high beta (ratio plasma pressure to magnetic field pressure) and low toroidal field compared to conventional tokamaks, and could provide a pathway to the realization of a practical fusion power source. The NSTX depends on a real time, high speed, synchronous, and deterministic control system acting on a system of thyristor rectifier power supplies to (1) establish the initial magnetic field configuration; (2) initiate plasma within the vacuum vessel; (3) inductively drive plasma current; and (4) control plasma position and shape. For the initial ''day 0'' 1st plasma operations (Feb. 1999), the system was limited to closed loop proportional-integral current control of the power supplies based on preprogrammed reference waveforms. For the ''day 1'' phase of operations beginning Sept. 1999 the loop has been closed on plasma current and position. This paper focuses on the Power Supply Real Time Controller (PSRTC)

  20. A real-time radiation mapping system

    International Nuclear Information System (INIS)

    Scoggins, W.A.; VanEtten, D.M.

    1988-01-01

    A prototype of a real-time radiation mapping system, Ranger, was developed to respond to an accident involving the release of plutonium for the Department of Energy's Accident Response Group. In 1987 Ranger demonstrated that it can provide an efficient method of monitoring large areas of land for radioactive contamination. With the experience gained from the operation of the prototype, the external computer and software are being upgraded in order to obtain a fully operational system. The new system uses the prototype's commercially available line-of-sight microwave system for determining position and the same radiation detection instruments. The data obtained from the radiation detection instrument(s) are linked back to the external computer along with the relative position of the measurement through the ranging system. The data are displayed on a gridded map as colored circles and permanently stored in real-time. The different colors represent different contamination levels. Contours can be drawn using the permanently stored data. 4 figs

  1. Machine learning for real time remote detection

    Science.gov (United States)

    Labbé, Benjamin; Fournier, Jérôme; Henaff, Gilles; Bascle, Bénédicte; Canu, Stéphane

    2010-10-01

    Infrared systems are key to providing enhanced capability to military forces such as automatic control of threats and prevention from air, naval and ground attacks. Key requirements for such a system to produce operational benefits are real-time processing as well as high efficiency in terms of detection and false alarm rate. These are serious issues since the system must deal with a large number of objects and categories to be recognized (small vehicles, armored vehicles, planes, buildings, etc.). Statistical learning based algorithms are promising candidates to meet these requirements when using selected discriminant features and real-time implementation. This paper proposes a new decision architecture benefiting from recent advances in machine learning by using an effective method for level set estimation. While building decision function, the proposed approach performs variable selection based on a discriminative criterion. Moreover, the use of level set makes it possible to manage rejection of unknown or ambiguous objects thus preserving the false alarm rate. Experimental evidences reported on real world infrared images demonstrate the validity of our approach.

  2. Real-time applications of neural nets

    Energy Technology Data Exchange (ETDEWEB)

    Spencer, J.E.

    1989-05-01

    Producing, accelerating and colliding very high power, low emittance beams for long periods is a formidable problem in real-time control. As energy has grown exponentially in time so has the complexity of the machines and their control systems. Similar growth rates have occurred in many areas, e.g., improved integrated circuits have been paid for with comparable increases in complexity. However, in this case, reliability, capability and cost have improved due to reduced size, high production and increased integration which allow various kinds of feedback. In contrast, most large complex systems (LCS) are perceived to lack such possibilities because only one copy is made. Neural nets, as a metaphor for LCS, suggest ways to circumvent such limitations. It is argued that they are logically equivalent to multi-loop feedback/forward control of faulty systems. While complimentary to AI, they mesh nicely with characteristics desired for real-time systems. Such issues are considered, examples given and possibilities discussed. 21 refs., 6 figs.

  3. Interfacing real-time information with OILMAP

    International Nuclear Information System (INIS)

    Howlett, E.; Jayko, K.; Spaulding, M.

    1993-01-01

    OILMAP is a state-of-the-art, microcomputer-based oil spill response system applicable to oil spill contingency planning and real-time response for any location in the world. OILMAP has a graphic user interface and was designed in a modular framework so that different spill models could be incorporated into the system, as well as a suite of sophisticated data management tools, without increasing the complexity of the user interface. The basic OILMAP configuration contains a surface trajectory model intended for rapid, first-order estimates of spill movement. A variety of additional models are available within the OILMAP shell to address issues such as weathering, cleanup activities, and probabilities of oiling. A simplified geographic information system (GIS) allows display and manipulation of point, line, and area data geographically referenced to the spill domain. The GIS can import raster data so that images collected by satellite and aerial photography may be displayed. Several new capabilities have been implemented for OILMAP that allow real-time data to be integrated. These features include linking with the OILTRACKER free-floating buoys via a global positioning system, linking of hydrodynamic data from the Ocean Data and Information Network, the Harvard ocean forecasting system, and SeaSonde radar, and the capability of importing spill observations from any remotely sensed data. A further link between OILMAP's GIS and spill models has been developed which allows model predictions to be corrected to observed oil locations while the model runs. 13 refs., 6 figs

  4. Real-Time Digital Video Recording System

    Science.gov (United States)

    Van Lysel, M. S.; Zarnstorff, W. C.; Lancaster, J. C.; Mistretta, C. A.; Dobbins, J. T.

    1981-11-01

    Image storage is a necessary consideration in a medical imaging system. Data generated by recently developed digital radiographic techniques may be stored on magnetic tape or disc in either analog or digital form. Video discs have desirable freeze frame and image sequencing properties allowing for flexible image manipulation and display. Whereas digital pre-processing has enabled excellent results to be obtained using analog storage, digital storage is ideal as far as bandwidth and noise properties are concerned. However, serial data rates of digital disc drives are limited to about 10 megabits per second, too slow for recording video information in real-time. Using a standard multi-platter magnetic disc drive we have constructed parallel read/write channels servicing sets of 9 or 10 surfaces simultaneously in order to achieve a data rate of 100 megabits per second. This permits storage of 815 512x512x9 bit images at 30 frames per second. Hardware configurations and applications of the real-time digital disc to subtraction angiography will be discussed.

  5. Real Time Simulation of Power Grid Disruptions

    Energy Technology Data Exchange (ETDEWEB)

    Chinthavali, Supriya [ORNL; Dimitrovski, Aleksandar D [ORNL; Fernandez, Steven J [ORNL; Groer, Christopher S [ORNL; Nutaro, James J [ORNL; Olama, Mohammed M [ORNL; Omitaomu, Olufemi A [ORNL; Shankar, Mallikarjun [ORNL; Spafford, Kyle L [ORNL; Vacaliuc, Bogdan [ORNL

    2012-11-01

    DOE-OE and DOE-SC workshops (Reference 1-3) identified the key power grid problem that requires insight addressable by the next generation of exascale computing is coupling of real-time data streams (1-2 TB per hour) as the streams are ingested to dynamic models. These models would then identify predicted disruptions in time (2-4 seconds) to trigger the smart grid s self healing functions. This project attempted to establish the feasibility of this approach and defined the scientific issues, and demonstrated example solutions to important smart grid simulation problems. These objectives were accomplished by 1) using the existing frequency recorders on the national grid to establish a representative and scalable real-time data stream; 2) invoking ORNL signature identification algorithms; 3) modeling dynamically a representative region of the Eastern interconnect using an institutional cluster, measuring the scalability and computational benchmarks for a national capability; and 4) constructing a prototype simulation for the system s concept of smart grid deployment. The delivered ORNL enduring capability included: 1) data processing and simulation metrics to design a national capability justifying exascale applications; 2) Software and intellectual property built around the example solutions; 3) demonstrated dynamic models to design few second self-healing.

  6. Memory controllers for real-time embedded systems predictable and composable real-time systems

    CERN Document Server

    Akesson, Benny

    2012-01-01

      Verification of real-time requirements in systems-on-chip becomes more complex as more applications are integrated. Predictable and composable systems can manage the increasing complexity using formal verification and simulation.  This book explains the concepts of predictability and composability and shows how to apply them to the design and analysis of a memory controller, which is a key component in any real-time system. This book is generally intended for readers interested in Systems-on-Chips with real-time applications.   It is especially well-suited for readers looking to use SDRAM memories in systems with hard or firm real-time requirements. There is a strong focus on real-time concepts, such as predictability and composability, as well as a brief discussion about memory controller architectures for high-performance computing. Readers will learn step-by-step how to go from an unpredictable SDRAM memory, offering highly variable bandwidth and latency, to a predictable and composable shared memory...

  7. Real-Time and Near Real-Time Data for Space Weather Applications and Services

    Science.gov (United States)

    Singer, H. J.; Balch, C. C.; Biesecker, D. A.; Matsuo, T.; Onsager, T. G.

    2015-12-01

    Space weather can be defined as conditions in the vicinity of Earth and in the interplanetary environment that are caused primarily by solar processes and influenced by conditions on Earth and its atmosphere. Examples of space weather are the conditions that result from geomagnetic storms, solar particle events, and bursts of intense solar flare radiation. These conditions can have impacts on modern-day technologies such as GPS or electric power grids and on human activities such as astronauts living on the International Space Station or explorers traveling to the moon or Mars. While the ultimate space weather goal is accurate prediction of future space weather conditions, for many applications and services, we rely on real-time and near-real time observations and model results for the specification of current conditions. In this presentation, we will describe the space weather system and the need for real-time and near-real time data that drive the system, characterize conditions in the space environment, and are used by models for assimilation and validation. Currently available data will be assessed and a vision for future needs will be given. The challenges for establishing real-time data requirements, as well as acquiring, processing, and disseminating the data will be described, including national and international collaborations. In addition to describing how the data are used for official government products, we will also give examples of how these data are used by both the public and private sector for new applications that serve the public.

  8. Real-time treatment feedback guidance of Pleural PDT

    Science.gov (United States)

    Zhu, Timothy C.; Kim, Michele M.; Liang, Xing; Liu, Baochang; Meo, Julia L.; Finlay, Jarod C.; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles; Cengel, Keith; Friedberg, Joseph

    2013-03-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for mesothelioma with remarkable results. In the current intrapleural PDT protocol, a moving fiber-based point source is used to deliver the light and the light dose are monitored by 7 detectors placed in the pleural cavity. To improve the delivery of light dose uniformity, an infrared (IR) camera system is used to track the motion of the light sources. A treatment planning system uses feedback from the detectors as well as the IR camera to update light fluence distribution in real-time, which is used to guide the light source motion for uniform light dose distribution. We have improved the GUI of the light dose calculation engine to provide real-time light fluence distribution suitable for guiding the surgery to delivery light more uniformly. A dual-correction method is used in the feedback system, so that fluence calculation can match detector readings using both direct and scatter light models. An improved measurement device is developed to automatically acquire laser position for the point source. Comparison of the effects of the guidance is presented in phantom study.

  9. A real-time treatment guidance system for pleural PDT

    Science.gov (United States)

    Zhu, Timothy C.; Liang, Xing; Sandell, Julia; Finlay, Jarod C.; Dimofte, Andreea; Rodriguez, Carmen; Cengel, Keith; Friedberg, Joseph; Hahn, Stephen M.; Glatstein, Eli

    2012-02-01

    Intrapleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for mesothelioma. In the current intrapleural PDT protocol, a moving fiber-based point source is used to deliver the light and the light dose are monitored by 7 detectors placed in the pleural cavity. To improve the delivery of light dose uniformity, an infrared (IR) camera system is used to track the motion of the light sources. A treatment planning system uses feedback from the detectors as well as the IR camera to update light fluence distribution in real-time, which is used to guide the light source motion for uniform light dose distribution. We have reported previously the success of using IR camera to passively monitor the light fluence rate distribution. In this study, the real-time feedback has been implemented in the current system prototype, by transferring data from the IR camera to a computer at a rate of 20 Hz, and by calculation/displaying using Matlab. A dual-correction method is used in the feedback system, so that fluence calculation can match detector readings. Preliminary data from a phantom showed superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown using the correction method dose model.

  10. An acoustic system for autonomous navigation and tracking of marine fauna

    KAUST Repository

    De la Torre, Pedro

    2014-08-01

    A marine acoustic system for underwater target tracking is described. This system is part of the Integrated Satellite and Acoustic Telemetry (iSAT) project to study marine fauna. It is a microcontroller-based underwater projector and receiver. A narrow-band, passive sonar detection architecture is described from signal generation, through transduction, reception, signal processing and up to tone extraction. Its circuit and operation principles are described. Finally, a comparison between the current energy detection method versus an alternative matched filter approach is included.

  11. REAL TIME DATA FOR REMEDIATION ACTIVITIES [11505

    Energy Technology Data Exchange (ETDEWEB)

    BROCK CT

    2011-01-13

    Health physicists from the CH2M HILL Plateau Remediation Company collaborated with Berkeley Nucleonics Corporation to modify the SAM 940 isotope identifier instrument to be used for nuclear waste remediation. These modifications coupled with existing capabilities of the SAM 940 have proven to be invaluable during remediation activities, reducing disposal costs by allowing swift remediation of targeted areas that have been identified as having isotopes of concern (IOC), and eliminating multiple visits to sites by declaring an excavation site clear of IOCs before demobilizing from the site. These advantages are enabled by accumulating spectral data for specific isotopes that is nearly 100 percent free of false positives, which are filtered out in 'real time.'

  12. Analyzer of neutron flux in real time

    International Nuclear Information System (INIS)

    Rojas S, A.S.; Carrillo M, R.A.; Balderas, E.G.

    1999-01-01

    With base in the study of the real signals of neutron flux of instability events occurred in the Laguna Verde nuclear power plant where the nucleus oscillation phenomena of the reactor are in the 0 to 2.5 Hz range, it has been seen the possibility about the development a surveillance and diagnostic equipment capable to analyze in real time the behavior of nucleus in this frequencies range. An important method for surveillance the stability of the reactor nucleus is the use of the Power spectral density which allows to determine the frequencies and amplitudes contained in the signals. It is used an instrument carried out by LabVIEW graphic programming with a data acquisition card of 16 channels which works at Windows 95/98 environment. (Author)

  13. Real time analysis of tokamak discharge parameters

    International Nuclear Information System (INIS)

    Ferron, J.R.; Strait, E.J.

    1992-03-01

    The techniques used in implementing two applications of real time analysis of data from the DIII-D tokamak are described. These tasks, which are demanding in both the speed of data acquisition and the speed of computation, execute on hardware capable of acquiring 40 million data samples per second and executing 80 million floating point operations per second. In the first case, a feedback control algorithm executing at a 10 kHz cycle frequency is used to specify the current in the poloidal field coils in order to control the discharge shape. In the second, fast Fourier transforms of Mirnov probe data are used to find the amplitude and frequency of each of eight toroidal mode numbers as a function of time during the discharge. Data sampled continuously at 500 kHz are used to produce results at 2 msec intervals

  14. Multiagent organizations for real-time operations

    Energy Technology Data Exchange (ETDEWEB)

    Talukdar, S.; Ramesh, V.C. (Engineering Design Research Center, Carnegie Mellon Univ., Pittsburgh, Pa (US)); Quadrel, R. (Battelle, Pacific Northwest Lab., Richland, WA (US)); Christie, R. (Dept. of Electrical Engineering, Univ. of Washington, Seattle, WA (US))

    1992-05-01

    The real-time operations of electric power networks are subject to two sets of forces. The first, including deregulation movements and growing environmental concerns, is acting to increase the complexity of operations. The second, including new computer technologies and emerging knowledge-based agents, provides some means for handling additional complexity. This paper argues that organizational changes will have to be made before the second set of forces can be applied to effectively counter the first. To make this argument, the paper presents a framework for discussing organizational structures. Then it reviews the structures of the two generations of computer-based, multiagent systems that have been developed for operations. It points out that these structures are well-suited to the algorithmic tasks involved in operations but not to the knowledge-based tasks. The paper concludes with some suggestions for research into alternative structures.

  15. A Flexible Real-Time Architecture

    Energy Technology Data Exchange (ETDEWEB)

    WICKSTROM,GREGORY L.

    2000-08-17

    Assuring hard real-time characteristics of I/O associated with embedded software is often a difficult task. Input-Output related statements are often intermixed with the computational code, resulting in I/O timing that is dependent on the execution path and computational load. One way to mitigate this problem is through the use of interrupts. However, the non-determinism that is introduced by interrupt driven I/O may be so difficult to analyze that it is prohibited in some high consequence systems. This paper describes a balanced hardware/software solution to obtain consistent interrupt-free I/O timing, and results in software that is much more amenable to analysis.

  16. Development of the real time monitor system

    International Nuclear Information System (INIS)

    Kato, Katsumi; Watanabe, Tadashi; Kaburaki, Hideo.

    1996-10-01

    Large-scale simulation technique is studied at the Center for Promotion of Computational Science and Engineering (CCSE) for the computational science research in nuclear fields. Visualization and animation processing technique are studied and developed for efficient understanding of simulation results. The real time monitor system, in which on-going simulation results are transferred from a supercomputer or workstation to a graphic workstation and are visualized and recorded, is described in this report. This system is composed of the graphic workstation and the video equipment connected to the network. The control shell programs are the job-execution shell for simulations on supercomputers, the file-transfer shell for output files for visualization, and the shell for starting visualization tools. Special image processing technique and hardware are not necessary in this system and the standard visualization tool AVS and the UNIX commands are used, so that this system can be implemented and applied in various computer environments. (author)

  17. A distributed real-time operating system

    International Nuclear Information System (INIS)

    Tuynman, F.; Hertzberger, L.O.

    1984-07-01

    A distributed real-time operating system, Fados, has been developed for an embedded multi-processor system. The operating system is based on a host target approach and provides for communication between arbitrary processes on host and target machine. The facilities offered are, apart from process communication, access to the file system on the host by programs on the target machine and monitoring and debugging of programs on the target machine from the host. The process communication has been designed in such a way that the possibilities are the same as those offered by the Ada programming language. The operating system is implemented on a MC 68000 based multiprocessor system in combination with a Unix host. (orig.)

  18. Identifying financial crises in real time

    Science.gov (United States)

    da Fonseca, Eder Lucio; Ferreira, Fernando F.; Muruganandam, Paulsamy; Cerdeira, Hilda A.

    2013-03-01

    Following the thermodynamic formulation of a multifractal measure that was shown to enable the detection of large fluctuations at an early stage, here we propose a new index which permits us to distinguish events like financial crises in real time. We calculate the partition function from which we can obtain thermodynamic quantities analogous to the free energy and specific heat. The index is defined as the normalized energy variation and it can be used to study the behavior of stochastic time series, such as financial market daily data. Famous financial market crashes-Black Thursday (1929), Black Monday (1987) and the subprime crisis (2008)-are identified with clear and robust results. The method is also applied to the market fluctuations of 2011. From these results it appears as if the apparent crisis of 2011 is of a different nature to the other three. We also show that the analysis has forecasting capabilities.

  19. Feedback as real-time constructions

    DEFF Research Database (Denmark)

    Keiding, Tina Bering; Qvortrup, Ane

    2014-01-01

    The article offers a re-description of feedback and the significance of time in feedback constructions based on systems theory. It describes feedback as internal, real-time constructions in a learning system. From this perspective, feedback is neither immediate nor delayed, but occurs in the very...... instant it takes place. This article argues for a clear distinction between the timing of communicative events, such as responses that are provided as help for feedback constructions, and the feedback construction itself as an event in a psychic system. Although feedback is described as an internal......, system-relative construction, different teaching environments offer diverse conditions for feedback constructions. The final section of this article explores this idea with the help of examples from both synchronous, oral interaction and asynchronous, text-based interaction mediated by digital media....

  20. Embedded and real-time operating systems

    CERN Document Server

    Wang, K C

    2017-01-01

    This book covers the basic concepts and principles of operating systems, showing how to apply them to the design and implementation of complete operating systems for embedded and real-time systems. It includes all the foundational and background information on ARM architecture, ARM instructions and programming, toolchain for developing programs, virtual machines for software implementation and testing, program execution image, function call conventions, run-time stack usage and link C programs with assembly code. It describes the design and implementation of a complete OS for embedded systems in incremental steps, explaining the design principles and implementation techniques. For Symmetric Multiprocessing (SMP) embedded systems, the author examines the ARM MPcore processors, which include the SCU and GIC for interrupts routing and interprocessor communication and synchronization by Software Generated Interrupts (SGIs). Throughout the book, complete working sample systems demonstrate the design principles and...