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Sample records for slam brc case

  1. The South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLAM BRC case register: development and descriptive data

    Directory of Open Access Journals (Sweden)

    Denis Mike

    2009-08-01

    Full Text Available Abstract Background Case registers have been used extensively in mental health research. Recent developments in electronic medical records, and in computer software to search and analyse these in anonymised format, have the potential to revolutionise this research tool. Methods We describe the development of the South London and Maudsley NHS Foundation Trust (SLAM Biomedical Research Centre (BRC Case Register Interactive Search tool (CRIS which allows research-accessible datasets to be derived from SLAM, the largest provider of secondary mental healthcare in Europe. All clinical data, including free text, are available for analysis in the form of anonymised datasets. Development involved both the building of the system and setting in place the necessary security (with both functional and procedural elements. Results Descriptive data are presented for the Register database as of October 2008. The database at that point included 122,440 cases, 35,396 of whom were receiving active case management under the Care Programme Approach. In terms of gender and ethnicity, the database was reasonably representative of the source population. The most common assigned primary diagnoses were within the ICD mood disorders (n = 12,756 category followed by schizophrenia and related disorders (8158, substance misuse (7749, neuroses (7105 and organic disorders (6414. Conclusion The SLAM BRC Case Register represents a 'new generation' of this research design, built on a long-running system of fully electronic clinical records and allowing in-depth secondary analysis of both numerical, string and free text data, whilst preserving anonymity through technical and procedural safeguards.

  2. Can risk assessment predict suicide in secondary mental healthcare? Findings from the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Case Register.

    Science.gov (United States)

    Lopez-Morinigo, Javier-David; Fernandes, Andrea C; Shetty, Hitesh; Ayesa-Arriola, Rosa; Bari, Ashraful; Stewart, Robert; Dutta, Rina

    2018-06-02

    The predictive value of suicide risk assessment in secondary mental healthcare remains unclear. This study aimed to investigate the extent to which clinical risk assessment ratings can predict suicide among people receiving secondary mental healthcare. Retrospective inception cohort study (n = 13,758) from the South London and Maudsley NHS Foundation Trust (SLaM) (London, UK) linked with national mortality data (n = 81 suicides). Cox regression models assessed survival from the last suicide risk assessment and ROC curves evaluated the performance of risk assessment total scores. Hopelessness (RR = 2.24, 95% CI 1.05-4.80, p = 0.037) and having a significant loss (RR = 1.91, 95% CI 1.03-3.55, p = 0.041) were significantly associated with suicide in the multivariable Cox regression models. However, screening statistics for the best cut-off point (4-5) of the risk assessment total score were: sensitivity 0.65 (95% CI 0.54-0.76), specificity 0.62 (95% CI 0.62-0.63), positive predictive value 0.01 (95% CI 0.01-0.01) and negative predictive value 0.99 (95% CI 0.99-1.00). Although suicide was linked with hopelessness and having a significant loss, risk assessment performed poorly to predict such an uncommon outcome in a large case register of patients receiving secondary mental healthcare.

  3. Mortality of people with chronic fatigue syndrome: a retrospective cohort study in England and Wales from the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Clinical Record Interactive Search (CRIS) Register.

    Science.gov (United States)

    Roberts, Emmert; Wessely, Simon; Chalder, Trudie; Chang, Chin-Kuo; Hotopf, Matthew

    2016-04-16

    Mortality associated with chronic fatigue syndrome is uncertain. We investigated mortality in individuals diagnosed with chronic fatigue syndrome in secondary and tertiary care using data from the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Clinical Record Interactive Search (CRIS) register. We calculated standardised mortality ratios (SMRs) for all-cause, suicide-specific, and cancer-specific mortality for a 7-year observation period using the number of deaths observed in SLaM records compared with age-specific and sex-specific mortality statistics for England and Wales. Study participants were included if they had had contact with the chronic fatigue service (referral, discharge, or case note entry) and received a diagnosis of chronic fatigue syndrome. We identified 2147 cases of chronic fatigue syndrome from CRIS and 17 deaths from Jan 1, 2007, to Dec 31, 2013. 1533 patients were women of whom 11 died, and 614 were men of whom six died. There was no significant difference in age-standardised and sex-standardised mortality ratios (SMRs) for all-cause mortality (SMR 1·14, 95% CI 0·65-1·85; p=0·67) or cancer-specific mortality (1·39, 0·60-2·73; p=0·45) in patients with chronic fatigue syndrome when compared with the general population in England and Wales. This remained the case when deaths from suicide were removed from the analysis. There was a significant increase in suicide-specific mortality (SMR 6·85, 95% CI 2·22-15·98; p=0·002). We did not note increased all-cause mortality in people with chronic fatigue syndrome, but our findings show a substantial increase in mortality from suicide. This highlights the need for clinicians to be aware of the increased risk of completed suicide and to assess suicidality adequately in patients with chronic fatigue syndrome. National Institute for Health Research (NIHR) Biomedical Research Centre at South London and Maudsley NHS Foundation Trust and King's College London

  4. Case note: CBB (SLAM!FM t. Minister van EZ en Radio 538)

    NARCIS (Netherlands)

    Hins, W.

    2008-01-01

    Bij de verdeling van FM-radiofrequenties in 1983 heeft SLAM!FM een frequentiepakket verworven voor recente bijzondere muziek. Haar toezegging om slechts een gering percentage hitmuziek uit te zenden was daarbij doorslaggevend. Later ontstaan problemen over de vraag wat ‘hitmuziek’ eigenlijk is. De

  5. Distributed SLAM

    Science.gov (United States)

    Binns, Lewis A.; Valachis, Dimitris; Anderson, Sean; Gough, David W.; Nicholson, David; Greenway, Phil

    2002-07-01

    Previously, we have developed techniques for Simultaneous Localization and Map Building based on the augmented state Kalman filter. Here we report the results of experiments conducted over multiple vehicles each equipped with a laser range finder for sensing the external environment, and a laser tracking system to provide highly accurate ground truth. The goal is simultaneously to build a map of an unknown environment and to use that map to navigate a vehicle that otherwise would have no way of knowing its location, and to distribute this process over several vehicles. We have constructed an on-line, distributed implementation to demonstrate the principle. In this paper we describe the system architecture, the nature of the experimental set up, and the results obtained. These are compared with the estimated ground truth. We show that distributed SLAM has a clear advantage in the sense that it offers a potential super-linear speed-up over single vehicle SLAM. In particular, we explore the time taken to achieve a given quality of map, and consider the repeatability and accuracy of the method. Finally, we discuss some practical implementation issues.

  6. Three main paradigms of simultaneous localization and mapping (SLAM) problem

    Science.gov (United States)

    Imani, Vandad; Haataja, Keijo; Toivanen, Pekka

    2018-04-01

    Simultaneous Localization and Mapping (SLAM) is one of the most challenging research areas within computer and machine vision for automated scene commentary and explanation. The SLAM technique has been a developing research area in the robotics context during recent years. By utilizing the SLAM method robot can estimate the different positions of the robot at the distinct points of time which can indicate the trajectory of robot as well as generate a map of the environment. SLAM has unique traits which are estimating the location of robot and building a map in the various types of environment. SLAM is effective in different types of environment such as indoor, outdoor district, Air, Underwater, Underground and Space. Several approaches have been investigated to use SLAM technique in distinct environments. The purpose of this paper is to provide an accurate perceptive review of case history of SLAM relied on laser/ultrasonic sensors and camera as perception input data. In addition, we mainly focus on three paradigms of SLAM problem with all its pros and cons. In the future, use intelligent methods and some new idea will be used on visual SLAM to estimate the motion intelligent underwater robot and building a feature map of marine environment.

  7. A utility perspective on BRC

    International Nuclear Information System (INIS)

    Farrell, B.

    1988-01-01

    The author is program manager for low-level radioactive waste (LLW) for the Utility Nuclear Waste Management Group (UNWMG), an activity funded by 45 utilities with nuclear power programs. The UNWMG represents the utility industry on high-level and low-level radioactive waste issues in legislative, regulatory, and technical proceedings, and therefore has a strong interest in the progress of below-regulatory-concern (BRC) regulations. The author addresses waste disposal volumes prior to discussing recent developments and status of BRC regulations

  8. Numerical prediction of slamming loads

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen J; Pedersen, Preben T

    2012-01-01

    It is important to include the contribution of the slamming-induced response in the structural design of large vessels with a significant bow flare. At the same time it is a challenge to develop rational tools to determine the slamming-induced loads and the prediction of their occurrence. Today i...

  9. Reactor enclosure. BRC meeting presentation

    International Nuclear Information System (INIS)

    Fisch, J.W.

    1975-01-01

    The latest status of key components of the Reactor Enclosure System of the Clinch River Breeder Reactor Plant is described. Areas where there have been notable design changes or significant design detail maturity in the six months since the last BRC presentation are highlighted. (auth)

  10. Performing poetry slam

    DEFF Research Database (Denmark)

    Schweppenhäuser, Jakob; Pedersen, Birgitte Stougaard

    2017-01-01

    – namely the contemporary Western literary poetry reading and a literary network, on the one side, and, on the other side, the rap battle connected to hip hop culture (other genres, such as e.g. stand-up comedy, could also have been drawn into the discussion, but in order to clarify our argument we have...... chosen to keep focus on the two mentioned). The article builds on a generalised perspective negotiating poetry slam as an aesthetic and cultural phenomenon in between hip hop culture and literary culture, but it also includes a close reading/listening aspect deriving from a specific example, namely...

  11. Review of ship slamming loads and responses

    Science.gov (United States)

    Wang, Shan; Guedes Soares, C.

    2017-12-01

    The paper presents an overview of studies of slamming on ship structures. This work focuses on the hull slamming, which is one of the most important types of slamming problems to be considered in the ship design process and the assessment of the ship safety. There are three main research aspects related to the hull slamming phenomenon, a) where and how often a slamming event occurs, b) slamming load prediction and c) structural response due to slamming loads. The approaches used in each aspect are reviewed and commented, together with the presentation of some typical results. The methodology, which combines the seakeeping analysis and slamming load prediction, is discussed for the global analysis of the hull slamming of a ship in waves. Some physical phenomena during the slamming event are discussed also. Recommendations for the future research and developments are made.

  12. Deciphering complex dynamics of water counteraction around secondary structural elements of allosteric protein complex: Case study of SAP-SLAM system in signal transduction cascade.

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2018-01-28

    The first hydration shell of a protein exhibits heterogeneous behavior owing to several attributes, majorly local polarity and structural flexibility as revealed by solvation dynamics of secondary structural elements. We attempt to recognize the change in complex water counteraction generated due to substantial alteration in flexibility during protein complex formation. The investigation is carried out with the signaling lymphocytic activation molecule (SLAM) family of receptors, expressed by an array of immune cells, and interacting with SLAM-associated protein (SAP), composed of one SH2 domain. All atom molecular dynamics simulations are employed to the aqueous solutions of free SAP and SLAM-peptide bound SAP. We observed that water dynamics around different secondary structural elements became highly affected as well as nicely correlated with the SLAM-peptide induced change in structural rigidity obtained by thermodynamic quantification. A few instances of contradictory dynamic features of water to the change in structural flexibility are explained by means of occluded polar residues by the peptide. For βD, EFloop, and BGloop, both structural flexibility and solvent accessibility of the residues confirm the obvious contribution. Most importantly, we have quantified enhanced restriction in water dynamics around the second Fyn-binding site of the SAP due to SAP-SLAM complexation, even prior to the presence of Fyn. This observation leads to a novel argument that SLAM induced more restricted water molecules could offer more water entropic contribution during the subsequent Fyn binding and provide enhanced stability to the SAP-Fyn complex in the signaling cascade. Finally, SLAM induced water counteraction around the second binding site of the SAP sheds light on the allosteric property of the SAP, which becomes an integral part of the underlying signal transduction mechanism.

  13. Deciphering complex dynamics of water counteraction around secondary structural elements of allosteric protein complex: Case study of SAP-SLAM system in signal transduction cascade

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2018-01-01

    The first hydration shell of a protein exhibits heterogeneous behavior owing to several attributes, majorly local polarity and structural flexibility as revealed by solvation dynamics of secondary structural elements. We attempt to recognize the change in complex water counteraction generated due to substantial alteration in flexibility during protein complex formation. The investigation is carried out with the signaling lymphocytic activation molecule (SLAM) family of receptors, expressed by an array of immune cells, and interacting with SLAM-associated protein (SAP), composed of one SH2 domain. All atom molecular dynamics simulations are employed to the aqueous solutions of free SAP and SLAM-peptide bound SAP. We observed that water dynamics around different secondary structural elements became highly affected as well as nicely correlated with the SLAM-peptide induced change in structural rigidity obtained by thermodynamic quantification. A few instances of contradictory dynamic features of water to the change in structural flexibility are explained by means of occluded polar residues by the peptide. For βD, EFloop, and BGloop, both structural flexibility and solvent accessibility of the residues confirm the obvious contribution. Most importantly, we have quantified enhanced restriction in water dynamics around the second Fyn-binding site of the SAP due to SAP-SLAM complexation, even prior to the presence of Fyn. This observation leads to a novel argument that SLAM induced more restricted water molecules could offer more water entropic contribution during the subsequent Fyn binding and provide enhanced stability to the SAP-Fyn complex in the signaling cascade. Finally, SLAM induced water counteraction around the second binding site of the SAP sheds light on the allosteric property of the SAP, which becomes an integral part of the underlying signal transduction mechanism.

  14. Distributed Monocular SLAM for Indoor Map Building

    OpenAIRE

    Ruwan Egodagamage; Mihran Tuceryan

    2017-01-01

    Utilization and generation of indoor maps are critical elements in accurate indoor tracking. Simultaneous Localization and Mapping (SLAM) is one of the main techniques for such map generation. In SLAM an agent generates a map of an unknown environment while estimating its location in it. Ubiquitous cameras lead to monocular visual SLAM, where a camera is the only sensing device for the SLAM process. In modern applications, multiple mobile agents may be involved in the generation of such maps,...

  15. Loose fusion based on SLAM and IMU for indoor environment

    Science.gov (United States)

    Zhu, Haijiang; Wang, Zhicheng; Zhou, Jinglin; Wang, Xuejing

    2018-04-01

    The simultaneous localization and mapping (SLAM) method based on the RGB-D sensor is widely researched in recent years. However, the accuracy of the RGB-D SLAM relies heavily on correspondence feature points, and the position would be lost in case of scenes with sparse textures. Therefore, plenty of fusion methods using the RGB-D information and inertial measurement unit (IMU) data have investigated to improve the accuracy of SLAM system. However, these fusion methods usually do not take into account the size of matched feature points. The pose estimation calculated by RGB-D information may not be accurate while the number of correct matches is too few. Thus, considering the impact of matches in SLAM system and the problem of missing position in scenes with few textures, a loose fusion method combining RGB-D with IMU is proposed in this paper. In the proposed method, we design a loose fusion strategy based on the RGB-D camera information and IMU data, which is to utilize the IMU data for position estimation when the corresponding point matches are quite few. While there are a lot of matches, the RGB-D information is still used to estimate position. The final pose would be optimized by General Graph Optimization (g2o) framework to reduce error. The experimental results show that the proposed method is better than the RGB-D camera's method. And this method can continue working stably for indoor environment with sparse textures in the SLAM system.

  16. Grand slam on cancer.

    Science.gov (United States)

    Gartrell, Nanette

    2014-01-01

    A winner of 59 Grand Slam championships including a record 9 Wimbledon singles titles, Martina Navratilova is the most successful woman tennis player of the modern era. Martina was inducted into the International Tennis Hall of Fame, named "Tour Player of the Year" seven times by the Women's Tennis Association, declared "Female Athlete of the Year" by the Associated Press, and ranked one of the "Top Forty Athletes of All-Time" by Sports Illustrated. Equally accomplished off the court, Martina is an author, philanthropist, TV commentator, and activist who has dedicated her life to educating people about prejudice and stereotypes. After coming out as a lesbian in 1981, Martina became a tireless advocate of equal rights for lesbian, gay, bisexual, and transgender (LGBT) people, and she has contributed generously to the LGBT community. Martina is the author of seven books, including most recently Shape Your Self: My 6-Step Diet and Fitness Plan to Achieve the Best Shape of your Life, an inspiring guide to healthy living and personal fitness. Martina was diagnosed with breast cancer in 2010.

  17. SLAM in a van

    Science.gov (United States)

    Binns, Lewis A.; Valachis, Dimitris; Anderson, Sean; Gough, David W.; Nicholson, David; Greenway, Phil

    2002-07-01

    We have developed techniques for Simultaneous Localization and Map Building based on the augmented state Kalman filter, and demonstrated this in real time using laboratory robots. Here we report the results of experiments conducted out doors in an unstructured, unknown, representative environment, using a van equipped with a laser range finder for sensing the external environment, and GPS to provide an estimate of ground truth. The goal is simultaneously to build a map of an unknown environment and to use that map to navigate a vehicle that otherwise would have no way of knowing its location. In this paper we describe the system architecture, the nature of the experimental set up, and the results obtained. These are compared with the estimated ground truth. We show that SLAM is both feasible and useful in real environments. In particular, we explore its repeatability and accuracy, and discuss some practical implementation issues. Finally, we look at the way forward for a real implementation on ground and air vehicles operating in very demanding, harsh environments.

  18. Literature review of SLAM and DATMO

    CSIR Research Space (South Africa)

    Pancham, A

    2011-11-01

    Full Text Available IV compares the different techniques. Section V concludes the paper, and Section VI describes the intended application. II. SLAM AND DATMO A. SLAM and DATMO processes SLAM and DATMO provide a basis for the development of driverless cars...

  19. Rotational and frictional dynamics of the slamming of a door

    Science.gov (United States)

    Klein, Pascal; Müller, Andreas; Gröber, Sebastian; Molz, Alexander; Kuhn, Jochen

    2017-01-01

    A theoretical and experimental investigation of the rotational dynamics, including friction, of a slamming door is presented. Based on existing work regarding different damping models for rotational and oscillatory motions, we examine different forms for the (angular) velocity dependence (ωn, n = 0, 1, 2) of the frictional force. An analytic solution is given when all three friction terms are present and several solutions for specific cases known from the literature are reproduced. The motion of a door is investigated experimentally using a smartphone, and the data are compared with the theoretical results. A laboratory experiment under more controlled conditions is conducted to gain a deeper understanding of the movement of a slammed door. Our findings provide quantitative evidence that damping models involving quadratic air drag are most appropriate for the slamming of a door. Examining this everyday example of a physical phenomenon increases student motivation, because they can relate it to their own personal experience.

  20. Flat plate approximation in the three-dimensional slamming; Heiban kinji ni yoru sanjigen suimen shogeki keisanho ni tsuite

    Energy Technology Data Exchange (ETDEWEB)

    Toyama, Y. [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

    1996-12-31

    A slamming load generated by interactive motions between a ship body and water face is an important load in ensuring safety of the ship. A flat plate approximation developed by Wagner is used as a two-dimensional slamming theory, but it has a drawback in handling edges of a flat plate. Therefore, an attempt was made to expand the two-dimensional Wagner`s theory to three dimensions. This paper first shows a method to calculate water face slamming of an arbitrary axisymmetric body by using circular plate approximation. The paper then proposes a method to calculate slamming pressure distribution and slamming force for the case when shape of the water contacting surface may be approximated by an elliptic shape. Expansion to the three dimensions made clear to some extent the characteristics of the three-dimensional slamming. In the case of two dimensions or a circular column for example, the water contacting area increases rapidly in the initial stage generating large slamming force. However, in the case of three dimensions, since the water contacting area expands longitudinally and laterally, the slamming force tends to increase gradually. Maximum slamming pressure was found proportional to square of moving velocity in a water contacting boundary in the case of three dimensions, and similar to stagnation pressure on a gliding plate. 12 refs., 17 figs., 1 tab.

  1. Flat plate approximation in the three-dimensional slamming; Heiban kinji ni yoru sanjigen suimen shogeki keisanho ni tsuite

    Energy Technology Data Exchange (ETDEWEB)

    Toyama, Y [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

    1997-12-31

    A slamming load generated by interactive motions between a ship body and water face is an important load in ensuring safety of the ship. A flat plate approximation developed by Wagner is used as a two-dimensional slamming theory, but it has a drawback in handling edges of a flat plate. Therefore, an attempt was made to expand the two-dimensional Wagner`s theory to three dimensions. This paper first shows a method to calculate water face slamming of an arbitrary axisymmetric body by using circular plate approximation. The paper then proposes a method to calculate slamming pressure distribution and slamming force for the case when shape of the water contacting surface may be approximated by an elliptic shape. Expansion to the three dimensions made clear to some extent the characteristics of the three-dimensional slamming. In the case of two dimensions or a circular column for example, the water contacting area increases rapidly in the initial stage generating large slamming force. However, in the case of three dimensions, since the water contacting area expands longitudinally and laterally, the slamming force tends to increase gradually. Maximum slamming pressure was found proportional to square of moving velocity in a water contacting boundary in the case of three dimensions, and similar to stagnation pressure on a gliding plate. 12 refs., 17 figs., 1 tab.

  2. MonoSLAM: real-time single camera SLAM.

    Science.gov (United States)

    Davison, Andrew J; Reid, Ian D; Molton, Nicholas D; Stasse, Olivier

    2007-06-01

    We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera.

  3. Clustered features for use in stereo vision SLAM

    CSIR Research Space (South Africa)

    Joubert, D

    2010-07-01

    Full Text Available SLAM, or simultaneous localization and mapping, is a key component in the development of truly independent robots. Vision-based SLAM utilising stereo vision is a promising approach to SLAM but it is computationally expensive and difficult...

  4. Resolution enhancement of slam using transverse wave

    International Nuclear Information System (INIS)

    Ko, Dae Sik; Moon, Gun; Kim, Young H.

    1997-01-01

    We studied the resolution enhancement of a novel scanning laser acoustic microscope (SLAM) using transverse waves. Mode conversion of the ultrasonic wave takes place at the liquid-solid interface and some energy of the insonifying longitudinal waves in the water will convert to transverse wave energy within the solid specimen. The resolution of SLAM depends on the size of detecting laser spot and the wavelength of the insonifying ultrasonic waves. Since the wavelength of the transverse wave is shorter than that of the longitudinal wave, we are able to achieve the high resolution by using transverse waves. In order to operate SLAM in the transverse wave mode, we made wedge for changing the incident angle. Our experimental results with model 2140 SLAM and an aluminum specimen showed higher contrast of the SLAM Image In the transverse wave mode than that in the longitudinal wave mode.

  5. IMPACTS-BRC, Version 2.0

    International Nuclear Information System (INIS)

    O'Neal, B.L.; Lee, C.E.

    1990-04-01

    This manual describes the procedures for implementing IMPACT-BRC Version 2.0. IMPACTS-BRC is a generic, radiological assessment code intended to be used by the US Nuclear Regulatory Commission (NRC) to evaluate petitions to classify specific waste streams as below regulatory concern (BRC). The code is designed to demonstrate compliance to BRC standards by modeling and calculating annual radiological impacts to the maximal individual, critical groups, and the general population as the result of transportation treatment, disposal, and post-disposal activities involving low-level radioactive waste. Impacts are calculated for multiple nuclides and pathways depending on data input and treatment and disposal options specified by the code user. The treatment and disposal options include onsite incineration, offsite incineration at municipal and hazardous waste landfills. Included within the disposal options is the ability to calculate impacts from the sorting and/or recycling of metal containers and metal and glass materials. Nuclide-specific accounting is provided to facilitate identification of the critical nuclides and pathways contributing to the impacts. Default environmental and facility parameters are developed from reference treatment/disposal sites. The user has the option to replace default parameters with site-specific parameters to provide more realistic estimation of impacts. 8 refs., 10 figs., 44 tabs

  6. Slamming Simulations in a Conditional Wave

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen Juncher

    2012-01-01

    A study of slamming events in conditional waves is presented in this paper. The ship is sailing in head sea and the motion is solved for under the assumption of rigid body motion constrained to two degree-of-freedom i.e. heave and pitch. Based on a time domain non-linear strip theory most probable...... surface NS/VOF CFD simulations under the same wave conditions. In moderate seas and no occurrence of slamming the structural responses predicted by the methods agree well. When slamming occurs the strip theory overpredicts VBM but the peak values of VBM occurs at approximately the same time as predicted...... by the CFD method implying the possibility to use the more accurate CFD results to improve the estimation of slamming loads in the strip theory through a rational correction coefficient....

  7. Slam!

    Science.gov (United States)

    2006-01-01

    2 August 2006 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows an impact crater on the martian northern plains. This crater is roughly the size of the famous Meteor Crater in Arizona on the North American continent. Location near: 43.0oN, 231.7oW Image width: 3 km (1.9 mi) Illumination from: lower left Season: Northern Spring

  8. Slam estimation in dynamic outdoor environments

    OpenAIRE

    Lu, Zheyuan; Hu, Zhencheng; Uchimura, Keiichi; コ, シンテイ; ウチムラ, ケイイチ; 胡, 振程; 内村, 圭一

    2010-01-01

    This paper describes and compares three different approaches to estimate simultaneous localization and mapping (SLAM) in dynamic outdoor environments. SLAM has been intensively researched in recent years in the field of robotics and intelligent vehicles, many approaches have been proposed including occupancy grid mapping method (Bayesian, Dempster-Shafer and Fuzzy Logic), Localization estimation method (edge or point features based direct scan matching techniques, probabilistic likelihood, EK...

  9. A novel combined SLAM based on RBPF-SLAM and EIF-SLAM for mobile system sensing in a large scale environment.

    Science.gov (United States)

    He, Bo; Zhang, Shujing; Yan, Tianhong; Zhang, Tao; Liang, Yan; Zhang, Hongjin

    2011-01-01

    Mobile autonomous systems are very important for marine scientific investigation and military applications. Many algorithms have been studied to deal with the computational efficiency problem required for large scale simultaneous localization and mapping (SLAM) and its related accuracy and consistency. Among these methods, submap-based SLAM is a more effective one. By combining the strength of two popular mapping algorithms, the Rao-Blackwellised particle filter (RBPF) and extended information filter (EIF), this paper presents a combined SLAM-an efficient submap-based solution to the SLAM problem in a large scale environment. RBPF-SLAM is used to produce local maps, which are periodically fused into an EIF-SLAM algorithm. RBPF-SLAM can avoid linearization of the robot model during operating and provide a robust data association, while EIF-SLAM can improve the whole computational speed, and avoid the tendency of RBPF-SLAM to be over-confident. In order to further improve the computational speed in a real time environment, a binary-tree-based decision-making strategy is introduced. Simulation experiments show that the proposed combined SLAM algorithm significantly outperforms currently existing algorithms in terms of accuracy and consistency, as well as the computing efficiency. Finally, the combined SLAM algorithm is experimentally validated in a real environment by using the Victoria Park dataset.

  10. Visual SLAM Using Variance Grid Maps

    Science.gov (United States)

    Howard, Andrew B.; Marks, Tim K.

    2011-01-01

    An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance

  11. Development of IMPACTS-BRC, Version 2.1

    International Nuclear Information System (INIS)

    Rao, R.R.; Kozak, M.W.; Rollstin, J.A.

    1991-01-01

    IMPACTS-BRC is a computer program developed to conduct scoping analyses for use in supporting rulemaking on petitions for exemption of waste streams from multiple producers. It was not initially intended for use on individual license applications for specific sites. However, the Federal Register, Volume 51, Number 168, specifies that IMPACTS-BRC be used to evaluate incoming license applications. This creates a problem since IMPACTS-BRC is not being used for its intended purpose. It is a generic code that is now being used for site specific applications. This is only a valid procedure if it can be shown that generic results from IMPACTS-BRC are conservative when compared to results from site specific models. Otherwise, IMPACTS-BRC should not be used. The purpose of this work was to verify that IMPACTS-BRC works as specified in its user's guide. In other words, Sandia National Laboratories (SNL) has determined that the mathematical models given in the user's guide are correctly implemented into the computer code. No direct work has been done to verify that the mathematical models used in the code are appropriate for the purpose that they are being used. In fact, scrutiny of the groundwater transport models in IMPACTS-BRC has led us to recommend that alternate geosphere models should be used. Other work carried out for this project included verifying that the input data for IMPACTS-BRC is correct and traceable. This was carried out, and a new version of the data with these qualities was produced. The new version of the data was used with the verified IMPACTS-BRC, Version 2.0 to produce IMPACTS-BRC, Version 2.1

  12. Distributed Monocular SLAM for Indoor Map Building

    Directory of Open Access Journals (Sweden)

    Ruwan Egodagamage

    2017-01-01

    Full Text Available Utilization and generation of indoor maps are critical elements in accurate indoor tracking. Simultaneous Localization and Mapping (SLAM is one of the main techniques for such map generation. In SLAM an agent generates a map of an unknown environment while estimating its location in it. Ubiquitous cameras lead to monocular visual SLAM, where a camera is the only sensing device for the SLAM process. In modern applications, multiple mobile agents may be involved in the generation of such maps, thus requiring a distributed computational framework. Each agent can generate its own local map, which can then be combined into a map covering a larger area. By doing so, they can cover a given environment faster than a single agent. Furthermore, they can interact with each other in the same environment, making this framework more practical, especially for collaborative applications such as augmented reality. One of the main challenges of distributed SLAM is identifying overlapping maps, especially when relative starting positions of agents are unknown. In this paper, we are proposing a system having multiple monocular agents, with unknown relative starting positions, which generates a semidense global map of the environment.

  13. A Novel Combined SLAM Based on RBPF-SLAM and EIF-SLAM for Mobile System Sensing in a Large Scale Environment

    Directory of Open Access Journals (Sweden)

    Hongjin Zhang

    2011-10-01

    Full Text Available Mobile autonomous systems are very important for marine scientific investigation and military applications. Many algorithms have been studied to deal with the computational efficiency problem required for large scale Simultaneous Localization and Mapping (SLAM and its related accuracy and consistency. Among these methods, submap-based SLAM is a more effective one. By combining the strength of two popular mapping algorithms, the Rao-Blackwellised particle filter (RBPF and extended information filter (EIF, this paper presents a Combined SLAM—an efficient submap-based solution to the SLAM problem in a large scale environment. RBPF-SLAM is used to produce local maps, which are periodically fused into an EIF-SLAM algorithm. RBPF-SLAM can avoid linearization of the robot model during operating and provide a robust data association, while EIF-SLAM can improve the whole computational speed, and avoid the tendency of RBPF-SLAM to be over-confident. In order to further improve the computational speed in a real time environment, a binary-tree-based decision-making strategy is introduced. Simulation experiments show that the proposed Combined SLAM algorithm significantly outperforms currently existing algorithms in terms of accuracy and consistency, as well as the computing efficiency. Finally, the Combined SLAM algorithm is experimentally validated in a real environment by using the Victoria Park dataset.

  14. Research of cartographer laser SLAM algorithm

    Science.gov (United States)

    Xu, Bo; Liu, Zhengjun; Fu, Yiran; Zhang, Changsai

    2017-11-01

    As the indoor is a relatively closed and small space, total station, GPS, close-range photogrammetry technology is difficult to achieve fast and accurate indoor three-dimensional space reconstruction task. LIDAR SLAM technology does not rely on the external environment a priori knowledge, only use their own portable lidar, IMU, odometer and other sensors to establish an independent environment map, a good solution to this problem. This paper analyzes the Google Cartographer laser SLAM algorithm from the point cloud matching and closed loop detection. Finally, the algorithm is presented in the 3D visualization tool RViz from the data acquisition and processing to create the environment map, complete the SLAM technology and realize the process of indoor threedimensional space reconstruction

  15. A Highest Order Hypothesis Compatibility Test for Monocular SLAM

    OpenAIRE

    Edmundo Guerra; Rodrigo Munguia; Yolanda Bolea; Antoni Grau

    2013-01-01

    Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hyp...

  16. Slamming Simulations in a Conditional Wave

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen Juncher

    2012-01-01

    A study of slamming events in conditional waves is presented in this paper. The ship is sailing in head sea and the motion is solved for under the assumption of rigid body motion constrained to two degree-of-freedom i.e. heave and pitch. Based on a time domain non-linear strip theory most probable...

  17. Visual EKF-SLAM from Heterogeneous Landmarks.

    Science.gov (United States)

    Esparza-Jiménez, Jorge Othón; Devy, Michel; Gordillo, José L

    2016-04-07

    Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from images, while the back-end interprets features as landmark observations and estimates both the landmarks and the robot positions with respect to a selected reference frame. This paper describes a complete visual SLAM solution, combining both point and line landmarks on a single map. The proposed method has an impact on both the back-end and the front-end. The contributions comprehend the use of heterogeneous landmark-based EKF-SLAM (the management of a map composed of both point and line landmarks); from this perspective, the comparison between landmark parametrizations and the evaluation of how the heterogeneity improves the accuracy on the camera localization, the development of a front-end active-search process for linear landmarks integrated into SLAM and the experimentation methodology.

  18. BRC/IoP standard importance in packaging quality assurance

    Directory of Open Access Journals (Sweden)

    Agnieszka Kawecka

    2014-10-01

    Full Text Available BRC/IoP (British Retail Consortium / Institute of Packaging is the only industry standard dedicated entrepreneurs operating in the packaging industry, primarily intended for contact with food. The requirements of the BRC / IoP guarantee the safety of packaging and fulfillment of all legal and hygienic requirements. The article presents the main features of the standard, the basic requirements contained in the document and the results of research on the implementation of quality management systems, including standard BRC / IoP and the actions that are required checklists. It is noticeable that there is little interest in certification BRC / IoP, due to low awareness of the standard, despite the fulfillment of some of the basic requirements of the surveyed companies.

  19. Feature Selection Criteria for Real Time EKF-SLAM Algorithm

    Directory of Open Access Journals (Sweden)

    Fernando Auat Cheein

    2010-02-01

    Full Text Available This paper presents a seletion procedure for environmet features for the correction stage of a SLAM (Simultaneous Localization and Mapping algorithm based on an Extended Kalman Filter (EKF. This approach decreases the computational time of the correction stage which allows for real and constant-time implementations of the SLAM. The selection procedure consists in chosing the features the SLAM system state covariance is more sensible to. The entire system is implemented on a mobile robot equipped with a range sensor laser. The features extracted from the environment correspond to lines and corners. Experimental results of the real time SLAM algorithm and an analysis of the processing-time consumed by the SLAM with the feature selection procedure proposed are shown. A comparison between the feature selection approach proposed and the classical sequential EKF-SLAM along with an entropy feature selection approach is also performed.

  20. Situations in Construction of 3D Mapping for Slam

    OpenAIRE

    Nguyen Hoang Thuy Trang; Shydlouski Stanislav

    2018-01-01

    Nowadays, the simultaneous localization and mapping (SLAM) approach has become one of the most advanced engineering methods used for mobile robots to build maps in unknown or inaccessible spaces. Update maps before a certain area while tracking current location and distance. The motivation behind writing this paper is mainly to help us better understand about SLAM and the study situation of SLAM in the world today. Through this, we find the optimal algorithm for moving robots in three dimensi...

  1. Situations in Construction of 3D Mapping for Slam

    Directory of Open Access Journals (Sweden)

    Nguyen Hoang Thuy Trang

    2018-01-01

    Full Text Available Nowadays, the simultaneous localization and mapping (SLAM approach has become one of the most advanced engineering methods used for mobile robots to build maps in unknown or inaccessible spaces. Update maps before a certain area while tracking current location and distance. The motivation behind writing this paper is mainly to help us better understand about SLAM and the study situation of SLAM in the world today. Through this, we find the optimal algorithm for moving robots in three dimensions.

  2. Sufficient Condition for Estimation in Designing H∞ Filter-Based SLAM

    Directory of Open Access Journals (Sweden)

    Nur Aqilah Othman

    2015-01-01

    Full Text Available Extended Kalman filter (EKF is often employed in determining the position of mobile robot and landmarks in simultaneous localization and mapping (SLAM. Nonetheless, there are some disadvantages of using EKF, namely, the requirement of Gaussian distribution for the state and noises, as well as the fact that it requires the smallest possible initial state covariance. This has led researchers to find alternative ways to mitigate the aforementioned shortcomings. Therefore, this study is conducted to propose an alternative technique by implementing H∞ filter in SLAM instead of EKF. In implementing H∞ filter in SLAM, the parameters of the filter especially γ need to be properly defined to prevent finite escape time problem. Hence, this study proposes a sufficient condition for the estimation purposes. Two distinct cases of initial state covariance are analysed considering an indoor environment to ensure the best solution for SLAM problem exists along with considerations of process and measurement noises statistical behaviour. If the prescribed conditions are not satisfied, then the estimation would exhibit unbounded uncertainties and consequently results in erroneous inference about the robot and landmarks estimation. The simulation results have shown the reliability and consistency as suggested by the theoretical analysis and our previous findings.

  3. Applying FastSLAM to Articulated Rovers

    Science.gov (United States)

    Hewitt, Robert Alexander

    This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

  4. Monocular Vision SLAM for Indoor Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Koray Çelik

    2013-01-01

    Full Text Available This paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines. We experimentally validate the proposed algorithms on a fully self-contained microaerial vehicle (MAV with sophisticated on-board image processing and SLAM capabilities. Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options. Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy.

  5. A novel visual-inertial monocular SLAM

    Science.gov (United States)

    Yue, Xiaofeng; Zhang, Wenjuan; Xu, Li; Liu, JiangGuo

    2018-02-01

    With the development of sensors and computer vision research community, cameras, which are accurate, compact, wellunderstood and most importantly cheap and ubiquitous today, have gradually been at the center of robot location. Simultaneous localization and mapping (SLAM) using visual features, which is a system getting motion information from image acquisition equipment and rebuild the structure in unknown environment. We provide an analysis of bioinspired flights in insects, employing a novel technique based on SLAM. Then combining visual and inertial measurements to get high accuracy and robustness. we present a novel tightly-coupled Visual-Inertial Simultaneous Localization and Mapping system which get a new attempt to address two challenges which are the initialization problem and the calibration problem. experimental results and analysis show the proposed approach has a more accurate quantitative simulation of insect navigation, which can reach the positioning accuracy of centimeter level.

  6. Bearing-only SLAM: comparison between probabilistic and deterministic methods

    OpenAIRE

    Joly , Cyril; Rives , Patrick

    2008-01-01

    This work deals with the problem of simultaneous localization and mapping (SLAM). Classical methods for solving the SLAM problem are based on the Extended Kalman Filter (EKF-SLAM) or particle filter (FastSLAM). These kinds of algorithms allow on-line solving but could be inconsistent. In this report, the above-mentioned algorithms are not studied but global ones. Global approaches need all measurements from the initial step to the final step in order to compute the trajectory of the robot and...

  7. BRC - MicrobeDB.jp | LSDB Archive [Life Science Database Archive metadata

    Lifescience Database Archive (English)

    Full Text Available switchLanguage; BLAST Search Image Search Home About Archive Update History Data ...table). Data file File name: brc.tar.gz File URL: ftp://ftp.biosciencedbc.jp/archive/microbedb/LATEST/brc.ta...rains in JCM. About This Database Database Description Download License Update History of This Database Site Policy | Contact Us BRC - MicrobeDB.jp | LSDB Archive ...

  8. SLAM - Based Approach to Dynamic Ship Positioning

    Directory of Open Access Journals (Sweden)

    Krzysztof Wrobel

    2014-03-01

    Full Text Available Dynamically positioned vessels, used by offshore industry, use not only satellite navigation but also different positioning systems, often referred to as reference' systems. Most of them use multiple technical devices located outside the vessel which creates some problems with their accessibility and performance. In this paper, a basic concept of reference system independent from any external device is presented, basing on hydroacoustics and Simultaneous Localization and Mapping (SLAM method. Theoretical analysis of its operability is also performed.

  9. Towards Informative Path Planning for Acoustic SLAM

    OpenAIRE

    Evers, C; Moore, A; Naylor, P

    2016-01-01

    Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot?s positions and jointly map t...

  10. H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps

    Directory of Open Access Journals (Sweden)

    Guillem Vallicrosa

    2018-05-01

    Full Text Available Occupancy Grid maps provide a probabilistic representation of space which is important for a variety of robotic applications like path planning and autonomous manipulation. In this paper, a SLAM (Simultaneous Localization and Mapping framework capable of obtaining this representation online is presented. The H-SLAM (Hilbert Maps SLAM is based on Hilbert Map representation and uses a Particle Filter to represent the robot state. Hilbert Maps offer a continuous probabilistic representation with a small memory footprint. We present a series of experimental results carried both in simulation and with real AUVs (Autonomous Underwater Vehicles. These results demonstrate that our approach is able to represent the environment more consistently while capable of running online.

  11. Using Symmetrical Regions of Interest to Improve Visual SLAM

    NARCIS (Netherlands)

    Kootstra, Geert; Schomaker, Lambertus

    2009-01-01

    Simultaneous Localization and Mapping (SLAM) based on visual information is a challenging problem. One of the main problems with visual SLAM is to find good quality landmarks, that can be detected despite noise and small changes in viewpoint. Many approaches use SIFT interest points as visual

  12. AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2017-05-01

    Full Text Available In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure.

  13. Considerations in the development of EPA's proposed BRC criteria

    International Nuclear Information System (INIS)

    Holcomb, W.F.; Gruhlke, J.M.; Galpin, F.L.

    1988-01-01

    To support the concept of criteria for potential below-regulatory-concern (BRC) wastes the US Environmental Protection Agency (EPA) has developed technical information, cost data, a methodology for analyzing promising candidate waste streams, and a rationale for proposing the criteria. Risk assessments to support the BRC criteria include an analysis of surrogate radioactive waste streams, disposal alternatives, and diverse demographic settings. In arriving at a proposed BRC level, EPA carefully weighed and considered many factors. Foremost was protection of the public and the development of an exposure level with assurance of no undue risk. Also considered were other daily risks encountered, ability to demonstrate compliance, guidance for similar exemptions by other groups, consistency with other regulated risk levels, general population health risks, maximum annual exposures to critical population groups, and the costs presently associated with the regulation of these wastes

  14. Environment exploration and SLAM experiment research based on ROS

    Science.gov (United States)

    Li, Zhize; Zheng, Wei

    2017-11-01

    Robots need to get the information of surrounding environment by means of map learning. SLAM or navigation based on mobile robots is developing rapidly. ROS (Robot Operating System) is widely used in the field of robots because of the convenient code reuse and open source. Numerous excellent algorithms of SLAM or navigation are ported to ROS package. hector_slam is one of them that can set up occupancy grid maps on-line fast with low computation resources requiring. Its characters above make the embedded handheld mapping system possible. Similarly, hector_navigation also does well in the navigation field. It can finish path planning and environment exploration by itself using only an environmental sensor. Combining hector_navigation with hector_slam can realize low cost environment exploration, path planning and slam at the same time

  15. [When doors slam, fingers jam!].

    Science.gov (United States)

    Claudet, I; Toubal, K; Carnet, C; Rekhroukh, H; Zelmat, B; Debuisson, C; Cahuzac, J-P

    2007-08-01

    Epidemiological analysis in a universitary paediatric emergency unit of children admitted after accidental injuries resulting from fingers crushed in a door. Prospective, descriptive cohort study from September 6th, 2004 to July 1st, 2005 included all children admitted for finger injuries crushed in a non-automatic door. included accidents due to automatic doors, toy's or refrigerator doors, families who refused to participate to the study or families who had left the waiting area before medical examination. Collected data were patient and family characteristics, accident characteristics and its management. Three hundred and forty children affected by 427 digital lesions were included. The mean age was 5.5+/-3.8 years (range 4 months - 15.5 years). Male/female ratio was equal to 1.2: 1. Fifty-eight percent of patients belonged to families composed of 3 or more siblings. Ninety-three per cent of families came to hospital within the first 2 hours after the accident (mean delay 99+/-162 min, median range 54 minutes). Location of the accident was: domestic (62%, at home (64%)), at school (17%). Locations within the home were: the bedroom (33%), bathroom and toilets (21%). An adult was present in 75% of cases and responsible for the trauma in 25% of accidents, another child in 44%. The finger or fingers were trapped on the hinge side in 57% of patients. No specific safeguard devices were used by 94% of families. Among victims, 20% had several crushed digits; left and right hand were injured with an equal frequency. The commonest involved digits were: the middle finger (29%), the ring finger (23%). The nail plate was damaged in 60% of digital lesions, associated with a wound (50%), a distal phalanx fracture (P3) (12%). Six children had a partial or complete amputation of P3, 2 children a lesion of the extensor tendon, 1 child had a rupture of the external lateral ligament. Three percent of children required an admission to the paediatric orthopaedic surgery unit. Post

  16. Severe Psychosis, Drug Dependence, and Hepatitis C Related to Slamming Mephedrone

    Directory of Open Access Journals (Sweden)

    Helen Dolengevich-Segal

    2016-01-01

    Full Text Available Background. Synthetic cathinones (SCs, also known as “bath salts,” are β-ketone amphetamine compounds derived from cathinone, a psychoactive substance found in Catha edulis. Mephedrone is the most representative SC. Slamming is the term used for the intravenous injection of these substances in the context of chemsex parties, in order to enhance sex experiences. Using IV mephedrone may lead to diverse medical and psychiatric complications like psychosis, aggressive behavior, and suicide ideation. Case. We report the case of a 25-year-old man admitted into a psychiatric unit, presenting with psychotic symptoms after slamming mephedrone almost every weekend for the last 4 months. He presents paranoid delusions, intense anxiety, and visual and kinesthetic hallucinations. He also shows intense craving, compulsive drug use, general malaise, and weakness. After four weeks of admission and antipsychotic treatment, delusions completely disappear. The patient is reinfected with hepatitis C. Discussion. Psychiatric and medical conditions related to chemsex and slamming have been reported in several European cities, but not in Spain. Psychotic symptoms have been associated with mephedrone and other SCs’ consumption, with the IV route being prone to produce more severe symptomatology and addictive conducts. In the case we report, paranoid psychosis, addiction, and medical complications are described.

  17. Severe Psychosis, Drug Dependence, and Hepatitis C Related to Slamming Mephedrone

    Science.gov (United States)

    Rodríguez-Salgado, Beatriz; Sánchez-Mateos, Daniel

    2016-01-01

    Background. Synthetic cathinones (SCs), also known as “bath salts,” are β-ketone amphetamine compounds derived from cathinone, a psychoactive substance found in Catha edulis. Mephedrone is the most representative SC. Slamming is the term used for the intravenous injection of these substances in the context of chemsex parties, in order to enhance sex experiences. Using IV mephedrone may lead to diverse medical and psychiatric complications like psychosis, aggressive behavior, and suicide ideation. Case. We report the case of a 25-year-old man admitted into a psychiatric unit, presenting with psychotic symptoms after slamming mephedrone almost every weekend for the last 4 months. He presents paranoid delusions, intense anxiety, and visual and kinesthetic hallucinations. He also shows intense craving, compulsive drug use, general malaise, and weakness. After four weeks of admission and antipsychotic treatment, delusions completely disappear. The patient is reinfected with hepatitis C. Discussion. Psychiatric and medical conditions related to chemsex and slamming have been reported in several European cities, but not in Spain. Psychotic symptoms have been associated with mephedrone and other SCs' consumption, with the IV route being prone to produce more severe symptomatology and addictive conducts. In the case we report, paranoid psychosis, addiction, and medical complications are described. PMID:27247820

  18. FastSLAM Using Compressed Occupancy Grids

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-01-01

    Full Text Available Robotic vehicles working in unknown environments require the ability to determine their location while learning about obstacles located around them. In this paper a method of solving the SLAM problem that makes use of compressed occupancy grids is presented. The presented approach is an extension of the FastSLAM algorithm which stores a compressed form of the occupancy grid to reduce the amount of memory required to store the set of occupancy grids maintained by the particle filter. The performance of the algorithm is presented using experimental results obtained using a small inexpensive ground vehicle equipped with LiDAR, compass, and downward facing camera that provides the vehicle with visual odometry measurements. The presented results demonstrate that although with our approach the occupancy grid maintained by each particle uses only 40% of the data needed to store the uncompressed occupancy grid, we can still achieve almost identical results to the approach where each particle filter stores the full occupancy grid.

  19. Slamming: Recent Progress in the Evaluation of Impact Pressures

    Science.gov (United States)

    Dias, Frédéric; Ghidaglia, Jean-Michel

    2018-01-01

    Slamming, the violent impact between a liquid and solid, has been known to be important for a long time in the ship hydrodynamics community. More recently, applications ranging from the transport of liquefied natural gas (LNG) in LNG carriers to the harvesting of wave energy with oscillating wave surge converters have led to renewed interest in the topic. The main reason for this renewed interest is that the extreme impact pressures generated during slamming can affect the integrity of the structures involved. Slamming fluid mechanics is challenging to describe, as much from an experimental viewpoint as from a numerical viewpoint, because of the large span of spatial and temporal scales involved. Even the physical mechanisms of slamming are challenging: What physical phenomena must be included in slamming models? An important issue deals with the practical modeling of slamming: Are there any simple models available? Are numerical models viable? What are the consequences for the design of structures? This article describes the loading processes involved in slamming, offers state-of-the-art results, and highlights unresolved issues worthy of further research.

  20. Short Large-Amplitude Magnetic Structures (SLAMS) at Venus

    Science.gov (United States)

    Collinson, G. A.; Wilson, L. B.; Sibeck, D. G.; Shane, N.; Zhang, T. L.; Moore, T. E.; Coates, A. J.; Barabash, S.

    2012-01-01

    We present the first observation of magnetic fluctuations consistent with Short Large-Amplitude Magnetic Structures (SLAMS) in the foreshock of the planet Venus. Three monolithic magnetic field spikes were observed by the Venus Express on the 11th of April 2009. The structures were approx.1.5->11s in duration, had magnetic compression ratios between approx.3->6, and exhibited elliptical polarization. These characteristics are consistent with the SLAMS observed at Earth, Jupiter, and Comet Giacobini-Zinner, and thus we hypothesize that it is possible SLAMS may be found at any celestial body with a foreshock.

  1. A Neuro-Fuzzy Multi Swarm FastSLAM Framework

    OpenAIRE

    Havangi, R.; Teshnehlab, M.; Nekoui, M. A.

    2010-01-01

    FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is used for the feature location's estimation. However, FastSLAM degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose of the robot loses its diversity. One of the main reasons for loosing particle diversity in FastSLA...

  2. Bottom Slamming on Heaving Point Absorber Wave Energy Devices

    DEFF Research Database (Denmark)

    De Backer, Griet; Vantorre, Marc; Frigaard, Peter

    2010-01-01

    shapes are considered: a hemisphere and two conical shapes with deadrise angles of 30 and 45, with a waterline diameter of 5 m. The simulations indicate that the risk of rising out of the water is largely dependent on the buoy draft and sea state. Although associated with power losses, emergence......Oscillating point absorber buoys may rise out of the water and be subjected to bottom slamming upon re-entering the water. Numerical simulations are performed to estimate the power absorption, the impact velocities and the corresponding slamming forces for various slamming constraints. Three buoy...... occurrence probabilities can be significantly reduced by adapting the control parameters. The magnitude of the slamming load is severely influenced by the buoy shape. The ratio between the peak impact load on the hemisphere and that on the 45 cone is approximately 2, whereas the power absorption is only 4...

  3. Signaling lymphocytic activation molecules Slam and cancers: friends or foes?

    Science.gov (United States)

    Fouquet, Gregory; Marcq, Ingrid; Debuysscher, Véronique; Bayry, Jagadeesh; Rabbind Singh, Amrathlal; Bengrine, Abderrahmane; Nguyen-Khac, Eric; Naassila, Mickael; Bouhlal, Hicham

    2018-03-23

    Signaling Lymphocytic Activation Molecules (SLAM) family receptors are initially described in immune cells. These receptors recruit both activating and inhibitory SH2 domain containing proteins through their Immunoreceptor Tyrosine based Switch Motifs (ITSMs). Accumulating evidence suggest that the members of this family are intimately involved in different physiological and pathophysiological events such as regulation of immune responses and entry pathways of certain viruses. Recently, other functions of SLAM, principally in the pathophysiology of neoplastic transformations have also been deciphered. These new findings may prompt SLAM to be considered as new tumor markers, diagnostic tools or potential therapeutic targets for controlling the tumor progression. In this review, we summarize the major observations describing the implications and features of SLAM in oncology and discuss the therapeutic potential attributed to these molecules.

  4. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    -SLAM assumes that at each observation, the robot observes atleast two landmarks f1 and .... eight further divisions of its volume, it allows multi-resolution planning. .... The graphical model perspective for probabilistic inference is used. In the ...

  5. EKF - SLAM based navigation system for an AUV

    CSIR Research Space (South Africa)

    Matsebe, O

    2008-11-01

    Full Text Available SLAM is the process by which a robot builds a map of the environment and concurrently localise its position within the map. Solving this problem will render the robot truly autonomous...

  6. Two Measures for Enhancing Data Association Performance in SLAM

    Directory of Open Access Journals (Sweden)

    Wu Zhou

    2014-01-01

    Full Text Available Data association is one of the key problems in the SLAM community. Several data association failures may cause the SLAM results to be divergent. Data association performance in SLAM is affected by both data association methods and sensor information. Two measures of handling sensor information are introduced herein to enhance data association performance in SLAM. For the first measure, truncating strategy of limited features, instead of all matched features, is used for observation update. These features are selected according to an information variable. This truncating strategy is used to lower the effect of false matched features. For the other measure, a special rejecting mechanism is designed to reject suspected observations. When the predicted robot pose is obviously different from the updated robot pose, all observed sensor information at this moment is discarded. The rejecting mechanism aims at eliminating accidental sensor information. Experimental results indicate that the introduced measures perform well in improving the stability of data association in SLAM. These measures are of extraordinary value for real SLAM applications.

  7. A Highest Order Hypothesis Compatibility Test for Monocular SLAM

    Directory of Open Access Journals (Sweden)

    Edmundo Guerra

    2013-08-01

    Full Text Available Simultaneous Location and Mapping (SLAM is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The Delayed Inverse-Depth technique is used to initialize new features in the system and defines a single hypothesis for the initial depth of features with the use of a stochastic technique of triangulation. The introduced HOHCT method is based on the evaluation of statistically compatible hypotheses and a search algorithm designed to exploit the strengths of the Delayed Inverse-Depth technique to achieve good performance results. This work presents the HOHCT with a detailed formulation of the monocular DI-D SLAM problem. The performance of the proposed HOHCT is validated with experimental results, in both indoor and outdoor environments, while its costs are compared with other popular approaches.

  8. Plutonium Assay in Soil at the BRC Threshold

    International Nuclear Information System (INIS)

    Miller, T.

    2003-01-01

    The Atomic Weapons Establishment (AWE) at Aldermaston has investigated the performance of low and high-resolution gamma-ray detectors for plutonium (Pu) assay in soil at the UK Below Regulatory Concern (BRC) threshold (0.4 Bq/g above the natural background activity level). The goal was a rapid and economical technique for sorting large volumes of lightly contaminated soils into above and BRC fractions. The strategy involved utilizing the relatively high yield 60 keV emission from Am-241 ingrowth (Pu-241 daughter) and known isotopic ratios. This paper covers the determination of detector response factors for an Am-241 source positioned at various locations within a circular tray of soil. These factors were weighted, according to the relative volumes that they represent, in order to derive a uniform response factor and quantify the systematic error for non-uniform activity distributions. Detection limits and random errors were also derived from the counting data. The high-resolution detector was shown to have the best detection levels and lowest systematic and random errors. However, uncertainties for non-uniform distributions of contamination were relatively large. Hence, analyzing soils at the BRC threshold would only be feasible if contamination was well distributed throughout the soil sample being monitored. Fortunately, contaminated land at AWE is generally homogeneous and so the technique has wide applicability

  9. BRC Hansapanga endiste töötajate kätte / Andres Põld

    Index Scriptorium Estoniae

    Põld, Andres, 1971-2018

    2004-01-01

    Hansapanga juhatus otsustas müüa Balti Realiseerimiskeskuse (BRC) panga ekstöötajate ja Silberauto osalusega konsortsiumile OÜ Baltic Business Associates. Diagramm: BRC tulemused käivad alla. Vt. samas lühiintervjuud Baltic Business Associates juhatuse liikme Tarmo Rootemaniga

  10. Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

    Directory of Open Access Journals (Sweden)

    Shi-Ming Chen

    2014-01-01

    Full Text Available Considering the influence of uncertain map information on multirobot SLAM problem, a multirobot FastSLAM algorithm based on landmark consistency correction is proposed. Firstly, electromagnetism-like mechanism is introduced to the resampling procedure in single-robot FastSLAM, where we assume that each sampling particle is looked at as a charged electron and attraction-repulsion mechanism in electromagnetism field is used to simulate interactive force between the particles to improve the distribution of particles. Secondly, when multiple robots observe the same landmarks, every robot is regarded as one node and Kalman-Consensus Filter is proposed to update landmark information, which further improves the accuracy of localization and mapping. Finally, the simulation results show that the algorithm is suitable and effective.

  11. Geometric projection filter: an efficient solution to the SLAM problem

    Science.gov (United States)

    Newman, Paul M.; Durrant-Whyte, Hugh F.

    2001-10-01

    This paper is concerned with the simultaneous localization and map building (SLAM) problem. The SLAM problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Conventional approaches to this problem are plagued with a prohibitively large increase in computation with the size of the environment. This paper offers a new solution to the SLAM problem that is both consistent and computationally feasible. The proposed algorithm builds a map expressing the relationships between landmarks which is then transformed into landmark locations. Experimental results are presented employing the new algorithm on a subsea vehicle using a scanning sonar sensor.

  12. SLAM: a sodium-limestone concrete ablation model

    International Nuclear Information System (INIS)

    Suo-Anttila, A.J.

    1983-12-01

    SLAM is a three-region model, containing a pool (sodium and reaction debris) region, a dry (boundary layer and dehydrated concrete) region, and a wet (hydrated concrete) region. The model includes a solution to the mass, momentum, and energy equations in each region. A chemical kinetics model is included to provide heat sources due to chemical reactions between the sodium and the concrete. Both isolated model as well as integrated whole code evaluations have been made with good results. The chemical kinetics and water migration models were evaluated separately, with good results. Several small and large-scale sodium limestone concrete experiments were simulated with reasonable agreement between SLAM and the experimental results. The SLAM code was applied to investigate the effects of mixing, pool temperature, pool depth and fluidization. All these phenomena were found to be of significance in the predicted response of the sodium concrete interaction. Pool fluidization is predicted to be the most important variable in large scale interactions

  13. Analysis of Different Feature Selection Criteria Based on a Covariance Convergence Perspective for a SLAM Algorithm

    Science.gov (United States)

    Auat Cheein, Fernando A.; Carelli, Ricardo

    2011-01-01

    This paper introduces several non-arbitrary feature selection techniques for a Simultaneous Localization and Mapping (SLAM) algorithm. The feature selection criteria are based on the determination of the most significant features from a SLAM convergence perspective. The SLAM algorithm implemented in this work is a sequential EKF (Extended Kalman filter) SLAM. The feature selection criteria are applied on the correction stage of the SLAM algorithm, restricting it to correct the SLAM algorithm with the most significant features. This restriction also causes a decrement in the processing time of the SLAM. Several experiments with a mobile robot are shown in this work. The experiments concern the map reconstruction and a comparison between the different proposed techniques performance. The experiments were carried out at an outdoor environment composed by trees, although the results shown herein are not restricted to a special type of features. PMID:22346568

  14. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

    OpenAIRE

    Mur-Artal, Raul; Tardos, Juan D.

    2016-01-01

    We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city. Our back-end based on bundle adjustment with monocular and stereo observations allows for accurate trajectory estimation with metric scale. Our syst...

  15. Nuclear import of transcription factor BR-C is mediated by its interaction with RACK1.

    Science.gov (United States)

    Cheng, Daojun; Qian, Wenliang; Wang, Yonghu; Meng, Meng; Wei, Ling; Li, Zhiqing; Kang, Lixia; Peng, Jian; Xia, Qingyou

    2014-01-01

    The transcription factor Broad Complex (BR-C) is an early ecdysone response gene in insects and contains two types of domains: two zinc finger domains for the activation of gene transcription and a Bric-a-brac/Tramtrack/Broad complex (BTB) domain for protein-protein interaction. Although the mechanism of zinc finger-mediated gene transcription is well studied, the partners interacting with the BTB domain of BR-C has not been elucidated until now. Here, we performed a yeast two-hybrid screen using the BTB domain of silkworm BR-C as bait and identified the receptor for activated C-kinase 1 (RACK1), a scaffolding/anchoring protein, as the novel partner capable of interacting with BR-C. The interaction between BR-C and RACK1 was further confirmed by far-western blotting and pull-down assays. Importantly, the disruption of this interaction, via RNAi against the endogenous RACK1 gene or deletion of the BTB domain, abolished the nuclear import of BR-C in BmN4 cells. In addition, RNAi against the endogenous PKC gene as well as phosphorylation-deficient mutation of the predicted PKC phosphorylation sites at either Ser373 or Thr406 in BR-C phenocopied RACK1 RNAi and altered the nuclear localization of BR-C. However, when BTB domain was deleted, phosphorylation mimics of either Ser373 or Thr406 had no effect on the nuclear import of BR-C. Moreover, mutating the PKC phosphorylation sites at Ser373 and Thr406 or deleting the BTB domain significantly decreased the transcriptional activation of a BR-C target gene. Given that RACK1 is necessary for recruiting PKC to close and phosphorylate target proteins, we suggest that the PKC-mediated phosphorylation and nuclear import of BR-C is determined by its interaction with RACK1. This novel finding will be helpful for further deciphering the mechanism underlying the role of BR-C proteins during insect development.

  16. Nuclear import of transcription factor BR-C is mediated by its interaction with RACK1.

    Directory of Open Access Journals (Sweden)

    Daojun Cheng

    Full Text Available The transcription factor Broad Complex (BR-C is an early ecdysone response gene in insects and contains two types of domains: two zinc finger domains for the activation of gene transcription and a Bric-a-brac/Tramtrack/Broad complex (BTB domain for protein-protein interaction. Although the mechanism of zinc finger-mediated gene transcription is well studied, the partners interacting with the BTB domain of BR-C has not been elucidated until now. Here, we performed a yeast two-hybrid screen using the BTB domain of silkworm BR-C as bait and identified the receptor for activated C-kinase 1 (RACK1, a scaffolding/anchoring protein, as the novel partner capable of interacting with BR-C. The interaction between BR-C and RACK1 was further confirmed by far-western blotting and pull-down assays. Importantly, the disruption of this interaction, via RNAi against the endogenous RACK1 gene or deletion of the BTB domain, abolished the nuclear import of BR-C in BmN4 cells. In addition, RNAi against the endogenous PKC gene as well as phosphorylation-deficient mutation of the predicted PKC phosphorylation sites at either Ser373 or Thr406 in BR-C phenocopied RACK1 RNAi and altered the nuclear localization of BR-C. However, when BTB domain was deleted, phosphorylation mimics of either Ser373 or Thr406 had no effect on the nuclear import of BR-C. Moreover, mutating the PKC phosphorylation sites at Ser373 and Thr406 or deleting the BTB domain significantly decreased the transcriptional activation of a BR-C target gene. Given that RACK1 is necessary for recruiting PKC to close and phosphorylate target proteins, we suggest that the PKC-mediated phosphorylation and nuclear import of BR-C is determined by its interaction with RACK1. This novel finding will be helpful for further deciphering the mechanism underlying the role of BR-C proteins during insect development.

  17. Application of kinect sensors for SLAM and DATMO

    CSIR Research Space (South Africa)

    Pancham, A

    2011-10-01

    Full Text Available This work involves the development of algorithms for the implementation of multiple Kinect sensors for SLAM and DATMO. The algorithms will allow the mobile robot to navigate in a dynamic environment and simutaneously create a map of the environment...

  18. SLAM POETRY: A SIMPLE WAY TO GET CLOSER WITH LITERATURE

    Directory of Open Access Journals (Sweden)

    Murti Ayu Wijayanti

    2017-04-01

    Full Text Available Teaching literature in teacher training faculty in which the students are prepared for being English teachers is always challenging as the students think that they have nothing to do with any kinds of literary work. It takes times to prepare them learn literature. Most students think that they have no talent in literature. Thus, it will certainly affect the teaching and learning process. While the lecturer is teaching, the students tend to listen and think of another else but literature. It therefore needs the lecturer‘s effort to deal with this challenge. One part of literary works taught which creates problem for most of students is poetry. One way to encourage students in learning poetry is slam poetry. Slam poetry is a kind of poetry competition which was firstly popularized in America in 1990s. A rumor that only beautiful and rhythmic poetry which is highly appreciated vanishes since the poet will only write what he or she understands. In slam poetry, the students themselves create their own poetry and present it in front of their classmates whereas other students will be the judges and decide who the winner of this slam poetry is. This method will encourage the students to learn poetry as well as appreciate it.

  19. Distributed SLAM Using Improved Particle Filter for Mobile Robot Localization

    Directory of Open Access Journals (Sweden)

    Fujun Pei

    2014-01-01

    Full Text Available The distributed SLAM system has a similar estimation performance and requires only one-fifth of the computation time compared with centralized particle filter. However, particle impoverishment is inevitably because of the random particles prediction and resampling applied in generic particle filter, especially in SLAM problem that involves a large number of dimensions. In this paper, particle filter use in distributed SLAM was improved in two aspects. First, we improved the important function of the local filters in particle filter. The adaptive values were used to replace a set of constants in the computational process of importance function, which improved the robustness of the particle filter. Second, an information fusion method was proposed by mixing the innovation method and the number of effective particles method, which combined the advantages of these two methods. And this paper extends the previously known convergence results for particle filter to prove that improved particle filter converges to the optimal filter in mean square as the number of particles goes to infinity. The experiment results show that the proposed algorithm improved the virtue of the DPF-SLAM system in isolate faults and enabled the system to have a better tolerance and robustness.

  20. Sampling in image space for vision based SLAM

    NARCIS (Netherlands)

    Booij, O.; Zivkovic, Z.; Kröse, B.

    2008-01-01

    Loop closing in vision based SLAM applications is a difficult task. Comparing new image data with all previous image data acquired for the map is practically impossible because of the high computational costs. This problem is part of the bigger problem to acquire local geometric constraints from

  1. A Novel Metric Online Monocular SLAM Approach for Indoor Applications

    Directory of Open Access Journals (Sweden)

    Yongfei Li

    2016-01-01

    Full Text Available Monocular SLAM has attracted more attention recently due to its flexibility and being economic. In this paper, a novel metric online direct monocular SLAM approach is proposed, which can obtain the metric reconstruction of the scene. In the proposed approach, a chessboard is utilized to provide initial depth map and scale correction information during the SLAM process. The involved chessboard provides the absolute scale of scene, and it is seen as a bridge between the camera visual coordinate and the world coordinate. The scene is reconstructed as a series of key frames with their poses and correlative semidense depth maps, using a highly accurate pose estimation achieved by direct grid point-based alignment. The estimated pose is coupled with depth map estimation calculated by filtering over a large number of pixelwise small-baseline stereo comparisons. In addition, this paper formulates the scale-drift model among key frames and the calibration chessboard is used to correct the accumulated pose error. At the end of this paper, several indoor experiments are conducted. The results suggest that the proposed approach is able to achieve higher reconstruction accuracy when compared with the traditional LSD-SLAM approach. And the approach can also run in real time on a commonly used computer.

  2. Monocular SLAM for autonomous robots with enhanced features initialization.

    Science.gov (United States)

    Guerra, Edmundo; Munguia, Rodrigo; Grau, Antoni

    2014-04-02

    This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI) framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D SLAM), a known monocular technique, several but crucial modifications are introduced taking advantage of data from a secondary monocular sensor, assuming that this second camera is worn by a human. The human explores an unknown environment with the robot, and when their fields of view coincide, the cameras are considered a pseudo-calibrated stereo rig to produce estimations for depth through parallax. These depth estimations are used to solve a related problem with DI-D monocular SLAM, namely, the requirement of a metric scale initialization through known artificial landmarks. The same process is used to improve the performance of the technique when introducing new landmarks into the map. The convenience of the approach taken to the stereo estimation, based on SURF features matching, is discussed. Experimental validation is provided through results from real data with results showing the improvements in terms of more features correctly initialized, with reduced uncertainty, thus reducing scale and orientation drift. Additional discussion in terms of how a real-time implementation could take advantage of this approach is provided.

  3. Visual EKF-SLAM from Heterogeneous Landmarks †

    Science.gov (United States)

    Esparza-Jiménez, Jorge Othón; Devy, Michel; Gordillo, José L.

    2016-01-01

    Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from images, while the back-end interprets features as landmark observations and estimates both the landmarks and the robot positions with respect to a selected reference frame. This paper describes a complete visual SLAM solution, combining both point and line landmarks on a single map. The proposed method has an impact on both the back-end and the front-end. The contributions comprehend the use of heterogeneous landmark-based EKF-SLAM (the management of a map composed of both point and line landmarks); from this perspective, the comparison between landmark parametrizations and the evaluation of how the heterogeneity improves the accuracy on the camera localization, the development of a front-end active-search process for linear landmarks integrated into SLAM and the experimentation methodology. PMID:27070602

  4. a Laser-Slam Algorithm for Indoor Mobile Mapping

    Science.gov (United States)

    Zhang, Wenjun; Zhang, Qiao; Sun, Kai; Guo, Sheng

    2016-06-01

    A novel Laser-SLAM algorithm is presented for real indoor environment mobile mapping. SLAM algorithm can be divided into two classes, Bayes filter-based and graph optimization-based. The former is often difficult to guarantee consistency and accuracy in largescale environment mapping because of the accumulative error during incremental mapping. Graph optimization-based SLAM method often assume predetermined landmarks, which is difficult to be got in unknown environment mapping. And there most likely has large difference between the optimize result and the real data, because the constraints are too few. This paper designed a kind of sub-map method, which could map more accurately without predetermined landmarks and avoid the already-drawn map impact on agent's location. The tree structure of sub-map can be indexed quickly and reduce the amount of memory consuming when mapping. The algorithm combined Bayes-based and graph optimization-based SLAM algorithm. It created virtual landmarks automatically by associating data of sub-maps for graph optimization. Then graph optimization guaranteed consistency and accuracy in large-scale environment mapping and improved the reasonability and reliability of the optimize results. Experimental results are presented with a laser sensor (UTM 30LX) in official buildings and shopping centres, which prove that the proposed algorithm can obtain 2D maps within 10cm precision in indoor environment range from several hundreds to 12000 square meter.

  5. The medical community's need for a BRC policy

    International Nuclear Information System (INIS)

    Brown, R.W.

    1992-01-01

    The quality of medical care in the United States is among the best in the world. The use of radioactive materials in medicine has led to advances in biomedical research, medical diagnostic procedures, and therapeutic procedures. Radioactive materials in medicine offer modalities that would not otherwise be available. With advances in nuclear medicine, positron emission tomography, and monoclonal antibodies, it is clear that the use of radioactive materials in medicine will be prevalent for quite some time into the future. Disposal of both by-product and naturally occurring and accelerator-produced radioactive material below-regulatory-concern (BRC) waste has been occurring for years. It is a safe and effective method for disposing of this medical radioactive waste. Without an effective, nationwide BRC policy, the medical community may be forced to send this waste to a LLW landfill, which is unnecessary and extremely costly. These additional costs for waste disposal will divert needed money for medical research programs and increase the cost of medical care while providing no increased protection of the public

  6. Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

    Science.gov (United States)

    Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

    2017-04-20

    This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods.

  7. TH-D-BRC-02: Panel Member

    International Nuclear Information System (INIS)

    Hahn, S.

    2016-01-01

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  8. TH-D-BRC-04: Panel Member

    International Nuclear Information System (INIS)

    Yu, C.

    2016-01-01

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  9. TH-D-BRC-01: Panel Member

    International Nuclear Information System (INIS)

    Aydogan, B.

    2016-01-01

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  10. TH-D-BRC-03: Panel Member

    International Nuclear Information System (INIS)

    Paganetti, H.

    2016-01-01

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  11. TH-D-BRC-04: Panel Member

    Energy Technology Data Exchange (ETDEWEB)

    Yu, C. [University Maryland School of Medicine (United States)

    2016-06-15

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  12. TH-D-BRC-02: Panel Member

    Energy Technology Data Exchange (ETDEWEB)

    Hahn, S. [UT MD Anderson Cancer Center (United States)

    2016-06-15

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  13. TH-D-BRC-03: Panel Member

    Energy Technology Data Exchange (ETDEWEB)

    Paganetti, H. [Massachusetts General Hospital (United States)

    2016-06-15

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  14. TH-D-BRC-01: Panel Member

    Energy Technology Data Exchange (ETDEWEB)

    Aydogan, B. [The University of Chicago (United States)

    2016-06-15

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  15. vSLAM: vision-based SLAM for autonomous vehicle navigation

    Science.gov (United States)

    Goncalves, Luis; Karlsson, Niklas; Ostrowski, Jim; Di Bernardo, Enrico; Pirjanian, Paolo

    2004-09-01

    Among the numerous challenges of building autonomous/unmanned vehicles is that of reliable and autonomous localization in an unknown environment. In this paper we present a system that can efficiently and autonomously solve the robotics 'SLAM' problem, where a robot placed in an unknown environment, simultaneously must localize itself and make a map of the environment. The system is vision-based, and makes use of Evolution Robotic's powerful object recognition technology. As the robot explores the environment, it is continuously performing four tasks, using information from acquired images and the drive system odometry. The robot: (1) recognizes previously created 3-D visual landmarks; (2) builds new 3-D visual landmarks; (3) updates the current estimate of its location, using the map; (4) updates the landmark map. In indoor environments, the system can build a map of a 5m by 5m area in approximately 20 minutes, and can localize itself with an accuracy of approximately 15 cm in position and 3 degrees in orientation relative to the global reference frame of the landmark map. The same system can be adapted for outdoor, vehicular use.

  16. MO-D-BRC-01: Memorial Lecture

    Energy Technology Data Exchange (ETDEWEB)

    Fraass, B. [Cedars Sinai Medical Center (United States)

    2016-06-15

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical.

  17. MO-D-BRC-01: Memorial Lecture

    International Nuclear Information System (INIS)

    Fraass, B.

    2016-01-01

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical

  18. Development of an international BRC [Below Regulatory Concern] limit

    International Nuclear Information System (INIS)

    Kennedy, W.E. Jr.

    1987-07-01

    The International Atomic Energy Agency (IAEA) has recently investigated the exemption from regulatory control of radiation sources containing limited quantities of radioactive materials. Early efforts were entitled de minimis and were aimed at establishing a philosophical basis and radiation dose limits. The main objectives of more recent work on exemption are to illustrate a method for developing practical radiological criteria, to establish generic criteria, and to determine the practicability of the preliminary exemption principles. The method used to develop the criteria relies on models to evaluate the potential radiation exposure pathways and scenarios for individuals and population groups potentially present following the unrestricted release of materials. This paper describes the assessment methods, presents the generic results expressed in terms of the limiting concentrations of selected radionuclides in municipal waste, and provides a comparison with recent regulatory efforts in the United States for considering selected wastes being Below Regulatory Concern (BRC). 17 refs., 4 tabs

  19. Using external sensors in solution of SLAM task

    Science.gov (United States)

    Provkov, V. S.; Starodubtsev, I. S.

    2018-05-01

    This article describes the algorithms of spatial orientation of SLAM, PTAM and their positive and negative sides. Based on the SLAM method, a method that uses an RGBD camera and additional sensors was developed: an accelerometer, a gyroscope, and a magnetometer. The investigated orientation methods have their advantages when moving along a straight trajectory or when rotating a moving platform. As a result of experiments and a weighted linear combination of the positions obtained from data of the RGBD camera and the nine-axis sensor, it became possible to improve the accuracy of the original algorithm even using a constant as a weight function. In the future, it is planned to develop an algorithm for the dynamic construction of a weight function, as a result of which an increase in the accuracy of the algorithm is expected.

  20. Localisation accuracy of semi-dense monocular SLAM

    Science.gov (United States)

    Schreve, Kristiaan; du Plessies, Pieter G.; Rätsch, Matthias

    2017-06-01

    Understanding the factors that influence the accuracy of visual SLAM algorithms is very important for the future development of these algorithms. So far very few studies have done this. In this paper, a simulation model is presented and used to investigate the effect of the number of scene points tracked, the effect of the baseline length in triangulation and the influence of image point location uncertainty. It is shown that the latter is very critical, while the other all play important roles. Experiments with a well known semi-dense visual SLAM approach are also presented, when used in a monocular visual odometry mode. The experiments shows that not including sensor bias and scale factor uncertainty is very detrimental to the accuracy of the simulation results.

  1. A Comparison of SLAM Algorithms Based on a Graph of Relations

    OpenAIRE

    Burgard, W.; Stachniss, C.; Grisetti, G.; Steder, B.; Kümmerle, R.; Dornhege, C.; Ruhnke, M.; Kleiner, Alexander; Tardós, Juan D.

    2009-01-01

    In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach in...

  2. An EKF-SLAM algorithm with consistency properties

    OpenAIRE

    Barrau, Axel; Bonnabel, Silvere

    2015-01-01

    In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant ot the EKF meant to account for the symmetries of the state space. Extensive Monte-Carlo runs illustrate the theoretical results.

  3. An evaluation of attention models for use in SLAM

    Science.gov (United States)

    Dodge, Samuel; Karam, Lina

    2013-12-01

    In this paper we study the application of visual saliency models for the simultaneous localization and mapping (SLAM) problem. We consider visual SLAM, where the location of the camera and a map of the environment can be generated using images from a single moving camera. In visual SLAM, the interest point detector is of key importance. This detector must be invariant to certain image transformations so that features can be matched across di erent frames. Recent work has used a model of human visual attention to detect interest points, however it is unclear as to what is the best attention model for this purpose. To this aim, we compare the performance of interest points from four saliency models (Itti, GBVS, RARE, and AWS) with the performance of four traditional interest point detectors (Harris, Shi-Tomasi, SIFT, and FAST). We evaluate these detectors under several di erent types of image transformation and nd that the Itti saliency model, in general, achieves the best performance in terms of keypoint repeatability.

  4. SLAM- and nectin-4-independent noncytolytic spread of canine distemper virus in astrocytes.

    Science.gov (United States)

    Alves, Lisa; Khosravi, Mojtaba; Avila, Mislay; Ader-Ebert, Nadine; Bringolf, Fanny; Zurbriggen, Andreas; Vandevelde, Marc; Plattet, Philippe

    2015-05-01

    Measles and canine distemper viruses (MeV and CDV, respectively) first replicate in lymphatic and epithelial tissues by using SLAM and nectin-4 as entry receptors, respectively. The viruses may also invade the brain to establish persistent infections, triggering fatal complications, such as subacute sclerosis pan-encephalitis (SSPE) in MeV infection or chronic, multiple sclerosis-like, multifocal demyelinating lesions in the case of CDV infection. In both diseases, persistence is mediated by viral nucleocapsids that do not require packaging into particles for infectivity but are directly transmitted from cell to cell (neurons in SSPE or astrocytes in distemper encephalitis), presumably by relying on restricted microfusion events. Indeed, although morphological evidence of fusion remained undetectable, viral fusion machineries and, thus, a putative cellular receptor, were shown to contribute to persistent infections. Here, we first showed that nectin-4-dependent cell-cell fusion in Vero cells, triggered by a demyelinating CDV strain, remained extremely limited, thereby supporting a potential role of nectin-4 in mediating persistent infections in astrocytes. However, nectin-4 could not be detected in either primary cultured astrocytes or the white matter of tissue sections. In addition, a bioengineered "nectin-4-blind" recombinant CDV retained full cell-to-cell transmission efficacy in primary astrocytes. Combined with our previous report demonstrating the absence of SLAM expression in astrocytes, these findings are suggestive for the existence of a hitherto unrecognized third CDV receptor expressed by glial cells that contributes to the induction of noncytolytic cell-to-cell viral transmission in astrocytes. While persistent measles virus (MeV) infection induces SSPE in humans, persistent canine distemper virus (CDV) infection causes chronic progressive or relapsing demyelination in carnivores. Common to both central nervous system (CNS) infections is that

  5. Probability Analysis of the Wave-Slamming Pressure Values of the Horizontal Deck with Elastic Support

    Science.gov (United States)

    Zuo, Weiguang; Liu, Ming; Fan, Tianhui; Wang, Pengtao

    2018-06-01

    This paper presents the probability distribution of the slamming pressure from an experimental study of regular wave slamming on an elastically supported horizontal deck. The time series of the slamming pressure during the wave impact were first obtained through statistical analyses on experimental data. The exceeding probability distribution of the maximum slamming pressure peak and distribution parameters were analyzed, and the results show that the exceeding probability distribution of the maximum slamming pressure peak accords with the three-parameter Weibull distribution. Furthermore, the range and relationships of the distribution parameters were studied. The sum of the location parameter D and the scale parameter L was approximately equal to 1.0, and the exceeding probability was more than 36.79% when the random peak was equal to the sample average during the wave impact. The variation of the distribution parameters and slamming pressure under different model conditions were comprehensively presented, and the parameter values of the Weibull distribution of wave-slamming pressure peaks were different due to different test models. The parameter values were found to decrease due to the increased stiffness of the elastic support. The damage criterion of the structure model caused by the wave impact was initially discussed, and the structure model was destroyed when the average slamming time was greater than a certain value during the duration of the wave impact. The conclusions of the experimental study were then described.

  6. A scalable hybrid multi-robot SLAM method for highly detailed maps

    NARCIS (Netherlands)

    Pfingsthorn, M.; Slamet, B.; Visser, A.

    2008-01-01

    Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by

  7. Indoor radar SLAM A radar application for vision and GPS denied environments

    NARCIS (Netherlands)

    Marck, J.W.; Mohamoud, A.A.; Houwen, E.H. van de; Heijster, R.M.E.M. van

    2013-01-01

    Indoor navigation especially in unknown areas is a real challenge. Simultaneous Localization and Mapping (SLAM) technology provides a solution. However SLAM as currently based on optical sensors, is unsuitable in vision denied areas, which are for example encountered by first responders. Radar can

  8. A Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM

    Directory of Open Access Journals (Sweden)

    Jianjun Ni

    2014-01-01

    Full Text Available Robot simultaneous localization and mapping (SLAM problem is a very important and challenging issue in the robotic field. The main tasks of SLAM include how to reduce the localization error and the estimated error of the landmarks and improve the robustness and accuracy of the algorithms. The extended Kalman filter (EKF based method is one of the most popular methods for SLAM. However, the accuracy of the EKF based SLAM algorithm will be reduced when the noise model is inaccurate. To solve this problem, a novel bioinspired neural model based SLAM approach is proposed in this paper. In the proposed approach, an adaptive EKF based SLAM structure is proposed, and a bioinspired neural model is used to adjust the weights of system noise and observation noise adaptively, which can guarantee the stability of the filter and the accuracy of the SLAM algorithm. The proposed approach can deal with the SLAM problem in various situations, for example, the noise is in abnormal conditions. Finally, some simulation experiments are carried out to validate and demonstrate the efficiency of the proposed approach.

  9. ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS

    Directory of Open Access Journals (Sweden)

    Jan Bayer

    2016-11-01

    Full Text Available In this work we are concerning the problem of localization accuracy evaluation of visual-based Simultaneous Localization and Mapping (SLAM techniques. Quantitative evaluation of the SLAM algorithm performance is usually done using the established metrics of Relative pose error and Absolute trajectory error which require a precise and reliable ground truth. Such a ground truth is usually hard to obtain, while it requires an expensive external localization system. In this work we are proposing to use the SLAM algorithm itself to construct a reliable ground-truth by offline frame-by-frame processing. The generated ground-truth is suitable for evaluation of different SLAM systems, as well as for tuning the parametrization of the on-line SLAM. The presented practical experimental results indicate the feasibility of the proposed approach.

  10. Multi-Sensor SLAM Approach for Robot Navigation

    Directory of Open Access Journals (Sweden)

    Sid Ahmed BERRABAH

    2010-12-01

    Full Text Available o be able to operate and act successfully, the robot needs to know at any time where it is. This means the robot has to find out its location relative to the environment. This contribution introduces the increase of accuracy of mobile robot positioning in large outdoor environments based on data fusion from different sensors: camera, GPS, inertial navigation system (INS, and wheel encoders. The fusion is done in a Simultaneous Localization and Mapping (SLAM approach. The paper gives an overview on the proposed algorithm and discusses the obtained results.

  11. Vision Based SLAM in Dynamic Scenes

    Science.gov (United States)

    2012-12-20

    the correct relative poses between cameras at frame F. For this purpose, we detect and match SURF features between cameras in dilierent groups, and...all cameras in s uch a challenging case. For a compa rison, we disabled the ’ inte r-camera pose estimation’ and applied the ’ intra-camera pose esti

  12. a Mapping Method of Slam Based on Look up Table

    Science.gov (United States)

    Wang, Z.; Li, J.; Wang, A.; Wang, J.

    2017-09-01

    In the last years several V-SLAM(Visual Simultaneous Localization and Mapping) approaches have appeared showing impressive reconstructions of the world. However these maps are built with far more than the required information. This limitation comes from the whole process of each key-frame. In this paper we present for the first time a mapping method based on the LOOK UP TABLE(LUT) for visual SLAM that can improve the mapping effectively. As this method relies on extracting features in each cell divided from image, it can get the pose of camera that is more representative of the whole key-frame. The tracking direction of key-frames is obtained by counting the number of parallax directions of feature points. LUT stored all mapping needs the number of cell corresponding to the tracking direction which can reduce the redundant information in the key-frame, and is more efficient to mapping. The result shows that a better map with less noise is build using less than one-third of the time. We believe that the capacity of LUT efficiently building maps makes it a good choice for the community to investigate in the scene reconstruction problems.

  13. SLAMM: Visual monocular SLAM with continuous mapping using multiple maps.

    Directory of Open Access Journals (Sweden)

    Hayyan Afeef Daoud

    Full Text Available This paper presents the concept of Simultaneous Localization and Multi-Mapping (SLAMM. It is a system that ensures continuous mapping and information preservation despite failures in tracking due to corrupted frames or sensor's malfunction; making it suitable for real-world applications. It works with single or multiple robots. In a single robot scenario the algorithm generates a new map at the time of tracking failure, and later it merges maps at the event of loop closure. Similarly, maps generated from multiple robots are merged without prior knowledge of their relative poses; which makes this algorithm flexible. The system works in real time at frame-rate speed. The proposed approach was tested on the KITTI and TUM RGB-D public datasets and it showed superior results compared to the state-of-the-arts in calibrated visual monocular keyframe-based SLAM. The mean tracking time is around 22 milliseconds. The initialization is twice as fast as it is in ORB-SLAM, and the retrieved map can reach up to 90 percent more in terms of information preservation depending on tracking loss and loop closure events. For the benefit of the community, the source code along with a framework to be run with Bebop drone are made available at https://github.com/hdaoud/ORBSLAMM.

  14. Multibeam 3D Underwater SLAM with Probabilistic Registration

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2016-04-01

    Full Text Available This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds. An Iterative Closest Point (ICP with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1 point-to-point association for coarse registration and (2 point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O ( n 2 to O ( n . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

  15. Validation of Underwater Sensor Package Using Feature Based SLAM

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-03-01

    Full Text Available Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.

  16. Validation of Underwater Sensor Package Using Feature Based SLAM

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

    Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

  17. Combgap Promotes Ovarian Niche Development and Chromatin Association of EcR-Binding Regions in BR-C.

    Science.gov (United States)

    Hitrik, Anna; Popliker, Malka; Gancz, Dana; Mukamel, Zohar; Lifshitz, Aviezer; Schwartzman, Omer; Tanay, Amos; Gilboa, Lilach

    2016-11-01

    The development of niches for tissue-specific stem cells is an important aspect of stem cell biology. Determination of niche size and niche numbers during organogenesis involves precise control of gene expression. How this is achieved in the context of a complex chromatin landscape is largely unknown. Here we show that the nuclear protein Combgap (Cg) supports correct ovarian niche formation in Drosophila by controlling ecdysone-Receptor (EcR)- mediated transcription and long-range chromatin contacts in the broad locus (BR-C). Both cg and BR-C promote ovarian growth and the development of niches for germ line stem cells. BR-C levels were lower when Combgap was either reduced or over-expressed, indicating an intricate regulation of the BR-C locus by Combgap. Polytene chromosome stains showed that Cg co-localizes with EcR, the major regulator of BR-C, at the BR-C locus and that EcR binding to chromatin was sensitive to changes in Cg levels. Proximity ligation assay indicated that the two proteins could reside in the same complex. Finally, chromatin conformation analysis revealed that EcR-bound regions within BR-C, which span ~30 KBs, contacted each other. Significantly, these contacts were stabilized in an ecdysone- and Combgap-dependent manner. Together, these results highlight Combgap as a novel regulator of chromatin structure that promotes transcription of ecdysone target genes and ovarian niche formation.

  18. Performance Analysis of the Microsoft Kinect Sensor for 2D Simultaneous Localization and Mapping (SLAM Techniques

    Directory of Open Access Journals (Sweden)

    Kamarulzaman Kamarudin

    2014-12-01

    Full Text Available This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM techniques (i.e., Gmapping and Hector SLAM using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS. The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect’s depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks.

  19. Air quality assessment in Salim Slam Tunnel

    International Nuclear Information System (INIS)

    El-Fadel, M.; Hashisho, Z.; Saikaly, P.

    1999-01-01

    Full text.Vehicle emissions constitute a serious occupational environmental hazard particularly in confined spaces such as tunnels and underground parking garages. these emissions at elevated concentrations, can cause adverse health effects, which range from nausea and eye irritation to mutagenicity, carcinogenicity and even death. This paper presents an environmental air quality assessment in a tunnel located in a highly congested urban area. For this purpose, air samples were collected and analyzed for the presence of primary air pollutants, priority metals, and volatile organic carbons. Air quality modeling was conducted to simulate variations of pollutant concentrations in the tunnel under worst case scenarios including traffic congestion and no air ventilation. Field measurements and mathematical simulation results were used to develop a strategy for proper air quality management in tunnels

  20. Experimental investigation of slamming impact acted on flat bottom bodies and cumulative damage

    Directory of Open Access Journals (Sweden)

    Hyunkyoung Shin

    2018-05-01

    Full Text Available Most offshore structures including offshore wind turbines, ships, etc. suffer from the impulsive pressure loads due to slamming phenomena in rough waves. The effects of elasticity & plasticity on such slamming loads are investigated through wet free drop test results of several steel unstiffened flat bottom bodies in the rectangular water tank. Also, their cumulative deformations by consecutively repetitive free drops from 1000 mm to 2000 mm in height are measured. Keywords: Slamming phenomena, Impulsive pressure load, Wet free drop test, Flat bottom body, Cumulative damage

  1. Development of an online clinical trial recruitment portal for the NIHR mental health BRC.

    Science.gov (United States)

    Markham, Sarah

    2016-01-01

    In order to test whether or not new treatments for mental health disorders help patients get better according to clinician/patient selected criteria, it is often necessary to test them on patients under safe, carefully monitored conditions called clinical trials. It is necessary to find enough patients to take part in a clinical trial so that the results of the trial are reliable. The NIHR Mental Health BRC (here after abbreviated to BRC) is a centre for research in London which seeks to find out better ways to treat patients with mental health difficulties. The BRC has experienced problems trying to find sufficient numbers of patients to participate in its clinical trials as it appears that insufficient patients were being told by their doctor about opportunities to participate in clinical research. In order to help the BRC find enough patients to volunteer to take part in its clinical trials, the author (a patient representative) of this article and a clinical researcher in the nearby Institute of Psychiatry, Psychology and Neuroscience (IoPPN) decided to work together to try to find the best way to let patients know more about what clinical trials are, what it is like to take part in them and which clinical trials are seeking patients to take part. The author and researcher used a report by the Association of Medical Research Charities (AMRC) on patient difficulties in finding clinical trials to take part in, and the recommendations it made, to guide them in building a website to give such patients the information on clinical trials they wanted (including clinical trials run by the BRC). The author and researcher also asked patients, carers, staff at the IoPPN and BRC what they thought of the website and how to make it better. They used the ideas, suggestions and criticisms to improve the website. The author and researcher also asked mental health charities and research organisations if they would advertise the final version of this website on their own websites

  2. Advancement of vision-based SLAM from static to dynamic environments

    CSIR Research Space (South Africa)

    Pancham, A

    2012-11-01

    Full Text Available Simultaneous Localization And Mapping (SLAM) allows a mobile robot to construct a map of an unknown, static environment and simultaneously localize itself. Real world environments, however, have dynamic objects such as people, doors that open...

  3. Cooperative Airborne Inertial-SLAM for Improved Platform and Feature/Target Localisation

    National Research Council Canada - National Science Library

    Sukkarieh, Salah; Bryson, Mitch

    2008-01-01

    .... The benefit of using the SLAM algorithm is that it can determine the accuracy of both platform and target locations, both of which improve as a function of feature/target revisitation or sharing...

  4. Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM

    OpenAIRE

    Park, Chanoh; Moghadam, Peyman; Kim, Soohwan; Elfes, Alberto; Fookes, Clinton; Sridharan, Sridha

    2017-01-01

    The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of global batch optimization is critically hindering its relevance for real-time and life-long applications. In this paper, we present a dense map-centric SLAM method based on a continuous-time trajectory to cope with this problem. The proposed system locally f...

  5. Integration of IMU and Velodyne LiDAR sensor in an ICP-SLAM framework

    OpenAIRE

    Zhang, Erik

    2016-01-01

    Simultaneous localization and mapping (SLAM) of an unknown environment is a critical step for many autonomous processes. For this work, we propose a solution which does not rely on storing descriptors of the environment and performing descriptors filtering. Compared to most SLAM based methods this work with general sparse point clouds with the underlying generalized ICP (GICP) algorithm for point cloud registration. This thesis presents a modified GICP method and an investigation of how and i...

  6. Microscopic insight into thermodynamics of conformational changes of SAP-SLAM complex in signal transduction cascade

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2017-04-01

    The signalling lymphocytic activation molecule (SLAM) family of receptors, expressed by an array of immune cells, associate with SLAM-associated protein (SAP)-related molecules, composed of single SH2 domain architecture. SAP activates Src-family kinase Fyn after SLAM ligation, resulting in a SLAM-SAP-Fyn complex, where, SAP binds the Fyn SH3 domain that does not involve canonical SH3 or SH2 interactions. This demands insight into this SAP mediated signalling cascade. Thermodynamics of the conformational changes are extracted from the histograms of dihedral angles obtained from the all-atom molecular dynamics simulations of this structurally well characterized SAP-SLAM complex. The results incorporate the binding induced thermodynamic changes of individual amino acid as well as the secondary structural elements of the protein and the solvent. Stabilization of the peptide partially comes through a strong hydrogen bonding network with the protein, while hydrophobic interactions also play a significant role where the peptide inserts itself into a hydrophobic cavity of the protein. SLAM binding widens SAP's second binding site for Fyn, which is the next step in the signal transduction cascade. The higher stabilization and less fluctuation of specific residues of SAP in the Fyn binding site, induced by SAP-SLAM complexation, emerge as the key structural elements to trigger the recognition of SAP by the SH3 domain of Fyn. The thermodynamic quantification of the protein due to complexation not only throws deeper understanding in the established mode of SAP-SLAM interaction but also assists in the recognition of the relevant residues of the protein responsible for alterations in its activity.

  7. Canine distemper virus isolated from a monkey efficiently replicates on Vero cells expressing non-human primate SLAM receptors but not human SLAM receptor.

    Science.gov (United States)

    Feng, Na; Liu, Yuxiu; Wang, Jianzhong; Xu, Weiwei; Li, Tiansong; Wang, Tiecheng; Wang, Lei; Yu, Yicong; Wang, Hualei; Zhao, Yongkun; Yang, Songtao; Gao, Yuwei; Hu, Guixue; Xia, Xianzhu

    2016-08-02

    In 2008, an outbreak of canine distemper virus (CDV) infection in monkeys was reported in China. We isolated CDV strain (subsequently named Monkey-BJ01-DV) from lung tissue obtained from a rhesus monkey that died in this outbreak. We evaluated the ability of this virus on Vero cells expressing SLAM receptors from dog, monkey and human origin, and analyzed the H gene of Monkey-BJ01-DV with other strains. The Monkey-BJ01-DV isolate replicated to the highest titer on Vero cells expressing dog-origin SLAM (10(5.2±0.2) TCID50/ml) and monkey-origin SLAM (10(5.4±0.1) TCID50/ml), but achieved markedly lower titers on human-origin SLAM cells (10(3.3±0.3) TCID50/ml). Phylogenetic analysis of the full-length H gene showed that Monkey-BJ01-DV was highly related to other CDV strains obtained during recent CDV epidemics among species of the Canidae family in China, and these Monkey strains CDV (Monkey-BJ01-DV, CYN07-dV, Monkey-KM-01) possessed a number of amino acid specific substitutions (E276V, Q392R, D435Y and I542F) compared to the H protein of CDV epidemic in other animals at the same period. Our results suggested that the monkey origin-CDV-H protein could possess specific substitutions to adapt to the new host. Monkey-BJ01-DV can efficiently use monkey- and dog-origin SLAM to infect and replicate in host cells, but further adaptation may be required for efficient replication in host cells expressing the human SLAM receptor.

  8. Canine Distemper Virus Fusion Activation: Critical Role of Residue E123 of CD150/SLAM.

    Science.gov (United States)

    Khosravi, Mojtaba; Bringolf, Fanny; Röthlisberger, Silvan; Bieringer, Maria; Schneider-Schaulies, Jürgen; Zurbriggen, Andreas; Origgi, Francesco; Plattet, Philippe

    2016-02-01

    Measles virus (MeV) and canine distemper virus (CDV) possess tetrameric attachment proteins (H) and trimeric fusion proteins, which cooperate with either SLAM or nectin 4 receptors to trigger membrane fusion for cell entry. While the MeV H-SLAM cocrystal structure revealed the binding interface, two distinct oligomeric H assemblies were also determined. In one of the conformations, two SLAM units were sandwiched between two discrete H head domains, thus spotlighting two binding interfaces ("front" and "back"). Here, we investigated the functional relevance of both interfaces in activating the CDV membrane fusion machinery. While alanine-scanning mutagenesis identified five critical regulatory residues in the front H-binding site of SLAM, the replacement of a conserved glutamate residue (E at position 123, replaced with A [E123A]) led to the most pronounced impact on fusion promotion. Intriguingly, while determination of the interaction of H with the receptor using soluble constructs revealed reduced binding for the identified SLAM mutants, no effect was recorded when physical interaction was investigated with the full-length counterparts of both molecules. Conversely, although mutagenesis of three strategically selected residues within the back H-binding site of SLAM did not substantially affect fusion triggering, nevertheless, the mutants weakened the H-SLAM interaction recorded with the membrane-anchored protein constructs. Collectively, our findings support a mode of binding between the attachment protein and the V domain of SLAM that is common to all morbilliviruses and suggest a major role of the SLAM residue E123, located at the front H-binding site, in triggering the fusion machinery. However, our data additionally support the hypothesis that other microdomain(s) of both glycoproteins (including the back H-binding site) might be required to achieve fully productive H-SLAM interactions. A complete understanding of the measles virus and canine distemper virus

  9. An Integrated GNSS/INS/LiDAR-SLAM Positioning Method for Highly Accurate Forest Stem Mapping

    Directory of Open Access Journals (Sweden)

    Chuang Qian

    2016-12-01

    Full Text Available Forest mapping, one of the main components of performing a forest inventory, is an important driving force in the development of laser scanning. Mobile laser scanning (MLS, in which laser scanners are installed on moving platforms, has been studied as a convenient measurement method for forest mapping in the past several years. Positioning and attitude accuracies are important for forest mapping using MLS systems. Inertial Navigation Systems (INSs and Global Navigation Satellite Systems (GNSSs are typical and popular positioning and attitude sensors used in MLS systems. In forest environments, because of the loss of signal due to occlusion and severe multipath effects, the positioning accuracy of GNSS is severely degraded, and even that of GNSS/INS decreases considerably. Light Detection and Ranging (LiDAR-based Simultaneous Localization and Mapping (SLAM can achieve higher positioning accuracy in environments containing many features and is commonly implemented in GNSS-denied indoor environments. Forests are different from an indoor environment in that the GNSS signal is available to some extent in a forest. Although the positioning accuracy of GNSS/INS is reduced, estimates of heading angle and velocity can maintain high accurate even with fewer satellites. GNSS/INS and the LiDAR-based SLAM technique can be effectively integrated to form a sustainable, highly accurate positioning and mapping solution for use in forests without additional hardware costs. In this study, information such as heading angles and velocities extracted from a GNSS/INS is utilized to improve the positioning accuracy of the SLAM solution, and two information-aided SLAM methods are proposed. First, a heading angle-aided SLAM (H-aided SLAM method is proposed that supplies the heading angle from GNSS/INS to SLAM. Field test results show that the horizontal positioning accuracy of an entire trajectory of 800 m is 0.13 m and is significantly improved (by 70% compared to that

  10. Simulation of an integrated age replacement and spare provisioning policy using SLAM

    International Nuclear Information System (INIS)

    Zohrul Kabir, A.B.M.; Farrash, S.H.A.

    1996-01-01

    This paper presents a SLAM simulation model for determining a jointly optimal age replacement and spare part provisioning policy. The policy, referred to as a stocking policy, is formulated by combining age replacement policy with a continuous review (s, S) type inventory policy, where s is the stock reorder level and S is the maximum stock level. The optimal values of the decision variables are obtained by minimizing the total cost of replacement and inventory. The simulation procedure outlined in the paper can be used to model any operating situation having either a single item or a number of identical items. Results from a number of case problems specifically constructed by 5-factor second order rotatory design have been presented and the effects of different cost elements, item failure characteristics and lead time characteristics have been highlighted. For all case problems, optimal (s, S) policies to support the Barlow-Proschan age policy have also been determined. Simulation results clearly indicate the separate optimizations of replacement and spare provisioning policies do not ensure global optimality when total system cost has to be minimized

  11. La proteína asociada a SLAM (SAP regula la expresión de IFN-g en lepra The SLAM-associated protein (SAP regulates IFN-g expression in leprosy

    Directory of Open Access Journals (Sweden)

    María F. Quiroga

    2004-10-01

    Full Text Available La inmunidad protectora contra Mycobacterium leprae requiere IFN-g. Los pacientes con lepra tuberculoide producen localmente citoquinas Th1, mientras que los pacientes lepromatosos producen citoquinas Th2. La molécula linfocitaria activadora de señales (SLAM y la proteína asociada a SLAM (SAP participan en la diferenciación celular que conduce a producción de patrones específicos de citoquinas. A fin de investigar la vía SLAM/SAP en la infección por M. leprae, determinamos expresión de ARN mensajero (ARNm de SAP, IFN-g y SLAM en pacientes con lepra. Observamos que la expresión de SLAM correlacionó en forma directa con la expresión de IFN-g, mientras que la expresión de SAP correlacionó inversamente con la expresión de ambas proteínas. Así, nuestros resultados indican que SAP interferiría con las respuestas de citoquinas Th1 mientras que SLAM contribuiría con la respuesta Th1 en lepra, señalando a la vía SLAM/SAP como potencial blanco modulador de citoquinas en enfermedades con respuestas Th2 disfuncionales.Tuberculoid leprosy patients locally produce Th1 cytokines, while lepromatous patients produce Th2 cytokines. Signaling lymphocytic activation molecule (SLAM and the SLAM-associated protein (SAP participate in the differentiation process that leads to the production of specific patterns of cytokines by activated T cells. To investigate the SLAM/SAP pathway in M. leprae infection, we determined the expression of SAP, IFN-g and SLAM RNA messenger in leprosy patients. We found a direct correlation of SLAM expression with IFN-g expression, whereas the expression of SAP was inversely correlated with the expression of both SLAM and IFN-g. Therefore, our data indicate that SAP might interfere with Th1 cytokine responses while SLAM expression may contribute to Th1 responses in leprosy. This study further suggests that the SLAM/SAP pathway might be a focal point for therapeutic modulation of T cell cytokine responses in diseases

  12. Shocklets, SLAMS, and Field-Aligned Ion Beams in the Terrestrial Foreshock

    Science.gov (United States)

    Wilson, L. B.; Koval, A.; Sibeck, D. G.; Szabo, A.; Cattell, C. A.; Kasper, J. C.; Maruca, B. A.; Pulupa, M.; Salem, C. S.; Wilber, M.

    2012-01-01

    We present Wind spacecraft observations of ion distributions showing field- aligned beams (FABs) and large-amplitude magnetic fluctuations composed of a series of shocklets and short large-amplitude magnetic structures (SLAMS). The FABs are found to have T(sub k) approx 80-850 eV, V(sub b)/V(sub sw) approx 1.3-2.4, T(sub perpendicular,b)/T(sub paralell,b) approx 1-8, and n(sub b)/n(sub o) approx 0.2-11%. Saturation amplitudes for ion/ion resonant and non-resonant instabilities are too small to explain the observed SLAMS amplitudes. We show two examples where groups of SLAMS can act like a local quasi-perpendicular shock reflecting ions to produce the FABs, a scenario distinct from the more-common production at the quasi-perpendicular bow shock. The SLAMS exhibit a foot-like magnetic enhancement with a leading magnetosonic whistler train, consistent with previous observations. Strong ion and electron heating are observed within the series of shocklets and SLAMS with temperatures increasing by factors approx > 5 and approx >3, respectively. Both the core and halo electron components show strong perpendicular heating inside the feature.

  13. A SLAM based on auxiliary marginalised particle filter and differential evolution

    Science.gov (United States)

    Havangi, R.; Nekoui, M. A.; Teshnehlab, M.; Taghirad, H. D.

    2014-09-01

    FastSLAM is a framework for simultaneous localisation and mapping (SLAM) using a Rao-Blackwellised particle filter. In FastSLAM, particle filter is used for the robot pose (position and orientation) estimation, and parametric filter (i.e. EKF and UKF) is used for the feature location's estimation. However, in the long term, FastSLAM is an inconsistent algorithm. In this paper, a new approach to SLAM based on hybrid auxiliary marginalised particle filter and differential evolution (DE) is proposed. In the proposed algorithm, the robot pose is estimated based on auxiliary marginal particle filter that operates directly on the marginal distribution, and hence avoids performing importance sampling on a space of growing dimension. In addition, static map is considered as a set of parameters that are learned using DE. Compared to other algorithms, the proposed algorithm can improve consistency for longer time periods and also, improve the estimation accuracy. Simulations and experimental results indicate that the proposed algorithm is effective.

  14. a Variant of Lsd-Slam Capable of Processing High-Speed Low-Framerate Monocular Datasets

    Science.gov (United States)

    Schmid, S.; Fritsch, D.

    2017-11-01

    We develop a new variant of LSD-SLAM, called C-LSD-SLAM, which is capable of performing monocular tracking and mapping in high-speed low-framerate situations such as those of the KITTI datasets. The methods used here are robust against the influence of erronously triangulated points near the epipolar direction, which otherwise causes tracking divergence.

  15. A Fast Map Merging Algorithm in the Field of Multirobot SLAM

    Directory of Open Access Journals (Sweden)

    Yanli Liu

    2013-01-01

    Full Text Available In recent years, the research on single-robot simultaneous localization and mapping (SLAM has made a great success. However, multirobot SLAM faces many challenging problems, including unknown robot poses, unshared map, and unstable communication. In this paper, a map merging algorithm based on virtual robot motion is proposed for multi-robot SLAM. The thinning algorithm is used to construct the skeleton of the grid map’s empty area, and a mobile robot is simulated in one map. The simulated data is used as information sources in the other map to do partial map Monte Carlo localization; if localization succeeds, the relative pose hypotheses between the two maps can be computed easily. We verify these hypotheses using the rendezvous technique and use them as initial values to optimize the estimation by a heuristic random search algorithm.

  16. [Establishment and application of a Vero cell line stably expressing raccoon dog SLAM, the cellular receptor of canine distemper virus].

    Science.gov (United States)

    Zhao, Jianjun; Yan, Ruxun; Zhang, Hailing; Zhang, Lei; Hu, Bo; Bai, Xue; Shao, Xiqun; Chai, Xiuli; Yan, Xijun; Wu, Wei

    2012-12-04

    The signaling lymphocyte activation molecule (SLAM, also known as CD150), is used as a cellular receptor by canine distemper virus (CDV). Wild-type strains of CDVs can be isolated and propagated efficiently in non-lymphoid cells expressing this protein. Our aim is to establish a Vero cells expressing raccoon dog SLAM (rSLAM) to efficiently isolate CDV from pathological samples. A eukaryotic expression plasmid, pIRES2-EGFP-rSLAMhis, containing rSLAM gene fused with six histidine-coding sequence, EGFP gene, and neomycin resistance gene was constructed. After transfection with the plasmid, a stable cell line, Vero-rSLAM, was screened from Vero cells with the identification of EGFP reporter and G418 resistance. Three CD positive specimens from infected foxes and raccoon dogs were inoculated to Vero-rSLAM cells for CDV isolation. Foxes and raccoon dogs were inoculated subcutaneously LN (10)fl strain with 4 x 10(2.39)TCID50 dose to evaluate pathogenicity of CDV isolations. The rSLAMh fused gene was shown to transcript and express stably in Vero-rSLAM cells by RT-PCR and Immunohistochemistry assay. Three CDV strains were isolated successfully in Vero-rSLAM cells 36 -48 hours after inoculation with spleen or lung specimens from foxes and raccoon dogs with distemper. By contrast, no CDV was recovered from those CD positive specimens when Vero cells were used for virus isolation. Infected foxes and raccoon dogs with LN(10)f1 strain all showed typical CD symptoms and high mortality (2/3 for foxes and 3/3 for raccoon dogs) in 22 days post challenge. Our results indicate that Vero-rSLAM cells stably expressing raccoon dog SLAM are highly sensitive to CDV in clinical specimens and the CDV isolation can maintain high virulence to its host animals.

  17. Semantic data association for planar features in outdoor 6D-SLAM using lidar

    Science.gov (United States)

    Ulas, C.; Temeltas, H.

    2013-05-01

    Simultaneous Localization and Mapping (SLAM) is a fundamental problem of the autonomous systems in GPS (Global Navigation System) denied environments. The traditional probabilistic SLAM methods uses point features as landmarks and hold all the feature positions in their state vector in addition to the robot pose. The bottleneck of the point-feature based SLAM methods is the data association problem, which are mostly based on a statistical measure. The data association performance is very critical for a robust SLAM method since all the filtering strategies are applied after a known correspondence. For point-features, two different but very close landmarks in the same scene might be confused while giving the correspondence decision when their positions and error covariance matrix are solely taking into account. Instead of using the point features, planar features can be considered as an alternative landmark model in the SLAM problem to be able to provide a more consistent data association. Planes contain rich information for the solution of the data association problem and can be distinguished easily with respect to point features. In addition, planar maps are very compact since an environment has only very limited number of planar structures. The planar features does not have to be large structures like building wall or roofs; the small plane segments can also be used as landmarks like billboards, traffic posts and some part of the bridges in urban areas. In this paper, a probabilistic plane-feature extraction method from 3DLiDAR data and the data association based on the extracted semantic information of the planar features is introduced. The experimental results show that the semantic data association provides very satisfactory result in outdoor 6D-SLAM.

  18. IMLS-SLAM: scan-to-model matching based on 3D data

    OpenAIRE

    Deschaud, Jean-Emmanuel

    2018-01-01

    The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to be very useful to perceive the environment in autonomous driving, but few methods exist that directly use these 3D data for odometry. We present a new low-drift SLAM algorithm based only on 3D LiDAR data. Our method relies on a scan-to-model matching framew...

  19. Resting lymphocyte transduction with measles virus glycoprotein pseudotyped lentiviral vectors relies on CD46 and SLAM

    International Nuclear Information System (INIS)

    Zhou Qi; Schneider, Irene C.; Gallet, Manuela; Kneissl, Sabrina; Buchholz, Christian J.

    2011-01-01

    The measles virus (MV) glycoproteins hemagglutinin (H) and fusion (F) were recently shown to mediate transduction of resting lymphocytes by lentiviral vectors. MV vaccine strains use CD46 or signaling lymphocyte activation molecule (SLAM) as receptor for cell entry. A panel of H protein mutants derived from vaccine strain or wild-type MVs that lost or gained CD46 or SLAM receptor usage were investigated for their ability to mediate gene transfer into unstimulated T lymphocytes. The results demonstrate that CD46 is sufficient for efficient vector particle association with unstimulated lymphocytes. For stable gene transfer into these cells, however, both MV receptors were found to be essential.

  20. Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Yin-Tien Wang

    2010-09-01

    Full Text Available In the paper, a novel moving object detection (MOD algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM. The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.

  1. MSGD: Scalable back-end for indoor magnetic field-based GraphSLAM

    OpenAIRE

    Gao, C; Harle, Robert Keith

    2017-01-01

    Simultaneous Localisation and Mapping (SLAM) systems that recover the trajectory of a robot or mobile device are characterised by a front-end and back-end. The front-end uses sensor observations to identify loop closures; the back-end optimises the estimated trajectory to be consistent with these closures. The GraphSLAM framework formulates the back-end problem as a graph-based optimisation on a pose graph. This paper describes a back-end system optimised for very dense sequence-based lo...

  2. A new design for SLAM front-end based on recursive SOM

    Science.gov (United States)

    Yang, Xuesi; Xia, Shengping

    2015-12-01

    Aiming at the graph optimization-based monocular SLAM, a novel design for the front-end in single camera SLAM is proposed, based on the recursive SOM. Pixel intensities are directly used to achieve image registration and motion estimation, which can save time compared with the current appearance-based frameworks, usually including feature extraction and matching. Once a key-frame is identified, a recursive SOM is used to actualize loop-closure detecting, resulting a more precise location. The experiment on a public dataset validates our method on a computer with a quicker and effective result.

  3. Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles.

    Science.gov (United States)

    Munguia, Rodrigo; Urzua, Sarquis; Grau, Antoni

    2016-01-01

    In recent years, many researchers have addressed the issue of making Unmanned Aerial Vehicles (UAVs) more and more autonomous. In this context, the state estimation of the vehicle position is a fundamental necessity for any application involving autonomy. However, the problem of position estimation could not be solved in some scenarios, even when a GPS signal is available, for instance, an application requiring performing precision manoeuvres in a complex environment. Therefore, some additional sensory information should be integrated into the system in order to improve accuracy and robustness. In this work, a novel vision-based simultaneous localization and mapping (SLAM) method with application to unmanned aerial vehicles is proposed. One of the contributions of this work is to design and develop a novel technique for estimating features depth which is based on a stochastic technique of triangulation. In the proposed method the camera is mounted over a servo-controlled gimbal that counteracts the changes in attitude of the quadcopter. Due to the above assumption, the overall problem is simplified and it is focused on the position estimation of the aerial vehicle. Also, the tracking process of visual features is made easier due to the stabilized video. Another contribution of this work is to demonstrate that the integration of very noisy GPS measurements into the system for an initial short period of time is enough to initialize the metric scale. The performance of this proposed method is validated by means of experiments with real data carried out in unstructured outdoor environments. A comparative study shows that, when compared with related methods, the proposed approach performs better in terms of accuracy and computational time.

  4. Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles.

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguia

    Full Text Available In recent years, many researchers have addressed the issue of making Unmanned Aerial Vehicles (UAVs more and more autonomous. In this context, the state estimation of the vehicle position is a fundamental necessity for any application involving autonomy. However, the problem of position estimation could not be solved in some scenarios, even when a GPS signal is available, for instance, an application requiring performing precision manoeuvres in a complex environment. Therefore, some additional sensory information should be integrated into the system in order to improve accuracy and robustness. In this work, a novel vision-based simultaneous localization and mapping (SLAM method with application to unmanned aerial vehicles is proposed. One of the contributions of this work is to design and develop a novel technique for estimating features depth which is based on a stochastic technique of triangulation. In the proposed method the camera is mounted over a servo-controlled gimbal that counteracts the changes in attitude of the quadcopter. Due to the above assumption, the overall problem is simplified and it is focused on the position estimation of the aerial vehicle. Also, the tracking process of visual features is made easier due to the stabilized video. Another contribution of this work is to demonstrate that the integration of very noisy GPS measurements into the system for an initial short period of time is enough to initialize the metric scale. The performance of this proposed method is validated by means of experiments with real data carried out in unstructured outdoor environments. A comparative study shows that, when compared with related methods, the proposed approach performs better in terms of accuracy and computational time.

  5. Indoor Modelling from Slam-Based Laser Scanner: Door Detection to Envelope Reconstruction

    Science.gov (United States)

    Díaz-Vilariño, L.; Verbree, E.; Zlatanova, S.; Diakité, A.

    2017-09-01

    Updated and detailed indoor models are being increasingly demanded for various applications such as emergency management or navigational assistance. The consolidation of new portable and mobile acquisition systems has led to a higher availability of 3D point cloud data from indoors. In this work, we explore the combined use of point clouds and trajectories from SLAM-based laser scanner to automate the reconstruction of building indoors. The methodology starts by door detection, since doors represent transitions from one indoor space to other, which constitutes an initial approach about the global configuration of the point cloud into building rooms. For this purpose, the trajectory is used to create a vertical point cloud profile in which doors are detected as local minimum of vertical distances. As point cloud and trajectory are related by time stamp, this feature is used to subdivide the point cloud into subspaces according to the location of the doors. The correspondence between subspaces and building rooms is not unambiguous. One subspace always corresponds to one room, but one room is not necessarily depicted by just one subspace, for example, in case of a room containing several doors and in which the acquisition is performed in a discontinue way. The labelling problem is formulated as combinatorial approach solved as a minimum energy optimization. Once the point cloud is subdivided into building rooms, envelop (conformed by walls, ceilings and floors) is reconstructed for each space. The connectivity between spaces is included by adding the previously detected doors to the reconstructed model. The methodology is tested in a real case study.

  6. INDOOR MODELLING FROM SLAM-BASED LASER SCANNER: DOOR DETECTION TO ENVELOPE RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    L. Díaz-Vilariño

    2017-09-01

    Full Text Available Updated and detailed indoor models are being increasingly demanded for various applications such as emergency management or navigational assistance. The consolidation of new portable and mobile acquisition systems has led to a higher availability of 3D point cloud data from indoors. In this work, we explore the combined use of point clouds and trajectories from SLAM-based laser scanner to automate the reconstruction of building indoors. The methodology starts by door detection, since doors represent transitions from one indoor space to other, which constitutes an initial approach about the global configuration of the point cloud into building rooms. For this purpose, the trajectory is used to create a vertical point cloud profile in which doors are detected as local minimum of vertical distances. As point cloud and trajectory are related by time stamp, this feature is used to subdivide the point cloud into subspaces according to the location of the doors. The correspondence between subspaces and building rooms is not unambiguous. One subspace always corresponds to one room, but one room is not necessarily depicted by just one subspace, for example, in case of a room containing several doors and in which the acquisition is performed in a discontinue way. The labelling problem is formulated as combinatorial approach solved as a minimum energy optimization. Once the point cloud is subdivided into building rooms, envelop (conformed by walls, ceilings and floors is reconstructed for each space. The connectivity between spaces is included by adding the previously detected doors to the reconstructed model. The methodology is tested in a real case study.

  7. Below Regulatory Conern Owners Group: Radiologic impact of accidents and unexpected events from disposal of BRC waste

    International Nuclear Information System (INIS)

    Waite, D.A.; Dolan, M.M.; Rish, W.R.; Rossi, A.J.; McCourt, J.E.

    1989-07-01

    This report determines the radiological impact of accidents and unexpected events in the disposal of Below Regulatory Concern (BRC) waste. The accident analysis considers the transportation, incineration, and disposal of BRC waste as municipal solid waste. The potential greatest radiological impact for each type of accident is identified through the use of event trees. These accident events are described in terms of the generic waste property(ies) (e.g., flammability, dispersibility, leachability, and solubility) that cause the greatest radiological impact. 7 refs., 32 figs., 12 tabs

  8. 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.

  9. Adaptive Monocular Visual–Inertial SLAM for Real-Time Augmented Reality Applications in Mobile Devices

    Directory of Open Access Journals (Sweden)

    Jin-Chun Piao

    2017-11-01

    Full Text Available 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.

  10. Efficient data association for view based SLAM using connected dominating sets

    NARCIS (Netherlands)

    Booij, O.; Zivkovic, Z.; Kröse, B.

    2009-01-01

    Loop closing in vision based SLAM applications is a difficult task. Comparing new image data with all previously acquired image data is practically impossible because of the high computational costs. Most approaches therefore compare new data with only a subset of the old data, for example by

  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

    2017-01-01

    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. PMID:29112143

  12. Grotoco@SLAM: Second Language Acquisition Modeling with Simple Features, Learners and Task-wise Models

    DEFF Research Database (Denmark)

    Klerke, Sigrid; Martínez Alonso, Héctor; Plank, Barbara

    2018-01-01

    We present our submission to the 2018 Duolingo Shared Task on Second Language Acquisition Modeling (SLAM). We focus on evaluating a range of features for the task, including user-derived measures, while examining how far we can get with a simple linear classifier. Our analysis reveals that errors...

  13. Hydro-elastic response of ship structures to slamming induced whipping

    NARCIS (Netherlands)

    Tuitman, J.T.

    2010-01-01

    Slamming induced whipping can significantly increase the structural loading of ships. Although this is well-known, the whipping contribution to the structural loading is rarely taken into account when computing the structural loading. An exception are the "dynamic loading" factors found in

  14. Effect of the signaling lymphocytic activation molecule (SLAM in the modulation of T cells in immune response to Leishmania braziliensis in vitro

    Directory of Open Access Journals (Sweden)

    Zirlane Castelo Branco Coêlho

    2017-02-01

    Full Text Available Introduction: Signaling lymphocyte activation molecule (SLAM is a self-ligand receptor on the surface of activated T- and B-lymphocytes, macrophages, and DC. Studies have shown PBMC from healthy individuals exposed to Leishmania differ in IFN-γ production. Objective: We investigated the role of SLAM signaling pathway in PMBC from high (HP and low (LP IFN-γ producers exposed to L. braziliensis in vitro. Methods: PBMC from 43 healthy individuals were cultured with or without antigen, α-SLAM, rIL-12 and rIFN-γ. The cytokines production was evaluated by ELISA, and SLAM expression by flow cytometry. Results: L. braziliensis associated with rIFN-γ or rIL-12 reduced early SLAM but did not modify this response later in HP. α-SLAM did not alter CD3+SLAM+ expression, and not affected IFN-γ and IL-13 production, in both groups, but increased significantly IL-10 in HP. Leishmania associated with α-SLAM and rIL-12 increased IFN-γ in LP, as well as IL-13 in HP. LP group presented low IFN-γ and IL-13 production, and low SLAM expression. Conclusion: Collectively, these findings suggest that when PBMC from healthy individuals are sensitized with L. braziliensis in vitro, SLAM acts in modulating Th1 response in HP individuals and induces a condition of immunosuppression in LP individuals.

  15. Incorporating the Uncertainties of Nodal-Plane Orientation in the Seismo-Lineament Analysis Method (SLAM)

    Science.gov (United States)

    Cronin, V.; Sverdrup, K. A.

    2013-05-01

    The process of delineating a seismo-lineament has evolved since the first description of the Seismo-Lineament Analysis Method (SLAM) by Cronin et al. (2008, Env & Eng Geol 14(3) 199-219). SLAM is a reconnaissance tool to find the trace of the fault that produced an shallow-focus earthquake by projecting the corresponding nodal planes (NP) upward to their intersections with the ground surface, as represented by a DEM or topographic map. A seismo-lineament is formed by the intersection of the uncertainty volume associated with a given NP and the ground surface. The ground-surface trace of the fault that produced the earthquake is likely to be within one of the two seismo-lineaments associated with the two NPs derived from the earthquake's focal mechanism solution. When no uncertainty estimate has been reported for the NP orientation, the uncertainty volume associated with a given NP is bounded by parallel planes that are [1] tangent to the ellipsoidal uncertainty volume around the focus and [2] parallel to the NP. If the ground surface is planar, the resulting seismo-lineament is bounded by parallel lines. When an uncertainty is reported for the NP orientation, the seismo-lineament resembles a bow tie, with the epicenter located adjacent to or within the "knot." Some published lists of focal mechanisms include only one NP with associated uncertainties. The NP orientation uncertainties in strike azimuth (+/- gamma), dip angle (+/- epsilon) and rake that are output from an FPFIT analysis (Reasenberg and Oppenheimer, 1985, USGS OFR 85-739) are taken to be the same for both NPs (Oppenheimer, 2013, pers com). The boundaries of the NP uncertainty volume are each comprised by planes that are tangent to the focal uncertainty ellipsoid. One boundary, whose nearest horizontal distance from the epicenter is greater than or equal to that of the other boundary, is formed by the set of all planes with strike azimuths equal to the reported NP strike azimuth +/- gamma, and dip angle

  16. Molecular characterization of brown carbon (BrC) chromophores in secondary organic aerosol generated from photo-oxidation of toluene.

    Science.gov (United States)

    Lin, Peng; Liu, Jiumeng; Shilling, John E; Kathmann, Shawn M; Laskin, Julia; Laskin, Alexander

    2015-09-28

    Atmospheric brown carbon (BrC) is a significant contributor to light absorption and climate forcing. However, little is known about a fundamental relationship between the chemical composition of BrC and its optical properties. In this work, light-absorbing secondary organic aerosol (SOA) was generated in the PNNL chamber from toluene photo-oxidation in the presence of NOx (Tol-SOA). Molecular structures of BrC components were examined using nanospray desorption electrospray ionization (nano-DESI) and liquid chromatography (LC) combined with UV/Vis spectroscopy and electrospray ionization (ESI) high-resolution mass spectrometry (HRMS). The chemical composition of BrC chromophores and the light absorption properties of toluene SOA (Tol-SOA) depend strongly on the initial NOx concentration. Specifically, Tol-SOA generated under high-NOx conditions (defined here as initial NOx/toluene of 5/1) appears yellow and mass absorption coefficient of the bulk sample (MACbulk@365 nm = 0.78 m(2) g(-1)) is nearly 80 fold higher than that measured for the Tol-SOA sample generated under low-NOx conditions (NOx/toluene atmosphere.

  17. Integrated High-Fidelity CFD/FE FSI Code Development and Benchmark Full-Scale Validation EFD for Slamming Analysis

    Science.gov (United States)

    2016-06-30

    accelerometers, an additional inertia navigation system, and L YDT’s. New tests were performed in the Atlantic Ocean and further insight into slamming was...accelerometers, an additional inertia navigation system, and LVDT’s. New tests were performed in the Atlantic Ocean and further insight into slamming was...measured data, Fig. 13. The Numerette was then operated in the Atlantic Ocean . A typical strain history is shown in Fig. 14. Fast Fourier Transforms

  18. SLAM algorithm applied to robotics assistance for navigation in unknown environments

    Directory of Open Access Journals (Sweden)

    Lobo Pereira Fernando

    2010-02-01

    Full Text Available Abstract Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous. The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI. Methods In this paper, a sequential Extended Kalman Filter (EKF feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how

  19. High levels of BRC4 induced by a Tet-On 3G system suppress DNA repair and impair cell proliferation in vertebrate cells.

    Science.gov (United States)

    Abe, Takuya; Branzei, Dana

    2014-10-01

    Transient induction or suppression of target genes is useful to study the function of toxic or essential genes in cells. Here we apply a Tet-On 3G system to DT40 lymphoma B cell lines, validating it for three different genes. Using this tool, we then show that overexpression of the chicken BRC4 repeat of the tumor suppressor BRCA2 impairs cell proliferation and induces chromosomal breaks. Mechanistically, high levels of BRC4 suppress double strand break-induced homologous recombination, inhibit the formation of RAD51 recombination repair foci, reduce cellular resistance to DNA damaging agents and induce a G2 damage checkpoint-mediated cell-cycle arrest. The above phenotypes are mediated by BRC4 capability to bind and inhibit RAD51. The toxicity associated with BRC4 overexpression is exacerbated by chemotherapeutic agents and reversed by RAD51 overexpression, but it is neither aggravated nor suppressed by a deficit in the non-homologous end-joining pathway of double strand break repair. We further find that the endogenous BRCA2 mediates the cytotoxicity associated with BRC4 induction, thus underscoring the possibility that BRC4 or other domains of BRCA2 cooperate with ectopic BRC4 in regulating repair activities or mitotic cell division. In all, the results demonstrate the utility of the Tet-On 3G system in DT40 research and underpin a model in which BRC4 role on cell proliferation and chromosome repair arises primarily from its suppressive role on RAD51 functions. Copyright © 2014 The Authors. Published by Elsevier B.V. All rights reserved.

  20. Design of potent inhibitors of human RAD51 recombinase based on BRC motifs of BRCA2 protein: modeling and experimental validation of a chimera peptide.

    KAUST Repository

    Nomme, Julian; Renodon-Corniè re, Axelle; Asanomi, Yuya; Sakaguchi, Kazuyasu; Stasiak, Alicja Z; Stasiak, Andrzej; Norden, Bengt; Tran, Vinh; Takahashi, Masayuki

    2010-01-01

    We have previously shown that a 28-amino acid peptide derived from the BRC4 motif of BRCA2 tumor suppressor inhibits selectively human RAD51 recombinase (HsRad51). With the aim of designing better inhibitors for cancer treatment, we combined an in silico docking approach with in vitro biochemical testing to construct a highly efficient chimera peptide from eight existing human BRC motifs. We built a molecular model of all BRC motifs complexed with HsRad51 based on the crystal structure of the BRC4 motif-HsRad51 complex, computed the interaction energy of each residue in each BRC motif, and selected the best amino acid residue at each binding position. This analysis enabled us to propose four amino acid substitutions in the BRC4 motif. Three of these increased the inhibitory effect in vitro, and this effect was found to be additive. We thus obtained a peptide that is about 10 times more efficient in inhibiting HsRad51-ssDNA complex formation than the original peptide.

  1. Design of potent inhibitors of human RAD51 recombinase based on BRC motifs of BRCA2 protein: modeling and experimental validation of a chimera peptide.

    KAUST Repository

    Nomme, Julian

    2010-08-01

    We have previously shown that a 28-amino acid peptide derived from the BRC4 motif of BRCA2 tumor suppressor inhibits selectively human RAD51 recombinase (HsRad51). With the aim of designing better inhibitors for cancer treatment, we combined an in silico docking approach with in vitro biochemical testing to construct a highly efficient chimera peptide from eight existing human BRC motifs. We built a molecular model of all BRC motifs complexed with HsRad51 based on the crystal structure of the BRC4 motif-HsRad51 complex, computed the interaction energy of each residue in each BRC motif, and selected the best amino acid residue at each binding position. This analysis enabled us to propose four amino acid substitutions in the BRC4 motif. Three of these increased the inhibitory effect in vitro, and this effect was found to be additive. We thus obtained a peptide that is about 10 times more efficient in inhibiting HsRad51-ssDNA complex formation than the original peptide.

  2. An Indoor Slam Method Based on Kinect and Multi-Feature Extended Information Filter

    Science.gov (United States)

    Chang, M.; Kang, Z.

    2017-09-01

    Based on the frame of ORB-SLAM in this paper the transformation parameters between adjacent Kinect image frames are computed using ORB keypoints, from which priori information matrix and information vector are calculated. The motion update of multi-feature extended information filter is then realized. According to the point cloud data formed by depth image, ICP algorithm was used to extract the point features of the point cloud data in the scene and built an observation model while calculating a-posteriori information matrix and information vector, and weakening the influences caused by the error accumulation in the positioning process. Furthermore, this paper applied ORB-SLAM frame to realize autonomous positioning in real time in interior unknown environment. In the end, Lidar was used to get data in the scene in order to estimate positioning accuracy put forward in this paper.

  3. AN INDOOR SLAM METHOD BASED ON KINECT AND MULTI-FEATURE EXTENDED INFORMATION FILTER

    Directory of Open Access Journals (Sweden)

    M. Chang

    2017-09-01

    Full Text Available Based on the frame of ORB-SLAM in this paper the transformation parameters between adjacent Kinect image frames are computed using ORB keypoints, from which priori information matrix and information vector are calculated. The motion update of multi-feature extended information filter is then realized. According to the point cloud data formed by depth image, ICP algorithm was used to extract the point features of the point cloud data in the scene and built an observation model while calculating a-posteriori information matrix and information vector, and weakening the influences caused by the error accumulation in the positioning process. Furthermore, this paper applied ORB-SLAM frame to realize autonomous positioning in real time in interior unknown environment. In the end, Lidar was used to get data in the scene in order to estimate positioning accuracy put forward in this paper.

  4. Mitigating check valve slamming and subsequentwater hammer events for PPFS using MOC

    International Nuclear Information System (INIS)

    Tian Wenxi; Su Guanghui; Wang Gaopeng; Qiu Suizheng; Xiao Zejun

    2009-01-01

    The method of characteristic (MOC) was adopted to analyze the check valve-induced water hammer behaviors for a Parallel Pumps Feedwater System (PPFS) during the alternate startup process. The motion of check valve disc was simulated using inertial valve model. Transient parameters including the pressure oscillation, local flow velocity and slamming of the check valve disc etc. have been obtained. The results showed that severe slamming between the valve disc and valve seat occurred during the alternate startup of parallel pumps. The induced maximum pressure vibration amplitude is up to 5.0 MPa. The scheme of appending a damping torque to slow down the check valve closing speed was also performed to mitigate of water hammer. It has been numerically approved to be an effective approach. (authors)

  5. Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments.

    Science.gov (United States)

    Trujillo, Juan-Carlos; Munguia, Rodrigo; Guerra, Edmundo; Grau, Antoni

    2018-04-26

    This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation.

  6. Mitigating check valve slamming and subsequentwater hammer events for PPFS using MOC

    Institute of Scientific and Technical Information of China (English)

    TIAN Wenxi; SU Guanghui; WANG Gaopeng; QIU Suizheng; XIAO Zejun

    2009-01-01

    The method of characteristic (MOC) was adopted to analyze the check valve-induced water hammer behaviors for a Parallel Pumps Feedwater System (PPFS) during the alternate startup process. The motion of check valve disc was simulated using inertial valve model. Transient parameters including the pressure oscillation, local flow velocity and slamming of the check valve disc etc. have been obtained. The results showed that severe slamming between the valve disc and valve seat occurred during the alternate startup of parallel pumps. The induced maximum pressure vibration amplitude is up to 5.0 MPa. The scheme of appending a damping torque to slow down the check valve closing speed was also performed to mitigate of water hammer. It has been numerically approved to be an effective approach.

  7. An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks

    Directory of Open Access Journals (Sweden)

    Hyukdoo Choi

    2014-01-01

    Full Text Available In this paper, we present a new indoor 'simultaneous localization and mapping‘ (SLAM technique based on an upward-looking ceiling camera. Adapted from our previous work [17], the proposed method employs sparsely-distributed line and point landmarks in an indoor environment to aid with data association and reduce extended Kalman filter computation as compared with earlier techniques. Further, the proposed method exploits geometric relationships between the two types of landmarks to provide added information about the environment. This geometric information is measured with an upward-looking ceiling camera and is used as a constraint in Kalman filtering. The performance of the proposed ceiling-view (CV SLAM is demonstrated through simulations and experiments. The proposed method performs localization and mapping more accurately than those methods that use the two types of landmarks without taking into account their relative geometries.

  8. The Study of Fractional Order Controller with SLAM in the Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2014-01-01

    Full Text Available We present a fractional order PI controller (FOPI with SLAM method, and the proposed method is used in the simulation of navigation of NAO humanoid robot from Aldebaran. We can discretize the transfer function by the Al-Alaoui generating function and then get the FOPI controller by Power Series Expansion (PSE. FOPI can be used as a correction part to reduce the accumulated error of SLAM. In the FOPI controller, the parameters (Kp,Ki,  and  α need to be tuned to obtain the best performance. Finally, we compare the results of position without controller and with PI controller, FOPI controller. The simulations show that the FOPI controller can reduce the error between the real position and estimated position. The proposed method is efficient and reliable for NAO navigation.

  9. Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

    OpenAIRE

    Zhang, Teng; Wu, Kanzhi; Song, Jingwei; Huang, Shoudong; Dissanayake, Gamini

    2017-01-01

    In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs do not require the restrictive assumption that the Jacobians of the motion and observation models need to be evaluated at the ground truth. It is also shown that the output of RI-EKF is invariant under any stochastic rigid body transformation...

  10. Algorithm of Particle Data Association for SLAM Based on Improved Ant Algorithm

    Directory of Open Access Journals (Sweden)

    KeKe Gen

    2015-01-01

    Full Text Available The article considers a problem of data association algorithm for simultaneous localization and mapping guidelines in determining the route of unmanned aerial vehicles (UAVs. Currently, these equipments are already widely used, but mainly controlled from the remote operator. An urgent task is to develop a control system that allows for autonomous flight. Algorithm SLAM (simultaneous localization and mapping, which allows to predict the location, speed, the ratio of flight parameters and the coordinates of landmarks and obstacles in an unknown environment, is one of the key technologies to achieve real autonomous UAV flight. The aim of this work is to study the possibility of solving this problem by using an improved ant algorithm.The data association for SLAM algorithm is meant to establish a matching set of observed landmarks and landmarks in the state vector. Ant algorithm is one of the widely used optimization algorithms with positive feedback and the ability to search in parallel, so the algorithm is suitable for solving the problem of data association for SLAM. But the traditional ant algorithm in the process of finding routes easily falls into local optimum. Adding random perturbations in the process of updating the global pheromone to avoid local optima. Setting limits pheromone on the route can increase the search space with a reasonable amount of calculations for finding the optimal route.The paper proposes an algorithm of the local data association for SLAM algorithm based on an improved ant algorithm. To increase the speed of calculation, local data association is used instead of the global data association. The first stage of the algorithm defines targets in the matching space and the observed landmarks with the possibility of association by the criterion of individual compatibility (IC. The second stage defines the matched landmarks and their coordinates using improved ant algorithm. Simulation results confirm the efficiency and

  11. Improving visual SLAM by filtering outliers with the aid of optical flow

    OpenAIRE

    Özaslan, Tolga

    2011-01-01

    Ankara : The Department of Computer Engineering and the Graduate School of Engineering and Science of Bilkent University, 2011. Thesis (Master's) -- Bilkent University, 2011. Includes bibliographical references leaves 77-81. Simultaneous Localization and Mapping (SLAM) for mobile robots has been one of the challenging problems for the robotics community. Extensive study of this problem in recent years has somewhat saturated the theoretical and practical background on this to...

  12. Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM.

    Science.gov (United States)

    Lagüela, Susana; Dorado, Iago; Gesto, Manuel; Arias, Pedro; González-Aguilera, Diego; Lorenzo, Henrique

    2018-03-02

    This paper presents a Wearable Prototype for indoor mapping developed by the University of Vigo. The system is based on a Velodyne LiDAR, acquiring points with 16 rays for a simplistic or low-density 3D representation of reality. With this, a Simultaneous Localization and Mapping (3D-SLAM) method is developed for the mapping and generation of 3D point clouds of scenarios deprived from GNSS signal. The quality of the system presented is validated through the comparison with a commercial indoor mapping system, Zeb-Revo, from the company GeoSLAM and with a terrestrial LiDAR, Faro Focus 3D X330. The first is considered as a relative reference with other mobile systems and is chosen due to its use of the same principle for mapping: SLAM techniques based on Robot Operating System (ROS), while the second is taken as ground-truth for the determination of the final accuracy of the system regarding reality. Results show that the accuracy of the system is mainly determined by the accuracy of the sensor, with little increment in the error introduced by the mapping algorithm.

  13. Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM

    Directory of Open Access Journals (Sweden)

    Susana Lagüela

    2018-03-01

    Full Text Available This paper presents a Wearable Prototype for indoor mapping developed by the University of Vigo. The system is based on a Velodyne LiDAR, acquiring points with 16 rays for a simplistic or low-density 3D representation of reality. With this, a Simultaneous Localization and Mapping (3D-SLAM method is developed for the mapping and generation of 3D point clouds of scenarios deprived from GNSS signal. The quality of the system presented is validated through the comparison with a commercial indoor mapping system, Zeb-Revo, from the company GeoSLAM and with a terrestrial LiDAR, Faro Focus3D X330. The first is considered as a relative reference with other mobile systems and is chosen due to its use of the same principle for mapping: SLAM techniques based on Robot Operating System (ROS, while the second is taken as ground-truth for the determination of the final accuracy of the system regarding reality. Results show that the accuracy of the system is mainly determined by the accuracy of the sensor, with little increment in the error introduced by the mapping algorithm.

  14. An approach to robot SLAM based on incremental appearance learning with omnidirectional vision

    Science.gov (United States)

    Wu, Hua; Qin, Shi-Yin

    2011-03-01

    Localisation and mapping with an omnidirectional camera becomes more difficult as the landmark appearances change dramatically in the omnidirectional image. With conventional techniques, it is difficult to match the features of the landmark with the template. We present a novel robot simultaneous localisation and mapping (SLAM) algorithm with an omnidirectional camera, which uses incremental landmark appearance learning to provide posterior probability distribution for estimating the robot pose under a particle filtering framework. The major contribution of our work is to represent the posterior estimation of the robot pose by incremental probabilistic principal component analysis, which can be naturally incorporated into the particle filtering algorithm for robot SLAM. Moreover, the innovative method of this article allows the adoption of the severe distorted landmark appearances viewed with omnidirectional camera for robot SLAM. The experimental results demonstrate that the localisation error is less than 1 cm in an indoor environment using five landmarks, and the location of the landmark appearances can be estimated within 5 pixels deviation from the ground truth in the omnidirectional image at a fairly fast speed.

  15. MO-D-BRC-02: Auto-Planning

    International Nuclear Information System (INIS)

    Xia, P.

    2016-01-01

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical

  16. MO-D-BRC-02: Auto-Planning

    Energy Technology Data Exchange (ETDEWEB)

    Xia, P. [The Cleveland Clinic Foundation (United States)

    2016-06-15

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical.

  17. MO-D-BRC-04: Multiple-Criteria Optimization Planning

    Energy Technology Data Exchange (ETDEWEB)

    Donaghue, J. [Akron General Medical Center (United States)

    2016-06-15

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical.

  18. MO-D-BRC-03: Knowledge-Based Planning

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Q. [Duke University Medical Center (United States)

    2016-06-15

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical.

  19. MO-D-BRC-04: Multiple-Criteria Optimization Planning

    International Nuclear Information System (INIS)

    Donaghue, J.

    2016-01-01

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical

  20. MO-D-BRC-03: Knowledge-Based Planning

    International Nuclear Information System (INIS)

    Wu, Q.

    2016-01-01

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical

  1. WE-G-BRC-02: Risk Assessment for HDR Brachytherapy

    Energy Technology Data Exchange (ETDEWEB)

    Mayadev, J. [UC Davis Comprehensive Cancer Center (United States)

    2016-06-15

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic.

  2. WE-G-BRC-01: Risk Assessment for Radiosurgery

    Energy Technology Data Exchange (ETDEWEB)

    Kim, G. [University of California, San Diego (United States)

    2016-06-15

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic.

  3. WE-G-BRC-02: Risk Assessment for HDR Brachytherapy

    International Nuclear Information System (INIS)

    Mayadev, J.

    2016-01-01

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic

  4. WE-G-BRC-01: Risk Assessment for Radiosurgery

    International Nuclear Information System (INIS)

    Kim, G.

    2016-01-01

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic

  5. Split resonance modes of a AuBRC plasmonic nanosystem caused by the coupling effect

    International Nuclear Information System (INIS)

    Ni, Yuan; Kan, Caixia; Xu, Haiying; Wang, Changshun

    2016-01-01

    A plasmonic nanosystem can give rise to particular optical responses due to a coupling effect. In this work, we investigate the optical properties and field distributions of a novel ‘matrioska’ nanocavity structure composed of a Au nanorod (AuNR) within a nanobox (AuNB) via finite-difference time-domain (FDTD) simulation. This nanocavity can be fabricated by a two-step wet-chemical method. The multiple SPR modes of optical spectrum for nanocavity are caused by the strong interaction between the AuNR-core and AuNB-shell when the incident light is perpendicular or parallel to the long axis of the Au box/rod nanocavity (AuBRC). The SPR modes are known as the dipole–dipole bonding resonance mode in the lower-energy region and the antibonding resonance mode in the higher-energy region. It is proposed that AuBRC can escape the orientation confinement of AuNR because the multiple modes occur and provide a potential application for the enhancement of the photoluminescence signal. Additionally, the SPR modes red-shift with increasing the offset of the AuNR-core, whereas the SPR mode dramatically blue-shifts when the conductive coupling is formed. The intense ‘hot-spot’ could be induced within a small interaction region in the conductive coupled system. The SPR line-shape of high quality would also be promoted. The SPR is highly sensitive to the medium, which is promising in the sensing and detecting devices. (paper)

  6. Seismo-Lineament Analysis Method (SLAM) Applied to the South Napa Earthquake

    Science.gov (United States)

    Worrell, V. E.; Cronin, V. S.

    2014-12-01

    We used the seismo-lineament analysis method (SLAM; http://bearspace.baylor.edu/Vince_Cronin/www/SLAM/) to "predict" the location of the fault that produced the M 6.0 South Napa earthquake of 24 August 2014, using hypocenter and focal mechanism data from NCEDC (http://www.ncedc.org/ncedc/catalog-search.html) and a digital elevation model from the USGS National Elevation Dataset (http://viewer.nationalmap.gov/viewer/). The ground-surface trace of the causative fault (i.e., the Browns Valley strand of the West Napa fault zone; Bryant, 2000, 1982) and virtually all of the ground-rupture sites reported by the USGS and California Geological Survey (http://www.eqclearinghouse.org/2014-08-24-south-napa/) were located within the north-striking seismo-lineament. We also used moment tensors published online by the USGS and GCMT (http://comcat.cr.usgs.gov/earthquakes/eventpage/nc72282711#scientific_moment-tensor) as inputs to SLAM and found that their northwest-striking seismo-lineaments correlated spatially with the causative fault. We concluded that SLAM could have been used as soon as these mechanism solutions were available to help direct the search for the trace of the causative fault and possible rupture-related damage. We then considered whether the seismogenic fault could have been identified using SLAM prior to the 24 August event, based on the focal mechanisms of smaller prior earthquakes reported by the NCEDC or ISC (http://www.isc.ac.uk). Seismo-lineaments from three M~3.5 events from 1990 and 2012, located in the Vallejo-Crockett area, correlate spatially with the Napa County Airport strand of the West Napa fault and extend along strike toward the Browns Valley strand (Bryant, 2000, 1982). Hence, we might have used focal mechanisms from smaller earthquakes to establish that the West Napa fault is likely seismogenic prior to the South Napa earthquake. Early recognition that a fault with a mapped ground-surface trace is seismogenic, based on smaller earthquakes

  7. How employees perceive organizational learning: construct validation of the 25-item short form of the strategic learning assessment map (SF-SLAM)

    NARCIS (Netherlands)

    Mainert, Jakob; Niepel, Christoph; Lans, T.; Greiff, Samuel

    2018-01-01

    Purpose: The Strategic Learning Assessment Map (SLAM) originally assessed organizational learning (OL) at the level of the firm by addressing managers, who rated OL in the SLAM on five dimensions of individual learning, group learning, organizational learning, feed-forward learning, and feedback

  8. SLAM, een transportmodel voor de korte termijn en de korte afstand met als toepassing de beschrijving van de verspreiding van ammoniak

    NARCIS (Netherlands)

    Boermans GMF; van Pul WAJ

    1993-01-01

    SLAM (Short-term Local scale Ammonia transport Model) has been developed to calculate the ammonia concentrations in a multiple source area on a short term (hour) and local scale (100 m up to 15 km). In SLAM the dispersion in the surface layer is modelled using a description given by Gryning et al.

  9. Identification of Key Residues in Virulent Canine Distemper Virus Hemagglutinin That Control CD150/SLAM-Binding Activity▿

    Science.gov (United States)

    Zipperle, Ljerka; Langedijk, Johannes P. M.; Örvell, Claes; Vandevelde, Marc; Zurbriggen, Andreas; Plattet, Philippe

    2010-01-01

    Morbillivirus cell entry is controlled by hemagglutinin (H), an envelope-anchored viral glycoprotein determining interaction with multiple host cell surface receptors. Subsequent to virus-receptor attachment, H is thought to transduce a signal triggering the viral fusion glycoprotein, which in turn drives virus-cell fusion activity. Cell entry through the universal morbillivirus receptor CD150/SLAM was reported to depend on two nearby microdomains located within the hemagglutinin. Here, we provide evidence that three key residues in the virulent canine distemper virus A75/17 H protein (Y525, D526, and R529), clustering at the rim of a large recessed groove created by β-propeller blades 4 and 5, control SLAM-binding activity without drastically modulating protein surface expression or SLAM-independent F triggering. PMID:20631152

  10. LERC-SLAM - THE NASA LEWIS RESEARCH CENTER SATELLITE LINK ATTENUATION MODEL PROGRAM (IBM PC VERSION)

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

    The frequency and intensity of rain attenuation affecting the communication between a satellite and an earth terminal is an important consideration in planning satellite links. The NASA Lewis Research Center Satellite Link Attenuation Model Program (LeRC-SLAM) provides a static and dynamic statistical assessment of the impact of rain attenuation on a communications link established between an earth terminal and a geosynchronous satellite. The program is designed for use in the specification, design and assessment of satellite links for any terminal location in the continental United States. The basis for LeRC-SLAM is the ACTS Rain Attenuation Prediction Model, which uses a log-normal cumulative probability distribution to describe the random process of rain attenuation on satellite links. The derivation of the statistics for the rainrate process at the specified terminal location relies on long term rainfall records compiled by the U.S. Weather Service during time periods of up to 55 years in length. The theory of extreme value statistics is also utilized. The user provides 1) the longitudinal position of the satellite in geosynchronous orbit, 2) the geographical position of the earth terminal in terms of latitude and longitude, 3) the height above sea level of the terminal site, 4) the yearly average rainfall at the terminal site, and 5) the operating frequency of the communications link (within 1 to 1000 GHz, inclusive). Based on the yearly average rainfall at the terminal location, LeRC-SLAM calculates the relevant rain statistics for the site using an internal data base. The program then generates rain attenuation data for the satellite link. This data includes a description of the static (i.e., yearly) attenuation process, an evaluation of the cumulative probability distribution for attenuation effects, and an evaluation of the probability of fades below selected fade depths. In addition, LeRC-SLAM calculates the elevation and azimuth angles of the terminal

  11. LERC-SLAM - THE NASA LEWIS RESEARCH CENTER SATELLITE LINK ATTENUATION MODEL PROGRAM (MACINTOSH VERSION)

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

    The frequency and intensity of rain attenuation affecting the communication between a satellite and an earth terminal is an important consideration in planning satellite links. The NASA Lewis Research Center Satellite Link Attenuation Model Program (LeRC-SLAM) provides a static and dynamic statistical assessment of the impact of rain attenuation on a communications link established between an earth terminal and a geosynchronous satellite. The program is designed for use in the specification, design and assessment of satellite links for any terminal location in the continental United States. The basis for LeRC-SLAM is the ACTS Rain Attenuation Prediction Model, which uses a log-normal cumulative probability distribution to describe the random process of rain attenuation on satellite links. The derivation of the statistics for the rainrate process at the specified terminal location relies on long term rainfall records compiled by the U.S. Weather Service during time periods of up to 55 years in length. The theory of extreme value statistics is also utilized. The user provides 1) the longitudinal position of the satellite in geosynchronous orbit, 2) the geographical position of the earth terminal in terms of latitude and longitude, 3) the height above sea level of the terminal site, 4) the yearly average rainfall at the terminal site, and 5) the operating frequency of the communications link (within 1 to 1000 GHz, inclusive). Based on the yearly average rainfall at the terminal location, LeRC-SLAM calculates the relevant rain statistics for the site using an internal data base. The program then generates rain attenuation data for the satellite link. This data includes a description of the static (i.e., yearly) attenuation process, an evaluation of the cumulative probability distribution for attenuation effects, and an evaluation of the probability of fades below selected fade depths. In addition, LeRC-SLAM calculates the elevation and azimuth angles of the terminal

  12. Hydroelastic slamming of flexible wedges: Modeling and experiments from water entry to exit

    Science.gov (United States)

    Shams, Adel; Zhao, Sam; Porfiri, Maurizio

    2017-03-01

    Fluid-structure interactions during hull slamming are of great interest for the design of aircraft and marine vessels. The main objective of this paper is to establish a semi-analytical model to investigate the entire hydroelastic slamming of a wedge, from the entry to the exit phase. The structural dynamics is described through Euler-Bernoulli beam theory and the hydrodynamic loading is estimated using potential flow theory. A Galerkin method is used to obtain a reduced order modal model in closed-form, and a Newmark-type integration scheme is utilized to find an approximate solution. To benchmark the proposed semi-analytical solution, we experimentally investigate fluid-structure interactions through particle image velocimetry (PIV). PIV is used to estimate the velocity field, and the pressure is reconstructed by solving the incompressible Navier-Stokes equations from PIV data. Experimental results confirm that the flow physics and free-surface elevation during water exit are different from water entry. While water entry is characterized by positive values of the pressure field, with respect to the atmospheric pressure, the pressure field during water exit may be less than atmospheric. Experimental observations indicate that the location where the maximum pressure in the fluid is attained moves from the pile-up region to the keel, as the wedge reverses its motion from the entry to the exit stage. Comparing experimental results with semi-analytical findings, we observe that the model is successful in predicting the free-surface elevation and the overall distribution of the hydrodynamic loading on the wedge. These integrated experimental and theoretical analyses of water exit problems are expected to aid in the design of lightweight structures, which experience repeated slamming events during their operation.

  13. Stranded Fuel, Orphan Sites, Dead Plants: Transportation Planning Considerations After the BRC Report - 13393

    Energy Technology Data Exchange (ETDEWEB)

    Thrower, Alex W. [The Thrower Group LLC, Richmond, VA (United States)

    2013-07-01

    The author explores transportation, packaging and storage questions related to a primary recommendation of the Blue Ribbon Commission on America's Nuclear Future; i.e., that fuel from shutdown plants be removed to consolidated storage as soon as possible to enable final decommissioning and beneficial re-use of those sites. The paper discusses the recommendations of the BRC, the implications and challenges that implementing those recommendations present, and provides recommended solutions for beginning the multi-year planning, coordination, material acquisition, and communications processes that will be needed to move fuel from shutdown plants when a destination site becomes available. Removal of used nuclear fuel from shutdown reactor sites (which are serving no other purpose other than storing SNF and GTCC, at considerable expense) was a central recommendation of the BRC, for a number of reasons. This recommendation was one of the most widely acclaimed that the Commission put forward. However, there are significant challenges (such as availability of fuel canister overpacks, lack of infrastructure, handling constraints and others) that will need to be addressed, apart from the critically important identification of a suitable and workable storage destination site. Resolving these logistical challenges will need to begin even before a destination site is identified, given the long lead-times required for planning and procurement. Based on information available today, it is possible to make informed predictions about what will be needed to modify existing contractual arrangements with utilities, address equipment and infrastructure needs, and begin working with states, tribes and local governments to start initial preparation needs. If DOE, working with industry and other experienced parties, can begin planning and acquisition activities in the near term, overall schedule risk can be reduced and potential cost avoidance achieved. The most immediate benefit will

  14. Stranded Fuel, Orphan Sites, Dead Plants: Transportation Planning Considerations After the BRC Report - 13393

    International Nuclear Information System (INIS)

    Thrower, Alex W.

    2013-01-01

    The author explores transportation, packaging and storage questions related to a primary recommendation of the Blue Ribbon Commission on America's Nuclear Future; i.e., that fuel from shutdown plants be removed to consolidated storage as soon as possible to enable final decommissioning and beneficial re-use of those sites. The paper discusses the recommendations of the BRC, the implications and challenges that implementing those recommendations present, and provides recommended solutions for beginning the multi-year planning, coordination, material acquisition, and communications processes that will be needed to move fuel from shutdown plants when a destination site becomes available. Removal of used nuclear fuel from shutdown reactor sites (which are serving no other purpose other than storing SNF and GTCC, at considerable expense) was a central recommendation of the BRC, for a number of reasons. This recommendation was one of the most widely acclaimed that the Commission put forward. However, there are significant challenges (such as availability of fuel canister overpacks, lack of infrastructure, handling constraints and others) that will need to be addressed, apart from the critically important identification of a suitable and workable storage destination site. Resolving these logistical challenges will need to begin even before a destination site is identified, given the long lead-times required for planning and procurement. Based on information available today, it is possible to make informed predictions about what will be needed to modify existing contractual arrangements with utilities, address equipment and infrastructure needs, and begin working with states, tribes and local governments to start initial preparation needs. If DOE, working with industry and other experienced parties, can begin planning and acquisition activities in the near term, overall schedule risk can be reduced and potential cost avoidance achieved. The most immediate benefit will

  15. SLAM-Aided Stem Mapping for Forest Inventory with Small-Footprint Mobile LiDAR

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-12-01

    Full Text Available Accurately retrieving tree stem location distributions is a basic requirement for biomass estimation of forest inventory. Combining Inertial Measurement Units (IMU with Global Navigation Satellite Systems (GNSS is a commonly used positioning strategy in most Mobile Laser Scanning (MLS systems for accurate forest mapping. Coupled with a tactical or consumer grade IMU, GNSS offers a satisfactory solution in open forest environments, for which positioning accuracy better than one decimeter can be achieved. However, for such MLS systems, positioning in a mature and dense forest is still a challenging task because of the loss of GNSS signals attenuated by thick canopy. Most often laser scanning sensors in MLS systems are used for mapping and modelling rather than positioning. In this paper, we investigate a Simultaneous Localization and Mapping (SLAM-aided positioning solution with point clouds collected by a small-footprint LiDAR. Based on the field test data, we evaluate the potential of SLAM positioning and mapping in forest inventories. The results show that the positioning accuracy in the selected test field is improved by 38% compared to that of a traditional tactical grade IMU + GNSS positioning system in a mature forest environment and, as a result, we are able to produce a unambiguous tree distribution map.

  16. An Approach of Dynamic Object Removing for Indoor Mapping Based on UGV SLAM

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-07-01

    Full Text Available The study of indoor mapping for Location Based Service (LBS becomes more and more popular in recent years. LiDAR SLAM based mapping method seems to be a promising indoor mapping solution. However, there are some dynamic objects such as pedestrians, indoor vehicles, etc. existing in the raw LiDAR range data. They have to be removal for mapping purpose. In this paper, a new approach of dynamic object removing called Likelihood Grid Voting (LGV is presented. It is a model free method and takes full advantage of the high scanning rate of LiDAR, which is moving at a relative low speed in indoor environment. In this method, a counting grid is allocated for recording the occupation of map position by laser scans. The lower counter value of this position can be recognized as dynamic objects and the point cloud will be removed from map. This work is a part of algorithms in our self- developed Unmanned Ground Vehicles (UGV simultaneous localization and Mapping (SLAM system- NAVIS. Field tests are carried in an indoor parking place with NAVIS to evaluate the effectiveness of the proposed method. The result shows that all the small size objects like pedestrians can be detected and removed quickly; large size of objects like cars can be detected and removed partly.

  17. EVALUATING CONTINUOUS-TIME SLAM USING A PREDEFINED TRAJECTORY PROVIDED BY A ROBOTIC ARM

    Directory of Open Access Journals (Sweden)

    B. Koch

    2017-09-01

    Full Text Available Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

  18. Application of real-time single camera SLAM technology for image-guided targeting in neurosurgery

    Science.gov (United States)

    Chang, Yau-Zen; Hou, Jung-Fu; Tsao, Yi Hsiang; Lee, Shih-Tseng

    2012-10-01

    In this paper, we propose an application of augmented reality technology for targeting tumors or anatomical structures inside the skull. The application is a combination of the technologies of MonoSLAM (Single Camera Simultaneous Localization and Mapping) and computer graphics. A stereo vision system is developed to construct geometric data of human face for registration with CT images. Reliability and accuracy of the application is enhanced by the use of fiduciary markers fixed to the skull. The MonoSLAM keeps track of the current location of the camera with respect to an augmented reality (AR) marker using the extended Kalman filter. The fiduciary markers provide reference when the AR marker is invisible to the camera. Relationship between the markers on the face and the augmented reality marker is obtained by a registration procedure by the stereo vision system and is updated on-line. A commercially available Android based tablet PC equipped with a 320×240 front-facing camera was used for implementation. The system is able to provide a live view of the patient overlaid by the solid models of tumors or anatomical structures, as well as the missing part of the tool inside the skull.

  19. Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse

    Directory of Open Access Journals (Sweden)

    El Houssein Chouaib Harik

    2018-05-01

    Full Text Available The key factor for autonomous navigation is efficient perception of the surroundings, while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied environment typical for a greenhouse. The Hector Simultaneous Localization and Mapping (SLAM approach is used in order to estimate the robots’ pose using a LIght Detection And Ranging (LIDAR sensor. Waypoint following and obstacle avoidance are ensured by means of a new artificial potential field (APF controller presented in this paper. The combination of the Hector SLAM and the APF controller allows the mobile robot to perform periodic tasks that require autonomous navigation between predefined waypoints. It also provides the mobile robot with a robustness to changing conditions that may occur inside the greenhouse, caused by the dynamic of plant development through the season. In this study, we show that the robot is safe to operate autonomously with a human presence, and that in contrast to classical odometry methods, no calibration is needed for repositioning the robot over repetitive runs. We include here both hardware and software descriptions, as well as simulation and experimental results.

  20. a Preliminary Work on Layout Slam for Reconstruction of Indoor Corridor Environments

    Science.gov (United States)

    Baligh Jahromi, A.; Sohn, G.; Shahbazi, M.; Kang, J.

    2017-09-01

    We propose a real time indoor corridor layout estimation method based on visual Simultaneous Localization and Mapping (SLAM). The proposed method adopts the Manhattan World Assumption at indoor spaces and uses the detected single image straight line segments and their corresponding orthogonal vanishing points to improve the feature matching scheme in the adopted visual SLAM system. Using the proposed real time indoor corridor layout estimation method, the system is able to build an online sparse map of structural corner point features. The challenges presented by abrupt camera rotation in the 3D space are successfully handled through matching vanishing directions of consecutive video frames on the Gaussian sphere. Using the single image based indoor layout features for initializing the system, permitted the proposed method to perform real time layout estimation and camera localization in indoor corridor areas. For layout structural corner points matching, we adopted features which are invariant under scale, translation, and rotation. We proposed a new feature matching cost function which considers both local and global context information. The cost function consists of a unary term, which measures pixel to pixel orientation differences of the matched corners, and a binary term, which measures the amount of angle differences between directly connected layout corner features. We have performed the experiments on real scenes at York University campus buildings and the available RAWSEEDS dataset. The incoming results depict that the proposed method robustly performs along with producing very limited position and orientation errors.

  1. Evaluating Continuous-Time Slam Using a Predefined Trajectory Provided by a Robotic Arm

    Science.gov (United States)

    Koch, B.; Leblebici, R.; Martell, A.; Jörissen, S.; Schilling, K.; Nüchter, A.

    2017-09-01

    Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

  2. Pseudolinear Model Based Solution to the SLAM Problem of Nonholonomic Mobile Robots

    Science.gov (United States)

    Pathiranage, Chandima Dedduwa; Watanabe, Keigo; Izumi, Kiyotaka

    This paper describes an improved solution to the simultaneous localization and mapping (SLAM) problem based on pseudolinear models. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear model based Kalman filter (PLKF) state estimator is introduced. A less error prone vehicle process model is proposed to improve the accuracy and the faster convergence of state estimation. Evolution of vehicle motion is modeled using vehicle frame translation derived from successive dead reckoned poses as a control input. A measurement model with two sensor frames is proposed to improve the data association. The PLKF-based SLAM algorithm is simulated using Matlab for vehicle-landmarks system and results show that the proposed approach performs much accurately compared to the well known extended Kalman filter (EKF).

  3. Laser-Based Slam with Efficient Occupancy Likelihood Map Learning for Dynamic Indoor Scenes

    Science.gov (United States)

    Li, Li; Yao, Jian; Xie, Renping; Tu, Jinge; Feng, Chen

    2016-06-01

    Location-Based Services (LBS) have attracted growing attention in recent years, especially in indoor environments. The fundamental technique of LBS is the map building for unknown environments, this technique also named as simultaneous localization and mapping (SLAM) in robotic society. In this paper, we propose a novel approach for SLAMin dynamic indoor scenes based on a 2D laser scanner mounted on a mobile Unmanned Ground Vehicle (UGV) with the help of the grid-based occupancy likelihood map. Instead of applying scan matching in two adjacent scans, we propose to match current scan with the occupancy likelihood map learned from all previous scans in multiple scales to avoid the accumulation of matching errors. Due to that the acquisition of the points in a scan is sequential but not simultaneous, there unavoidably exists the scan distortion at different extents. To compensate the scan distortion caused by the motion of the UGV, we propose to integrate a velocity of a laser range finder (LRF) into the scan matching optimization framework. Besides, to reduce the effect of dynamic objects such as walking pedestrians often existed in indoor scenes as much as possible, we propose a new occupancy likelihood map learning strategy by increasing or decreasing the probability of each occupancy grid after each scan matching. Experimental results in several challenged indoor scenes demonstrate that our proposed approach is capable of providing high-precision SLAM results.

  4. SLAM: a fast high volume additive manufacturing concept by impact welding; application to Ti6Al4V alloy

    NARCIS (Netherlands)

    Wentzel, C.M.; Carton, E.P.; Kloosterman, A.

    2006-01-01

    Against the manufacturing requirement for both lower lead time and reduced machining time for titanium components, a new concept was conceived assembling sheet material and other stock into semi finished parts by (explosive) impact welding. It is believed that this concept (which we named SLAM)

  5. Map generation in unknown environments by AUKF-SLAM using line segment-type and point-type landmarks

    Science.gov (United States)

    Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

    2018-02-01

    Recently, autonomous mobile robots that collect information at disaster sites are being developed. Since it is difficult to obtain maps in advance in disaster sites, the robots being capable of autonomous movement under unknown environments are required. For this objective, the robots have to build maps, as well as the estimation of self-location. This is called a SLAM problem. In particular, AUKF-SLAM which uses corners in the environment as point-type landmarks has been developed as a solution method so far. However, when the robots move in an environment like a corridor consisting of few point-type features, the accuracy of self-location estimated by the landmark is decreased and it causes some distortions in the map. In this research, we propose AUKF-SLAM which uses walls in the environment as a line segment-type landmark. We demonstrate that the robot can generate maps in unknown environment by AUKF-SLAM, using line segment-type and point-type landmarks.

  6. Low-level and narm radioactive wastes. Model documentation: PRESTO-EPA-BRC. Methodology and user's manual. Final report

    International Nuclear Information System (INIS)

    Rogers, V.; Hung, C.

    1987-12-01

    The PRESTO-EPA-BRC model was used to assess the cumulative population health effects (including fatal cancer deaths and serious genetic effects) to the general population residing in the downstream regional water basin as a result of the disposal of LLW in an unregulated sanitary landfill. The model is considered a member of the PRESTO-EPA family of models. The model is modified from the PRESTO-EPA-POP model primarily on the addition of the radionuclide transport pathways in the biosphere including: (1) workers' and visitors' dust exposures; (2) population exposures from incinerator releases; (3) workers' and visitors' gamma exposure; and, (4) onsite farming

  7. Using SLAM to Look For the Dog Valley Fault, Truckee Area, California

    Science.gov (United States)

    Cronin, V. S.; Ashburn, J. A.; Sverdrup, K. A.

    2014-12-01

    The Truckee earthquake (9/12/1966, ML6.0) was a left-lateral event on a previously unrecognized NW-trending fault. The Prosser Creek and Boca Dams sustained damage, and the trace of the suspected causative fault passes near or through the site of the then-incomplete Stampede Dam. Another M6 earthquake occurred along the same general trend in 1948 with an epicenter in Dog Valley ~14 km to the NW of the 1966 epicenter. This trend is called the Dog Valley Fault (DVF), and its location on the ground surface is suggested by a prominent but broad zone of geomorphic lineaments near the cloud of aftershock epicenters determined for the 1966 event. Various ground effects of the 1966 event described by Kachadoorian et al. (1967) were located within this broad zone. The upper shoreface of reservoirs in the Truckee-Prosser-Martis basin are now exposed due to persistent drought. We have examined fault strands in a roadcut and exposed upper shoreface adjacent to the NE abutment of Stampede Dam. These are interpreted to be small-displacement splays associated with the DVF -- perhaps elements of the DVF damage zone. We have used the Seismo-Lineament Analysis Method (SLAM) to help us constrain the location of the DVF, based on earthquake focal mechanisms. Seismo-lineaments were computed, using recent revisions in the SLAM code (bearspace.baylor.edu/Vince_Cronin/www/SLAM/), for the 1966 main earthquake and for the better-recorded earthquakes of 7/3/1983 (M4) and 8/30/1992 (M3.2) that are inferred to have occurred along the DVF. Associated geomorphic analysis and some field reconnaissance identified a trend that might be associated with a fault, extending from the NW end of Prosser Creek Reservoir ~32° toward the Stampede Dam area. Triangle-strain analysis using horizontal velocities of local Plate Boundary Observatory GPS sites P146, P149, P150 and SLID indicates that the area rotates clockwise ~1-2°/Myr relative to the stable craton, as might be expected because the study area is

  8. Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

    International Nuclear Information System (INIS)

    Park, Byeolteo; Myung, Hyun

    2014-01-01

    With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments. (paper)

  9. Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

    Science.gov (United States)

    Park, Byeolteo; Myung, Hyun

    2014-12-01

    With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments.

  10. Check valve slam caused by air intrusion in emergency cooling water system

    International Nuclear Information System (INIS)

    Martin, C.S.

    2011-01-01

    Waterhammer pressures were experienced during periodic starting of Residual Heat Removal (RHR) pumps at a nuclear plant. Prior to an analytical investigation careful analysis performed by plant engineers indicated that the spring effect of entrapped air in a heat exchanger resulted in water hammer due to check valve slam following flow reversal. In order to determine in more detail the values of pertinent parameters controlling this water hammer a hydraulic transient analysis was performed of the RHR piping system, including essential elements such as the pump, check valve, and heat exchanger. Using characteristic torque and pressure loss curves the motion of the check valve was determined. By comparing output of the water hammer analysis with site recordings of pump discharge pressure the computer model was calibrated, allowing for a realistic estimate of the quantity of entrapped air in the heat exchanger. (author)

  11. Slam Dunk

    Science.gov (United States)

    Herek, Matthew

    2011-01-01

    There's nothing like a worldwide financial meltdown to kick-start an alumni association's career networking offerings. In 2009, the Northwestern University alumni board provided clear direction to its regional affiliates and to the full-time staff working at the Evanston, Illinois, campus: Develop ways to purposefully connect alumni with each…

  12. Isolation and characterization of a novel native Bacillus thuringiensis strain BRC-HZM2 capable of degrading chlorpyrifos.

    Science.gov (United States)

    Wu, Songqing; Peng, Yan; Huang, Zhangmin; Huang, Zhipeng; Xu, Lei; Ivan, Gelbič; Guan, Xiong; Zhang, Lingling; Zou, Shuangquan

    2015-03-01

    Studies were carried out to isolate chlorpyrifos degrading Bacillus thuringiensis (Bt) strains from chlorpyrifos-contaminated samples. Six Bt strains (isolation rate 2.7%) were isolated by modified sodium acetate antibiotic heat treatment, and one novel strain (BRC-HZM2) was selected for further analysis. Phenotype and phylogeny analysis of this strain was conducted on the basis of biochemical reactions, antibiotic sensitivity, 16s rRNA genes, plasmid profile, insecticidal crystal protein profiles, and PCR-RFLP for cry and cyt genes. The degradation rate of chlorpyrifos in liquid culture was estimated during 48 h of incubation for the isolate BRC-HZM2. More than 50% of the initial chlorpyrifos concentration degraded within 12 h, 88.9% after 48 h. These results highlight the potential of the Bt strain for biological control and the bioremediation of environments contaminated with chlorpyrifos. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  13. a Fast and Flexible Method for Meta-Map Building for Icp Based Slam

    Science.gov (United States)

    Kurian, A.; Morin, K. W.

    2016-06-01

    Recent developments in LiDAR sensors make mobile mapping fast and cost effective. These sensors generate a large amount of data which in turn improves the coverage and details of the map. Due to the limited range of the sensor, one has to collect a series of scans to build the entire map of the environment. If we have good GNSS coverage, building a map is a well addressed problem. But in an indoor environment, we have limited GNSS reception and an inertial solution, if available, can quickly diverge. In such situations, simultaneous localization and mapping (SLAM) is used to generate a navigation solution and map concurrently. SLAM using point clouds possesses a number of computational challenges even with modern hardware due to the shear amount of data. In this paper, we propose two strategies for minimizing the cost of computation and storage when a 3D point cloud is used for navigation and real-time map building. We have used the 3D point cloud generated by Leica Geosystems's Pegasus Backpack which is equipped with Velodyne VLP-16 LiDARs scanners. To improve the speed of the conventional iterative closest point (ICP) algorithm, we propose a point cloud sub-sampling strategy which does not throw away any key features and yet significantly reduces the number of points that needs to be processed and stored. In order to speed up the correspondence finding step, a dual kd-tree and circular buffer architecture is proposed. We have shown that the proposed method can run in real time and has excellent navigation accuracy characteristics.

  14. A FAST AND FLEXIBLE METHOD FOR META-MAP BUILDING FOR ICP BASED SLAM

    Directory of Open Access Journals (Sweden)

    A. Kurian

    2016-06-01

    Full Text Available Recent developments in LiDAR sensors make mobile mapping fast and cost effective. These sensors generate a large amount of data which in turn improves the coverage and details of the map. Due to the limited range of the sensor, one has to collect a series of scans to build the entire map of the environment. If we have good GNSS coverage, building a map is a well addressed problem. But in an indoor environment, we have limited GNSS reception and an inertial solution, if available, can quickly diverge. In such situations, simultaneous localization and mapping (SLAM is used to generate a navigation solution and map concurrently. SLAM using point clouds possesses a number of computational challenges even with modern hardware due to the shear amount of data. In this paper, we propose two strategies for minimizing the cost of computation and storage when a 3D point cloud is used for navigation and real-time map building. We have used the 3D point cloud generated by Leica Geosystems's Pegasus Backpack which is equipped with Velodyne VLP-16 LiDARs scanners. To improve the speed of the conventional iterative closest point (ICP algorithm, we propose a point cloud sub-sampling strategy which does not throw away any key features and yet significantly reduces the number of points that needs to be processed and stored. In order to speed up the correspondence finding step, a dual kd-tree and circular buffer architecture is proposed. We have shown that the proposed method can run in real time and has excellent navigation accuracy characteristics.

  15. Do antidepressants increase the risk of mania and bipolar disorder in people with depression? A retrospective electronic case register cohort study

    OpenAIRE

    Patel, Rashmi; Reiss, Peter; Shetty, Hitesh; Broadbent, Matthew; Stewart, Robert; McGuire, Philip; Taylor, Matthew

    2015-01-01

    Objectives To investigate the association between antidepressant therapy and the later onset of mania/bipolar disorder.Design Retrospective cohort study using an anonymised electronic health record case register.Setting South London and Maudsley National Health Service (NHS) Trust (SLaM), a large provider of inpatient and community mental healthcare in the UK.Participants 21 012 adults presenting to SLaM between 1 April 2006 and 31 March 2013 with unipolar depression.Exposure Prior antidepres...

  16. A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments.

    Science.gov (United States)

    López, Elena; García, Sergio; Barea, Rafael; Bergasa, Luis M; Molinos, Eduardo J; Arroyo, Roberto; Romera, Eduardo; Pardo, Samuel

    2017-04-08

    One of the main challenges of aerial robots navigation in indoor or GPS-denied environments is position estimation using only the available onboard sensors. This paper presents a Simultaneous Localization and Mapping (SLAM) system that remotely calculates the pose and environment map of different low-cost commercial aerial platforms, whose onboard computing capacity is usually limited. The proposed system adapts to the sensory configuration of the aerial robot, by integrating different state-of-the art SLAM methods based on vision, laser and/or inertial measurements using an Extended Kalman Filter (EKF). To do this, a minimum onboard sensory configuration is supposed, consisting of a monocular camera, an Inertial Measurement Unit (IMU) and an altimeter. It allows to improve the results of well-known monocular visual SLAM methods (LSD-SLAM and ORB-SLAM are tested and compared in this work) by solving scale ambiguity and providing additional information to the EKF. When payload and computational capabilities permit, a 2D laser sensor can be easily incorporated to the SLAM system, obtaining a local 2.5D map and a footprint estimation of the robot position that improves the 6D pose estimation through the EKF. We present some experimental results with two different commercial platforms, and validate the system by applying it to their position control.

  17. The Effect of Slamming Impact on Out-of-Autoclave Cured Prepregs of GFRP Composite Panels for Hulls

    OpenAIRE

    Suárez, J.C.; Townsend, P.; Sanz, E.; Ulzurrum, I. Diez de; Pinilla, P.

    2016-01-01

    This paper proposes a methodology that employs an experimental apparatus that reproduces, in pre-impregnated and cured out-of-autoclave Glass Fiber Reinforced Polymer (GFRP) panels, the phenomenon of slamming or impact on the bottom of a high-speed boat during planing. The pressure limits in the simulation are defined by employing a finite element model (FEM) that evaluates the forces applied by the cam that hits the panels in the apparatus via microdeformations obtained in the simulation. Th...

  18. Line Segmentation of 2d Laser Scanner Point Clouds for Indoor Slam Based on a Range of Residuals

    Science.gov (United States)

    Peter, M.; Jafri, S. R. U. N.; Vosselman, G.

    2017-09-01

    Indoor mobile laser scanning (IMLS) based on the Simultaneous Localization and Mapping (SLAM) principle proves to be the preferred method to acquire data of indoor environments at a large scale. In previous work, we proposed a backpack IMLS system containing three 2D laser scanners and an according SLAM approach. The feature-based SLAM approach solves all six degrees of freedom simultaneously and builds on the association of lines to planes. Because of the iterative character of the SLAM process, the quality and reliability of the segmentation of linear segments in the scanlines plays a crucial role in the quality of the derived poses and consequently the point clouds. The orientations of the lines resulting from the segmentation can be influenced negatively by narrow objects which are nearly coplanar with walls (like e.g. doors) which will cause the line to be tilted if those objects are not detected as separate segments. State-of-the-art methods from the robotics domain like Iterative End Point Fit and Line Tracking were found to not handle such situations well. Thus, we describe a novel segmentation method based on the comparison of a range of residuals to a range of thresholds. For the definition of the thresholds we employ the fact that the expected value for the average of residuals of n points with respect to the line is σ / √n. Our method, as shown by the experiments and the comparison to other methods, is able to deliver more accurate results than the two approaches it was tested against.

  19. LINE SEGMENTATION OF 2D LASER SCANNER POINT CLOUDS FOR INDOOR SLAM BASED ON A RANGE OF RESIDUALS

    Directory of Open Access Journals (Sweden)

    M. Peter

    2017-09-01

    Full Text Available Indoor mobile laser scanning (IMLS based on the Simultaneous Localization and Mapping (SLAM principle proves to be the preferred method to acquire data of indoor environments at a large scale. In previous work, we proposed a backpack IMLS system containing three 2D laser scanners and an according SLAM approach. The feature-based SLAM approach solves all six degrees of freedom simultaneously and builds on the association of lines to planes. Because of the iterative character of the SLAM process, the quality and reliability of the segmentation of linear segments in the scanlines plays a crucial role in the quality of the derived poses and consequently the point clouds. The orientations of the lines resulting from the segmentation can be influenced negatively by narrow objects which are nearly coplanar with walls (like e.g. doors which will cause the line to be tilted if those objects are not detected as separate segments. State-of-the-art methods from the robotics domain like Iterative End Point Fit and Line Tracking were found to not handle such situations well. Thus, we describe a novel segmentation method based on the comparison of a range of residuals to a range of thresholds. For the definition of the thresholds we employ the fact that the expected value for the average of residuals of n points with respect to the line is σ / √n. Our method, as shown by the experiments and the comparison to other methods, is able to deliver more accurate results than the two approaches it was tested against.

  20. A negative search of acute canine distemper virus infection in DogSLAM transgenic C57BL/6 mice

    Directory of Open Access Journals (Sweden)

    Somporn Techangamsuwan

    2010-12-01

    Full Text Available Canine distemper is a highly contagious and immunosuppressive viral disease caused by canine distemper virus(CDV, an enveloped RNA virus of the family Paramyxoviridae. The susceptible host spectrum of CDV is broad andincludes all families of the order Carnivora. To accomplish the infection, CDV requires an expression of signaling lymphocyteactivation molecule (SLAM functioning as a cellular receptor which generally presents in a variety of different lymphoid cellsubpopulations, including immature thymocytes, primary B cells, activated T cells, memory T cells, macrophages and maturedendritic cells. The distribution of SLAM-presenting cells is in accordance with the lymphotropism and immunosuppressionfollowing morbillivirus infection. In the present study, the C57BL/6 mice engrafted with dog-specific SLAM sequence(DogSLAM were used. The weanling (3-week-old transgenic offspring C57BL/6 mice were infected with CDV Snyder Hill(CDV-SH strain via the intranasal (n=6, intracerebral (n=6 and intraperitoneal (n=5 routes. Clinical signs, hematology,histopathology, immunohistochemistry, virus isolation and RT-PCR were observed for two weeks post infection. Resultsshowed that CDV-SH-inoculated transgenic mice displayed mild-to-moderate congestion of various organs (brain, lung,spleen, kidney, lymph node, and adrenal gland. By means of immunohistochemistry, virus isolation and RT-PCR, CDV couldnot be detected. The evidence of CDV infection in this study could not be demonstrated in acute phase. Even though thetransgenic mouse is not a suitable animal model for CDV, or a longer incubation period is prerequisite, it needs to be clarifiedin a future study.

  1. [Food Security in Europe: comparison between the "Hygiene Package" and the British Retail Consortium (BRC) & International Food Standard (IFS) protocols].

    Science.gov (United States)

    Stilo, A; Parisi, S; Delia, S; Anastasi, F; Bruno, G; Laganà, P

    2009-01-01

    The birth of Hygiene Package and of the Reg. CE no 2073/2005 in the food production field signalled a change in Italy. This process started in Italy in 1997 with the legislative decree no 155 on Self-control but in reality, it was implemented in the UK in 1990 with the promulgation of the Food Safety Act. This legal act was influenced by some basic rules corresponding to the application of HACCP standards. Since 1990 the British chains of distribution (Retailers) have involved all aspects of the food line in this type of responsibility. Due to this growing awareness for a need for greater regulation, a protocol, edited by British Retail Consortium was created in 1998. This protocol acted as a "stamp" of approval for food products and it is now known as the BRC Global Food Standard. In July 2008, this protocol became effective in its fifth version. After the birth of BRC, also French and German Retailers have established a standard practically equivalent and perhaps more pertinent to safety food, that is International Food Standard (IFS). The new approach is specific to the food field and strictly applies criteria which will ensure "safety, quality and legality" of food products, similarly to ISO 22000:2005 (mainly based on BRC & IFS past experiences). New standards aim to create a sort of green list with fully "proper and fit" Suppliers only, because of comprehensible exigencies of Retailers. It is expected, as we have shown, that Auditor authorities who are responsible for ensuring that inspections are now carried out like the Hygiene Package, will find these new standards useful. The advantages of streamlining this system is that it will allow enterprises to diligently enforce food safety practices without fear of upset or legal consequence, to improve the quality (HACCP) of management & traceability system; to restrict wastes, reprocessing and withdrawal of products. However some discordances about the interpretation of certain sub-field norms (e.g., water

  2. On-patient see-through augmented reality based on visual SLAM.

    Science.gov (United States)

    Mahmoud, Nader; Grasa, Óscar G; Nicolau, Stéphane A; Doignon, Christophe; Soler, Luc; Marescaux, Jacques; Montiel, J M M

    2017-01-01

    An augmented reality system to visualize a 3D preoperative anatomical model on intra-operative patient is proposed. The hardware requirement is commercial tablet-PC equipped with a camera. Thus, no external tracking device nor artificial landmarks on the patient are required. We resort to visual SLAM to provide markerless real-time tablet-PC camera location with respect to the patient. The preoperative model is registered with respect to the patient through 4-6 anchor points. The anchors correspond to anatomical references selected on the tablet-PC screen at the beginning of the procedure. Accurate and real-time preoperative model alignment (approximately 5-mm mean FRE and TRE) was achieved, even when anchors were not visible in the current field of view. The system has been experimentally validated on human volunteers, in vivo pigs and a phantom. The proposed system can be smoothly integrated into the surgical workflow because it: (1) operates in real time, (2) requires minimal additional hardware only a tablet-PC with camera, (3) is robust to occlusion, (4) requires minimal interaction from the medical staff.

  3. SLAM-seq defines direct gene-regulatory functions of the BRD4-MYC axis.

    Science.gov (United States)

    Muhar, Matthias; Ebert, Anja; Neumann, Tobias; Umkehrer, Christian; Jude, Julian; Wieshofer, Corinna; Rescheneder, Philipp; Lipp, Jesse J; Herzog, Veronika A; Reichholf, Brian; Cisneros, David A; Hoffmann, Thomas; Schlapansky, Moritz F; Bhat, Pooja; von Haeseler, Arndt; Köcher, Thomas; Obenauf, Anna C; Popow, Johannes; Ameres, Stefan L; Zuber, Johannes

    2018-05-18

    Defining direct targets of transcription factors and regulatory pathways is key to understanding their roles in physiology and disease. We combined SLAM-seq [thiol(SH)-linked alkylation for the metabolic sequencing of RNA], a method for direct quantification of newly synthesized messenger RNAs (mRNAs), with pharmacological and chemical-genetic perturbation in order to define regulatory functions of two transcriptional hubs in cancer, BRD4 and MYC, and to interrogate direct responses to BET bromodomain inhibitors (BETis). We found that BRD4 acts as general coactivator of RNA polymerase II-dependent transcription, which is broadly repressed upon high-dose BETi treatment. At doses triggering selective effects in leukemia, BETis deregulate a small set of hypersensitive targets including MYC. In contrast to BRD4, MYC primarily acts as a selective transcriptional activator controlling metabolic processes such as ribosome biogenesis and de novo purine synthesis. Our study establishes a simple and scalable strategy to identify direct transcriptional targets of any gene or pathway. Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

  4. Slamming pressures on the bottom of a free-falling vertical wedge

    Science.gov (United States)

    Ikeda, C. M.; Judge, C. Q.

    2013-11-01

    High-speed planing boats are subjected to repeat impacts due to slamming, which can cause structural damage and injury to passengers. A first step in understanding and predicting the physics of a craft re-entering the water after becoming partially airborne is an experimental vertical drop test of a prismastic wedge (deadrise angle, β =20° beam, B = 300 mm; and length, L = 600 mm). The acrylic wedge was mounted to a rig allowing it to free-fall into a deep-water tank (5.2m × 5.2m × 4.2m deep) from heights 0 camera (1000 fps, resolution of 1920 × 1200 pixels) is mounted above the wedge model to record the wetted surface as the wedge descended below the free surface. The pressure measurements taken with both conventional surface pressure transducers and the pressure mapping system agree within 10% of the peak pressure values (0.7 bar, typical). Supported by the Office of Naval Research.

  5. Numerical Evaluation of Dynamic Response for Flexible Composite Structures under Slamming Impact for Naval Applications

    Science.gov (United States)

    Hassoon, O. H.; Tarfaoui, M.; El Moumen, A.; Benyahia, H.; Nachtane, M.

    2018-06-01

    The deformable composite structures subjected to water-entry impact can be caused a phenomenon called hydroelastic effect, which can modified the fluid flow and estimated hydrodynamic loads comparing with rigid body. This is considered very important for ship design engineers to predict the global and the local hydrodynamic loads. This paper presents a numerical model to simulate the slamming water impact of flexible composite panels using an explicit finite element method. In order to better describe the hydroelastic influence and mechanical properties, composite materials panels with different stiffness and under different impact velocities with deadrise angle of 100 have been studied. In the other hand, the inertia effect was observed in the early stage of the impact that relative to the loading rate. Simulation results have been indicated that the lower stiffness panel has a higher hydroelastic effect and becomes more important when decreasing of the deadrise angle and increasing the impact velocity. Finally, the simulation results were compared with the experimental data and the analytical approaches of the rigid body to describe the behavior of the hydroelastic influence.

  6. A Precise and Real-Time Loop-closure Detection for SLAM Using the RSOM Tree

    Directory of Open Access Journals (Sweden)

    Siyang Song

    2015-06-01

    Full Text Available In robotic applications of visual simultaneous localization and mapping (SLAM techniques, loop-closure detection detects whether or not a current location has previously been visited. We present an online and incremental approach to detect loops when images come from an already visited scene and learn new information from the environment. Instead of utilizing a bag-of-words model, the attributed graph model is applied to represent images and measure the similarity between pairs of images in our method. In order to position a camera in visual environments in real-time, the method demands retrieval of images from the database through a clustering tree that we call RSOM (recursive self-organizing feature map. As long as the match is found between the current graph and several graphs in the database, a threshold will be chosen to judge whether loop-closure is accepted or rejected. The results demonstrate the method's accuracy and real-time performance by testing several videos collected from a digital camera fixed on vehicles in indoor and outdoor environments.

  7. Study of check valve slamming in a BWR feedwater system following a postulated pipe break

    International Nuclear Information System (INIS)

    Safwat, H.H.; Arastu, A.H.; Norman, A.

    1985-01-01

    This study deals with a swing check valve slamming due to a break at relatively short distance from the valve. Under this situation, substantial flashing occurs near the valve and the result of the study are subject to what is believed to be a conservative simplifying assumption, i.e., the hydrodynamic moment acting on the valve during the transient is represented by resultant moment due to the pressure differential across the valve. It is believed that vapor voids forming at the valve would actually reduce the disk impact velocities in comparison to those predicted under this simplifying assumption. A technique used to represent a double-ended break through hypothetical valves may have some influence on the results particularly for long break opening times. The study has yielded good insight to help understand the complex problem. The study has focused on some parameters and the reader may raise questions on the effects of other parameters. Nevertheless, the present study underlines the complexity facing analysts dealing with this transient using analytical methods. Though some experimental data are available, the authors believe that an experimental study (recognizing the complexity of the experimental setup and instrumentation), would be quite useful. It can provide answers to questions facing analysts dealing with this problem and thus avoid unnecessary conservatisms due to uncertainties in input data

  8. Enhancement of 2,3-butanediol production from Jerusalem artichoke tuber extract by a recombinant Bacillus sp. strain BRC1 with increased inulinase activity.

    Science.gov (United States)

    Park, Jang Min; Oh, Baek-Rock; Kang, In Yeong; Heo, Sun-Yeon; Seo, Jeong-Woo; Park, Seung-Moon; Hong, Won-Kyung; Kim, Chul Ho

    2017-07-01

    A Bacillus sp. strain named BRC1 is capable of producing 2,3-butanediol (2,3-BD) using hydrolysates of the Jerusalem artichoke tuber (JAT), a rich source of the fructose polymer inulin. To enhance 2,3-BD production, we undertook an extensive analysis of the Bacillus sp. BRC1 genome, identifying a putative gene (sacC) encoding a fructan hydrolysis enzyme and characterizing the activity of the resulting recombinant protein expressed in and purified from Escherichia coli. Introduction of the sacC gene into Bacillus sp. BRC1 using an expression vector increased enzymatic activity more than twofold. Consistent with this increased enzyme expression, 2,3-BD production from JAT was also increased from 3.98 to 8.10 g L -1 . Fed-batch fermentation of the recombinant strain produced a maximal level of 2,3-BD production of 28.6 g L -1 , showing a high theoretical yield of 92.3%.

  9. Patients as teachers, medical students as filmmakers: the video slam, a pilot study.

    Science.gov (United States)

    Shapiro, Dan; Tomasa, Lynne; Koff, Nancy Alexander

    2009-09-01

    In 2006-2007 and 2007-2008, the authors pilot-tested a filmmaking project, (medical students filmed patients) to assess the project's potential to teach about the challenges of living with serious chronic illness. Two years of second-year medical students (N = 32) from The University of Arizona, working in groups of two or three, were paired with patients and filmed multiple home visits during eight months. Students edited their films to 7 to 10 minutes and added transitions, titles, and music. A mixed audience of students and faculty viewed the resulting 12 films in a "Video Slam." Faculty also used the films in the formal curriculum to illustrate teaching points related to chronic illness. Student filmmakers, on average, made 4.4 visits, collected 5.6 hours of film, and edited for 26.6 hours. Students reported that the project affected what they planned to cover in clinic visits, increased their plans to involve patients in care, enhanced their appreciation for patient-centered care, improved their knowledge of community resources, improved their understanding of allied health professionals' roles, and taught them about patients' innovative adaptations. Overall, students rated the project highly for its impact on their education (mean = 4.52 of 5). Student and faculty viewers of the films (N = 74) found the films compelling (mean = 4.95 of 5) and informative (mean = 4.93 of 5). The authors encountered the ethical dilemmas of deciding who controls the patients' recorded stories and navigating between patient anonymity/confidentiality and allowing patients to use their stories to teach.

  10. SLAM family markers are conserved among hematopoietic stem cells from old and reconstituted mice and markedly increase their purity.

    Science.gov (United States)

    Yilmaz, Omer H; Kiel, Mark J; Morrison, Sean J

    2006-02-01

    Recent advances have increased the purity of hematopoietic stem cells (HSCs) isolated from young mouse bone marrow. However, little attention has been paid to the purity of HSCs from other contexts. Although Thy-1 low Sca-1+ Lineage- c-kit+ cells from young bone marrow are highly enriched for HSCs (1 in 5 cells gives long-term multilineage reconstitution after transplantation into irradiated mice), the same population from old, reconstituted, or cytokine-mobilized mice engrafts much less efficiently (1 in 78 to 1 in 185 cells gives long-term multilineage reconstitution). To test whether we could increase the purity of HSCs isolated from these contexts, we examined the SLAM family markers CD150 and CD48. All detectable HSCs from old, reconstituted, and cyclophosphamide/G-CSF-mobilized mice were CD150+ CD48-, just as in normal young bone marrow. Thy-1 low Sca-1+ Lineage- c-kit+ cells from old, reconstituted, or mobilized mice included mainly CD48+ and/or CD150- cells that lacked reconstituting ability. CD150+ CD48- Sca-1+ Lineage- c-kit+ cells from old, reconstituted, or mobilized mice were much more highly enriched for HSCs, with 1 in 3 to 1 in 7 cells giving long-term multilineage reconstitution. SLAM family receptor expression is conserved among HSCs from diverse contexts, and HSCs from old, reconstituted, and mobilized mice engraft relatively efficiently after transplantation when contaminating cells are eliminated.

  11. Dissection of SAP-dependent and SAP-independent SLAM family signaling in NKT cell development and humoral immunity

    Science.gov (United States)

    Cai, Chenxu; Liu, Guangao; Wang, Yuande; Du, Juan; Lin, Xin; Yang, Meixiang

    2017-01-01

    Signaling lymphocytic activation molecule (SLAM)–associated protein (SAP) mutations in X-linked lymphoproliferative disease (XLP) lead to defective NKT cell development and impaired humoral immunity. Because of the redundancy of SLAM family receptors (SFRs) and the complexity of SAP actions, how SFRs and SAP mediate these processes remains elusive. Here, we examined NKT cell development and humoral immunity in mice completely deficient in SFR. We found that SFR deficiency severely impaired NKT cell development. In contrast to SAP deficiency, SFR deficiency caused no apparent defect in follicular helper T (TFH) cell differentiation. Intriguingly, the deletion of SFRs completely rescued the severe defect in TFH cell generation caused by SAP deficiency, whereas SFR deletion had a minimal effect on the defective NKT cell development in SAP-deficient mice. These findings suggest that SAP-dependent activating SFR signaling is essential for NKT cell selection; however, SFR signaling is inhibitory in SAP-deficient TFH cells. Thus, our current study revises our understanding of the mechanisms underlying T cell defects in patients with XLP. PMID:28049627

  12. Dissection of SAP-dependent and SAP-independent SLAM family signaling in NKT cell development and humoral immunity.

    Science.gov (United States)

    Chen, Shasha; Cai, Chenxu; Li, Zehua; Liu, Guangao; Wang, Yuande; Blonska, Marzenna; Li, Dan; Du, Juan; Lin, Xin; Yang, Meixiang; Dong, Zhongjun

    2017-02-01

    Signaling lymphocytic activation molecule (SLAM)-associated protein (SAP) mutations in X-linked lymphoproliferative disease (XLP) lead to defective NKT cell development and impaired humoral immunity. Because of the redundancy of SLAM family receptors (SFRs) and the complexity of SAP actions, how SFRs and SAP mediate these processes remains elusive. Here, we examined NKT cell development and humoral immunity in mice completely deficient in SFR. We found that SFR deficiency severely impaired NKT cell development. In contrast to SAP deficiency, SFR deficiency caused no apparent defect in follicular helper T (T FH ) cell differentiation. Intriguingly, the deletion of SFRs completely rescued the severe defect in T FH cell generation caused by SAP deficiency, whereas SFR deletion had a minimal effect on the defective NKT cell development in SAP-deficient mice. These findings suggest that SAP-dependent activating SFR signaling is essential for NKT cell selection; however, SFR signaling is inhibitory in SAP-deficient T FH cells. Thus, our current study revises our understanding of the mechanisms underlying T cell defects in patients with XLP. © 2017 Chen et al.

  13. Methodology for Check Valve Selection to Maintain the Integrity of Pipeline against the Check Valve Slam for the KIJANG Research Reactor

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dayong; Yoon, Hyungi; Seo, Kyoungwoo; Kim, Seonhoon [KAERI, Daejeon (Korea, Republic of)

    2016-05-15

    The check valve slam results in a water hammer and unexpected system pressure rise in the pipeline. Sometimes, the pressure rise by check valve slam in the pipeline exceeds the design pressure and then it causes the rupture of pipeline. Therefore, check valve slam significantly influences on the integrity of pipe. Especially, this it is most likely to occur by check valve installed in the discharge of pump when one pump trips among the two or more running in parallel pump system. This study focuses on the check valve selection to maintain the integrity of PCS pipeline against the check valve slam. If design head for KJRR PCS pipeline is higher than the sum of static head and 11 m, any type check valves can be installed at the discharge of pump. However, if design head for KJRR PCS pipeline is lower than the sum of static head and 11 m, installation of swing and ball check on the discharge of pump must be avoid to prevent the rupture of PCS pipeline.

  14. Análisis de Detectores y Descriptores de Características Visuales en SLAM en Entornos Interiores y Exteriores

    Directory of Open Access Journals (Sweden)

    M. Ballesta

    2010-04-01

    Full Text Available Resumen: El objetivo de este artículo es encontrar un extractor de características visuales que pueda ser utilizado en un proceso de SLAM (Simultaneous Localization and Mapping. Este extractor de características consiste en la combinación de un detector que extrae puntos significativos del entorno, y un descriptor local que caracteriza dichos puntos. Este artículo presenta la comparación de un conjunto de detectores de puntos de interés y de descriptores locales que se utilizan como marcas visuales en un proceso de SLAM. El análisis comparativo se divide en dos fases diferenciadas: detección y descripción. Se evalúa la repetibilidad de los detectores, así como la invariabilidad de los descriptores ante cambios de vista, escala e iluminación. Los experimentos se han realizado a partir de un conjunto de secuencias de imágenes tanto interiores (entorno de oficinas como exteriores, con diversas variaciones en la imagen (iluminación y posición, representando así de una forma bastante general los entornos típicos de un robot. Se considera que los resultados de este trabajo pueden ser útiles a la hora de seleccionar una marca adecuada en SLAM visual, tanto para entornos interiores como exteriores. Palabras clave: SLAM visual, marcas visuales, detectores de puntos de interés, descriptores locales

  15. Methodology for Check Valve Selection to Maintain the Integrity of Pipeline against the Check Valve Slam for the KIJANG Research Reactor

    International Nuclear Information System (INIS)

    Kim, Dayong; Yoon, Hyungi; Seo, Kyoungwoo; Kim, Seonhoon

    2016-01-01

    The check valve slam results in a water hammer and unexpected system pressure rise in the pipeline. Sometimes, the pressure rise by check valve slam in the pipeline exceeds the design pressure and then it causes the rupture of pipeline. Therefore, check valve slam significantly influences on the integrity of pipe. Especially, this it is most likely to occur by check valve installed in the discharge of pump when one pump trips among the two or more running in parallel pump system. This study focuses on the check valve selection to maintain the integrity of PCS pipeline against the check valve slam. If design head for KJRR PCS pipeline is higher than the sum of static head and 11 m, any type check valves can be installed at the discharge of pump. However, if design head for KJRR PCS pipeline is lower than the sum of static head and 11 m, installation of swing and ball check on the discharge of pump must be avoid to prevent the rupture of PCS pipeline

  16. Smart watch RSSI localization and refinement for behavioral classification using laser-SLAM for mapping and fingerprinting.

    Science.gov (United States)

    Carlson, Jay D; Mittek, Mateusz; Parkison, Steven A; Sathler, Pedro; Bayne, David; Psota, Eric T; Perez, Lance C; Bonasera, Stephen J

    2014-01-01

    As a first step toward building a smart home behavioral monitoring system capable of classifying a wide variety of human behavior, a wireless sensor network (WSN) system is presented for RSSI localization. The low-cost, non-intrusive system uses a smart watch worn by the user to broadcast data to the WSN, where the strength of the radio signal is evaluated at each WSN node to localize the user. A method is presented that uses simultaneous localization and mapping (SLAM) for system calibration, providing automated fingerprinting associating the radio signal strength patterns to the user's location within the living space. To improve the accuracy of localization, a novel refinement technique is introduced that takes into account typical movement patterns of people within their homes. Experimental results demonstrate that the system is capable of providing accurate localization results in a typical living space.

  17. “TORINO 1911” PROJECT: A CONTRIBUTION OF A SLAM-BASED SURVEY TO EXTENSIVE 3D HERITAGE MODELING

    Directory of Open Access Journals (Sweden)

    F. Chiabrando

    2018-05-01

    Full Text Available In the framework of the digital documentation of complex environments the advanced Geomatics researches offers integrated solution and multi-sensor strategies for the 3D accurate reconstruction of stratified structures and articulated volumes in the heritage domain. The use of handheld devices for rapid mapping, both image- and range-based, can help the production of suitable easy-to use and easy-navigable 3D model for documentation projects. These types of reality-based modelling could support, with their tailored integrated geometric and radiometric aspects, valorisation and communication projects including virtual reconstructions, interactive navigation settings, immersive reality for dissemination purposes and evoking past places and atmospheres. The aim of this research is localized within the “Torino 1911” project, led by the University of San Diego (California in cooperation with the PoliTo. The entire project is conceived for multi-scale reconstruction of the real and no longer existing structures in the whole park space of more than 400,000 m2, for a virtual and immersive visualization of the Turin 1911 International “Fabulous Exposition” event, settled in the Valentino Park. Particularly, in the presented research, a 3D metric documentation workflow is proposed and validated in order to integrate the potentialities of LiDAR mapping by handheld SLAM-based device, the ZEB REVO Real Time instrument by GeoSLAM (2017 release, instead of TLS consolidated systems. Starting from these kind of models, the crucial aspects of the trajectories performances in the 3D reconstruction and the radiometric content from imaging approaches are considered, specifically by means of compared use of common DSLR cameras and portable sensors.

  18. TH-D-BRC-00: Educational Point Counter/Point: Has Photon RT Hit the Limits?

    International Nuclear Information System (INIS)

    2016-01-01

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  19. TH-D-BRC-00: Educational Point Counter/Point: Has Photon RT Hit the Limits?

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2016-06-15

    Interest in proton therapy has increased dramatically in the past couple of years, especially in the United States. There certainly is an important place for proton therapy in the arsenal of cancer treatments. Its dosimetric advantage and potential for low toxicity makes it the perfect partner for photons and other cancer treatment modalities. Often there is a belief that the new technology ought to be better but many believe that they should be widely adopted in the clinic only after evidence has shown that they are at least as safe and efficacious as existing technologies, which are often less expensive. This is the case for proton radiotherapy. This session being both educational and debate will provide a good review of basics and technological advancement as well as a comprehensive clinical update for both proton and photon therapy. Future technology developments and how they will impact the potential dosimetric advantage of proton therapy will be discussed. Particularly the debate will focus on whether these developments will close or widen the gap between photon and proton therapy. Learning Objectives: To review challenges, limitations, and recent and future developments in proton therapy. To review challenges, limitations, recent and future developments in photon radiotherapy. To review current clinical trials and challenging clinical cases. C. Yu, No company or organization that my presentation mentions provided me with financial support. I am the Founder and CEO of Xcision Medical Systems, LLC. However, my presentation will not mention any product or technology developed by Xcision.

  20. Use of SLAM and PVRL4 and identification of pro-HB-EGF as cell entry receptors for wild type phocine distemper virus.

    Directory of Open Access Journals (Sweden)

    Mary M Melia

    Full Text Available Signalling lymphocyte activation molecule (SLAM has been identified as an immune cell receptor for the morbilliviruses, measles (MV, canine distemper (CDV, rinderpest and peste des petits ruminants (PPRV viruses, while CD46 is a receptor for vaccine strains of MV. More recently poliovirus like receptor 4 (PVRL4, also known as nectin 4, has been identified as a receptor for MV, CDV and PPRV on the basolateral surface of polarised epithelial cells. PVRL4 is also up-regulated by MV in human brain endothelial cells. Utilisation of PVRL4 as a receptor by phocine distemper virus (PDV remains to be demonstrated as well as confirmation of use of SLAM. We have observed that unlike wild type (wt MV or wtCDV, wtPDV strains replicate in African green monkey kidney Vero cells without prior adaptation, suggesting the use of a further receptor. We therefore examined candidate molecules, glycosaminoglycans (GAG and the tetraspan proteins, integrin β and the membrane bound form of heparin binding epithelial growth factor (proHB-EGF,for receptor usage by wtPDV in Vero cells. We show that wtPDV replicates in Chinese hamster ovary (CHO cells expressing SLAM and PVRL4. Similar wtPDV titres are produced in Vero and VeroSLAM cells but more limited fusion occurs in the latter. Infection of Vero cells was not inhibited by anti-CD46 antibody. Removal/disruption of GAG decreased fusion but not the titre of virus. Treatment with anti-integrin β antibody increased rather than decreased infection of Vero cells by wtPDV. However, infection was inhibited by antibody to HB-EGF and the virus replicated in CHO-proHB-EGF cells, indicating use of this molecule as a receptor. Common use of SLAM and PVRL4 by morbilliviruses increases the possibility of cross-species infection. Lack of a requirement for wtPDV adaptation to Vero cells raises the possibility of usage of proHB-EGF as a receptor in vivo but requires further investigation.

  1. MO-D-BRC-00: In Memoriam of Jan Van De Geijn: Knowledge-Based Planning

    International Nuclear Information System (INIS)

    2016-01-01

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical

  2. MO-D-BRC-00: In Memoriam of Jan Van De Geijn: Knowledge-Based Planning

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2016-06-15

    Treatment planning is a central part of radiation therapy, including delineation in tumor volumes and critical organs, setting treatment goals of prescription doses to the tumor targets and tolerance doses to the critical organs, and finally generation of treatment plans to meet the treatment goals. National groups like RTOG have led the effort to standardize treatment goals of the prescription doses to the tumor targets and tolerance doses to the critical organs based on accumulated knowledge from decades of abundant clinical trial experience. The challenge for each clinical department is how to achieve or surpass these set goals within the time constraints of clinical practice. Using fifteen testing cases from different treatment sites such as head and neck, prostate with and without pelvic lymph nodes, SBRT spine, we will present clinically utility of advanced planning tools, including knowledge based, automatic based, and multiple criteria based tools that are clinically implemented. The objectives of this session are: Understand differences among these three advanced planning tools Provide clinical assessments on the utility of the advanced planning tools Discuss clinical challenges of treatment planning with large variations in tumor volumes and their relationships with adjacent critical organs. Ping Xia received research grant from Philips. Jackie Wu received research grant from Varian; P. Xia, Research support by Philips and Varian; Q. Wu, NIH, Varian Medical.

  3. WE-G-BRC-00: Experiences with TG100 in Clinical Use

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2016-06-15

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic.

  4. WE-G-BRC-03: Risk Assessment for Physics Plan Review

    Energy Technology Data Exchange (ETDEWEB)

    Parker, S. [Novant Health (United States)

    2016-06-15

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic.

  5. WE-G-BRC-03: Risk Assessment for Physics Plan Review

    International Nuclear Information System (INIS)

    Parker, S.

    2016-01-01

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic

  6. WE-G-BRC-00: Experiences with TG100 in Clinical Use

    International Nuclear Information System (INIS)

    2016-01-01

    Failure Mode and Effects Analysis (FMEA) originated as an industrial engineering technique used for risk management and safety improvement of complex processes. In the context of radiotherapy, the AAPM Task Group 100 advocates FMEA as the framework of choice for establishing clinical quality management protocols. However, there is concern that widespread adoption of FMEA in radiation oncology will be hampered by the perception that implementation of the tool will have a steep learning curve, be extremely time consuming and labor intensive, and require additional resources. To overcome these preconceptions and facilitate the introduction of the tool into clinical practice, the medical physics community must be educated in the use of this tool and the ease in which it can be implemented. Organizations with experience in FMEA should share their knowledge with others in order to increase the implementation, effectiveness and productivity of the tool. This session will include a brief, general introduction to FMEA followed by a focus on practical aspects of implementing FMEA for specific clinical procedures including HDR brachytherapy, physics plan review and radiosurgery. A description of common equipment and devices used in these procedures and how to characterize new devices for safe use in patient treatments will be presented. This will be followed by a discussion of how to customize FMEA techniques and templates to one’s own clinic. Finally, cases of common failure modes for specific procedures (described previously) will be shown and recommended intervention methodologies and outcomes reviewed. Learning Objectives: Understand the general concept of failure mode and effect analysis Learn how to characterize new equipment for safety Be able to identify potential failure modes for specific procedures and learn mitigation techniques Be able to customize FMEA examples and templates for use in any clinic

  7. Reactivity effect breakdown calculations with deterministic and stochastic perturbations analysis – JEFF-3.1.1 to JEFF3.2T1 (BRC-2009 actinides application

    Directory of Open Access Journals (Sweden)

    Morillon B.

    2013-03-01

    Full Text Available JEFF-3.1.1 is the reference nuclear data library in CEA for the design calculations of the next nuclear power plants. The validation of the new neutronics code systems is based on this library and changes in nuclear data should be looked at closely. Some new actinides evaluation files at high energies have been proposed by CEA/Bruyères-le-Chatel in 2009 and have been integrated in JEFF3.2T1 test release. For the new release JEFF-3.2, CEA will build new evaluation files for the actinides, which should be a combination of the new evaluated data coming from BRC-2009 in the high energy range and improvements or new evaluations in the resolved and unresolved resonance range from CEA-Cadarache. To prepare the building of these new files, benchmarking the BRC-2009 library in comparison with the JEFF-3.1.1 library was very important. The crucial points to evaluate were the improvements in the continuum range and the discrepancies in the resonance range. The present work presents for a selected set of benchmarks the discrepancies in the effective multiplication factor obtained while using the JEFF-3.1.1 or JEFF-3.2T1 library with the deterministic code package ERANOS/PARIS and the stochastic code TRIPOLI-4. They have both been used to calculate cross section perturbations or other nuclear data perturbations when possible. This has permittted to identify the origin of the discrepancies in reactivity calculations. In addition, this work also shows the importance of cross section processing validation. Actually, some fast neutron spectrum calculations have led to opposite tendancies between the deterministic code package and the stochastic code. Some particular nuclear data (MT=5 in ENDF terminology seem to be incompatible with the current MERGE or GECCO processing codes.

  8. Anti-slamming bulbous bow and tunnel stern applications on a novel Deep-V catamaran for improved performance

    Directory of Open Access Journals (Sweden)

    Mehmet Atlar

    2013-06-01

    Full Text Available While displacement type Deep-V mono hulls have superior seakeeping behaviour at speed, catamarans typically have modest behaviour in rough seas. It is therefore a logical progression to combine the superior seakeeping performance of a displacement type Deep-V mono-hull with the high-speed benefits of a catamaran to take the advantages of both hull forms. The displacement Deep-V catamaran concept was developed in Newcastle University and Newcastle University's own multi-purpose research vessel, which was launched in 2011, pushed the design envelope still further with the successful adoption of a novel anti-slamming bulbous bow and tunnel stern for improved efficiency. This paper presents the hullform development of this unique vessel to understand the contribution of the novel bow and stern features on the performance of the Deep-V catamaran. The study is also a further validation of the hull resistance by using advanced numerical analysis methods in conjunction with the model test. An assessment of the numerical predictions of the hull resistance is also made against physical model test results and shows a good agreement between them.

  9. AN ANALYSIS OF TEN YEARS OF THE FOUR GRAND SLAM MEN'S SINGLES DATA FOR LACK OF INDEPENDENCE OF SET OUTCOMES

    Directory of Open Access Journals (Sweden)

    Denny Meyer

    2006-12-01

    Full Text Available The objective of this paper is to use data from the highest level in men's tennis to assess whether there is any evidence to reject the hypothesis that the two players in a match have a constant probability of winning each set in the match. The data consists of all 4883 matches of grand slam men's singles over a 10 year period from 1995 to 2004. Each match is categorised by its sequence of win (W or loss (L (in set 1, set 2, set 3,... to the eventual winner. Thus, there are several categories of matches from WWW to LLWWW. The methodology involves fitting several probabilistic models to the frequencies of the above ten categories. One four-set category is observed to occur significantly more often than the other two. Correspondingly, a couple of the five-set categories occur more frequently than the others. This pattern is consistent when the data is split into two five-year subsets. The data provides significant statistical evidence that the probability of winning a set within a match varies from set to set. The data supports the conclusion that, at the highest level of men's singles tennis, the better player (not necessarily the winner lifts his play in certain situations at least some of the time

  10. Modelling and analysis of a compensator burst after a check valve slam with the pressure surge code DYVRO mod. 3

    International Nuclear Information System (INIS)

    Neuhaus, Thorsten; Schaffrath, Andreas

    2009-01-01

    In this contribution the analysis and calculation of a compensator burst after a pump start and check valve slam with the pressure surge code DYVRO mod. 3 are presented. The compensator burst occurred in the essential service water system (ESWS) of a pressurized water reactor (PWR) in a deviant operation mode. Due to lack of knowledge about the causes a systematic investigation has been performed by TUV NORD SysTec GmbH and Co. KG. The following scenario was identified as most likely: Because of maintenance a heat exchanger was shut off from the ESWS by a closed valve. Due to the hydrostatic pressure profile air had been sucked in through this leaky closed valve forming an air bubble. After the pump start the water was accelerated against the closed valve where the air bubble was compressed. The subsequent backflow resulted in a fast closing of a check valve and a pressure surge that caused the compensator burst. Calculations have been performed with the self developed and validated pressure surge computer code DYVRO mod. 3. The present paper is focussed on the modelling of the pipe system, the pump, the check valve and the behaviour of the air bubble as well as the simulation of the incident. The calculated maximum pressure in the ESWS is above 3 MPa, which is approx. four times higher than the design pressure of 0.7 MPa. This pressure increase has led most likely to the abrupt compensator failure. (author)

  11. Do antidepressants increase the risk of mania and bipolar disorder in people with depression? A retrospective electronic case register cohort study

    NARCIS (Netherlands)

    Patel, Rashmi; Reiss, Peter; Shetty, Hitesh; Broadbent, Matthew; Stewart, Robert; McGuire, Philip; Taylor, Matthew

    2015-01-01

    Objectives To investigate the association between antidepressant therapy and the later onset of mania/bipolar disorder. Design Retrospective cohort study using an anonymised electronic health record case register. Setting South London and Maudsley National Health Service (NHS) Trust (SLaM), a large

  12. Entering tennis men’s Grand Slams within the top-10 and its relationship with the fact of winning the tournament. [Acceder a los Grand Slams de tenis masculino desde el top-10 y su relación con el hecho de ganar el torneo].

    Directory of Open Access Journals (Sweden)

    Jaime Prieto-Bermejo

    2016-10-01

    Full Text Available The purpose of this study was to analyse the relationship between entering tennis men’s singles Grand Slams within the top-10 ranking (i.e. title favourites and the fact of winning the tournament. In order to differentiate between these players in a more powerful way than just considering the ranking number, a cluster algorithm was used to classify the players into two groups depending on their number of ranking points (i.e. higher level top-10 players vs. lower level top-10 players. The possible winners entering the tournament outside the top-10 (if any were also considered. The sample comprised all the 92 men’s singles Grand Slams played between 1990 and 2012. As was expected, the majority of Grand Slams were won by players entering the tournament ranked in the top-10. However, the main result is contrary to the hypothesis that there would be significant differences in the number of titles won in favour of the players entering the tournament from the higher positions of the top-10 when comparing to those won by the players entering from the lower positions of the top-10. Several factors that may influence whether and to what extent a player is more or less favourite to win a Grand Slam title are presented in the discussion. Resumen El propósito del estudio fue analizar la relación entre acceder a los Grand Slam de tenis masculino desde el top-10 del ranking (favoritos al título y el hecho de ganar el torneo. Con el objeto de diferenciar a estos jugadores de una forma más potente que simplemente considerando su número de ranking, se empleó un algoritmo cluster que clasificó a los jugadores en dos grupos en función del número de puntos de ranking (jugadores de mayor nivel dentro del top-10 v. jugadores de menor nivel del top-10. Los posibles ganadores del torneo accediendo al mismo desde posiciones fuera del top-10 (si los hubiera fueron también considerados. La muestra comprendió los 92 torneos de Grand Slam masculinos jugados

  13. Line-based monocular graph SLAM algorithm%基于图优化的单目线特征SLAM算法

    Institute of Scientific and Technical Information of China (English)

    董蕊芳; 柳长安; 杨国田; 程瑞营

    2017-01-01

    A new line based 6-DOF monocular algorithm for using graph simultaneous localization and mapping(SLAM) algoritm was proposed.First,the straight line were applied as a feature instead of points,due to a map consisting of a sparse set of 3D points is unable to describe the structure of the surrounding world.Secondly,most of previous line-based SLAM algorithms were focused on filtering-based solutions suffering from the inconsistent when applied to the inherently non-linear SLAM problem,in contrast,the graph-based solution was used to improve the accuracy of the localization and the consistency of mapping.Thirdly,a special line representation was exploited for combining the Plücker coordinates with the Cayley representation.The Plücker coordinates were used for the 3D line projection function,and the Cayley representation helps to update the line parameters during the non-linear optimization process.Finally,the simulation experiment shows that the proposed algorithm outperforms odometry and EKF-based SLAM in terms of the pose estimation,while the sum of the squared errors (SSE) and root-mean-square error (RMSE) of proposed method are 2.5% and 10.5% of odometry,and 22.4% and 33% of EKF-based SLAM.The reprojection error is only 45.5 pixels.The real image experiment shows that the proposed algorithm obtains only 958 cm2 and 3.941 3 cm the SSE and RMSE of pose estimation.Therefore,it can be concluded that the proposed algorithm is effective and accuracy.%提出了基于图优化的单目线特征同时定位和地图构建(SLAM)的方法.首先,针对主流视觉SLAM算法因采用点作为特征而导致构建的点云地图稀疏、难以准确表达环境结构信息等缺点,采用直线作为特征来构建地图.然后,根据现有线特征的SLAM算法都是基于滤波器的SLAM框架、存在线性化及更新效率的问题,采用基于图优化的SLAM解决方案以提高定位精度及地图构建的一致性和准确性.将线特征的Plücker坐

  14. In Search of BRC

    International Nuclear Information System (INIS)

    Alexander, D.R.

    1992-01-01

    Cleanup levels of low-level radioactivity in soils is required in the RCRA/CERCLA regulations. These levels should be based on a risk approach. Because of public perception of radiation risk there has been a reluctance to establish residual radiation levels at the conservative end of a risk scale, which could be considered as ''below regulatory concern.'' Risk based evaluations as an integral part of the overall cleanup decision making progress should provide a balanced approach to the acceptance of a cleanup methodology

  15. SLAM-based dense surface reconstruction in monocular Minimally Invasive Surgery and its application to Augmented Reality.

    Science.gov (United States)

    Chen, Long; Tang, Wen; John, Nigel W; Wan, Tao Ruan; Zhang, Jian Jun

    2018-05-01

    While Minimally Invasive Surgery (MIS) offers considerable benefits to patients, it also imposes big challenges on a surgeon's performance due to well-known issues and restrictions associated with the field of view (FOV), hand-eye misalignment and disorientation, as well as the lack of stereoscopic depth perception in monocular endoscopy. Augmented Reality (AR) technology can help to overcome these limitations by augmenting the real scene with annotations, labels, tumour measurements or even a 3D reconstruction of anatomy structures at the target surgical locations. However, previous research attempts of using AR technology in monocular MIS surgical scenes have been mainly focused on the information overlay without addressing correct spatial calibrations, which could lead to incorrect localization of annotations and labels, and inaccurate depth cues and tumour measurements. In this paper, we present a novel intra-operative dense surface reconstruction framework that is capable of providing geometry information from only monocular MIS videos for geometry-aware AR applications such as site measurements and depth cues. We address a number of compelling issues in augmenting a scene for a monocular MIS environment, such as drifting and inaccurate planar mapping. A state-of-the-art Simultaneous Localization And Mapping (SLAM) algorithm used in robotics has been extended to deal with monocular MIS surgical scenes for reliable endoscopic camera tracking and salient point mapping. A robust global 3D surface reconstruction framework has been developed for building a dense surface using only unorganized sparse point clouds extracted from the SLAM. The 3D surface reconstruction framework employs the Moving Least Squares (MLS) smoothing algorithm and the Poisson surface reconstruction framework for real time processing of the point clouds data set. Finally, the 3D geometric information of the surgical scene allows better understanding and accurate placement AR augmentations

  16. Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM

    Directory of Open Access Journals (Sweden)

    Jaehoon Jung

    2015-10-01

    Full Text Available The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM. The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m according to the guidelines of the General Services Administration for BIM accuracy.

  17. De Minimis waste impacts analysis methodology. IMPACTS - BRC user's guide and methodology for radioactive wastes below regulatory concern. Draft report for comment. Volume 2

    International Nuclear Information System (INIS)

    Forstom, J.M.; Goode, D.J.

    1986-07-01

    This report describes the methodology and computer program used by NRC to evaluate radiological impacts associated with petitions to have specific slightly contaminated radioactive waste streams designated as ''below regulatory concern.'' These wastes could be treated and disposed of at facilities which are not licensed for low-level radioactive waste management. The IMPACTS-BRC computer program is implemented on IBM-PC microcomputers using the FORTRAN programming language. Radiological impacts (doses) are estimated for several pathways including direct gamma radiation exposure, worker inhalation and exposure, offsite atmospheric and water releases, and intruder exposures. Annual impacts are calculated for the maximum individual, critical groups, and general population. The treatment and disposal options include onsite incineration, incineration at municipal and hazardous waste facilities, and disposal at sanitary landfills and hazardous waste landfills. Modifications to the program (from Volume 1) are primarily for microcomputer compatibility and to provide information needed to evaluate the petitions. Default environmental and facility parameters are developed representing conservative assumptions about site selection and operational procedures. In particular, the parameters of the groundwater pathway model are modified to represent more conservative assumptions than the original model (Volume 1)

  18. Navegación Autónoma Asistida Basada en SLAM para una Silla de Ruedas Robotizada en Entornos Restringidos

    Directory of Open Access Journals (Sweden)

    Fernando A. Auat Cheein

    2011-04-01

    Full Text Available Resumen: En este trabajo se presenta una interfaz especialmente diseñada para la navegación de una silla de ruedas robotizada dentro de entornos restringidos. El funcionamiento de la interfaz se rige por dos modos: un modo autónomo y un modo no-autónomo. El manejo no-autónomo de la interfaz de la silla de ruedas se realiza por medio de un joystick adecuado a las capacidades del usuario el cual gobierna el movimiento del vehículo dentro del ambiente. El modo autónomo de la silla de ruedas se ejecuta cuando el usuario tiene que girar un determinado ángulo dentro del ambiente. La estrategia de giro se ejecuta mediante un algoritmo de maniobrabilidad compatible con la cinemática del vehículo y mediante el uso del algoritmo de SLAM (por sus siglas en inglés de Simultaneous Localization and Mapping. El modo autónomo se compone de dos módulos: un módulo de planificación de caminos y un módulo de control. El módulo de planificación de caminos usa la información del mapa provista por el algoritmo de SLAM para trazar un camino seguro y compatible con la silla de ruedas, que le permita al vehículo alcanzar la orientación deseada. El módulo de control gobierna el movimiento del vehículo en el seguimiento del camino trazado mediante un controlador de seguimiento de trayectorias. Las referencias del controlador son actualizadas mediante la estimación de la postura de la silla de ruedas dentro del ambiente, obtenida por el algoritmo de SLAM. Acompañan a este trabajo resultados experimentales utilizando una silla de ruedas robotizada real. Palabras clave: Vehículos autónomos, Sistemas biomédicos, Navegación de robots

  19. Low-level and narm radioactive wastes. Model documentation: accounting model for PRESTO-EPA-POP, PRESTO-EPA-DEEP, and PRESTO-EPA-BRC. Methodology and users manual. Final report

    International Nuclear Information System (INIS)

    Rogers, V.; Hung, C.

    1987-12-01

    The accounting model was used as a utility model for assessing the cumulative health effects to the general population residing in the downstream regional water basin as a result of the disposal of LLW when a unit response analysis method is used. The utility model is specifically designed to assess the cumulative population health effects in conjunction with the PRESTO-EPA-POP, PRESTO-EPA-BRC, or PRESTO-EPA-DEEP model simply for the purpose of reducing the cost of analysis. Therefore, the assessment of the cumulative population health effects may also be conducted with one of the above appropriate models without the aid of this accounting model

  20. Hurricane slams gulf operations

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    This paper reports that reports of damage by Hurricane Andrew escalated last week as operators stepped up inspections of oil and gas installations in the Gulf of Mexico. By midweek, companies operating in the gulf and South Louisiana were beginning to agree that earlier assessments of damage only scratched the surface. Damage reports included scores of lost, toppled, or crippled platforms, pipeline ruptures, and oil slicks. By midweek the U.S. coast Guard had received reports of 79 oil spills. Even platforms capable of resuming production in some instances were begin curtailed because of damaged pipelines. Offshore service companies the another 2-4 weeks could be needed to fully assess Andrew's wrath. Lack of personnel and equipment was slowing damage assessment and repair

  1. Visual Trajectory Based SLAM

    NARCIS (Netherlands)

    Esteban, I.

    2008-01-01

    SLAMstands for Simultaneous Localization AndMapping. It is a fundamental topic in Autonomous Systems and Robotics as it represents one of the most basic skills that any robot requires in order to be truly autonomous. This skill will allow a robot placed in an unknown environment at an unknown

  2. A Fast and Robust Feature-Based Scan-Matching Method in 3D SLAM and the Effect of Sampling Strategies

    Directory of Open Access Journals (Sweden)

    Cihan Ulas

    2013-11-01

    Full Text Available Simultaneous localization and mapping (SLAM plays an important role in fully autonomous systems when a GNSS (global navigation satellite system is not available. Studies in both 2D indoor and 3D outdoor SLAM are based on the appearance of environments and utilize scan-matching methods to find rigid body transformation parameters between two consecutive scans. In this study, a fast and robust scan-matching method based on feature extraction is introduced. Since the method is based on the matching of certain geometric structures, like plane segments, the outliers and noise in the point cloud are considerably eliminated. Therefore, the proposed scan-matching algorithm is more robust than conventional methods. Besides, the registration time and the number of iterations are significantly reduced, since the number of matching points is efficiently decreased. As a scan-matching framework, an improved version of the normal distribution transform (NDT is used. The probability density functions (PDFs of the reference scan are generated as in the traditional NDT, and the feature extraction - based on stochastic plane detection - is applied to the only input scan. By using experimental dataset belongs to an outdoor environment like a university campus, we obtained satisfactory performance results. Moreover, the feature extraction part of the algorithm is considered as a special sampling strategy for scan-matching and compared to other sampling strategies, such as random sampling and grid-based sampling, the latter of which is first used in the NDT. Thus, this study also shows the effect of the subsampling on the performance of the NDT.

  3. Preliminary Use of the Seismo-Lineament Analysis Method (SLAM) to Investigate Seismogenic Faulting in the Grand Canyon Area, Northern Arizona

    Science.gov (United States)

    Cronin, V. S.; Cleveland, D. M.; Prochnow, S. J.

    2007-12-01

    This is a progress report on our application of the Seismo-Lineament Analysis Method (SLAM) to the eastern Grand Canyon area of northern Arizona. SLAM is a new integrated method for identifying potentially seismogenic faults using earthquake focal-mechanism solutions, geomorphic analysis and field work. There are two nodal planes associated with any double-couple focal-mechanism solution, one of which is thought to coincide with the fault that produced the earthquake; the slip vector is normal to the other (auxiliary) plane. When no uncertainty in the orientation of the fault-plane solution is reported, we use the reported vertical and horizontal uncertainties in the focal location to define a tabular uncertainty volume whose orientation coincides with that of the fault-plane solution. The intersection of the uncertainty volume and the ground surface (represented by the DEM) is termed a seismo-lineament. An image of the DEM surface is illuminated perpendicular to the strike of the seismo- lineament to accentuate geomorphic features within the seismo-lineament that may be related to seismogenic faulting. This evaluation of structural geomorphology is repeated for several different azimuths and elevations of illumination. A map is compiled that includes possible geomorphic indicators of faulting as well as previously mapped faults within each seismo-lineament, constituting a set of hypotheses for the possible location of seismogenic fault segments that must be evaluated through fieldwork. A fault observed in the field that is located within a seismo-lineament, and that has an orientation and slip characteristics that are statistically compatible with the fault-plane solution, is considered potentially seismogenic. We compiled a digital elevation model (DEM) of the Grand Canyon area from published data sets. We used earthquake focal-mechanism solutions produced by David Brumbaugh (2005, BSSA, v. 95, p. 1561-1566) for five M > 3.5 events reported between 1989 and 1995

  4. Tiyatro, karikatür ve film provokasyonları bağlamında Fransız basınında İslam ve Hz. Muhammed imajı

    OpenAIRE

    METİN, İsmail

    2016-01-01

    Oryantalizm ve oryantalistler, tarih boyunca İslamı kendi zihin dünyasına göre anlamış ve bu yönde çalışmalar yapmıştır. Yapılan bu çalışmalar ilmi eserler, ansiklopediler, kitaplar, makaleler başta olmak üzere, yazılı ve görsel basında da yer almıştır. Bu makale, oryantalizmin önemli merkezlerinden olan Fransada, özellikle yazılı basında, başta İslam, Kuran-ı Kerim, Hz. Muhammed olmak üzere dini değerlerin medya tarafından algılanış biçimini, karikatür ve film provokasyonları bağlamında tari...

  5. Hydroelastic slamming response in the evolution of a flip-through event during shallow-liquid sloshing

    Science.gov (United States)

    Lugni, C.; Bardazzi, A.; Faltinsen, O. M.; Graziani, G.

    2014-03-01

    The evolution of a flip-through event [6] upon a vertical, deformable wall during shallow-water sloshing in a 2D tank is analyzed, with specific focus on the role of hydroelasticity. An aluminium plate, whose dimensions are Froude-scaled in order to reproduce the first wet natural frequency associated with the typical structural panel of a Mark III containment system, is used. (Mark III Containment System is a membrane-type tank used in the Liquefied Natural Gas (LNG) carrier to contain the LNG. A typical structural panel is composed by two metallic membranes and two independent thermal insulation layers. The first membrane contains the LNG, the second one ensures redundancy in case of leakage.) Such a system is clamped to a fully rigid vertical wall of the tank at the vertical ends while being kept free on its lateral sides. Hence, in a 2D flow approximation the system can be suitably modelled, as a double-clamped Euler beam, with the Euler beam theory. The hydroelastic effects are assessed by cross-analyzing the experimental data based both on the images recorded by a fast camera, and on the strain measurements along the deformable panel and on the pressure measurements on the rigid wall below the elastic plate. The same experiments are also carried out by substituting the deformable plate with a fully stiff panel. The pressure transducers are mounted at the same positions of the strain gauges used for the deformable plate. The comparison between the results of rigid and elastic case allows to better define the role of hydroelasticity. The analysis has identified three different regimes characterizing the hydroelastic evolution: a quasi-static deformation of the beam (regime I) precedes a strongly hydroelastic behavior (regime II), for which the added mass effects are relevant; finally, the free-vibration phase (regime III) occurs. A hybrid method, combining numerical modelling and experimental data from the tests with fully rigid plate is proposed to examine the

  6. Hydroelastic slamming response in the evolution of a flip-through event during shallow-liquid sloshing

    International Nuclear Information System (INIS)

    Lugni, C.; Bardazzi, A.; Faltinsen, O. M.; Graziani, G.

    2014-01-01

    The evolution of a flip-through event [6] upon a vertical, deformable wall during shallow-water sloshing in a 2D tank is analyzed, with specific focus on the role of hydroelasticity. An aluminium plate, whose dimensions are Froude-scaled in order to reproduce the first wet natural frequency associated with the typical structural panel of a Mark III containment system, is used. (Mark III Containment System is a membrane-type tank used in the Liquefied Natural Gas (LNG) carrier to contain the LNG. A typical structural panel is composed by two metallic membranes and two independent thermal insulation layers. The first membrane contains the LNG, the second one ensures redundancy in case of leakage.) Such a system is clamped to a fully rigid vertical wall of the tank at the vertical ends while being kept free on its lateral sides. Hence, in a 2D flow approximation the system can be suitably modelled, as a double-clamped Euler beam, with the Euler beam theory. The hydroelastic effects are assessed by cross-analyzing the experimental data based both on the images recorded by a fast camera, and on the strain measurements along the deformable panel and on the pressure measurements on the rigid wall below the elastic plate. The same experiments are also carried out by substituting the deformable plate with a fully stiff panel. The pressure transducers are mounted at the same positions of the strain gauges used for the deformable plate. The comparison between the results of rigid and elastic case allows to better define the role of hydroelasticity. The analysis has identified three different regimes characterizing the hydroelastic evolution: a quasi-static deformation of the beam (regime I) precedes a strongly hydroelastic behavior (regime II), for which the added mass effects are relevant; finally, the free-vibration phase (regime III) occurs. A hybrid method, combining numerical modelling and experimental data from the tests with fully rigid plate is proposed to examine the

  7. İran Mitolojisinin İslam Devrimindeki Rolü & Humeyni ve Şah’ın Söylemlerinin Analizi

    Directory of Open Access Journals (Sweden)

    Fatih TİRYAKİ

    2015-09-01

    Full Text Available İran tarihinde köklü değişimler meydana getiren İran İslam devrimi birçok farklı açıdan analiz edilmiş olsa da bu analizlerin pek azı devrimi mitolojik çerçeve ile temellendirmektedir. Böylesine köklü bir devletin geçmişle olan bağlarının her daim canlı olduğu gerçeğini varsayar isek devrim sürecinde de halkın bilinçaltındaki mitolojik inanışların önemli bir payı olduğunu söylemek mümkündür. Bu bilgiler ışığında biz bu çalışmamızda İran mitolojisinin devrime olan etkilerini ve hem Şah’ın hem de Humeyni’nin bu dönemdeki söylemlerini mitolojik bir perspektiften değerlendireceğiz. Bunu yaparken de 1953 Musaddık devrimini milat olarak kabul edip bu tarihten devrime kadar geçen kırılma noktalarını kronolojik bir sıra ile anakronizme kaçmadan incelerken olayları son tahlilde mitoloji ile ilişkilendireceğiz. Sonuç bölümünde ise devrim ile esasında çok fazla şeyin değişmediğini, değişenin yalnızca meşruiyetini ve İran halkının baba figürü olma özelliğini kaybeden Şah’ın yerine halkçı ve sözde fundemantalist söylemleri ile halkı derinden etkileyen yeni baba figürü Humeyni’nin geldiği tespitlerinde bulunacağız

  8. Calculation of Brown Carbon Optical Properties in the Fifth version Community Atmospheric Model (CAM5) and Validation with a Case Study in Kanpur, India

    Science.gov (United States)

    Xu, L.; Peng, Y.; Ram, K.

    2017-12-01

    The presence of absorbing component of organic carbon in atmospheric aerosols (Brown Carbon, BrC) has recently received much attention to the scientific community because of its absorbing nature, especially in the UV and Visible region. Attempts to account for BrC in radiative forcing calculations in climate model are rather scarce, primarily due to observational constrain as well as its incorporation in the model-based studies. Due to non-treatment of BrC in the off-line models, there exists a large discrepancy between model- and observational- based estimate of direct radiative effect of carbonaceous aerosols. In this study, we have included BrC absorption and optical characteristics in the fifth version of Community Atmospheric Model (CAM5) for the better understanding of radiative impact of BrC over northern India, also for improving the performance of aerosol radiative calculation in climate model. We have used the inputs of aerosol chemical composition measurements conducted at an urban site, Kanpur, in the Indo-Gangetic Plain (IGP) during 2007-2008 to construct the optical properties of BrC in CAM5 model. Model radiative simulations of sensitive tests showed good agreement with observations. Effects of varying imaginary part of BrC refractive index, relative mass ratio of BrC to organic aerosol in combination with core-shell mixing style of BrC with other anthropogenic aerosols are also analyzed for understanding BrC impact on simulated aerosol absorption in model.

  9. Santería grand slam: Afro-Cuban religious studies and the study of Afro-Cuban religion

    Directory of Open Access Journals (Sweden)

    Stephan Palmié

    2008-12-01

    by the practical, but perhaps misleading label “Afro-Cuban religion,”1 and the other designated by whatever term one might like to affix to the study of it – cannot be easily separated: much as in the Brazilian case (Braga 1995, Capone 1999, Matory 1999, 2001, practitioners of Afro-Cuban religions and their ethnographers have engaged each other in a dialogue since at least the second decade of the twentieth century. That it took us so long to understand this fact has much to do with the way both “Afro-Cuban religion” and “Afro-Cuban ethnography” originally (and lastingly became discursively objectified: the former largely under the sign of a search for “authentically African” elements in New World cultural practices, the second as an instrument for “verifying” (and thereby authorizing such “Africanisms” (Scott 1991.

  10. [Use of psychostimulants in a sexual context: Analysis of cases reported to the French network of Addictovigilance Centers].

    Science.gov (United States)

    Batisse, Anne; Peyrière, Hélène; Eiden, Céline; Courné, Marie-Anne; Djezzar, Samira

    2016-10-01

    The "SLAM" phenomenon is an increasingly popular practice, in Paris and London gay scene, defined by 3 characteristics: injection, sexual party and psychostimulant drugs. The French Medical Agency requested a risk assessment of "SLAM" and more broadly of the use of psychostimulants in a sexual context, by the analysis of complications related to this practice notified to the French Network of Addictovigilance Centers. All cases of complications related to "SLAM" practice, including cases of abuse or dependence, and somatic and psychiatric complications, were analysed. Between January 2008 to December 2013, 51 cases were collected. Users were exclusively men, with a mean age of 40 years, having psychostimulants exposure in a sexual context, mainly in men who have sex with men (MSM) context (100%, n=35). The prevalence of human immunodeficiency virus (HIV) infection was 82% (n=32) with a high level of HIV/hepatitis C virus (HCV) co-infection (50%, n=16). The main psychostimulants reported are synthetic cathinones (89.5%). Cathinones users tended to be polydrug users: 62% also reported use other than psychoactive substances (gamma-butyrolactone [GBL], ketamine, methylenedioxyméthamphetamine [MDMA], lysergic acid diethylamide [LSD]…). The main complications were psychiatric disorders in 50% (psychotic symptoms, agitation, anxiety, suicidal ideas or attempt and forensic problems), acute intoxication in 25% (including 3 deaths), dependence and abuse in 17% and infectious complications in 8% (viral seroconversion). Health professionals as well as users should be aware of the physical (cardiovascular) and behavioural (psychic, fast dependence syndrome) toxicity of cathinones. Risk reduction policy must be targeted to the population of MSM with specific interventions both on risky sexual behavior and substance use. Copyright © 2016 Société française de pharmacologie et de thérapeutique. Published by Elsevier Masson SAS. All rights reserved.

  11. Falla cardiaca asociada con el uso de imatinib mesilato: Reporte de un caso Heart failure associated to imatinib mesylate use: Case report

    Directory of Open Access Journals (Sweden)

    Clara Saldarriaga

    2008-12-01

    Full Text Available La cardiotoxicidad por medicamentos es un evento cada vez más frecuente en la práctica clínica diaria. Inhibidores de la proteína de fusión Brc/Abl como el imatinib mesilato, son una nueva herramienta para el tratamiento de algunas neoplasias hematológicas, en especial de la leucemia mieloide crónica. Sin embargo, en la literatura se reporta desarrollo de cardiotoxicidad a causa de este medicamento. Se presenta el caso de una mujer joven con corazón de estructura sana quien desarrolla cardiotoxicidad por imatinib pocas semanas después de iniciarlo.Cardiotoxicity due to drugs has become a frequent event in the daily clinical practice. Fusion protein Brc/Abl inhibitors such as imatinib mesylate constitute a new tool for the treatment of some hematogical neoplasias, especially chronic myeloid leukemia. Nevertheless, there have been reports in the literature regarding imatinib mesylate toxicity. We present the case of a young woman with a structurally healthy heart who developed cardiotoxicity with imatinib few weeks after its initiation.

  12. KARTEZYEN DÜALİZM’İN ‘DEMİR KAFES’İ VE WEBER’İN ANLADIĞI İSLAM TOPLUMU / IRON CAGE OF “CARTESIAN DUALISM” AND THE ISLAMIC SOCIETY UNDERSTOOD BY WEBER

    Directory of Open Access Journals (Sweden)

    Ejder ULUTAŞ

    2016-06-01

    Full Text Available Bryan S. Turner, “Max Weber ve İslam” adlı eserinde Weber’in İslam’a ve İslam toplumlarına yaklaşırken kendi yorumcu sosyolojisinin ölçütlerine uymadığını belirtmektedir. Ona göre Weber’in İslam’a yönelik değerlendirmeleri Marx’ınkinden pek de farklı değildir. Turner, Weber’in doğuya özgü bir toplum modeli olarak tasarımladığı patrimonyalizm kuramına sık sık atıfta bulunmaktadır. Bu düşüncenin, Weber’in oryantalist bir ön yargıya derin bağlılığından kaynaklandığını düşünmektedir. Dolayısıyla bu yazıda, bilim felsefesinde kendisine büyük bir taraftar ve izleyici kitlesi ve geniş hacimli bir tartışma alanı açan Kartezyen felsefenin kısa bir açıklama ve tartışması yapılmaktadır. ‘Batı Aklı’nın düştüğü çıkmazların bir örneği üzerinde durulmaktadır. Weber’in bilim anlayışı hakkında bir değerlendirme yapılmaktadır. İslam toplumlarını incelerken, pozitivist paradigmanın pek de dışına çıkamadığını dile getiren Turner’in eseri üzerinden de bir tartışma yürütülmektedir. Weber’in de kapıldığı düşünülen bu düalizm açmazı ele alınmaktadır.

  13. Evaluating EML Modeling Tools for Insurance Purposes: A Case Study

    Directory of Open Access Journals (Sweden)

    Mikael Gustavsson

    2010-01-01

    Full Text Available As with any situation that involves economical risk refineries may share their risk with insurers. The decision process generally includes modelling to determine to which extent the process area can be damaged. On the extreme end of modelling the so-called Estimated Maximum Loss (EML scenarios are found. These scenarios predict the maximum loss a particular installation can sustain. Unfortunately no standard model for this exists. Thus the insurers reach different results due to applying different models and different assumptions. Therefore, a study has been conducted on a case in a Swedish refinery where several scenarios previously had been modelled by two different insurance brokers using two different softwares, ExTool and SLAM. This study reviews the concept of EML and analyses the used models to see which parameters are most uncertain. Also a third model, EFFECTS, was employed in an attempt to reach a conclusion with higher reliability.

  14. TU-H-BRC-03: Evaluation of Very High-Energy Electron (VHEE) Beams in Comparison to VMAT and PBS Treatment Plans

    Energy Technology Data Exchange (ETDEWEB)

    Schueler, E; Loo, B; Maxim, P [Stanford University School of Medicine, Palo Alto, California (United States); Eriksson, K; Hynning, E [RaySearch Laboratories, Stockholm (Sweden)

    2016-06-15

    Purpose: The aim of this study was to evaluate the performance of very high-energy electron (VHEE) beams in comparison to clinically delivered treatment plans generated with volumetric modulated arc therapy (VMAT) and proton pencil beam scanning (PBS) technology. Methods: Three clinical cases were selected (prostate, lung, and pediatric CNS). The VHEE plans were calculated in the Monte Carlo EGSnrc code and pencil beam doses were calculated using the DOSxyznrc MC code for 100 and 200 MeV beams. Treatment plans with VHEE, VMAT, and PBS were optimized in a research version of RayStation using an in house build script in order to minimize operator bias between the different techniques. Results: For the prostate cancer case, the PBS plan showed lower mean organ at risk (OAR) doses compared to the other modalities. An exception was the femoral heads, due to the lateral beam arrangements. The VMAT plan showed lower mean doses to the rectum and the bladder compared to the 100 MeV VHEE plan. The lung cancer case showed minor differences between the three modalities. However, the PBS plan showed a lower contralateral lung dose. The pediatric CNS case showed a better conformity and lower spinal cord dose for the 100 MeV VHEE plan. For all cases, the 200 MeV VHEE plans were found to be similar to or better than the 100 MeV VHEE plans. Conclusion: The present study showed that VHEE plans are similar or superior to VMAT plans with reduced mean OAR dose and increased target conformity for a variety of clinical cases. With increased VHEE energy, better conformity and even higher reductions in mean OAR doses can be achieved. Funding: DoD, Award#:W81XWH-13-1-0165, Weston Havens Foundation, Bio-X (Stanford University), the Office of the Dean of the Medical School, the Office of the Provost (Stanford University), and the Swedish Childhood Cancer Foundation. BL and PM are founders of TibaRay,Inc. BL and PM have received research grants from Varian and RaySearch Laboratory.

  15. SU-G-BRC-01: A Data-Driven Pre-Optimization Method for Prediction of Achievability of Clinical Objectives in IMRT

    Energy Technology Data Exchange (ETDEWEB)

    Ranganathan, V; Kumar, P [Philips India Limited, Bangalore, Karnataka (India); Bzdusek, K [Philips, Fitchburg, WI (United States); Das, J Maria [Sanjay Gandhi PG Inst Med Scienes, Lucknow (India)

    2016-06-15

    Purpose: We propose a novel data-driven method to predict the achievability of clinical objectives upfront before invoking the IMRT optimization. Methods: A new metric called “Geometric Complexity (GC)” is used to estimate the achievability of clinical objectives. Here, GC is the measure of the number of “unmodulated” beamlets or rays that intersect the Region-of-interest (ROI) and the target volume. We first compute the geometric complexity ratio (GCratio) between the GC of a ROI (say, parotid) in a reference plan and the GC of the same ROI in a given plan. The GCratio of a ROI indicates the relative geometric complexity of the ROI as compared to the same ROI in the reference plan. Hence GCratio can be used to predict if a defined clinical objective associated with the ROI can be met by the optimizer for a given case. Basically a higher GCratio indicates a lesser likelihood for the optimizer to achieve the clinical objective defined for a given ROI. Similarly, a lower GCratio indicates a higher likelihood for the optimizer to achieve the clinical objective defined for the given ROI. We have evaluated the proposed method on four Head and Neck cases using Pinnacle3 (version 9.10.0) Treatment Planning System (TPS). Results: Out of the total of 28 clinical objectives from four head and neck cases included in the study, 25 were in agreement with the prediction, which implies an agreement of about 85% between predicted and obtained results. The Pearson correlation test shows a positive correlation between predicted and obtained results (Correlation = 0.82, r2 = 0.64, p < 0.005). Conclusion: The study demonstrates the feasibility of the proposed method in head and neck cases for predicting the achievability of clinical objectives with reasonable accuracy.

  16. TU-AB-BRC-10: Modeling of Radiotherapy Linac Source Terms Using ARCHER Monte Carlo Code: Performance Comparison of GPU and MIC Computing Accelerators

    International Nuclear Information System (INIS)

    Liu, T; Lin, H; Xu, X; Su, L; Shi, C; Tang, X; Bednarz, B

    2016-01-01

    Purpose: (1) To perform phase space (PS) based source modeling for Tomotherapy and Varian TrueBeam 6 MV Linacs, (2) to examine the accuracy and performance of the ARCHER Monte Carlo code on a heterogeneous computing platform with Many Integrated Core coprocessors (MIC, aka Xeon Phi) and GPUs, and (3) to explore the software micro-optimization methods. Methods: The patient-specific source of Tomotherapy and Varian TrueBeam Linacs was modeled using the PS approach. For the helical Tomotherapy case, the PS data were calculated in our previous study (Su et al. 2014 41(7) Medical Physics). For the single-view Varian TrueBeam case, we analytically derived them from the raw patient-independent PS data in IAEA’s database, partial geometry information of the jaw and MLC as well as the fluence map. The phantom was generated from DICOM images. The Monte Carlo simulation was performed by ARCHER-MIC and GPU codes, which were benchmarked against a modified parallel DPM code. Software micro-optimization was systematically conducted, and was focused on SIMD vectorization of tight for-loops and data prefetch, with the ultimate goal of increasing 512-bit register utilization and reducing memory access latency. Results: Dose calculation was performed for two clinical cases, a Tomotherapy-based prostate cancer treatment and a TrueBeam-based left breast treatment. ARCHER was verified against the DPM code. The statistical uncertainty of the dose to the PTV was less than 1%. Using double-precision, the total wall time of the multithreaded CPU code on a X5650 CPU was 339 seconds for the Tomotherapy case and 131 seconds for the TrueBeam, while on 3 5110P MICs it was reduced to 79 and 59 seconds, respectively. The single-precision GPU code on a K40 GPU took 45 seconds for the Tomotherapy dose calculation. Conclusion: We have extended ARCHER, the MIC and GPU-based Monte Carlo dose engine to Tomotherapy and Truebeam dose calculations.

  17. TU-AB-BRC-10: Modeling of Radiotherapy Linac Source Terms Using ARCHER Monte Carlo Code: Performance Comparison of GPU and MIC Computing Accelerators

    Energy Technology Data Exchange (ETDEWEB)

    Liu, T; Lin, H; Xu, X [Rensselaer Polytechnic Institute, Troy, NY (United States); Su, L [John Hopkins University, Baltimore, MD (United States); Shi, C [Saint Vincent Medical Center, Bridgeport, CT (United States); Tang, X [Memorial Sloan Kettering Cancer Center, West Harrison, NY (United States); Bednarz, B [University of Wisconsin, Madison, WI (United States)

    2016-06-15

    Purpose: (1) To perform phase space (PS) based source modeling for Tomotherapy and Varian TrueBeam 6 MV Linacs, (2) to examine the accuracy and performance of the ARCHER Monte Carlo code on a heterogeneous computing platform with Many Integrated Core coprocessors (MIC, aka Xeon Phi) and GPUs, and (3) to explore the software micro-optimization methods. Methods: The patient-specific source of Tomotherapy and Varian TrueBeam Linacs was modeled using the PS approach. For the helical Tomotherapy case, the PS data were calculated in our previous study (Su et al. 2014 41(7) Medical Physics). For the single-view Varian TrueBeam case, we analytically derived them from the raw patient-independent PS data in IAEA’s database, partial geometry information of the jaw and MLC as well as the fluence map. The phantom was generated from DICOM images. The Monte Carlo simulation was performed by ARCHER-MIC and GPU codes, which were benchmarked against a modified parallel DPM code. Software micro-optimization was systematically conducted, and was focused on SIMD vectorization of tight for-loops and data prefetch, with the ultimate goal of increasing 512-bit register utilization and reducing memory access latency. Results: Dose calculation was performed for two clinical cases, a Tomotherapy-based prostate cancer treatment and a TrueBeam-based left breast treatment. ARCHER was verified against the DPM code. The statistical uncertainty of the dose to the PTV was less than 1%. Using double-precision, the total wall time of the multithreaded CPU code on a X5650 CPU was 339 seconds for the Tomotherapy case and 131 seconds for the TrueBeam, while on 3 5110P MICs it was reduced to 79 and 59 seconds, respectively. The single-precision GPU code on a K40 GPU took 45 seconds for the Tomotherapy dose calculation. Conclusion: We have extended ARCHER, the MIC and GPU-based Monte Carlo dose engine to Tomotherapy and Truebeam dose calculations.

  18. SU-G-BRC-15: The Potential Clinical Significance of Dose Mapping Error for Intra- Fraction Dose Mapping for Lung Cancer Patients

    Energy Technology Data Exchange (ETDEWEB)

    Sayah, N [Thomas Cancer Center, Richmond, VA (United States); Weiss, E [Virginia Commonwealth University, Richmond, Virginia (United States); Watkins, W [University of Virginia, Charlottesville, VA (United States); Siebers, J [University of Virginia Health System, Charlottesville, VA (United States)

    2016-06-15

    Purpose: To evaluate the dose-mapping error (DME) inherent to conventional dose-mapping algorithms as a function of dose-matrix resolution. Methods: As DME has been reported to be greatest where dose-gradients overlap tissue-density gradients, non-clinical 66 Gy IMRT plans were generated for 11 lung patients with the target edge defined as the maximum 3D density gradient on the 0% (end of inhale) breathing phase. Post-optimization, Beams were copied to 9 breathing phases. Monte Carlo dose computed (with 2*2*2 mm{sup 3} resolution) on all 10 breathing phases was deformably mapped to phase 0% using the Monte Carlo energy-transfer method with congruent mass-mapping (EMCM); an externally implemented tri-linear interpolation method with voxel sub-division; Pinnacle’s internal (tri-linear) method; and a post-processing energy-mass voxel-warping method (dTransform). All methods used the same base displacement-vector-field (or it’s pseudo-inverse as appropriate) for the dose mapping. Mapping was also performed at 4*4*4 mm{sup 3} by merging adjacent dose voxels. Results: Using EMCM as the reference standard, no clinically significant (>1 Gy) DMEs were found for the mean lung dose (MLD), lung V20Gy, or esophagus dose-volume indices, although MLD and V20Gy were statistically different (2*2*2 mm{sup 3}). Pinnacle-to-EMCM target D98% DMEs of 4.4 and 1.2 Gy were observed ( 2*2*2 mm{sup 3}). However dTransform, which like EMCM conserves integral dose, had DME >1 Gy for one case. The root mean square RMS of the DME for the tri-linear-to- EMCM methods was lower for the smaller voxel volume for the tumor 4D-D98%, lung V20Gy, and cord D1%. Conclusion: When tissue gradients overlap with dose gradients, organs-at-risk DME was statistically significant but not clinically significant. Target-D98%-DME was deemed clinically significant for 2/11 patients (2*2*2 mm{sup 3}). Since tri-linear RMS-DME between EMCM and tri-linear was reduced at 2*2*2 mm{sup 3}, use of this resolution is

  19. SU-D-BRC-02: Application of Six Sigma Approach to Improve the Efficiency of Patient-Specific QA in Proton Therapy

    International Nuclear Information System (INIS)

    LAH, J; Shin, D; Manger, R; Kim, G

    2016-01-01

    Purpose: To show how the Six Sigma DMAIC (Define-Measure-Analyze-Improve-Control) can be used for improving and optimizing the efficiency of patient-specific QA process by designing site-specific range tolerances. Methods: The Six Sigma tools (process flow diagram, cause and effect, capability analysis, Pareto chart, and control chart) were utilized to determine the steps that need focus for improving the patient-specific QA process. The patient-specific range QA plans were selected according to 7 treatment site groups, a total of 1437 cases. The process capability index, Cpm was used to guide the tolerance design of patient site-specific range. We also analyzed the financial impact of this project. Results: Our results suggested that the patient range measurements were non-capable at the current tolerance level of ±1 mm in clinical proton plans. The optimized tolerances were calculated for treatment sites. Control charts for the patient QA time were constructed to compare QA time before and after the new tolerances were implemented. It is found that overall processing time was decreased by 24.3% after establishing new site-specific range tolerances. The QA failure for whole process in proton therapy would lead up to a 46% increase in total cost. This result can also predict how costs are affected by changes in adopting the tolerance design. Conclusion: We often believe that the quality and performance of proton therapy can easily be improved by merely tightening some or all of its tolerance requirements. This can become costly, however, and it is not necessarily a guarantee of better performance. The tolerance design is not a task to be undertaken without careful thought. The Six Sigma DMAIC can be used to improve the QA process by setting optimized tolerances. When tolerance design is optimized, the quality is reasonably balanced with time and cost demands.

  20. SU-D-BRC-02: Application of Six Sigma Approach to Improve the Efficiency of Patient-Specific QA in Proton Therapy

    Energy Technology Data Exchange (ETDEWEB)

    LAH, J [Myongji Hospital, Goyang-si (Korea, Republic of); Shin, D [Proton Therapy Center, National Cancer Center, Goyang (Korea, Republic of); Manger, R; Kim, G [University of California, San Diego, La Jolla, CA (United States)

    2016-06-15

    Purpose: To show how the Six Sigma DMAIC (Define-Measure-Analyze-Improve-Control) can be used for improving and optimizing the efficiency of patient-specific QA process by designing site-specific range tolerances. Methods: The Six Sigma tools (process flow diagram, cause and effect, capability analysis, Pareto chart, and control chart) were utilized to determine the steps that need focus for improving the patient-specific QA process. The patient-specific range QA plans were selected according to 7 treatment site groups, a total of 1437 cases. The process capability index, Cpm was used to guide the tolerance design of patient site-specific range. We also analyzed the financial impact of this project. Results: Our results suggested that the patient range measurements were non-capable at the current tolerance level of ±1 mm in clinical proton plans. The optimized tolerances were calculated for treatment sites. Control charts for the patient QA time were constructed to compare QA time before and after the new tolerances were implemented. It is found that overall processing time was decreased by 24.3% after establishing new site-specific range tolerances. The QA failure for whole process in proton therapy would lead up to a 46% increase in total cost. This result can also predict how costs are affected by changes in adopting the tolerance design. Conclusion: We often believe that the quality and performance of proton therapy can easily be improved by merely tightening some or all of its tolerance requirements. This can become costly, however, and it is not necessarily a guarantee of better performance. The tolerance design is not a task to be undertaken without careful thought. The Six Sigma DMAIC can be used to improve the QA process by setting optimized tolerances. When tolerance design is optimized, the quality is reasonably balanced with time and cost demands.

  1. SU-G-BRC-02: A Novel Multi-Criteria Optimization Approach to Generate Deliverable Intensity-Modulated Radiation Therapy (IMRT) Treatment Plans

    Energy Technology Data Exchange (ETDEWEB)

    Kirlik, G; D’Souza, W; Zhang, H [University of Maryland School of Medicine, Baltimore, MD (United States)

    2016-06-15

    Purpose: To present a novel multi-criteria optimization (MCO) solution approach that generates treatment plans with deliverable apertures using column generation. Methods: We demonstrate our method with 10 locally advanced head-and-neck cancer cases retrospectively. In our MCO formulation, we defined an objective function for each structure in the treatment volume. This resulted in 9 objective functions, including 3 distinct objectives for primary target volume, high-risk and low-risk target volumes, 5 objectives for each of the organs-at-risk (OARs) (two parotid glands, spinal cord, brain stem and oral cavity), and one for the non-target non-OAR normal tissue. Conditional value-at-risk (CVaR) constraints were utilized to ensure at least certain fraction of the target volumes receiving the prescription doses. To directly generate deliverable plans, column generation algorithm was embedded within our MCO approach for aperture shape generation. Final dose distributions for all plans were generated using a Monte Carlo kernel-superposition dose calculation. We compared the MCO plans with the clinical plans, which were created by clinicians. Results: At least 95% target coverage was achieved by both MCO plans and clinical plans. However, the average conformity indices of clinical plans and the MCO plans were 1.95 and 1.35, respectively (31% reduction, p<0.01). Compared to the conventional clinical plan, the proposed MCO method achieved average reductions in left parotid mean dose of 5% (p=0.06), right parotid mean dose of 18% (p<0.01), oral cavity mean dose of 21% (p=0.03), spinal cord maximum dose of 20% (p<0.01), brain stem maximum dose of 61% (p<0.01), and normal tissue maximum dose of 5% (p<0.01), respectively. Conclusion: We demonstrated that the proposed MCO method was able to obtain deliverable IMRT treatment plans while achieving significant improvements in dosimetric plan quality.

  2. SU-D-BRC-01: An Automatic Beam Model Commissioning Method for Monte Carlo Simulations in Pencil-Beam Scanning Proton Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Qin, N; Shen, C; Tian, Z; Jiang, S; Jia, X [UT Southwestern Medical Ctr, Dallas, TX (United States)

    2016-06-15

    Purpose: Monte Carlo (MC) simulation is typically regarded as the most accurate dose calculation method for proton therapy. Yet for real clinical cases, the overall accuracy also depends on that of the MC beam model. Commissioning a beam model to faithfully represent a real beam requires finely tuning a set of model parameters, which could be tedious given the large number of pencil beams to commmission. This abstract reports an automatic beam-model commissioning method for pencil-beam scanning proton therapy via an optimization approach. Methods: We modeled a real pencil beam with energy and spatial spread following Gaussian distributions. Mean energy, and energy and spatial spread are model parameters. To commission against a real beam, we first performed MC simulations to calculate dose distributions of a set of ideal (monoenergetic, zero-size) pencil beams. Dose distribution for a real pencil beam is hence linear superposition of doses for those ideal pencil beams with weights in the Gaussian form. We formulated the commissioning task as an optimization problem, such that the calculated central axis depth dose and lateral profiles at several depths match corresponding measurements. An iterative algorithm combining conjugate gradient method and parameter fitting was employed to solve the optimization problem. We validated our method in simulation studies. Results: We calculated dose distributions for three real pencil beams with nominal energies 83, 147 and 199 MeV using realistic beam parameters. These data were regarded as measurements and used for commission. After commissioning, average difference in energy and beam spread between determined values and ground truth were 4.6% and 0.2%. With the commissioned model, we recomputed dose. Mean dose differences from measurements were 0.64%, 0.20% and 0.25%. Conclusion: The developed automatic MC beam-model commissioning method for pencil-beam scanning proton therapy can determine beam model parameters with

  3. WE-H-BRC-06: A Unified Machine-Learning Based Probabilistic Model for Automated Anomaly Detection in the Treatment Plan Data

    International Nuclear Information System (INIS)

    Chang, X; Liu, S; Kalet, A; Yang, D

    2016-01-01

    Purpose: The purpose of this work was to investigate the ability of a machine-learning based probabilistic approach to detect radiotherapy treatment plan anomalies given initial disease classes information. Methods In total we obtained 1112 unique treatment plans with five plan parameters and disease information from a Mosaiq treatment management system database for use in the study. The plan parameters include prescription dose, fractions, fields, modality and techniques. The disease information includes disease site, and T, M and N disease stages. A Bayesian network method was employed to model the probabilistic relationships between tumor disease information, plan parameters and an anomaly flag. A Bayesian learning method with Dirichlet prior was useed to learn the joint probabilities between dependent variables in error-free plan data and data with artificially induced anomalies. In the study, we randomly sampled data with anomaly in a specified anomaly space.We tested the approach with three groups of plan anomalies – improper concurrence of values of all five plan parameters and values of any two out of five parameters, and all single plan parameter value anomalies. Totally, 16 types of plan anomalies were covered by the study. For each type, we trained an individual Bayesian network. Results: We found that the true positive rate (recall) and positive predictive value (precision) to detect concurrence anomalies of five plan parameters in new patient cases were 94.45±0.26% and 93.76±0.39% respectively. To detect other 15 types of plan anomalies, the average recall and precision were 93.61±2.57% and 93.78±3.54% respectively. The computation time to detect the plan anomaly of each type in a new plan is ∼0.08 seconds. Conclusion: The proposed method for treatment plan anomaly detection was found effective in the initial tests. The results suggest that this type of models could be applied to develop plan anomaly detection tools to assist manual and

  4. WE-H-BRC-06: A Unified Machine-Learning Based Probabilistic Model for Automated Anomaly Detection in the Treatment Plan Data

    Energy Technology Data Exchange (ETDEWEB)

    Chang, X; Liu, S [Washington University in St. Louis, St. Louis, MO (United States); Kalet, A [University of Washington Medical Center, Seattle, WA (United States); Yang, D [Washington University in St Louis, St Louis, MO (United States)

    2016-06-15

    Purpose: The purpose of this work was to investigate the ability of a machine-learning based probabilistic approach to detect radiotherapy treatment plan anomalies given initial disease classes information. Methods In total we obtained 1112 unique treatment plans with five plan parameters and disease information from a Mosaiq treatment management system database for use in the study. The plan parameters include prescription dose, fractions, fields, modality and techniques. The disease information includes disease site, and T, M and N disease stages. A Bayesian network method was employed to model the probabilistic relationships between tumor disease information, plan parameters and an anomaly flag. A Bayesian learning method with Dirichlet prior was useed to learn the joint probabilities between dependent variables in error-free plan data and data with artificially induced anomalies. In the study, we randomly sampled data with anomaly in a specified anomaly space.We tested the approach with three groups of plan anomalies – improper concurrence of values of all five plan parameters and values of any two out of five parameters, and all single plan parameter value anomalies. Totally, 16 types of plan anomalies were covered by the study. For each type, we trained an individual Bayesian network. Results: We found that the true positive rate (recall) and positive predictive value (precision) to detect concurrence anomalies of five plan parameters in new patient cases were 94.45±0.26% and 93.76±0.39% respectively. To detect other 15 types of plan anomalies, the average recall and precision were 93.61±2.57% and 93.78±3.54% respectively. The computation time to detect the plan anomaly of each type in a new plan is ∼0.08 seconds. Conclusion: The proposed method for treatment plan anomaly detection was found effective in the initial tests. The results suggest that this type of models could be applied to develop plan anomaly detection tools to assist manual and

  5. TU-AB-BRC-11: Moving a GPU-OpenCL-Based Monte Carlo (MC) Dose Engine Towards Routine Clinical Use: Automatic Beam Commissioning and Efficient Source Sampling

    Energy Technology Data Exchange (ETDEWEB)

    Tian, Z; Folkerts, M; Jiang, S; Jia, X [UT Southwestern Medical Ctr, Dallas, TX (United States); Li, Y [Beihang University, Beijing (China)

    2016-06-15

    Purpose: We have previously developed a GPU-OpenCL-based MC dose engine named goMC with built-in analytical linac beam model. To move goMC towards routine clinical use, we have developed an automatic beam-commissioning method, and an efficient source sampling strategy to facilitate dose calculations for real treatment plans. Methods: Our commissioning method is to automatically adjust the relative weights among the sub-sources, through an optimization process minimizing the discrepancies between calculated dose and measurements. Six models built for Varian Truebeam linac photon beams (6MV, 10MV, 15MV, 18MV, 6MVFFF, 10MVFFF) were commissioned using measurement data acquired at our institution. To facilitate dose calculations for real treatment plans, we employed inverse sampling method to efficiently incorporate MLC leaf-sequencing into source sampling. Specifically, instead of sampling source particles control-point by control-point and rejecting the particles blocked by MLC, we assigned a control-point index to each sampled source particle, according to MLC leaf-open duration of each control-point at the pixel where the particle intersects the iso-center plane. Results: Our auto-commissioning method decreased distance-to-agreement (DTA) of depth dose at build-up regions by 36.2% averagely, making it within 1mm. Lateral profiles were better matched for all beams, with biggest improvement found at 15MV for which root-mean-square difference was reduced from 1.44% to 0.50%. Maximum differences of output factors were reduced to less than 0.7% for all beams, with largest decrease being from1.70% to 0.37% found at 10FFF. Our new sampling strategy was tested on a Head&Neck VMAT patient case. Achieving clinically acceptable accuracy, the new strategy could reduce the required history number by a factor of ∼2.8 given a statistical uncertainty level and hence achieve a similar speed-up factor. Conclusion: Our studies have demonstrated the feasibility and effectiveness of

  6. MO-B-BRC-01: Introduction

    International Nuclear Information System (INIS)

    Prisciandaro, J.

    2016-01-01

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions

  7. TH-EF-BRC-02: FMEA

    International Nuclear Information System (INIS)

    Huq, M.

    2016-01-01

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  8. In search of BRC (Below Regulatory Concern)

    International Nuclear Information System (INIS)

    Alexander, D.R.

    1993-01-01

    The development of a risk based clean up standard for low levels of radioactive soils has been initiated at the INEL using the methodology contained within the structure of the Federal Facility Agreement and Consent Order (FFA/CO) using section 120 (e) of the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) and the Superfund Amendments and Reauthorization Act of 1986

  9. TH-EF-BRC-02: FMEA

    Energy Technology Data Exchange (ETDEWEB)

    Huq, M. [University of Pittsburgh Cancer Institute (United States)

    2016-06-15

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  10. TH-EF-BRC-01: Process Mapping

    Energy Technology Data Exchange (ETDEWEB)

    Dunscombe, P. [University of Calgary (Canada)

    2016-06-15

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  11. CRBR reactor structures design. BRC meeting presentation

    International Nuclear Information System (INIS)

    Pennell, W.E.

    1975-01-01

    Some of the more important developments in LMFBR structures design technology are described and the application of the technology to design of the CRBR reactor components is illustrated. The LMFBR is both a high-temperature and a high-ΔT machine. High-temperature operation (up to 1100 0 F) requires that the designer consider the effects of thermal creep as a deformation mechanism and stress rupture as a failure mode. The large ΔT across the core coupled with a low core thermal inertia and the high conductivity of the sodium coolant combine to produce severe temperature gradients during a reactor scram. Structures designed to operate in this environment must be both light and stiff to minimize transient thermal stresses and prevent unacceptable flow-induced vibrations. Thermal shields may be required to protect the load-bearing structure. At CRBR core-component goal fluence levels, the predicted magnitude of core-component dimensional changes due to irradiation swelling and creep is very large compared with the more familiar dimensional changes associated with thermal expansion and thermal creep. The design of the core components, and in particular the core restraint system, is dominated by the need to accommodate the effects of irradiation swelling, creep and du []tility loss considerations. (auth)

  12. TH-EF-BRC-01: Process Mapping

    International Nuclear Information System (INIS)

    Dunscombe, P.

    2016-01-01

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  13. Combustion of paper industry sewage sludge in existing boilers. Progress report 1; Tillfoersel av skogsindustriellt slam till eldstaeder. Delrapport etapp 1

    Energy Technology Data Exchange (ETDEWEB)

    Hoeglund, Christer; Lundborg, Rickard; Myringer, Aase

    2003-10-01

    feeding of biological sludge with sludge burner/sprayer located relatively high in the furnace is possible with maintained good results of combustion. In the simulated standard case, it has proved suitable to place four sludge burners in pairs on the side walls. The burners give a maximal sludge amount of 660 kg per hour. The calculations show great differences in flow pattern in the boiler for sludge particles of different diameters. Particles with diameter 0,5 mm have a short depth of penetration and follow the flow field in the furnace. Particles with a diameter of 1,5 mm have considerably higher depth of penetration and are initially relatively unaffected by the flow field. The influence from the flow field of the furnace increases when the greater part of the moisture content of the particle is evaporated. Smaller particles than 0,5 mm prove to be too volatile and have difficulties to obtain sufficient penetration in the boiler. Larger particles than 1,5 mm prove to be too heavy and have too long drying time, which implies that they very likely will land on the bed before they are burned out. The optimal size distribution of the sludge is in the interval 0,5 - 1,5 mm. With this distribution, a good penetration of the sludge is reached together with acceptable times for combustion. The calculations show that only a few percent of the sludge particles of this size land on the grate. Combustion of sludge with a large part of wet biological sludge can cause problems with too low temperature to the superheaters. A proposed sludge burner is presented and discussed with suppliers of equipment and process engineers in the field. The proposal follow the basic idea to feed the sludge into the final combustion zone of the boiler so that the drying starts high up and the particles dry on the way down to the grate (the fuel bed) where the final combustion takes place. The mayor part of the sludge particles are burnt before they reach and land on the grate. The proposed model of

  14. Probabilistic double guarantee kidnapping detection in SLAM.

    Science.gov (United States)

    Tian, Yang; Ma, Shugen

    2016-01-01

    For determining whether kidnapping has happened and which type of kidnapping it is while a robot performs autonomous tasks in an unknown environment, a double guarantee kidnapping detection (DGKD) method has been proposed. The good performance of DGKD in a relative small environment is shown. However, a limitation of DGKD is found in a large-scale environment by our recent work. In order to increase the adaptability of DGKD in a large-scale environment, an improved method called probabilistic double guarantee kidnapping detection is proposed in this paper to combine probability of features' positions and the robot's posture. Simulation results demonstrate the validity and accuracy of the proposed method.

  15. Public citizen slams NRC on nuclear inspections

    International Nuclear Information System (INIS)

    Newman, P.

    1993-01-01

    Charging the Nuclear Regulatory Commission with open-quotes abandoning tough regulation of the nuclear power industry,close quotes Public Citizen's Critical Mass Energy Project on Wednesday released a report asserting that NRC is shielding sensitive internal nuclear industry self-evaluations from public scrutiny. Based on their review of 56 Institute of Nuclear Power Operations reports and evaluations and comparing these to the NRC's Systematic Assessment of Licensee Performance reports for the same plants, it was concluded that the NRC failed to address issues raised in all eight areas evaluated by the INPO reports

  16. Türkiye İçin Gümrük Birliği’ne Alternatif Bir Pazar: İslam İşbirliği Teşkilatı / An Alternative Market to European Union for Turkey: The Organization of Islamic Cooperation

    Directory of Open Access Journals (Sweden)

    Hayrettin Kesgingöz

    2018-03-01

    ütünleşmelerle dış ticareti arttırmak için alternatifler oluşturma düşüncesi, Türkiye için önemli hale gelmektedir. Türkiye’nin öncülüğünde oluşturulan İslam İşbirliği Teşkilatı (İİT Türkiye’nin dış ticaretinde G-20, OECD ve Gümrük Birliği (GB ile dış ticaretinden sonra en önemli paya sahiptir. Bu çalışmada Türkiye’nin dış ticaret payında önemli sırada yer almasına rağmen az bilinen uluslararası ekonomik kuruluşlardan İslam İşbirliği Teşkilatı’nın zamanla Gümrük Birliğine alternatif olup olmayacağı sorusuna cevap aranmıştır. Bu soruya cevap verebilmek için çalışmada dış ticaretin performansı analizi makroekonomik göstergeler ve dış ticaretin uyum analizi ise uluslararası dış ticaret endeksleri yardımıyla yapılmıştır. Dış ticaretin performans analizi ve dış ticaretin uyum analizi sonucunda Türkiye için İslam İşbirliği Teşkilatı’nın önemi her geçen gün artmaktadır. Türkiye’nin Gümrük Birliğiyle olan dış ticaretinin azalmasının aksine İslam İşbirliği Teşkilatı ile dış ticaretinin artması Türkiye’nin İslam İşbirliği Teşkilatı alternatif pazarına yöneldiğini göstermektedir. Fakat Türkiye ile İslam İşbirliği Teşkilatı arasındaki dış ticaret ancak zamanla Gümrük Birliğine iyi bir alternatif olarak değerlendirilebilir.

  17. Life expectancy at birth for people with serious mental illness and other major disorders from a secondary mental health care case register in London.

    Directory of Open Access Journals (Sweden)

    Chin-Kuo Chang

    Full Text Available Despite improving healthcare, the gap in mortality between people with serious mental illness (SMI and general population persists, especially for younger age groups. The electronic database from a large and comprehensive secondary mental healthcare provider in London was utilized to assess the impact of SMI diagnoses on life expectancy at birth.People who were diagnosed with SMI (schizophrenia, schizoaffective disorder, bipolar disorder, substance use disorder, and depressive episode/disorder before the end of 2009 and under active review by the South London and Maudsley NHS Foundation Trust (SLAM in southeast London during 2007-09 comprised the sample, retrieved by the SLAM Case Register Interactive Search (CRIS system. We estimated life expectancy at birth for people with SMI and each diagnosis, from national mortality returns between 2007-09, using a life table method.A total of 31,719 eligible people, aged 15 years or older, with SMI were analyzed. Among them, 1,370 died during 2007-09. Compared to national figures, all disorders were associated with substantially lower life expectancy: 8.0 to 14.6 life years lost for men and 9.8 to 17.5 life years lost for women. Highest reductions were found for men with schizophrenia (14.6 years lost and women with schizoaffective disorders (17.5 years lost.The impact of serious mental illness on life expectancy is marked and generally higher than similarly calculated impacts of well-recognised adverse exposures such as smoking, diabetes and obesity. Strategies to identify and prevent causes of premature death are urgently required.

  18. Case Report Case Report

    African Journals Online (AJOL)

    User

    2013-03-26

    Mar 26, 2013 ... c Medicine and Palliative Cancer Care: A Case Report. Sanjoy Kumar Pal ... us complementary and alternative therapies for treatment about the .... controlled trials that homeopathy may be effective for the treatment of ...

  19. MO-B-BRC-02: Ultrasound Based Prostate HDR

    International Nuclear Information System (INIS)

    Chang, Z.

    2016-01-01

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions

  20. MO-B-BRC-01: Introduction [Brachytherapy

    Energy Technology Data Exchange (ETDEWEB)

    Prisciandaro, J. [University of Michigan (United States)

    2016-06-15

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions.

  1. MO-B-BRC-02: Ultrasound Based Prostate HDR

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Z. [Duke University Medical Center (United States)

    2016-06-15

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions.

  2. WE-B-BRC-02: Risk Analysis and Incident Learning

    Energy Technology Data Exchange (ETDEWEB)

    Fraass, B. [Cedars Sinai Medical Center (United States)

    2016-06-15

    Prospective quality management techniques, long used by engineering and industry, have become a growing aspect of efforts to improve quality management and safety in healthcare. These techniques are of particular interest to medical physics as scope and complexity of clinical practice continue to grow, thus making the prescriptive methods we have used harder to apply and potentially less effective for our interconnected and highly complex healthcare enterprise, especially in imaging and radiation oncology. An essential part of most prospective methods is the need to assess the various risks associated with problems, failures, errors, and design flaws in our systems. We therefore begin with an overview of risk assessment methodologies used in healthcare and industry and discuss their strengths and weaknesses. The rationale for use of process mapping, failure modes and effects analysis (FMEA) and fault tree analysis (FTA) by TG-100 will be described, as well as suggestions for the way forward. This is followed by discussion of radiation oncology specific risk assessment strategies and issues, including the TG-100 effort to evaluate IMRT and other ways to think about risk in the context of radiotherapy. Incident learning systems, local as well as the ASTRO/AAPM ROILS system, can also be useful in the risk assessment process. Finally, risk in the context of medical imaging will be discussed. Radiation (and other) safety considerations, as well as lack of quality and certainty all contribute to the potential risks associated with suboptimal imaging. The goal of this session is to summarize a wide variety of risk analysis methods and issues to give the medical physicist access to tools which can better define risks (and their importance) which we work to mitigate with both prescriptive and prospective risk-based quality management methods. Learning Objectives: Description of risk assessment methodologies used in healthcare and industry Discussion of radiation oncology-specific risk assessment strategies and issues Evaluation of risk in the context of medical imaging and image quality E. Samei: Research grants from Siemens and GE.

  3. TH-B-BRC-02: Troubleshooting Issues with Linear Accelerator

    Energy Technology Data Exchange (ETDEWEB)

    Sutlief, S. [University of California, San Diego (United States)

    2016-06-15

    Radiation treatment consists of a chain of events influenced by the quality of machine operation, beam data commissioning, machine calibration, patient specific data, simulation, treatment planning, imaging and treatment delivery. There is always a chance that the clinical medical physicist may make or fail to detect an error in one of the events that may impact on the patient’s treatment. In the clinical scenario, errors may be systematic and, without peer review, may have a low detectability because they are not part of routine QA procedures. During treatment, there might be errors on machine that needs attention. External reviews of some of the treatment delivery components by independent reviewers, like IROC, can detect errors, but may not be timely. The goal of this session is to help junior clinical physicists identify potential errors as well as the approach of quality assurance to perform a root cause analysis to find and eliminate an error and to continually monitor for errors. A compilation of potential errors will be presented by examples of the thought process required to spot the error and determine the root cause. Examples may include unusual machine operation, erratic electrometer reading, consistent lower electron output, variation in photon output, body parts inadvertently left in beam, unusual treatment plan, poor normalization, hot spots etc. Awareness of the possibility and detection of error in any link of the treatment process chain will help improve the safe and accurate delivery of radiation to patients. Four experts will discuss how to identify errors in four areas of clinical treatment. D. Followill, NIH grant CA 180803.

  4. WE-B-BRC-01: Current Methodologies in Risk Assessment

    Energy Technology Data Exchange (ETDEWEB)

    Rath, F. [University of Wisconsin Madison (United States)

    2016-06-15

    Prospective quality management techniques, long used by engineering and industry, have become a growing aspect of efforts to improve quality management and safety in healthcare. These techniques are of particular interest to medical physics as scope and complexity of clinical practice continue to grow, thus making the prescriptive methods we have used harder to apply and potentially less effective for our interconnected and highly complex healthcare enterprise, especially in imaging and radiation oncology. An essential part of most prospective methods is the need to assess the various risks associated with problems, failures, errors, and design flaws in our systems. We therefore begin with an overview of risk assessment methodologies used in healthcare and industry and discuss their strengths and weaknesses. The rationale for use of process mapping, failure modes and effects analysis (FMEA) and fault tree analysis (FTA) by TG-100 will be described, as well as suggestions for the way forward. This is followed by discussion of radiation oncology specific risk assessment strategies and issues, including the TG-100 effort to evaluate IMRT and other ways to think about risk in the context of radiotherapy. Incident learning systems, local as well as the ASTRO/AAPM ROILS system, can also be useful in the risk assessment process. Finally, risk in the context of medical imaging will be discussed. Radiation (and other) safety considerations, as well as lack of quality and certainty all contribute to the potential risks associated with suboptimal imaging. The goal of this session is to summarize a wide variety of risk analysis methods and issues to give the medical physicist access to tools which can better define risks (and their importance) which we work to mitigate with both prescriptive and prospective risk-based quality management methods. Learning Objectives: Description of risk assessment methodologies used in healthcare and industry Discussion of radiation oncology-specific risk assessment strategies and issues Evaluation of risk in the context of medical imaging and image quality E. Samei: Research grants from Siemens and GE.

  5. TH-EF-BRC-04: Quality Management Program

    International Nuclear Information System (INIS)

    Yorke, E.

    2016-01-01

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  6. WE-B-BRC-02: Risk Analysis and Incident Learning

    International Nuclear Information System (INIS)

    Fraass, B.

    2016-01-01

    Prospective quality management techniques, long used by engineering and industry, have become a growing aspect of efforts to improve quality management and safety in healthcare. These techniques are of particular interest to medical physics as scope and complexity of clinical practice continue to grow, thus making the prescriptive methods we have used harder to apply and potentially less effective for our interconnected and highly complex healthcare enterprise, especially in imaging and radiation oncology. An essential part of most prospective methods is the need to assess the various risks associated with problems, failures, errors, and design flaws in our systems. We therefore begin with an overview of risk assessment methodologies used in healthcare and industry and discuss their strengths and weaknesses. The rationale for use of process mapping, failure modes and effects analysis (FMEA) and fault tree analysis (FTA) by TG-100 will be described, as well as suggestions for the way forward. This is followed by discussion of radiation oncology specific risk assessment strategies and issues, including the TG-100 effort to evaluate IMRT and other ways to think about risk in the context of radiotherapy. Incident learning systems, local as well as the ASTRO/AAPM ROILS system, can also be useful in the risk assessment process. Finally, risk in the context of medical imaging will be discussed. Radiation (and other) safety considerations, as well as lack of quality and certainty all contribute to the potential risks associated with suboptimal imaging. The goal of this session is to summarize a wide variety of risk analysis methods and issues to give the medical physicist access to tools which can better define risks (and their importance) which we work to mitigate with both prescriptive and prospective risk-based quality management methods. Learning Objectives: Description of risk assessment methodologies used in healthcare and industry Discussion of radiation oncology-specific risk assessment strategies and issues Evaluation of risk in the context of medical imaging and image quality E. Samei: Research grants from Siemens and GE

  7. MO-B-BRC-04: MRI-Based Prostate HDR

    International Nuclear Information System (INIS)

    Mourtada, F.

    2016-01-01

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions

  8. MO-B-BRC-03: CT-Based Prostate HDR

    International Nuclear Information System (INIS)

    Zoberi, J.

    2016-01-01

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions

  9. MO-A-BRC-01: TG167 Report - Introduction

    Energy Technology Data Exchange (ETDEWEB)

    Nath, R. [Yale University School of Medicine (United States)

    2016-06-15

    Although a multicenter, Phase III, prospective, randomized trial is the gold standard for evidence-based medicine, it is rarely used to evaluate innovative radiotherapy devices because of many practical and ethical reasons. It is usually sufficient to compare the dose distributions and dose rates for determining equivalence of the innovative device to an existing one. Thus, quantitative evaluation of the dosimetric characteristics of an innovative brachytherapy device or application is a critical part in which physicists are actively involved. The physicist’s role, along with physician colleagues, in this process is highlighted for innovative products or applications and includes evaluation of 1) dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use, 2) risks and benefits from regulatory and safety perspectives, and 3) resource assessment and preparedness. Further, calibration methods should be traceable to a primary standards dosimetry laboratory such as NIST in the U.S. or to other primary standards dosimetry laboratory located elsewhere. Clinical users should follow standards as approved by their country’s regulatory agencies that approved such a brachytherapy device. Integration of this system into the medical source calibration infrastructure of secondary standard dosimetry laboratories such as the ADCLs is encouraged before a source is introduced into widespread routine clinical use. The AAPM and GEC-ESTRO have developed guidelines for the safe and consistent application of brachytherapy using innovative brachytherapy devices and applications. The current report covers regulatory approvals, calibration, dose calculations, radiobiological issues, and overall safety concerns that should be addressed during the commissioning stage preceding clinical use. These guidelines are based on review of requirements of the U.S. NRC, FDA, Department of Transportation, International Electrotechnical Commission Medical Electrical Equipment Standard 60601, European Commission for CE Marking, and institutional review boards and radiation safety committees. Learning Objectives: Understand the necessary dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use. Evaluate risks and benefits from regulatory and safety perspectives. Identify necessary resources and create a plan for clinical introduction of innovative brachytherapy device or applications. Consultant for Theragenics Corp.; R. Nath, Consultant to Theragenics Corp.

  10. MO-A-BRC-02: TG167 Report - Detailed Description

    Energy Technology Data Exchange (ETDEWEB)

    Rivard, M.

    2016-06-15

    Although a multicenter, Phase III, prospective, randomized trial is the gold standard for evidence-based medicine, it is rarely used to evaluate innovative radiotherapy devices because of many practical and ethical reasons. It is usually sufficient to compare the dose distributions and dose rates for determining equivalence of the innovative device to an existing one. Thus, quantitative evaluation of the dosimetric characteristics of an innovative brachytherapy device or application is a critical part in which physicists are actively involved. The physicist’s role, along with physician colleagues, in this process is highlighted for innovative products or applications and includes evaluation of 1) dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use, 2) risks and benefits from regulatory and safety perspectives, and 3) resource assessment and preparedness. Further, calibration methods should be traceable to a primary standards dosimetry laboratory such as NIST in the U.S. or to other primary standards dosimetry laboratory located elsewhere. Clinical users should follow standards as approved by their country’s regulatory agencies that approved such a brachytherapy device. Integration of this system into the medical source calibration infrastructure of secondary standard dosimetry laboratories such as the ADCLs is encouraged before a source is introduced into widespread routine clinical use. The AAPM and GEC-ESTRO have developed guidelines for the safe and consistent application of brachytherapy using innovative brachytherapy devices and applications. The current report covers regulatory approvals, calibration, dose calculations, radiobiological issues, and overall safety concerns that should be addressed during the commissioning stage preceding clinical use. These guidelines are based on review of requirements of the U.S. NRC, FDA, Department of Transportation, International Electrotechnical Commission Medical Electrical Equipment Standard 60601, European Commission for CE Marking, and institutional review boards and radiation safety committees. Learning Objectives: Understand the necessary dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use. Evaluate risks and benefits from regulatory and safety perspectives. Identify necessary resources and create a plan for clinical introduction of innovative brachytherapy device or applications. Consultant for Theragenics Corp.; R. Nath, Consultant to Theragenics Corp.

  11. BRC neutron evaluations of actinides with the TALYS code

    International Nuclear Information System (INIS)

    Morillon, B.; Romain, P.

    2014-01-01

    We briefly report here part of the list of problems to overcome in order to build evaluations as predictive as possible for simulation of criticality benchmarks. Dispersive potential, large coupling scheme and neutron inelastic scattering are the most crucial points of this list of problems. Different tools to distinguish differences between evaluations are also presented. (authors)

  12. WE-A-BRC-03: Lessons Learned: IROC Audits

    International Nuclear Information System (INIS)

    Followill, D.

    2016-01-01

    Quality and safety in healthcare are inextricably linked. There are compelling data that link poor quality radiation therapy to inferior patient survival. Radiation Oncology clinical trial protocol deviations often involve incorrect target volume delineation or dosing, akin to radiotherapy incidents which also often involve partial geometric miss or improper radiation dosing. When patients with radiation protocol variations are compared to those without significant protocol variations, clinical outcome is negatively impacted. Traditionally, quality assurance in radiation oncology has been driven largely by new technological advances, and safety improvement has been driven by reactive responses to past system failures and prescriptive mandates recommended by professional organizations and promulgated by regulators. Prescriptive approaches to quality and safety alone often do not address the huge variety of process and technique used in radiation oncology. Risk-based assessments of radiotherapy processes provide a mechanism to enhance quality and safety, both for new and for established techniques. It is imperative that we explore such a paradigm shift at this time, when expectations from patients as well as providers are rising while available resources are falling. There is much we can learn from our past experiences to be applied towards the new risk-based assessments. Learning Objectives: Understand the impact of clinical and technical quality on outcomes Understand the importance of quality care in radiation oncology Learn to assess the impact of quality on clinical outcomes D. Followill, NIH Grant CA180803

  13. MO-A-BRC-01: TG167 Report - Introduction

    International Nuclear Information System (INIS)

    Nath, R.

    2016-01-01

    Although a multicenter, Phase III, prospective, randomized trial is the gold standard for evidence-based medicine, it is rarely used to evaluate innovative radiotherapy devices because of many practical and ethical reasons. It is usually sufficient to compare the dose distributions and dose rates for determining equivalence of the innovative device to an existing one. Thus, quantitative evaluation of the dosimetric characteristics of an innovative brachytherapy device or application is a critical part in which physicists are actively involved. The physicist’s role, along with physician colleagues, in this process is highlighted for innovative products or applications and includes evaluation of 1) dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use, 2) risks and benefits from regulatory and safety perspectives, and 3) resource assessment and preparedness. Further, calibration methods should be traceable to a primary standards dosimetry laboratory such as NIST in the U.S. or to other primary standards dosimetry laboratory located elsewhere. Clinical users should follow standards as approved by their country’s regulatory agencies that approved such a brachytherapy device. Integration of this system into the medical source calibration infrastructure of secondary standard dosimetry laboratories such as the ADCLs is encouraged before a source is introduced into widespread routine clinical use. The AAPM and GEC-ESTRO have developed guidelines for the safe and consistent application of brachytherapy using innovative brachytherapy devices and applications. The current report covers regulatory approvals, calibration, dose calculations, radiobiological issues, and overall safety concerns that should be addressed during the commissioning stage preceding clinical use. These guidelines are based on review of requirements of the U.S. NRC, FDA, Department of Transportation, International Electrotechnical Commission Medical Electrical Equipment Standard 60601, European Commission for CE Marking, and institutional review boards and radiation safety committees. Learning Objectives: Understand the necessary dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use. Evaluate risks and benefits from regulatory and safety perspectives. Identify necessary resources and create a plan for clinical introduction of innovative brachytherapy device or applications. Consultant for Theragenics Corp.; R. Nath, Consultant to Theragenics Corp.

  14. MO-A-BRC-02: TG167 Report - Detailed Description

    International Nuclear Information System (INIS)

    Rivard, M.

    2016-01-01

    Although a multicenter, Phase III, prospective, randomized trial is the gold standard for evidence-based medicine, it is rarely used to evaluate innovative radiotherapy devices because of many practical and ethical reasons. It is usually sufficient to compare the dose distributions and dose rates for determining equivalence of the innovative device to an existing one. Thus, quantitative evaluation of the dosimetric characteristics of an innovative brachytherapy device or application is a critical part in which physicists are actively involved. The physicist’s role, along with physician colleagues, in this process is highlighted for innovative products or applications and includes evaluation of 1) dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use, 2) risks and benefits from regulatory and safety perspectives, and 3) resource assessment and preparedness. Further, calibration methods should be traceable to a primary standards dosimetry laboratory such as NIST in the U.S. or to other primary standards dosimetry laboratory located elsewhere. Clinical users should follow standards as approved by their country’s regulatory agencies that approved such a brachytherapy device. Integration of this system into the medical source calibration infrastructure of secondary standard dosimetry laboratories such as the ADCLs is encouraged before a source is introduced into widespread routine clinical use. The AAPM and GEC-ESTRO have developed guidelines for the safe and consistent application of brachytherapy using innovative brachytherapy devices and applications. The current report covers regulatory approvals, calibration, dose calculations, radiobiological issues, and overall safety concerns that should be addressed during the commissioning stage preceding clinical use. These guidelines are based on review of requirements of the U.S. NRC, FDA, Department of Transportation, International Electrotechnical Commission Medical Electrical Equipment Standard 60601, European Commission for CE Marking, and institutional review boards and radiation safety committees. Learning Objectives: Understand the necessary dosimetric considerations for clinical implementation (including calibrations, dose calculations, and radiobiological aspects) to comply with existing societal dosimetric prerequisites for sources in routine clinical use. Evaluate risks and benefits from regulatory and safety perspectives. Identify necessary resources and create a plan for clinical introduction of innovative brachytherapy device or applications. Consultant for Theragenics Corp.; R. Nath, Consultant to Theragenics Corp.

  15. TH-B-BRC-02: Troubleshooting Issues with Linear Accelerator

    International Nuclear Information System (INIS)

    Sutlief, S.

    2016-01-01

    Radiation treatment consists of a chain of events influenced by the quality of machine operation, beam data commissioning, machine calibration, patient specific data, simulation, treatment planning, imaging and treatment delivery. There is always a chance that the clinical medical physicist may make or fail to detect an error in one of the events that may impact on the patient’s treatment. In the clinical scenario, errors may be systematic and, without peer review, may have a low detectability because they are not part of routine QA procedures. During treatment, there might be errors on machine that needs attention. External reviews of some of the treatment delivery components by independent reviewers, like IROC, can detect errors, but may not be timely. The goal of this session is to help junior clinical physicists identify potential errors as well as the approach of quality assurance to perform a root cause analysis to find and eliminate an error and to continually monitor for errors. A compilation of potential errors will be presented by examples of the thought process required to spot the error and determine the root cause. Examples may include unusual machine operation, erratic electrometer reading, consistent lower electron output, variation in photon output, body parts inadvertently left in beam, unusual treatment plan, poor normalization, hot spots etc. Awareness of the possibility and detection of error in any link of the treatment process chain will help improve the safe and accurate delivery of radiation to patients. Four experts will discuss how to identify errors in four areas of clinical treatment. D. Followill, NIH grant CA 180803

  16. WE-A-BRC-01: Introduction to the Certificate Course

    Energy Technology Data Exchange (ETDEWEB)

    Palta, J. [Virginia Commonwealth University (United States)

    2016-06-15

    Quality and safety in healthcare are inextricably linked. There are compelling data that link poor quality radiation therapy to inferior patient survival. Radiation Oncology clinical trial protocol deviations often involve incorrect target volume delineation or dosing, akin to radiotherapy incidents which also often involve partial geometric miss or improper radiation dosing. When patients with radiation protocol variations are compared to those without significant protocol variations, clinical outcome is negatively impacted. Traditionally, quality assurance in radiation oncology has been driven largely by new technological advances, and safety improvement has been driven by reactive responses to past system failures and prescriptive mandates recommended by professional organizations and promulgated by regulators. Prescriptive approaches to quality and safety alone often do not address the huge variety of process and technique used in radiation oncology. Risk-based assessments of radiotherapy processes provide a mechanism to enhance quality and safety, both for new and for established techniques. It is imperative that we explore such a paradigm shift at this time, when expectations from patients as well as providers are rising while available resources are falling. There is much we can learn from our past experiences to be applied towards the new risk-based assessments. Learning Objectives: Understand the impact of clinical and technical quality on outcomes Understand the importance of quality care in radiation oncology Learn to assess the impact of quality on clinical outcomes D. Followill, NIH Grant CA180803.

  17. TH-EF-BRC-03: Fault Tree Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Thomadsen, B. [University of Wisconsin (United States)

    2016-06-15

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  18. TH-EF-BRC-04: Quality Management Program

    Energy Technology Data Exchange (ETDEWEB)

    Yorke, E. [Memorial Sloan-Kettering Cancer Center (United States)

    2016-06-15

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  19. TH-EF-BRC-00: TG-100 Workshop

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2016-06-15

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  20. MO-E-BRC-03: Fast Online Replanning Techniques

    International Nuclear Information System (INIS)

    Li, X.

    2016-01-01

    Online adaptive radiation therapy has the potential to ensure delivery of optimal treatment to the patient by accounting for anatomical and potentially functional changes that occur from one fraction to the next and over the course of treatment. While on-line adaptive RT (ART) has been a topic of many publications, discussions, and research, it has until very recently remained largely a concept and not a practical implementation. However, recent advances in on-table imaging, use of deformable image registration for contour generation and dose tracking, faster and more efficient plan optimization, as well as fast quality assurance method has enabled the implementation of ART in the clinic in the past couple of years. The introduction of these tools into routine clinical use requires many considerations and progressive knowledge to understand how processes that have historically taken hours/days to complete can now be done in less than 30 minutes. This session will discuss considerations to perform real time contouring, planning and patient specific QA, as well as a practical workflow and the required resources. Learning Objectives: To understand the difficulties, challenges and available technologies for online adaptive RT. To understand how to implement online adaptive therapy in a clinical environment and to understand the workflow and resources required. To understand the limitations and sources of uncertainty in the online adaptive process I have research funding from ViewRay Inc. and Philips Medical Systems.; R. Kashani, I have research funding from ViewRay Inc. and Philips Medical Systems.; X. Li, Research supported by Elekta Inc.

  1. TH-EF-BRC-00: TG-100 Workshop

    International Nuclear Information System (INIS)

    2016-01-01

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  2. MO-B-BRC-04: MRI-Based Prostate HDR

    Energy Technology Data Exchange (ETDEWEB)

    Mourtada, F. [Christiana Care Hospital (United States)

    2016-06-15

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions.

  3. MO-B-BRC-03: CT-Based Prostate HDR

    Energy Technology Data Exchange (ETDEWEB)

    Zoberi, J. [Washington University School of Medicine (United States)

    2016-06-15

    Brachytherapy has proven to be an effective treatment option for prostate cancer. Initially, prostate brachytherapy was delivered through permanently implanted low dose rate (LDR) radioactive sources; however, high dose rate (HDR) temporary brachytherapy for prostate cancer is gaining popularity. Needle insertion during prostate brachytherapy is most commonly performed under ultrasound (U/S) guidance; however, treatment planning may be performed utilizing several imaging modalities either in an intra- or post-operative setting. During intra-operative prostate HDR, the needles are imaged during implantation, and planning may be performed in real time. At present, the most common imaging modality utilized for intra-operative prostate HDR is U/S. Alternatively, in the post-operative setting, following needle implantation, patients may be simulated with computed tomography (CT) or magnetic resonance imaging (MRI). Each imaging modality and workflow provides its share of benefits and limitations. Prostate HDR has been adopted in a number of cancer centers across the nation. In this educational session, we will explore the role of U/S, CT, and MRI in HDR prostate brachytherapy. Example workflows and operational details will be shared, and we will discuss how to establish a prostate HDR program in a clinical setting. Learning Objectives: Review prostate HDR techniques based on the imaging modality Discuss the challenges and pitfalls introduced by the three imagebased options for prostate HDR brachytherapy Review the QA process and learn about the development of clinical workflows for these imaging options at different institutions.

  4. WE-B-BRC-01: Current Methodologies in Risk Assessment

    International Nuclear Information System (INIS)

    Rath, F.

    2016-01-01

    Prospective quality management techniques, long used by engineering and industry, have become a growing aspect of efforts to improve quality management and safety in healthcare. These techniques are of particular interest to medical physics as scope and complexity of clinical practice continue to grow, thus making the prescriptive methods we have used harder to apply and potentially less effective for our interconnected and highly complex healthcare enterprise, especially in imaging and radiation oncology. An essential part of most prospective methods is the need to assess the various risks associated with problems, failures, errors, and design flaws in our systems. We therefore begin with an overview of risk assessment methodologies used in healthcare and industry and discuss their strengths and weaknesses. The rationale for use of process mapping, failure modes and effects analysis (FMEA) and fault tree analysis (FTA) by TG-100 will be described, as well as suggestions for the way forward. This is followed by discussion of radiation oncology specific risk assessment strategies and issues, including the TG-100 effort to evaluate IMRT and other ways to think about risk in the context of radiotherapy. Incident learning systems, local as well as the ASTRO/AAPM ROILS system, can also be useful in the risk assessment process. Finally, risk in the context of medical imaging will be discussed. Radiation (and other) safety considerations, as well as lack of quality and certainty all contribute to the potential risks associated with suboptimal imaging. The goal of this session is to summarize a wide variety of risk analysis methods and issues to give the medical physicist access to tools which can better define risks (and their importance) which we work to mitigate with both prescriptive and prospective risk-based quality management methods. Learning Objectives: Description of risk assessment methodologies used in healthcare and industry Discussion of radiation oncology-specific risk assessment strategies and issues Evaluation of risk in the context of medical imaging and image quality E. Samei: Research grants from Siemens and GE

  5. WE-A-BRC-03: Lessons Learned: IROC Audits

    Energy Technology Data Exchange (ETDEWEB)

    Followill, D. [UT MD Anderson Cancer Center (United States)

    2016-06-15

    Quality and safety in healthcare are inextricably linked. There are compelling data that link poor quality radiation therapy to inferior patient survival. Radiation Oncology clinical trial protocol deviations often involve incorrect target volume delineation or dosing, akin to radiotherapy incidents which also often involve partial geometric miss or improper radiation dosing. When patients with radiation protocol variations are compared to those without significant protocol variations, clinical outcome is negatively impacted. Traditionally, quality assurance in radiation oncology has been driven largely by new technological advances, and safety improvement has been driven by reactive responses to past system failures and prescriptive mandates recommended by professional organizations and promulgated by regulators. Prescriptive approaches to quality and safety alone often do not address the huge variety of process and technique used in radiation oncology. Risk-based assessments of radiotherapy processes provide a mechanism to enhance quality and safety, both for new and for established techniques. It is imperative that we explore such a paradigm shift at this time, when expectations from patients as well as providers are rising while available resources are falling. There is much we can learn from our past experiences to be applied towards the new risk-based assessments. Learning Objectives: Understand the impact of clinical and technical quality on outcomes Understand the importance of quality care in radiation oncology Learn to assess the impact of quality on clinical outcomes D. Followill, NIH Grant CA180803.

  6. MO-E-BRC-03: Fast Online Replanning Techniques

    Energy Technology Data Exchange (ETDEWEB)

    Li, X. [Medical College of Wisconsin (United States)

    2016-06-15

    Online adaptive radiation therapy has the potential to ensure delivery of optimal treatment to the patient by accounting for anatomical and potentially functional changes that occur from one fraction to the next and over the course of treatment. While on-line adaptive RT (ART) has been a topic of many publications, discussions, and research, it has until very recently remained largely a concept and not a practical implementation. However, recent advances in on-table imaging, use of deformable image registration for contour generation and dose tracking, faster and more efficient plan optimization, as well as fast quality assurance method has enabled the implementation of ART in the clinic in the past couple of years. The introduction of these tools into routine clinical use requires many considerations and progressive knowledge to understand how processes that have historically taken hours/days to complete can now be done in less than 30 minutes. This session will discuss considerations to perform real time contouring, planning and patient specific QA, as well as a practical workflow and the required resources. Learning Objectives: To understand the difficulties, challenges and available technologies for online adaptive RT. To understand how to implement online adaptive therapy in a clinical environment and to understand the workflow and resources required. To understand the limitations and sources of uncertainty in the online adaptive process I have research funding from ViewRay Inc. and Philips Medical Systems.; R. Kashani, I have research funding from ViewRay Inc. and Philips Medical Systems.; X. Li, Research supported by Elekta Inc.

  7. TH-EF-BRC-03: Fault Tree Analysis

    International Nuclear Information System (INIS)

    Thomadsen, B.

    2016-01-01

    This Hands-on Workshop will be focused on providing participants with experience with the principal tools of TG 100 and hence start to build both competence and confidence in the use of risk-based quality management techniques. The three principal tools forming the basis of TG 100’s risk analysis: Process mapping, Failure-Modes and Effects Analysis and fault-tree analysis will be introduced with a 5 minute refresher presentation and each presentation will be followed by a 30 minute small group exercise. An exercise on developing QM from the risk analysis follows. During the exercise periods, participants will apply the principles in 2 different clinical scenarios. At the conclusion of each exercise there will be ample time for participants to discuss with each other and the faculty their experience and any challenges encountered. Learning Objectives: To review the principles of Process Mapping, Failure Modes and Effects Analysis and Fault Tree Analysis. To gain familiarity with these three techniques in a small group setting. To share and discuss experiences with the three techniques with faculty and participants. Director, TreatSafely, LLC. Director, Center for the Assessment of Radiological Sciences. Occasional Consultant to the IAEA and Varian.

  8. WE-A-BRC-01: Introduction to the Certificate Course

    International Nuclear Information System (INIS)

    Palta, J.

    2016-01-01

    Quality and safety in healthcare are inextricably linked. There are compelling data that link poor quality radiation therapy to inferior patient survival. Radiation Oncology clinical trial protocol deviations often involve incorrect target volume delineation or dosing, akin to radiotherapy incidents which also often involve partial geometric miss or improper radiation dosing. When patients with radiation protocol variations are compared to those without significant protocol variations, clinical outcome is negatively impacted. Traditionally, quality assurance in radiation oncology has been driven largely by new technological advances, and safety improvement has been driven by reactive responses to past system failures and prescriptive mandates recommended by professional organizations and promulgated by regulators. Prescriptive approaches to quality and safety alone often do not address the huge variety of process and technique used in radiation oncology. Risk-based assessments of radiotherapy processes provide a mechanism to enhance quality and safety, both for new and for established techniques. It is imperative that we explore such a paradigm shift at this time, when expectations from patients as well as providers are rising while available resources are falling. There is much we can learn from our past experiences to be applied towards the new risk-based assessments. Learning Objectives: Understand the impact of clinical and technical quality on outcomes Understand the importance of quality care in radiation oncology Learn to assess the impact of quality on clinical outcomes D. Followill, NIH Grant CA180803

  9. Çeviri: İslam Ekonomisinin Arzuları ve Gerçekleri Arasındaki Uzaklaşma:Farklılığı Azaltmaya Yönelik Bir Politik Ekonomi Yaklaşımı (Divergence between aspirations and realities of Islamic economics: A political economy approach to bridging the divide

    Directory of Open Access Journals (Sweden)

    Uğur Uyğun

    2016-12-01

    Full Text Available Orjinal Metin: Nazim Zaman and Mehmet Asutay (2009, "Divergence between aspirations and realities of Islamic economics: A political economy approach to bridging the divide", IIUM Journal of Economics and Management 17, no. 1 (2009: 73-96 © 2009 by The International Islamic University Malaysia.İslam ekonomisi modern anlamda 1960’larda ortaya çıkmasına rağmen, şimdilerde ana akım neoklasik gelişmeye karşı İslami bir alternatif olarak temsil edilen tek tezahürün İslami banka ve finans endüstrisi (İBF olduğunu görüyoruz. İBF endüstrisindeki gelişmeler gösteriyor ki bu endüstri geleneksel finansa doğru yaklaşmıştır. Sonuçta, bu endüstri İslami ekonomik sistemin kurumsal ve politik arzularını yerine getirmekte başarısız olmuştur. Bu makale İslami ekonomik sistemin arzuları ile İBF endüstrisi arasındaki farklılaşmanın nasıl meydana geldiğini açıklamaya çalışmaktadır ve salt ekonomi ve fıkıh düşüncesinin ötesinde olan İslam’ın kavramsal bir gelişme modelini sunmaktadır. Bu makale temel aksiyomların aslında tamamen temel kurumsal uygulamalara dayandığını göstermek için politik ekonomi yaklaşımını önermektedir. Ayrıca bu amacı gerçekleştirmek için politik vizyon, istek ve liderliği de içeren ön koşulları açıklamaktadır.

  10. Case management.

    Science.gov (United States)

    Woodward, Judy; Rice, Eve

    2015-03-01

    Health care in the United States is changing rapidly under pressure from both political and professional stakeholders, and one area on the front line of required change is the discipline of case management. Historically, case management has worked to defragment the health care delivery system for clients and increase access to health care. Case management will have an expanded role resulting from Affordable Care Act initiatives to improve health care. This article includes definitions of case management, current issues related to case management, case management standards of practice, and a case study of the management of pediatric chronic disease. Copyright © 2015 Elsevier Inc. All rights reserved.

  11. Casing study

    Energy Technology Data Exchange (ETDEWEB)

    Roche, P.

    2000-12-01

    An unorthodox method of casing drilling used by Tesco Corporation at a gas well in Wyoming to drill deeper using casings as drillpipe is discussed. The process involves either rotating the casing as drill string or using a downhole mud motor to rotate the bit. In this instance, the surface hole and the production hole were casing-drilled to a record 8,312 feet by rotating the casing. The 8 1/2-inch surface hole was drilled with 7-inch casing to 1,200 feet using a Tesco underreamer and a polycrystalline pilot bit; drilling and cementing was completed in 12 1/2 hours. The 6 1/4-inch production hole was drilled with 4 1/2-inch casing and the bottomhole assembly was retrieved after 191 hours rotating. This case was the first in which the entire well was casing-drilled from surface to TD. Penetration rate compared favorably with conventional methods: 12 1/2 hours for casing-drilling to 18.9 hours for conventional drilling, despite the fact that the casing-drilling technology is still in its infancy. It is suggested that casing-drilling has the potential to eliminate the need for the drillpipe entirely. If these expectations were to be realised, casing-drilling could be one of the most radical drilling changes in the history of the oil and gas industry. 1 photo.

  12. Case series

    African Journals Online (AJOL)

    abp

    2013-06-20

    Jun 20, 2013 ... ... by a persistent neurological deficit in 2 cases, and infection in 2 cases controlled ... Upper cervical spine injuries are frequent due to increasing number .... the patient; it also takes more time for fracture healing and expose.

  13. Case series

    African Journals Online (AJOL)

    ebutamanya

    2015-01-29

    Jan 29, 2015 ... for tinnitus (Table 1). The otomicroscopic examination shows: central non marginal perforation in 29 patients, posterior perforation in 17 patients and anterior perforation in 14 patients. The tympanic cavity was dry in 27 cases, wet in 18 cases and inflammatory in the. 15 remaining cases. The conralateral ear ...

  14. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-02-12

    Feb 12, 2015 ... Abstract. Vaginal metastasis from pancreatic cancer is an extreme case and often indicates a poor prognosis. We present a case of pancreatic carcinoma with metastasis to the vagina that was discovered by vaginal bleeding. To our knowledge, this is the third case in the world of a primary pancreatic.

  15. Leading daily slammed for political bias / Aleksei Gunter

    Index Scriptorium Estoniae

    Gunter, Aleksei, 1979-

    2005-01-01

    Poliitikute väitel mõjutab ajalehe Postimees tegevust Reformierakond. Ajaleht Postimees süüdistab Hans H. Luike seotuses ajalehe mustamisega, et saavutada parem äriline positsioon. Meediaeksperdi Raul Rebase selgitus. Tabel: Eesti meediagrupid ; Päevalehtede tiraazh Jaanuaris 2005

  16. Active Visual SLAM with Exploration for Autonomous Underwater Navigation

    Science.gov (United States)

    2012-01-01

    tourism. Reconstruction of Notre Dame de Paris (Snavely et al., 2006). (c) Web-scale landmark recognition engine (Zheng et al., 2009). eters for an...structures, such as Notre Dame Cathedral in Paris and the Great Wall of China (Figure 1.3(b)), using photographs compiled from the Internet. Given the...Exhibition, vol. 3, pp. 378–383, Brest , France. Brown, M., and D. G. Lowe (2005), Unsupervised 3D object recognition and reconstruction in unordered

  17. Multi-Robot FastSLAM for Large Domains

    Science.gov (United States)

    2007-03-01

    Derr, D. Fox, A.B. Cremers , Integrating global position estimation and position tracking for mobile robots: The dynamic markov localization approach...Intelligence (AAAI), 2000. 53. Andrew J. Davison and David W. Murray. Simultaneous Localization and Map- Building Using Active Vision. IEEE...Wyeth, Michael Milford and David Prasser. A Modified Particle Filter for Simultaneous Robot Localization and Landmark Tracking in an Indoor

  18. Human SLAM, indoor localisation of devices and users

    NARCIS (Netherlands)

    Bulten, W.; Rossum, A.C. van; Haselager, W.F.G.; Guerrero, J.E.

    2016-01-01

    The indoor localisation problem is more complex than just finding whereabouts of users. Finding positions of users relative to the devices of a smart space is even more important. Unfortunately, configuring such systems manually is a tedious process, requires expert knowledge, and is sensitive to

  19. SLAM, a Mathematica interface for SUSY spectrum generators

    International Nuclear Information System (INIS)

    Marquard, Peter; Zerf, Nikolai

    2013-09-01

    We present and publish a Mathematica package, which can be used to automatically obtain any numerical MSSM input parameter from SUSY spectrum generators, which follow the SLHA standard, like SPheno, SOFTSUSY or Suspect. The package enables a very comfortable way of numerical evaluations within the MSSM using Mathematica. It implements easy to use predefined high scale and low scale scenarios like mSUGRA or m h max and if needed enables the user to directly specify the input required by the spectrum generators. In addition it supports an automatic saving and loading of SUSY spectra to and from a SQL data base, avoiding the rerun of a spectrum generator for a known spectrum.

  20. Multi-Robot FastSLAM for Large Domains

    National Research Council Canada - National Science Library

    Koperski, Choyong G

    2007-01-01

    For a robot to build a map of its surrounding area, it must have accurate position information within the area, and to obtain accurate position information within the area, the robot needs to have an...

  1. Point features extraction: towards slam for an autonomous underwater vehicle

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-07-01

    Full Text Available and Control. Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf, date accessed: [2009, 05/20] [7] Williams, S.B., Newman, P., Rosenblatt, J., Dissanayake, G. & Whyte, H.D., Autonomous Underwater Simultaneous and Localisation and Map Building.... Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf., date accessed: [2009, 05/20] [8]http://www.tritech.co.uk/products/products-micron_sonar.htm, date accessed: [10/01/10] [9] Tena, I., Petillot, Y., Lane, D.M.,Salson. Feature Extraction...

  2. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    sensor data to get information of the environment, to formulate its plan to achieve the given goals, to plan a path for movement to a designated location, to allow the robot to update itself con- tinuously to incorporate observed changes in its plans, etc. Among these activities, autonomous movement is very important for mobile ...

  3. Social partners slam government plans to counter crisis

    NARCIS (Netherlands)

    Grünell, M.

    2009-01-01

    The social partners have criticized the plans put forward by the Dutch government to ease the impact of the economic crisis. Trade unions are against the plans to keep older employees working for longer and to raise the retirement age. Employers, meanwhile, have argued against the scrapping of the

  4. Winning in straight sets helps in Grand Slam tennis

    NARCIS (Netherlands)

    Goossens, Dries R.; Kempeneers, Jurgen; Koning, Ruud H.; Spieksma, Frits C. R.

    2015-01-01

    In this contribution, we study whether fatigue resulting from the previous match affects a player's chances of winning his (or her) next match in Grand Slum tennis. We measure relative fatigue levels of two opponents by looking at the difference in number of sets played in their previous match. We

  5. SLAM, a Mathematica interface for SUSY spectrum generators

    Energy Technology Data Exchange (ETDEWEB)

    Marquard, Peter [Deutsches Elektronen-Synchrotron (DESY), Zeuthen (Germany); Zerf, Nikolai [Alberta Univ., Edmonton, AB (Canada). Dept. of Physics

    2013-09-15

    We present and publish a Mathematica package, which can be used to automatically obtain any numerical MSSM input parameter from SUSY spectrum generators, which follow the SLHA standard, like SPheno, SOFTSUSY or Suspect. The package enables a very comfortable way of numerical evaluations within the MSSM using Mathematica. It implements easy to use predefined high scale and low scale scenarios like mSUGRA or m{sub h}{sup max} and if needed enables the user to directly specify the input required by the spectrum generators. In addition it supports an automatic saving and loading of SUSY spectra to and from a SQL data base, avoiding the rerun of a spectrum generator for a known spectrum.

  6. AUTOMATIC CALIBRATION OF A STOCHASTIC-LAGRANGIAN TRANSPORT MODEL (SLAM)

    Science.gov (United States)

    Numerical models are a useful tool in evaluating and designing NAPL remediation systems. Traditional constitutive finite difference and finite element models are complex and expensive to apply. For this reason, this paper presents the application of a simplified stochastic-Lagran...

  7. Vision-Based SLAM System for Unmanned Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguía

    2016-03-01

    Full Text Available The present paper describes a vision-based simultaneous localization and mapping system to be applied to Unmanned Aerial Vehicles (UAVs. The main contribution of this work is to propose a novel estimator relying on an Extended Kalman Filter. The estimator is designed in order to fuse the measurements obtained from: (i an orientation sensor (AHRS; (ii a position sensor (GPS; and (iii a monocular camera. The estimated state consists of the full state of the vehicle: position and orientation and their first derivatives, as well as the location of the landmarks observed by the camera. The position sensor will be used only during the initialization period in order to recover the metric scale of the world. Afterwards, the estimated map of landmarks will be used to perform a fully vision-based navigation when the position sensor is not available. Experimental results obtained with simulations and real data show the benefits of the inclusion of camera measurements into the system. In this sense the estimation of the trajectory of the vehicle is considerably improved, compared with the estimates obtained using only the measurements from the position sensor, which are commonly low-rated and highly noisy.

  8. Vision-Based SLAM System for Unmanned Aerial Vehicles.

    Science.gov (United States)

    Munguía, Rodrigo; Urzua, Sarquis; Bolea, Yolanda; Grau, Antoni

    2016-03-15

    The present paper describes a vision-based simultaneous localization and mapping system to be applied to Unmanned Aerial Vehicles (UAVs). The main contribution of this work is to propose a novel estimator relying on an Extended Kalman Filter. The estimator is designed in order to fuse the measurements obtained from: (i) an orientation sensor (AHRS); (ii) a position sensor (GPS); and (iii) a monocular camera. The estimated state consists of the full state of the vehicle: position and orientation and their first derivatives, as well as the location of the landmarks observed by the camera. The position sensor will be used only during the initialization period in order to recover the metric scale of the world. Afterwards, the estimated map of landmarks will be used to perform a fully vision-based navigation when the position sensor is not available. Experimental results obtained with simulations and real data show the benefits of the inclusion of camera measurements into the system. In this sense the estimation of the trajectory of the vehicle is considerably improved, compared with the estimates obtained using only the measurements from the position sensor, which are commonly low-rated and highly noisy.

  9. [Lung transplantation in sporadic lymphangioleiomyomatosis: study of 7 cases].

    Science.gov (United States)

    Ansótegui Barrera, Emilio; Mancheño Franch, Nuria; Peñalver Cuesta, Juan Carlos; Vera-Sempere, Francisco; Padilla Alarcón, José

    2013-10-19

    Sporadic lymphangioleiomyomatosis (S-LAM) is a rare disease that affects only women. It is characterized by an abnormal proliferation of immature smooth muscle cells (LAM cells) that grow in an aberrant manner in the airway, parenchymal lung lymph and blood vessels, determining the onset of pulmonary cystic lesions. The disease has no treatment, progressing to respiratory failure, and lung transplantation (LT) may be a treatment option at this stage. Our goal was to study 7 patients undergoing LT for S-LAM. We studied a series of clinical and demographic characteristics, diagnostic modality and post-transplant outcomes. We performed a descriptive analysis of the series. The Kaplan-Meier method was used to estimate survival. The mean age of onset of symptoms was 35 years, the diagnosis of 37 years and that of LT 38 years. The most common symptom was dyspnea. Four patients had a history of pneumothorax and pleural effusion. The mean forced expiratory volume in one second was 32.7% and the diffusing capacity for carbon monoxide was 29%. All patients were subjected to LT and survival was 100, 85.7 and 57.1% at one, 3 and 5 years, respectively. Three died of bronchiolitis obliterans and 2 necropsies did not show evidence of disease recurrence. LT is a therapeutic option in patients with S-LAM with an advanced respiratory functional impairment. Copyright © 2013 Elsevier España, S.L. All rights reserved.

  10. An Evaluation of the British Red Cross’ Educational Pilot Project for Young People Serving Reparation Orders

    OpenAIRE

    Dresser, Paul; Irving, Adele; Soppitt, Sarah

    2015-01-01

    Using Newcastle Youth Offending Team (YOT) as a case-study, this report presents the findings of the evaluation of the British Red Cross (BRC) Educational Pilot Project (EPP) for service users serving reparation as part of Community Orders. The EPP was implemented between November 2011 and June 2012. However prior to this development, the BRC and Newcastle YOT had been working in partnership since 2005, to offer young people alternative forms of youth justice, focused around more physical tas...

  11. Case report

    African Journals Online (AJOL)

    abp

    8 mai 2013 ... subsequent conception and placenta accreta: a case report. American Journal of Obstetrics and Gynecology. September. 2012; 207(3 ) : e7-e8. PubMed | Google Scholar. 5. Umashankar T, Patted S, Handigund R. Endometrial osseous metaplasia: Clinicopathological study of a case and literature review.

  12. Case report

    African Journals Online (AJOL)

    abp

    2015-08-31

    Aug 31, 2015 ... Dual intersection syndrome of the forearm: a case report. Bouchra Zhari1,& ... We reported a case of a 60-year-old man presented to our formation with painful swelling on .... With a fiddling clinical observation and diagnosis.

  13. Case law

    International Nuclear Information System (INIS)

    2016-01-01

    This section treats of the following case laws: 1 - Case Law France: Conseil d'etat decision, 22 February 2016, EDF v. Republic and Canton of Geneva relative to the Bugey nuclear power plant (No. 373516); United States: Brodsky v. US Nuclear Regulatory Commission, 650 Fed. Appx. 804 (2. Cir. 2016)

  14. Case law

    International Nuclear Information System (INIS)

    2015-01-01

    This section treats of the two following case laws: Slovak Republic: Further developments in cases related to the challenge by Greenpeace Slovakia to the Mochovce nuclear power plant; United States: Judgment of the Nuclear Regulatory Commission denying requests from petitioners to suspend final reactor licensing decisions pending the issuance of a final determination of reasonable assurance of permanent disposal of spent fuel

  15. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-10-09

    Oct 9, 2015 ... Aguas SC, Quarracino MC, Lence AN, Lanfranchi-Tizeira HE. Primary melanoma of the oral cavity: ten cases and review of. 177 cases from literature. Medicina oral, patologia oral y cirugia bucal. 2009;14(6):E265-71. PubMed | Google. Scholar. 6. Rapidis AD, Apostolidis C, Vilos G, Valsamis S. Primary.

  16. Case series

    African Journals Online (AJOL)

    ebutamanya

    2016-04-27

    Apr 27, 2016 ... Laparoscopic surgery for groin hernia in a third world country: a report of 9 cases of ... Concerning mesh repair, the (open) LICHENSTEIN and laparoscopic inguinal hernia techniques are ... Two cases were bilateral, 5 unilateral and all of them primary. ... In Africa, This approach is still marginal; few studies.

  17. Case report

    African Journals Online (AJOL)

    ebutamanya

    28 août 2015 ... (intra-osseous synovial cyst) Clinical and therapeutic aspect: case report. Chir Main. 2009 Feb; 28(1):37-41. PubMed |. Google Scholar. 10. Chantelot C, Laffargue P, Masmejean E, Peltier B, Barouk P,. Fontaine C. Fracture of the scaphoid carpal bone secondary to an intraosseous cyst: apropos of a case.

  18. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-01-21

    Jan 21, 2015 ... Published in partnership with the African Field Epidemiology Network (AFENET). (www.afenet.net). Case report. Open Access ... La quantité de tissu neural immature permet d'établir une classification .... Wu X, Han LY, Xu X, Li Z. Recurrent immature teratoma of the ovary: a case report of radical secondary ...

  19. Case Report

    African Journals Online (AJOL)

    the kidney could still be transplanted successfully. We describe a case of high ureteric injury during multi-organ recovery and successful implantation using a Boari flap ureterocystostomy. Case Report. The donor kidney was procured from a 55-year-old male brain stem deceased donor following intra-cerebral hemorrhage.

  20. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-12-04

    Dec 4, 2015 ... was made, while maintaining of valproic acid and clonazepam.This combination allowed a partial remission, allowing a best level of adaptation, it has been maintained. The clozapine has not been tried in this case. Discussion. This case illustrates the presentation of Schizophrenia characterized.

  1. Case series

    African Journals Online (AJOL)

    abp

    2017-07-13

    Jul 13, 2017 ... Its purpose is to assess the clinical and ... Other circumstances of discovery were atrial fibrillation, ... ventricular pacing (9.1%) and blood pressure intolerance to stress ... The mitral flow was a ... anterior mitral valve's pillar was found in one case with a left ... with a stop at the first level in another case.

  2. Case report

    African Journals Online (AJOL)

    raoul

    2011-10-20

    Oct 20, 2011 ... Abstract. A 22-year old man was bitten by a snake on his scrotum. This interesting and unusual case occurred in the rural area of District Aligarh, India. The uniqueness of the case lies in the fact that scrotum is an extremely rare and unusual site for snake bite. Further, with negligible local signs of.

  3. case series

    African Journals Online (AJOL)

    Administrator

    Key words: Case report, case series, concept analysis, research design. African Health Sciences 2012; (4): 557 - 562 http://dx.doi.org/10.4314/ahs.v12i4.25. PO Box 17666 .... According to the latest version of the Dictionary of. Epidemiology ...

  4. CASE STUDY

    African Journals Online (AJOL)

    HIV infection has several oral manifestations, including oral candidiasis and oral hairy leucoplakia. Occasionally unusual presentations requiring rigorous investigations are seen, and in these cases the diagnosis sometimes remains a dilemma owing to limited investigation facilities.1-3 We present the case of a patient who.

  5. Case Report

    African Journals Online (AJOL)

    Sarra

    failure and/or per vaginum (PV) leaN of dialysate. Case report: A ... had PV leaN of the dialysate that was misinterpreted by the .... as part of the management of this infection. On the .... case, we believe that laparoscopy represents a good tool.

  6. Case series

    African Journals Online (AJOL)

    abp

    30 mai 2017 ... All patients underwent systematic plaster immobilization for a period of ... On average, nails were removed after about 6 ... cases), osteitis associated with material (2 cases), refracture (3 ... Although intramedullary nailing ideally is an osteosynthesis ..... intramedullary fixation of pediatric forearm fractures.

  7. Clinical cases

    International Nuclear Information System (INIS)

    Servente, L.

    2012-01-01

    This presentation is about clinical cases and the contribution of the PET - CT Fag application in the diagnosis and treatment of different types of cancer. The cases presented were: neck diseases, epidermoid carcinoma, liver damage and metastasize, lymphoma, thrombosis, colonic cancer and lung disease

  8. Case report

    African Journals Online (AJOL)

    abp

    2015-08-13

    Aug 13, 2015 ... Middle East, Mediterranean region, Central Europe, Australia and. South America) [1, 2]. The incidence of musculoskeletal echinococcosis including involvement of subcutaneous tissue is 1%-. 5.4% among all cases of hydatid disease [2]. In this report, we present a case of recurrent hydatid cysts involving ...

  9. Case report

    African Journals Online (AJOL)

    abp

    2016-02-08

    Feb 8, 2016 ... pituitary metastases can be characteristic and evocative but in no case pathognomic. The diabetes insipidus is the most common clinical manifestation of the disease [2, 3]. We report herein a case of an acute adrenal insufficiency revealing pituitary metastases of lung cancer. Patient and observation.

  10. Clinical case

    International Nuclear Information System (INIS)

    Garcia Fontes, M

    2012-01-01

    This presentation is about a case of a patient with liver tumor. The ultrasound scan and Tc technique were used for the diagnosis and treatment. The application of PET - CT FDG contributed to detect peripheral cholangiocarcinoma, the lymph node distance to guide the therapeutic and the recurrence in case of a negative morphological methods.

  11. Case - Case-Law - Law

    DEFF Research Database (Denmark)

    Sadl, Urska

    2013-01-01

    Reasoning of the Court of Justice of the European Union – Constr uction of arguments in the case-law of the Court – Citation technique – The use of formulas to transform case-law into ‘law’ – ‘Formulaic style’ – European citizenship as a fundamental status – Ruiz Zambrano – Reasoning from...

  12. Dermatology case

    Directory of Open Access Journals (Sweden)

    Catarina Lacerda

    2017-11-01

    Full Text Available Aims: To report a case of uncharacteristic presentation of Parvovirus B19. This virus causes some atypical cutaneous rash such as papular-purpuric “gloves and socks” syndrome which is a rare entity, self-limited and resolves spontaneously to cure. Case Report: Authors describe a case of a six-year-old boy who went to the Emergency Department with a cutaneous rash initially on a finger and then mouth, hands and feet followed by fever. He fully recovered without sequelae. Conclusions: It is important to consider this agent as a possible responsible for atypical purpuric rash.

  13. Dermatology case

    Directory of Open Access Journals (Sweden)

    Fernando Mota

    2017-07-01

    In the present case, the patient was referred to the dermatology department due to an atypical lesion with an uncommon location, revealing the importance of a whole body examination in patients with this disease.

  14. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-10-14

    Oct 14, 2015 ... &Corresponding author: Hanane Massit, Department of Gastroenterology II, Mohamed V ... Crohn's disease, accounting for around 30-50 % of cases, its ... manuscript and have equally contributed to its content and to the.

  15. Case report

    African Journals Online (AJOL)

    abp

    2013-01-09

    . The electrolytes analysis revealed an acute hyponatremia. (sodium concentration 125 mmol/L). Medical treatment consisted of hypertonic saline solution 3%, volume expansion, intubation and ventilation. The presented case ...

  16. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-01-06

    Jan 6, 2015 ... optic disc edema and subsequent formation of a macular star [1]. (Figure 1). ... case of bilateral stellate neuroretinitis due to pheochromocytoma. ... clinical examination are irreplaceable, powerful diagnostic tools that.

  17. Case series

    African Journals Online (AJOL)

    abp

    2017-05-16

    May 16, 2017 ... Hepatocellular carcinoma: a clinicopathological study of 64 cases ... The presenting clinical symptoms were dominated by abdominal pain (n=34), followed by .... malaise, anorexia or weight loss and nausea or vomiting [4].

  18. Case report

    African Journals Online (AJOL)

    abp

    2017-10-10

    Oct 10, 2017 ... A rare case of important and recurrent abnormal uterine bleeding ... 1Department of Obstetrics and Gynecology, University Hospital of Yopougon, Abidjan, Ivory Coast, .... imaging (MRI) could guide us to the diagnosis.

  19. Case Report

    African Journals Online (AJOL)

    Administratör

    Uterus at 17 Weeks of Amenorrhea: Case Report and Literature. Review ... no bleeding but the patient was noted to have ... urinary tract abnormalities are frequent in ... of MRI [6]. Laparoscopy allows formal confirmation of this type of uterine.

  20. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-01-07

    Jan 7, 2015 ... Synchronous malignant renal mass in patient with a Lung cancer: case report and literature ... management and prognosis [4]. Patient and ... classed stage I. The patient got chemo radiotherapy for the lung cancer using ...

  1. Case series

    African Journals Online (AJOL)

    ebutamanya

    2016-06-02

    Jun 2, 2016 ... Epidemiological aspects of suicide attempts among Moroccan children .... Poorly drug intoxication was found in 25% of cases and included over 10 tablets in ... factors have been identified such as maltreatment, sexual abuse.

  2. Case report

    African Journals Online (AJOL)

    abp

    2017-12-13

    Dec 13, 2017 ... nodules measuring 10-6cm, erythematous, purple color, painful at mobilization ... After multi-disciplinary concertation a ... of view than positivity of AR. In contrast ... Katagiri Y, Ansai S. Two cases of cutaneous apocrine ductal.

  3. Case Report

    African Journals Online (AJOL)

    Hamid

    Key words: Case report, composite resin, fiber-reinforced composite. ABSTRACT. A variety of ... investigation will be required to provide additional information on the survival of directly-bonded anterior fixed prosthesis made with FRC systems.

  4. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-11-27

    Nov 27, 2015 ... systemic lupus erythematosus nor other connective tissue disease. Pregnancy was ... day of life, platelet level dropped to 20 x 109/L. The newborn has received platelet ... cases of aplastic anemia or hemolytic anemia [6,7].

  5. Case Report

    African Journals Online (AJOL)

    of permanent hemodialysis (HD) vascular access ... This catheter was removed and a translumbar dialysis ... In this case report, we describe a patient with the ... Rheumatology, the isolated detection of antiphospholipid .... Arthritis Rheum.

  6. Case report

    African Journals Online (AJOL)

    abp

    2016-07-20

    Jul 20, 2016 ... Brain abscess caused by streptococcus constellatus are very rarely ... We present a rare case of a left-sided thalamic abscess caused by streptococcus ... examination showed that the patient was lethargic and had right-.

  7. Case report

    African Journals Online (AJOL)

    abp

    2013-10-17

    Oct 17, 2013 ... We are reporting a case of hemoperitoneum followed by early post partum collapse due to bleeding ... diagnosis of postpartum hemoperitoneum after a vaginal delivery ... The patient was reviewed two weeks after discharge.

  8. Case report

    African Journals Online (AJOL)

    abp

    2012-05-13

    May 13, 2012 ... Missed opportunity for tuberculosis case detection in household contacts in a high ... Maywood, IL, USA, 4College of Public Health, University of Georgia, ... This is an Open Access article distributed under the terms of the ...

  9. Case report

    African Journals Online (AJOL)

    abp

    2017-11-07

    Nov 7, 2017 ... However, auricular disorders are rare and exceptionally inaugural. We describe the case of ... hypothalamic-pituitary axis dysfonction. There was ... tomography, and the salivary gland biopsy confirmed the diagnosis by finding ...

  10. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-03-03

    translucent, hyper-or hypopigmented or erythematous-to- violaceous in color. In addition, epidermal changes may be absent or include atrophy, hyperkeratosis, or telangiectasia [2]. In our case the diagnosis of cutaneous sarcoidosis is ...

  11. Case report

    African Journals Online (AJOL)

    raoul

    2012-02-22

    Feb 22, 2012 ... cancer. Case report. Written informed consent was obtained from the patient for ... colon and rectum (12 patients), uterus (8 patients), ovary (5 patients), head and neck (tongue, pharynx, larynx, nasal cavity, and mandible) (5 ...

  12. Case series

    African Journals Online (AJOL)

    abp

    7 avr. 2016 ... HTA were complicated by heart disease in 24% of cases and by renal disease in 20% of cases ... of clinical specificity. It is not unusual for HTA to be the only manifestation of the disease. In our study we .... Le syndrome de Cushing reste une cause rare d'HTA, sa prévalence dans des centres spécialisés en ...

  13. Delays before Diagnosis and Initiation of Treatment in Patients Presenting to Mental Health Services with Bipolar Disorder.

    Science.gov (United States)

    Patel, Rashmi; Shetty, Hitesh; Jackson, Richard; Broadbent, Matthew; Stewart, Robert; Boydell, Jane; McGuire, Philip; Taylor, Matthew

    2015-01-01

    Bipolar disorder is a significant cause of morbidity and mortality. Although existing treatments are effective, there is often a substantial delay before diagnosis and treatment initiation. We sought to investigate factors associated with the delay before diagnosis of bipolar disorder and the onset of treatment in secondary mental healthcare. Retrospective cohort study using anonymised electronic mental health record data from the South London and Maudsley NHS Foundation Trust (SLaM) Biomedical Research Centre (BRC) Case Register on 1364 adults diagnosed with bipolar disorder between 2007 and 2012. The following predictor variables were analysed in a multivariable Cox regression analysis: age, gender, ethnicity, compulsory admission to hospital under the UK Mental Health Act, marital status and other diagnoses prior to bipolar disorder. The outcomes were time to recorded diagnosis from first presentation to specialist mental health services (the diagnostic delay), and time to the start of appropriate therapy (treatment delay). The median diagnostic delay was 62 days (interquartile range: 17-243) and median treatment delay was 31 days (4-122). Compulsory hospital admission was associated with a significant reduction in both diagnostic delay (hazard ratio 2.58, 95% CI 2.18-3.06) and treatment delay (4.40, 3.63-5.62). Prior diagnoses of other psychiatric disorders were associated with increased diagnostic delay, particularly alcohol (0.48, 0.33-0.41) and substance misuse disorders (0.44, 0.31-0.61). Prior diagnosis of schizophrenia and psychotic depression were associated with reduced treatment delay. Some individuals experience a significant delay in diagnosis and treatment of bipolar disorder after initiation of specialist mental healthcare, particularly those who have prior diagnoses of alcohol and substance misuse disorders. These findings highlight a need for further study on strategies to better identify underlying symptoms and offer appropriate treatment sooner

  14. Delays before Diagnosis and Initiation of Treatment in Patients Presenting to Mental Health Services with Bipolar Disorder.

    Directory of Open Access Journals (Sweden)

    Rashmi Patel

    Full Text Available Bipolar disorder is a significant cause of morbidity and mortality. Although existing treatments are effective, there is often a substantial delay before diagnosis and treatment initiation. We sought to investigate factors associated with the delay before diagnosis of bipolar disorder and the onset of treatment in secondary mental healthcare.Retrospective cohort study using anonymised electronic mental health record data from the South London and Maudsley NHS Foundation Trust (SLaM Biomedical Research Centre (BRC Case Register on 1364 adults diagnosed with bipolar disorder between 2007 and 2012. The following predictor variables were analysed in a multivariable Cox regression analysis: age, gender, ethnicity, compulsory admission to hospital under the UK Mental Health Act, marital status and other diagnoses prior to bipolar disorder. The outcomes were time to recorded diagnosis from first presentation to specialist mental health services (the diagnostic delay, and time to the start of appropriate therapy (treatment delay.The median diagnostic delay was 62 days (interquartile range: 17-243 and median treatment delay was 31 days (4-122. Compulsory hospital admission was associated with a significant reduction in both diagnostic delay (hazard ratio 2.58, 95% CI 2.18-3.06 and treatment delay (4.40, 3.63-5.62. Prior diagnoses of other psychiatric disorders were associated with increased diagnostic delay, particularly alcohol (0.48, 0.33-0.41 and substance misuse disorders (0.44, 0.31-0.61. Prior diagnosis of schizophrenia and psychotic depression were associated with reduced treatment delay.Some individuals experience a significant delay in diagnosis and treatment of bipolar disorder after initiation of specialist mental healthcare, particularly those who have prior diagnoses of alcohol and substance misuse disorders. These findings highlight a need for further study on strategies to better identify underlying symptoms and offer appropriate treatment

  15. The Camden & Islington Research Database: Using electronic mental health records for research.

    Science.gov (United States)

    Werbeloff, Nomi; Osborn, David P J; Patel, Rashmi; Taylor, Matthew; Stewart, Robert; Broadbent, Matthew; Hayes, Joseph F

    2018-01-01

    Electronic health records (EHRs) are widely used in mental health services. Case registers using EHRs from secondary mental healthcare have the potential to deliver large-scale projects evaluating mental health outcomes in real-world clinical populations. We describe the Camden and Islington NHS Foundation Trust (C&I) Research Database which uses the Clinical Record Interactive Search (CRIS) tool to extract and de-identify routinely collected clinical information from a large UK provider of secondary mental healthcare, and demonstrate its capabilities to answer a clinical research question regarding time to diagnosis and treatment of bipolar disorder. The C&I Research Database contains records from 108,168 mental health patients, of which 23,538 were receiving active care. The characteristics of the patient population are compared to those of the catchment area, of London, and of England as a whole. The median time to diagnosis of bipolar disorder was 76 days (interquartile range: 17-391) and median time to treatment was 37 days (interquartile range: 5-194). Compulsory admission under the UK Mental Health Act was associated with shorter intervals to diagnosis and treatment. Prior diagnoses of other psychiatric disorders were associated with longer intervals to diagnosis, though prior diagnoses of schizophrenia and related disorders were associated with decreased time to treatment. The CRIS tool, developed by the South London and Maudsley NHS Foundation Trust (SLaM) Biomedical Research Centre (BRC), functioned very well at C&I. It is reassuring that data from different organizations deliver similar results, and that applications developed in one Trust can then be successfully deployed in another. The information can be retrieved in a quicker and more efficient fashion than more traditional methods of health research. The findings support the secondary use of EHRs for large-scale mental health research in naturalistic samples and settings investigated across large

  16. Casing drilling

    Energy Technology Data Exchange (ETDEWEB)

    Heenan, D. [Tesco Corp., Calgary, AB (Canada)

    2003-07-01

    This paper reviewed the experience that Tesco has gained by drilling several wells using only casings as the drill stem. Tesco has manufactured a mobile and compact hydraulic drilling rig called the Casing Drilling {sup TM} system. The system could be very effective and efficient for exploration and development of coalbed methane (CBM) reserves which typically require extensive coring. Continuous coring while drilling ahead, along wire line retrieval, can offer time savings and quick core recovery of large diameter core which is typically required for exploration core desorption tests. The proposed system may also have the potential to core or drill typically tight gas sands or underbalanced wells with air or foam. This would reduce drilling fluid damage while simultaneously finding gas. Compared to conventional drill pipes, Casing Drilling {sup TM} could also be effective with water production from shallow sands because of the smaller annual clearance which requires less air volumes to lift any produced water. 9 figs.

  17. Case Report

    DEFF Research Database (Denmark)

    Bilgin-Freiert, Arzu; Fugleholm, Kåre; Poulsgaard, Lars

    2015-01-01

    We report a case of an intraneural ganglion cyst of the hypoglossal canal. The patient presented with unilateral hypoglossal nerve palsy, and magnetic resonance imaging showed a small lesion in the hypoglossal canal with no contrast enhancement and high signal on T2-weighted imaging. The lesion...... irradiation as an option. This case illustrates a very rare location of an intraneural ganglion cyst in the hypoglossal nerve. To our knowledge there are no previous reports of an intraneural ganglion cyst confined to the hypoglossal canal....

  18. Case law

    International Nuclear Information System (INIS)

    2012-01-01

    This section gathers the following case laws: 1 - Canada: Judicial review of Darlington new nuclear power plant project; Appeal decision upholding criminal convictions related to attempt to export nuclear-related dual-use items to Iran: Her Majesty the Queen V. Yadegari; 2 - European Commission: Greenland cases; 3 - France: Chernobyl accident - decision of dismissal of the Court of Appeal of Paris; 4 - Slovak Republic: Aarhus Convention compliance update; 5 - United States: Judgement of a US court of appeals upholding the NRC's dismissal of challenges to the renewal of the operating licence for Oyster Creek Nuclear Generating Station; reexamination of the project of high-level waste disposal site at Yucca Mountain

  19. Case report

    African Journals Online (AJOL)

    abp

    2015-11-23

    Nov 23, 2015 ... found the presence of deletion of ELN locus, compatible with. Williams-Beuren syndrome. The diagnosis of Williams-Beuren syndrome was made, and the patient is under observation, with a decline of eight months. Discussion. This paper is about an original case of Williams-Beuren syndrome associated ...

  20. Case series

    African Journals Online (AJOL)

    ebutamanya

    10 déc. 2015 ... 5. Chandler JR, Langenbrunner DJ, Stevens ER. The Pathogenesis. Of Orbital complications in acute sinusitis. Laryngoscope. 1970. Sep; 80(9): 1414-28. PubMed | Google Scholar. 6. Hodges E, Tabbara KF. Orbital cellulitis: review of 23 cases from Saudi Arabia. Br J Ophthalmol. 1989 Mar; 73(3): 205-8.

  1. Case report

    African Journals Online (AJOL)

    abp

    2012-06-11

    Jun 11, 2012 ... Abstract. Churg Strauss syndrome is a rare systemic and pulmonary vasculitis exceptionally associated with AA amyloidosis. We report the case of a 65-year old woman with past medical history of asthma. She developed polyarthralgia, headache and purpura. A laboratory workout found hypereosinophilia ...

  2. Case report

    African Journals Online (AJOL)

    ebutamanya

    2016-04-14

    Apr 14, 2016 ... Abstract. Laparoscopic management of acute adhesive small bowel obstruction has been shown to be feasible and advantageous. However, widespread acceptance and application is still not observed. We describe the case report of a 58-year-old male who presented with signs and symptoms of.

  3. Case report

    African Journals Online (AJOL)

    abp

    and imperforate anus. Figure 3: The examination of the spinal column revealed a spina bifida occulta. References. 1. Varygin V, Bernotas S, Gurskas P, Karmanovas V, et al. Cloacal exstrophy: a case report and literature review. Medicina. 1978;. 47(12): 682-5. PubMed| Google Scholar. 2. Carey JC, Greenbaum B, Hall BD.

  4. Case report

    African Journals Online (AJOL)

    raoul

    12 août 2010 ... Estermann F, B Denis, P Gaucher, D Regent, and D Sondag. Pneumatosis cystoides of the colon: knowing how to recognize it - Apropos of 8 cases. Ann Gastroenterol Hepatol (Paris). 1994; 30(4): 151-155. This article on PubMed. 12. Pun YL, DM Russell, GJ Taggart, and DR Barraclough. Pneumatosis ...

  5. Case report

    African Journals Online (AJOL)

    abp

    un cas. Rev Chir Orthop Reparatrice. Appar Mot. 2000;86(1):98-103. PubMed | Google Scholar. 7. Nagamine N, Nohara Y, Ito E. Elastofibroma in Okinawa. A clinicopathologic study of 170 cases. Cancer. 1982;50(9):1794-.

  6. Case series

    African Journals Online (AJOL)

    abp

    14 oct. 2013 ... Nagamine N, Nohara Y, Ito E. Elastofibroma in Okinawa - A clinicopathologic study of 170 cases. Cancer. 1982;50(9):1794-. 805. PubMed | Google Scholar. 12. Schafmayer C, Kahlke V, Leuschner I, Pai M, Tepel J. Elastofibroma dorsi as differential diagnosis in tumors of the thoracic wall. Ann Thorac Surg.

  7. Case report

    African Journals Online (AJOL)

    abp

    2015-05-18

    May 18, 2015 ... Abstract. Vasa previa is a rare but clinically important obstetrical complication that can be associated with a low-lying placenta or placenta previa. We aim to present one case of vasa previa diagnosed during the placenta examination after the caesarean indicated for triple uterus scar. A 26-year-old.

  8. Case report

    DEFF Research Database (Denmark)

    Füchtbauer, Laila; Brusgaard, Klaus; Ledaal, Pål

    2015-01-01

    ey Clinical Message Vitamin D-dependent rickets type 1 VDDR-1 is a recessive inherited disorder with impaired activation of vitamin D, caused by mutations in CYP27B1. We present long-time follow-up of a case with a novel mutation including high-resolution peripheral quantitative computed tomography...

  9. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-01-14

    Jan 14, 2015 ... In addition, rare but life-threatening complications such as foreign body aspiration in the air passages may also be seen. Aspirated foreign bodies include teeth, implants, mechanical supports or materials used during procedures. We report two separate cases of aspiration risk developing during the course.

  10. Case report

    African Journals Online (AJOL)

    abp

    2013-02-19

    Feb 19, 2013 ... main disease and 70-80% stenosis of the proximal Left Anterior Descending Artery (LAD). ... He had a successful PTCA + DES stent to the LAD (Figure 3). ... In the case being presented, despite the benign appearance of the.

  11. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-02-27

    Feb 27, 2015 ... custody is an additional risk factor in the development of this complication. [4] After a dural tear, the majority of anesthesiologists, as was the case in our observation, search the epidural space in an intervertebral spacing or sus- underlying for epidural analgesia [5, 6]. However, it should be emphasized that.

  12. Case report

    African Journals Online (AJOL)

    abp

    2013-10-23

    Oct 23, 2013 ... Pyomyositis in Nodding Syndrome (NS) patient - a case report ... B0X 7072, Kampala, Uganda, 3Gulu University, Faculty of Medicine, P.O. B0X 166, Gulu, Uganda .... to pay particular attention to such children who may have.

  13. Case series

    African Journals Online (AJOL)

    abp

    2014-01-20

    Jan 20, 2014 ... Page number not for citation purposes. 1. Stroke in young adults: about 128 cases ... hypercholesterolemia, history of cigarette smoking, contraceptive intake treatment, alcohol intake, sexual ..... Carolei A, Marini C, Ferranti E, Frontoni M, Prencipe M, Fieschi. C. A prospective study of cerebral ischemia in ...

  14. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-09-10

    Sep 10, 2015 ... Abstract. To describe a case of breast cancer manifested by cerebellar syndrome and to establish a relationship between breast cancer and Paraneoplastic syndromes through the presence of anti- yo antibodies in serum and cerebrospinal fluid of a patient. Our patient was 52 years old, Multipara with 5.

  15. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-11-20

    Nov 20, 2015 ... We report a case of a farmer who has sustained of a severe hand wound due to ... open distal interphalangeal joint dislocation of the 5th finger; flexor tendons were .... biomechanical analysis and clinical application. J Orthop ...

  16. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-12-03

    Dec 3, 2015 ... surgical correction by high way by the Huntington technique or. Haultain or vaginally with the technique of Spinelli [1] - hysterectomy hemostasis remains the gold standard in case of persistent bleeding but is exceptionnel [6]. More recently the use of balloons such as Rusch or Bakri have been described in ...

  17. Case report

    African Journals Online (AJOL)

    abp

    26 avr. 2016 ... cases relating idiopathic gastric necrosis in a young patient who presented no heart failure, or particular psychological profiles (bulimia, anorexia) no venous or arterial thrombosis were found during surgical exploration during the pathological study, no toxic or bacteriological founded. Gastric necrosis is ...

  18. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-11-24

    Nov 24, 2015 ... High drug level and the absence of toxic effect (or the absence of toxic .... from the first order,"in which the extent of metabolism is directly correlated with the ... hepatocyte, the pancreatic ductuli, the glandular epithelial cells of ... cytochrome P-450 genes in diseases requiring chronic drug use. In our case ...

  19. Case report

    African Journals Online (AJOL)

    raoul

    25 sept. 2011 ... Robin A, Méry G, George JL, Maalouf T, Angioi K. Facial necrotizing fasciitis after mild trauma of the eyelid: role of nonsteroidal anti- inflammatory treatment. J Fr Ophtalmol. 2010 Oct;33(8):568-72. This article on PubMed. 6. Cornelia Poitelea, Michael J. Wearne. Periocular necrotising fasciitis--a case report.

  20. Case Report

    African Journals Online (AJOL)

    Arthritis: a Case Report. Intissar Haddiya*, Hakima Rhou, Loubna Benamar, Fatima Ezzaitouni, Rabia Bayahia, Naima. Ouzeddoun. Unit of Nephrology, Ibn Sina University Hospital, Rabat, Morocco. * Corresponding author; Unit of Nephrology, Ibn Sina University. Hospital, Rabat, Morocco; E. mail: intissarhaddiya@hotmail.

  1. Case series

    African Journals Online (AJOL)

    abp

    2017-07-14

    Jul 14, 2017 ... complications. Various methods have been used to treat these injuries, with variable results. The aim ... Soft tissue healing occurred without need for plastic surgery in all cases. ... Under general anesthesia, patients were placed in the supine .... of the ankle joint is another advantage of the ILIZAROV device.

  2. Case report

    African Journals Online (AJOL)

    abp

    2014-03-28

    Mar 28, 2014 ... Abstract. Cushing syndrome is a hormonal disorder caused by prolonged exposure of body tissue to cortisol. We report two cases of iatrogenic Cushing's syndrome in two Nigerian children following intranasal administration of aristobed-N (Betamethasone+Neomycin) given at a private hospital where.

  3. Case law

    International Nuclear Information System (INIS)

    Anon.

    1999-01-01

    This paper gives and analyses three examples of case law: decision rejecting application to close down Tomari nuclear power plant (Japan); judgement by the Supreme Administrative Court on the closing of Barsebaeck (Sweden); litigation relating to the Department of Energy's obligations under the Nuclear Waste Policy Act to accept spent nuclear fuel and high-level radioactive waste (United States). (A.L.B.)

  4. Case series

    African Journals Online (AJOL)

    abp

    4 déc. 2017 ... modify initial tumor stage in 60% of cases: upstaging in 23 patients (46%) and downstaging in ... (FDG) est injecté chez nos patients à la dose de 4 à 5 MBq/kg par ..... positron emission tomography in patients with lung cancer.

  5. Case Report

    African Journals Online (AJOL)

    through a small clinically-undetectable inguinal hernia, and may require ... conservative approach may be adopted. Case report: An 80 ... gross bilateral scrotal swelling (without cough impulse) ... Tenckhoff catheter was inserted using the open surgical technique ... role of surgery in treating dialysate leaks presenting as.

  6. case study

    African Journals Online (AJOL)

    Elton

    particularly in patients who commence ART with low CD4 counts and established opportunistic infections. IRIS results from a pathological inflammatory response to pre-existing infective, host or other antigens, alive or dead, causing clinical deterioration in HIV-infected patients after initiating ART.1 A case definition for IRIS ...

  7. Case series

    African Journals Online (AJOL)

    abp

    19 oct. 2017 ... Traitement des amyloses AL systémiques: à propos de 25 cas. Treatment of systemic AL amyloidosis: about 25 cases. Hicham Eddou1,&, Ali Zinebi1, Hicham El Maaroufi2, Mohammed Karim Moudden1, Kamal Doghmi2, Mohammed Mikdame2,. Mohammed El Baaj1. 1Service de Médecine Interne, Hôpital ...

  8. Case report

    African Journals Online (AJOL)

    ebutamanya

    15 janv. 2015 ... Les biopsies faites étaient revenues négatives. L'échographie abdominale a montré une masse au .... PubMed | Google. Scholar. 8. Nassiopoulos K, Stockhammer A, Hahnloser P, et al. Gastric leiomyoblastoma: literature review and report of a case. Rev. Med Suisse Romande .1997; 117 (2):147-150.

  9. Case report

    African Journals Online (AJOL)

    abp

    21 mai 2013 ... biopsie vaginale est revenue en faveur d'un ADK colloïde muqueux, franchement marqué par l'anti-corps anti-CK 20 .... Google Scholar. 7. Mudhar HS, Smith JH, Tidy J. Primary vaginal adenocarcinoma of intestinal type arising from an adenoma: case report and review of the literature. Int J Gynecol Pathol.

  10. CASE STUDY

    African Journals Online (AJOL)

    2011-06-02

    Jun 2, 2011 ... immunosuppression associated with HIV/AIDS puts them at a higher risk of developing oesophageal cancer. 47. CASE STUDY. A 49-year-old man was diagnosed as HIV infected, with a CD4 count of 60 cells/µl. He was started on an antiretroviral treatment regimen comprising zidovudine, lamivudine and ...

  11. Case report

    African Journals Online (AJOL)

    abp

    27 oct. 2017 ... We report the case of a menopausal woman with breast tuberculosis in order to raise concern for diagnosis. Key words: Tuberculosis, breast, diagnosis. Introduction. La tuberculose mammaire est une forme rare de la tuberculose extra-pulmonaire même dans les pays endémiques. Elle représente. 0,06 à 0 ...

  12. Case report

    African Journals Online (AJOL)

    abp

    2017-10-17

    Oct 17, 2017 ... Scholar. 2. Riccardo Campi, Sergio Serni, Maria Rosaria Raspollini,. Agostino Tuccio, Giampaolo Siena, Marco Carini et al. Robot-. Assisted Laparoscopic Vesiculectomy for Large Seminal Vesicle. Cystadenoma: a case report and review of the literature. Clinical Genitourinary Cancer. 2015; 13(5): e369-.

  13. Case series

    African Journals Online (AJOL)

    abp

    2017-09-15

    15 Ebola Virus Disease (EVD) outbreak in West Africa infected more than 28,000 persons out of which 11,000 died [20]. At the height of this outbreak, the huge load of cases and their contacts overwhelmed the response ...

  14. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-01-07

    Jan 7, 2015 ... Preeclampsia is an entity that may present from 20th week of gestation up to 48 hours postpartum and is associated with hypertension and ... The awareness of atypical cases of preeclampsia enhances early diagnosis and management which are critical to ... hypertensive disorder in previous pregnancy.

  15. Case report

    African Journals Online (AJOL)

    raoul

    28 avr. 2011 ... Spermatic cord sarcoma in adults. J Urol. 1978; 120: 301-305. This article on PubMed. 11. Romero Tenorio M, Farinas Varo JM, Baez Perez JM, Almaised J, Ramirez Chamorro R, and Beltran Ruiz-Hinestrosa M. Liposarcoma en la infancia: Aportacion de un case exceptional - Revision de la literatura.

  16. Case report

    African Journals Online (AJOL)

    abp

    2017-09-04

    Sep 4, 2017 ... Published in partnership with the African Field Epidemiology Network (AFENET). (www.afenet.net). Case report ... occurrence during infancy; and development from neural crest cells. [1, 5]. In a histological review, .... with adjuvant treatment is suggested for recurrent lesions [3, 17]. All of these have been ...

  17. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-11-17

    Nov 17, 2015 ... Abstract. Here we report a case of central retinal artery occlusionrevealing an ischemic cardiomyopathy. A 54-year old smoker man presented at the hospital because of sudden visual loss in his left eye. There was cherry-red spot in the macula in his left eye. We performed a fluorescein angiogram and.

  18. Case report

    African Journals Online (AJOL)

    abp

    2016-05-13

    May 13, 2016 ... Abstract. We report a rare case of an elderly woman presented with right renal mass with invasion of renal vein and several small lymphadenopathy in the hilar area .the diagnosis of kidney cancer is suspected and the patient underwent open radical nephrectomy, surrenalectomy and lymphadenectomy ...

  19. CASE REPORT

    African Journals Online (AJOL)

    NJSR

    cardiac failure, as in our patient, digitalis and radiography are considered before surgical excision. Occasional cases have involuted spontaneously, though a few have metastasized. 5 Other forms of treatment include corticosteroids, and hepatic artery ligation. 7 Malignant transformation has been reported after successful ...

  20. Case report

    African Journals Online (AJOL)

    abp

    2017-05-05

    May 5, 2017 ... Chondroblastic osteosarcoma of the distal tibia: a rare case report. Aymen Ben Fredj1,&, Lassaad Hassini1, Aymen Fekih1, Mohamed Allagui1, Issam Aloui1, Abderrazek Abid1. 1Department of Orthopaedic Surgery, University Hospital, Monastir, Tunisia. &Corresponding author: Aymen Ben Fredj, ...

  1. Case series

    African Journals Online (AJOL)

    ebutamanya

    2015-01-20

    Jan 20, 2015 ... The brainstem, cerebral white matter, basal ganglia, internal capsule, thalamus and spinal cord were involved in forty four, thirty one, thirty, twenty nine, seventeen and four patients, respectively. The cerebral peduncle was the brainstem structure mainly involved with thirty cases followed by the pons with, ...

  2. Case report

    African Journals Online (AJOL)

    abp

    Abstract. Primary omental torsion is a rare cause of acute abdominal pain, we report a case of 10-year-old boy admitted with crampy abdominal pain, routine laboratory tests and plain abdominal radiography was normal, the patient underwent surgical exploration with the initial diagnosis of appendicitis, primary omental ...

  3. Case report

    African Journals Online (AJOL)

    Raoul

    2009-10-15

    Oct 15, 2009 ... Meckel's diverticulum: a case report from the University Hospital Center ... The Pan African Medical Journal - ISSN 1937-8688. ... Usually discovered incidentally; it is often the cause of acute abdominal emergencies. It may present as intestinal obstruction with volvulus, intussusceptions or peritonitis due to ...

  4. Case report

    African Journals Online (AJOL)

    abp

    16 janv. 2017 ... We report the case of a 70-year-old man with no past medical history presenting with laryngeal dyspnea associated with low abundant paroxysmal hemoptysis. The patient underwent nasofibroscopy showing the presence of a living and mobile organism at the subglottic level evoking a leech. Extraction ...

  5. Case report

    African Journals Online (AJOL)

    abp

    2016-02-29

    Feb 29, 2016 ... Classification of subtrochanteric femoral fractures. Injury. 2010. Jul;41(7):739-45. PubMed | Google Scholar. 3. Kennedy MT, Mitra A, Hierlihy TG, Harty JA, Reidy D, Dolan M. Subtrochanteric hip fractures treated with cerclage cables and long cephalomedullary nails: a review of 17 consecutive cases over. 2.

  6. Case report

    African Journals Online (AJOL)

    abp

    2016-07-14

    Jul 14, 2016 ... sarcoma mimicking abscess: review of the MRI appearances. Skeletal Radiol. 2001; 30:173 -7. PubMed | Google Scholar. 6. Adrian HO, Louis SL, Howard AO, Kenneth WA, John RG. Epithelioid sarcoma of the penis: Report of an unusual case and review of the literature. Ann Diagn Patho. 2000; 14(2):88-.

  7. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-02-13

    Feb 13, 2015 ... mucoid, T.inkin, T. cutaneum) a rate of 11.15%. This rate confirms the one recorded by Pini G & al ... The authors declare no competing interest. Authors' ... due to Trichosporonasahii,first two cases in Chile. Rev. IberoamMicol.

  8. Case Report

    DEFF Research Database (Denmark)

    Klubien, Jeanett; Borgersen, Dorte Winther; Rosenberg, Jacob

    2016-01-01

    Introduction Perforation of the gallbladder is a benign and common complication during laparoscopic cholecystectomy. However, it may result in stone spilling, which potentially can lead to serious postoperative complications.  Case report A 70-year-old male underwent laparoscopic cholecystectomy...

  9. Case Report

    DEFF Research Database (Denmark)

    Sylvester-Hvid, Amalie; Avnstorp, Magnus B; Wagenblast, Lene

    2017-01-01

    Introduction Breast seroma may be caused by a variety of factors including lymphatic disruption, continuous inflammation and foreign bodies such as breast implants. In cases of breast implants associated seroma the diagnosis of Anaplastic Large Cell Lymphoma (ALCL) should be investigated. Present...

  10. Case report

    African Journals Online (AJOL)

    abp

    2015-07-10

    Jul 10, 2015 ... We herein describe a case of a 22-year-old man with a long history of cocaine abuse. ... African Medical Journal - ISSN 1937-8688. This is an Open Access article distributed under the terms of the Creative Commons Attribution ... a long history of cocaine, cannabis, and tobacco abuse. He presented to our.

  11. Case report

    African Journals Online (AJOL)

    ebutamanya

    19 févr. 2016 ... Enteropathy associated T-cell lymphoma (EATL) is a rare complication of celiac disease (CD). We report a case of EATL associated with CD revealed by acute intestinal obstruction. A North African woman of 38 years old with a history of infertility and chronic abdominal pain was admitted in emergency with ...

  12. Case report

    African Journals Online (AJOL)

    abp

    27 avr. 2016 ... Dysphagia revealing aberrant right subclavian artery: about a case. Abdelilah Mouhsine1,&, Oualid Bakzaza2, El Mehdi Atmane1, Ahmed Belkouch3, Redouane Rokhssi1, Youssef Berrada1, Mostapha. Alaoui2, M'barek Mahfoudi1, Abdelghani El Fikri1. 1Service de Radiologie, HMA, Marrakech, Maroc, ...

  13. Case report

    African Journals Online (AJOL)

    abp

    2014-05-30

    May 30, 2014 ... tumor size, pleural effusion, response to chemotherapy, and optimal radiotherapy [10]. Several authors assert that Surgical therapy has the most important implication and complete surgical resection is associated with a survival advantage [5]. In the index case, despite no distant metastasis were found at.

  14. Case report

    African Journals Online (AJOL)

    abp

    2013-08-29

    Aug 29, 2013 ... inflammatory bowel disease, in particular ulcerative colitis (UC), are often treated with immunosuppressive therapy and can develop colorectal KS [3]. We report the case of a human immunodeficiency negative-virus (HIV) man, with a severe refractory UC, who was treated with steroids, azathioprine and ...

  15. Case report

    African Journals Online (AJOL)

    abp

    5 mai 2016 ... Garcia JA, Garcia-Fernandez M, Romance A, Sanchez JC. Wandering spleen and gastric volvulus. Pediatr Radiol. 1994;. 24(7): 535-6. PubMed | Google Scholar. 3. Melikoglu M, Colak T, Kasasoglu. Two unusual cases of wandering spleen requiring splenectomy. Eur J Pediatr Surg. 1995; 5(1): 48-9.

  16. Case report

    African Journals Online (AJOL)

    ebutamanya

    French). 1984;30(3):177-81. PubMed |. Google Scholar. 12. Isla A, Paz JM, Sansivirini F, Zamora P, Garcia Grande A,. Fernandez A. Intramedullary spinal cord metastasis: a case report. J Neurosurg Sci. 2000 Jun; 44(2):99-101.

  17. Case report

    African Journals Online (AJOL)

    abp

    2013-05-21

    May 21, 2013 ... Imperforate Hymen - a rare cause of acute abdominal pain and tenesmus: case report and review of .... did a ten year retrospective analysis of the data of 15 patients treated for ... Low back pain (38-40%) [4, 13, 14]. Occurs as ...

  18. Case report

    African Journals Online (AJOL)

    abp

    2017-06-13

    Jun 13, 2017 ... Oxyuriasis's symptoms are extremely diverse in children, ranging from nausea, diarrhea, insomnia, irritability, recurrent cellulitis, loss of appetite, nightmares and endometritis. Here we report a curious case of oxyuriasis in the settings of a refugee camp in Greece. The patient was a. 10-year old Syrian ...

  19. Case report

    African Journals Online (AJOL)

    abp

    15 juin 2016 ... We report the case of a 17-year old admitted with diffuse bone pain, hypercalcemia and thrombopenia. Bone scan showed .... plus rares et ont été rapportée dans des observations isolées [13]. ... hypercalcemia in nude mice.

  20. Case series

    African Journals Online (AJOL)

    abp

    1 juin 2012 ... ... Ren- Xuan Guo, and Ke-Jian Guo. Adult intussusception: A retrospective review of 41 cases. World J Gastroenterol. 2009 Jul 14;15(26):3303-8. This article on PubMed. 14. Abou-Nukta F, Gutweiler J, Khaw J, Yavorek G. Giant lipoma causing a colo-colonic intussusception. Am Surg. 2007;73(4):417. This.

  1. Case report

    African Journals Online (AJOL)

    abp

    2013-02-14

    Feb 14, 2013 ... Abstract. Vaginal metastases of renal cell carcinoma have been rarely described. We report a case of a 75-year old woman, who underwent radical right nephrectomy for a renal cell carcinoma. Tumour was classified pT3bN0M0 and grade III of Furhmann grading. One year later, scanner discovered.

  2. Case report

    African Journals Online (AJOL)

    abp

    2013-11-04

    Nov 4, 2013 ... especially in developing countries. HBV can be complicated by acute glomerulonephritis , this association remains controversial. The optimal therapy is undefined, although in several studies, the antiviral drugs and the immunosuppressive therapy have been tried for those patients [1]. We report the case of ...

  3. Case report

    African Journals Online (AJOL)

    ebutamanya

    17 janv. 2016 ... Budd-Chiari syndrome: a rare complication of hepatic sarcoidosis (about one case). Ismael Ait Sghier1,&, Nabil Moatassim Billah1. 1Service de Radiologie Centrale, Hôpital Avicenne, Rabat, Maroc. &Corresponding author: Ismael Ait Sghier, Service de Radiologie Centrale, Hôpital Avicenne, Rabat, Maroc.

  4. Case competitions

    DEFF Research Database (Denmark)

    Schjoldager, Anne Gram

    2009-01-01

    The paper presents and discusses a teaching project with case competitions for MA students of specialised translation at the Aarhus School of Business, Aarhus University. Drawing on a series of online questionnaires, the paper ascertains how the project was evaluated by the participating students...

  5. Case report

    African Journals Online (AJOL)

    abp

    Cerebral venous sinus thrombosis in HIV-infected patients: report of 2 cases ... often affects young adults and children [1]. ... local trauma and infection, prothrombotic states like nephrotic ... head trauma. ... She denied any history of alcohol intake, cigarette smoking .... against protein S among HIV infected patients, leading to.

  6. Case report

    African Journals Online (AJOL)

    abp

    9 août 2017 ... We report a case of hemorrhagic stroke of the brainstem in a nonmonitored ... haemorrhagic stroke of the brainstem on the second post-operative day after cesarean section performed due to suspicion of retroplacental haematoma arisen .... syndrome hémorragique ont évolué favorablement et une patiente.

  7. Case series

    African Journals Online (AJOL)

    abp

    2015-01-19

    Jan 19, 2015 ... Child sexual abuse: report of 311 cases with review of literature. Laila Essabar1, Abdenbi Khalqallah2, Badr Sououd Benjelloun Dakhama1,&. 1Department of Paediatric Medical Emergencies of Rabat children's Hospital, Morocco, 2Laboratory of Clinical and Pathological Psychology,. Mohammed V ...

  8. CASE REPORT

    African Journals Online (AJOL)

    2011-12-02

    Dec 2, 2011 ... brain illustrated enhancement of the optic nerves post-. CASE REPORT ... improved bilaterally to 6/18 on the right and 6/12 on the left. There was .... the possible risks versus benefits of steroid therapy and invite them to ...

  9. Case report

    African Journals Online (AJOL)

    raoul

    2011-06-10

    Jun 10, 2011 ... The authors report the case of a patient admitted with right ... secondary locations of kidney cancers are lung, bone, liver and brain. ... thrombus (left) or inferior vena cava (right), promote the spin-cell ... They reported a median survival of 13.6 months for nephrectomy plus interferon group vs 7.8 months for ...

  10. Case report

    African Journals Online (AJOL)

    cqq1a

    20 sept. 2010 ... Desplypere JP, Pract M, Verdonk G. An unusual case of trichobezoar: The Rapunzel Syndrome. Am J Gastroenterol. 1982 Jul;77(7):467-. 7. This article on PubMed. 9. Kaushik NK, Sharma YP, Negi A, Jaswal A. Images - Gastric trichobezoar. Ind J Radiol Imag. 1999;9(3):137-139. 10. Newman B, Girdany ...

  11. Case report

    African Journals Online (AJOL)

    ebutamanya

    2015-05-05

    May 5, 2015 ... Abstract. We report a new case of osteogenesis imperfecta (OI) type II which is a perinatal lethal form. First trimester ultrasound didn't identified abnormalities. Second trimester ultrasound showed incurved limbs, narrow chest, with hypomineralization and multiple fractures of ribs and long bones. Parents ...

  12. Case report

    African Journals Online (AJOL)

    2012-09-11

    Sep 11, 2012 ... Abstract. Solid pseudopapillary tumor (SPN) of the pancreas is a rare tumor, but has favorable prognosis. It is typically observed in young women. Only few cases have been reported in young men. We report the observation of a 73-year-old man presented with a palpable mass in the left upper abdomen.

  13. Case series

    African Journals Online (AJOL)

    raoul

    3 mars 2011 ... Martin RG. Malignant tumors of the small intestine. Surg Clin North Am. 1986; 66: 779-785. This article on PubMed. 5. Hatzaras I, Palesty JA, Abir F, Sullivan P, Kozol RA, Dudrick SJ, Longo WE. Small-bowel tumors: epidemiologic and clinical characteristics of 1260 cases from the connecticut tumor registry.

  14. CASE STUDY

    African Journals Online (AJOL)

    2010-09-01

    Sep 1, 2010 ... of the two diseases surgery can be successful, recovery can be similar to that .... lymphocytes predominated in 68% of cases, and that there was an .... using ferritin is the fact that it acts as an acute-phase reactant and will be ...

  15. The Case for Case Reports

    Directory of Open Access Journals (Sweden)

    George R. Saade

    2011-09-01

    Full Text Available If you are reading a hard copy of this editorial, then you are holding in hand the first issue of the American Journal of Perinatology Reports, or AJP Reports as we like to refer to it. Welcome to AJP Reports and thank you for taking the time to peruse it. I hope you find many of the reports interesting and helpful. The editorial team and publisher are very pleased to be able to bring this journal to our readers. Judging by the journal title, the editorial team, and the layout you may have already guessed that this is a companion to the American Journal of Perinatology. We will continue to publish original articles and topical reviews in the American Journal of Perinatology, but all case reports or case series will be referred to AJP Reports. Some may question the need for more case reports. Our decision to start AJP Reports obviously indicates that we think that case reports can be useful. I can refer to several diseases, treatment complications, and procedures that were first brought to the attention of healthcare providers through case reports. The best example of the usefulness of case reports is probably in infectious diseases. In the early phases of an emerging infectious disease, the case report or case series are usually the first clues of a problem. HIV was first brought to the attention of the medical community by case reports.[1] [2] [3] In our own field, the first attempts at treatment of twin-to-twin transfusion syndrome (TTTS using laser coagulation were reported in a case series.[4] After additional reports about the use of laser in TTTS, a randomized trial was performed that cemented laser photocoagulation as a therapeutic modality for TTTS.[5] While case reports or series are not considered the highest form of evidence, they are frequently the first form of evidence and the nudge that starts the cascade of investigation that ultimately leads to high-level evidence. Therefore, their impact on clinical practice may be easily

  16. Radiological case

    International Nuclear Information System (INIS)

    Giraldo Estrada, Horacio

    2001-01-01

    The paper analyze the case of a patient (65 year-old) masculine, who consults for precordial pain associated to dyspnoea, left scapular pain and in the shoulder of the same side, of 3 days of evolution that it has been permanent and progressive. He also refers, loss of weight the last 6 months and dyspnoea of effort of 1 month of evolution. He denies chill, fever, cough or expectoration. The patient presents gastric ulcer tried for 1 year, smoker of 2 packages of daily cigarettes of the 15 to the 40 years; all its life worked in masonry. X-rays of the thorax and Tac, among other analyses were done and the case is discusses

  17. Case Report

    DEFF Research Database (Denmark)

    Søborg, Marie-Louise Kulas; Rosenberg, Jacob; Burcharth, Jakob

    2016-01-01

    Guillain-Barré syndrome (GBS) is an acute ascending peripheral neuropathy, caused by autoimmune damage of the peripheral nerves. GBS can be divided into three subtypes: acute inflammatory demyelinating neuropathy, acute motor axonal neuropathy, and the more rare type, acute motor and sensory axonal...... neuropathy (AMSAN). Reports of AMSAN with onset after epidural anesthesia and spinal surgery are extremely rare, and the linkage between development of GBS and neuroaxial anesthesia remains conclusively unconfirmed. We present a case in which the patient developed subacute motor and predominantly sensory...... neuropathy following epidural blockade. The case emphasizes the need of including AMSAN in differential diagnostic considerations to changes in motor and sensory function following epidural anesthesia, allowing accelerated rehabilitation and relevant alleviating therapy....

  18. Case law

    International Nuclear Information System (INIS)

    2014-01-01

    This section of the Bulletin brings together the texts of the following case laws: Canada: - Judgment of the Federal Court of Canada sending back to a joint review panel for reconsideration the environmental assessment of a proposed new nuclear power plant in Ontario. France : - Conseil d'etat, 24 March 2014 (Request No. 358882); - Conseil d'etat, 24 March 2014 (Request No. 362001). Slovak Republic: - Further developments in cases related to the challenge by Greenpeace Slovakia to the Mochovce nuclear power plant; - Developments in relation to the disclosure of information concerning the Mochovce nuclear power plant. United States: - Initial Decision of the Atomic Safety and Licensing Board Ruling in Favour of Nuclear Innovation North America, LLC (NINA) Regarding Foreign Ownership, Control or Domination

  19. Case04

    DEFF Research Database (Denmark)

    Vestergaard, Flemming; Karlshøj, Jan; Hauch, Peter

    Casestudiets formål er at beskrive og måle en større entreprenørvirksomheds omkostninger og gevin-ster ved at anvende metoder og værktøjer, der er modelbaserede. Case 04 tager udgangspunkt i et konkret byggeprojekt, hvor BIM teknologien er anvendt på et for den danske entreprenørbranche rela...

  20. Case law

    International Nuclear Information System (INIS)

    Anon.

    2011-01-01

    This chapter gathers three case laws, one concerning France and the two others concerning the United States. France - Decision of the Administrative Court in Strasbourg on the permanent shutdown of the Fessenheim nuclear power plant: On 9 March 2011, the administrative court in Strasbourg confirmed the government's rejection to immediately close the Fessenheim nuclear power plant, the first unit of which started operation on 1 January 1978. The court rejected the motion of the 'Association trinationale de protection nucleaire' (ATPN) filed against the decision of the Minister of Economy, Industry and Employment to refuse the final shutdown of the plant. The group, which brings together associations as well as French, German and Swiss municipalities, had taken legal action in December 2008. United States - Case law 1 - Judgment of a US Court of Appeals on public access to sensitive security information and consideration of the environmental impacts of terrorist attacks on nuclear facilities: This case concerns 1) the public's right to access classified and sensitive security information relied upon by the US Nuclear Regulatory Commission (NRC) in its environmental review; and 2) the sufficiency of the NRC's environmental review of the impacts of terrorist attacks for a proposed Independent Spent Fuel Storage Installation (ISFSI). In 2003, the NRC ruled that the National Environmental Policy Act (NEPA) did not require the NRC to consider the impacts of terrorist attacks in its environmental review for the proposed ISFSI at the Diablo Canyon Power Plant. ' NEPA mandates that all federal agencies must prepare a detailed statement on the environment impacts before undertaking a major federal action that significantly affects the human environment. In 2004, the San Luis Obispo Mothers for Peace, a group of individuals who live near the Diablo Canyon Power Plant, filed a petition in the US Court of Appeals for the Ninth Circuit challenging the NRC's 2003 decision. The

  1. Dermatology case

    Directory of Open Access Journals (Sweden)

    Catarina Moreira

    2017-12-01

    Full Text Available Over the years, with advances in the understanding of the disease, general improvement in health standards and nutrition, scurvy is now rarely encountered. Dermatologic signs may be the only manifestation and are often misdiagnosed. Awareness of manifestations and prompt diagnosis are essential because, with appropriate vitamin replacement, scurvy is readily treated. We report the case of an adolescent whose diagnosis of scurvy was based on the recognition of dietary risk factors, the presence of dermatologic manifestations and the rapid resolution of skin lesions when vitamin C supplements were initiated.

  2. Case law

    International Nuclear Information System (INIS)

    2016-01-01

    This section treats of the following case laws: 1 - Canada: Decision of the Canadian Federal Court of Appeal dismissing an appeal related to an environmental assessment of a project to refurbish and extend the life of an Ontario nuclear power plant; 2 - Poland: Decision of the Masovian Voivod of 28 December 2015 concerning the legality of the resolution on holding a local referendum in the Commune of Rozan regarding a new radioactive waste repository (2015); 3 - United States: Commission authorises issuance of construction permit for the Shine Medical Isotope Facility in Janesville, Wisconsin; 4 - United States: Commission authorises issuance of combined licences for the South Texas Project site in Matagorda County, Texas

  3. Case Law

    International Nuclear Information System (INIS)

    2014-01-01

    This section treats of the following case laws sorted by country: 1 - Germany: Federal Administrative Court confirms the judgments of the Higher Administrative Court of the Land Hesse: The shutdown of nuclear power plant Biblis blocks A and B based on a 'moratorium' imposed by the Government was unlawful; List of lawsuits in the nuclear field. 2 - Slovak Republic: Further developments in cases related to the challenge by Greenpeace Slovakia to the Mochovce nuclear power plant; Developments in relation to the disclosure of information concerning the Mochovce nuclear power plant. 3 - United States: Judgment of the Nuclear Regulatory Commission resuming the licensing process for the Department of Energy's construction authorisation application for the Yucca Mountain high-level radioactive waste repository; Judgment of the Licensing Board in favour of Shaw AREVA MOX Services regarding the material control and accounting system at the proposed MOX Facility; Dismissal by US District Court Judge of lawsuit brought by US military personnel against Tokyo Electric Power Company (TEPCO) in connection with the Fukushima Daiichi nuclear power plant accident

  4. Clinical Case

    Directory of Open Access Journals (Sweden)

    Luca Apicella

    2011-01-01

    Full Text Available Renal sinus lipomatosis (RSL represents an abnormal proliferation of the adipose tissue surrounding the renal pelvis of uncertain origin, associated with aging, obesity, steroid excess, infections, and calculosis. It represents a rare complication in transplanted kidneys, and, despite the accurate and prolonged radiological followup of transplanted organs, only a few cases of RSL have been described in graft recipients, with no remarkable effects on renal function. The diagnosis relies on ultrasonography (US, magnetic resonance imaging (MRI, computed tomography (CT, and, finally, percutaneous biopsy. We describe the case of an extensive RSL in a 38-year-old renal transplant recipient, diagnosed by ultrasonography and computed tomography. The patient underwent a radiologic study because of an acute, asymptomatic renal impairment, that led to the diagnosis of a RSL of unusual dimensions, associated with a discrete hydronephrosis. Paradoxically, after a short course of steroids, the recovery of renal function and the partial resolution of calyceal dilatation were observed. The rarity of this affection, the need of a differential diagnosis with fat-containing tumors, and the possibility of parenchymal inflammation associated with RSL, potentially responsive to steroids, are also discussed.

  5. Imaging Case

    Directory of Open Access Journals (Sweden)

    Maria Adriana Rangel

    2018-04-01

    Full Text Available Introduction: Cephalohematoma is a collection of serosanguineous fluid below the periosteum and is the most frequent cranial injury in the newborn, occurring in 0.2-2.5% live births. The majority of cephalohematomas spontaneously resolve within three to four weeks, however, some persist beyond four weeks and begin to calcify. Case report: A seven-week-old boy, was referred to the emergency department because of a head lump on the right parietal region, with no other symptoms. He was born after a vacuum-assisted delivery, and presented a cephalohematoma in the first days of life, that progressively decreased and became more rigid. Physical examination, revealed a cranial asymmetry, and a head lump on the right parietal region, that was hard and fixed to the bone. Head X-ray revealed a radiopaque lump on the right parietal bone and a poorly defined arched line, as well as visible microcalcifications on the core of the cephalohematoma, typical findings of a calcified cephalohematoma. Discussion: Even though cephalohematoma is frequently encountered, calcified cephalohematoma is seen only sporadically, and is a rare clinical entity. History and clinical examination are important in the differential diagnosis and imaging strategy. Radiography and ultrasonography are often the initial screening diagnostic tests, followed by magnetic resonance imaging or computed tomography. Head x-ray features, in this case report, where particularly evocative of the diagnosis.

  6. Case Law

    International Nuclear Information System (INIS)

    Anon.

    2009-01-01

    Different case law are presented in this part: By decision dated 17 july 2009, the Ontario Court of Appeal (Canada) has ruled on the scope of solicitor-client privilege and the protections that may be afforded to privileged investigations reports. The decision reaffirms the canadian court system view of the importance of the protection of solicitor-client privilege to the administration of justice; For United states here is a judgment of a U.S. court of Appeals on the design basis threat security rule (2009), this case concerns a challenge to the U.S. Nuclear regulatory commission (N.R.C.) revised design basis threat rule, which was adopted in 2007 (nuclear bulletin law no. 80). The petitioners public citizen, Inc., San Luis Obispo Mothers for Peace and the State of New York filed a lawsuit in the U.S. court of appeals for the Ninth circuit alleging that the N.R.C. acted arbitrarily and capriciously and in violation of law by refusing to include the treat of air attacks in its final revised design basis rule. On the 24. july 2009, a panel of three ninth circuit judges rules 2-1 that the N.R.C. acted reasonably in not including an air treat in its design basis rule. Secondly, judgment of a U.S. court of appeals on consideration of the environmental impact of terrorist attacks on nuclear facilities (2009), this case concerns the scope of the U.S. Nuclear regulatory commission environmental analysis during its review of applications to re-licence commercial nuclear power plants. New Jersey urged the N.R.C. to consider the environmental impact of an airborne terrorist attack on the power plant, arguing that such analysis was required by the national environmental policy act (N.E.P.A.). On 31. march 2009, a panel of three circuit judges declined to follow the ninth circuit opinion and affirmed NRC decision 3-0 ruling that NRC was not required to consider terrorism in its N.E.P.A. analysis because NRC re-licensing would not be a reasonably close cause of terrorism

  7. Case law

    International Nuclear Information System (INIS)

    Anon.

    2008-01-01

    Canada: Brunswick News Inc. versus Her Majesty the Queen in the Right of the Province of New Brunswick denying release of nuclear power feasibility study: A superior court in Canada has made an important decision with regard to freedom of information legislation and protection of confidential commercial information. It denied a provincial newspaper company access to a feasibility study concerning the construction of a second nuclear power reactor in New Brunswick. U.S.A.: In the Court of federal Claims, plaintiffs Carolina Power and Light Company and Florida power corporation (collectively Progress Energy) claimed damages of U.S.D. 91 029 704 from defendant U.S. Department of Energy (D.O.E.), under the terms of D.O.E. standard contract for Disposal of spent nuclear fuel and/or high level waste. D.O.E. liability was previously established and the amount of damages was the sole issue in this case.Germany: in 2005, the federal Ministry for the Environment, Nature Conservation and Nuclear Safety (B.M.U.) instructed the regulatory and supervisory body of the federal state Baden-Wurtemberg to issue an order, which required the operator to shut its plant, without delay or further orders, in case of not obviously insignificant non-compliance with technical limits, measures or other specific safety-related requirements deemed to control incidents. The operator was further required to inform the regulatory and supervisory body immediately if it was no longer able to demonstrate the controllability of design basis accidents. In the judgement of the Federal Administrative court, the instruction to stop operation is too ambiguous since it does not specify with technical criteria should compel operators to shut their reactors.The court rules that, in compliance with the principle that administrative decisions must be precise, clear and unambiguous, an order to terminate operations must clearly state when and for what reasons an operator has this duty. a global obligation to

  8. Case law

    International Nuclear Information System (INIS)

    Anon.

    2007-01-01

    Concerning the France, the judgement of the European Court of Human Rights on the Right to a fair Trial, in the litigation Collectif Stop Melox and Mox versus France (2007) and the decision of the Council of State Quashing a decree concerning a nuclear installation in Brennilis, for the want of public information and consultation (2007) are reported. For South Africa, the judgment of the Cape High Court in the case of Mc donald and others versus Minister of Minerals and Energy and others (2007) is reported. United Kingdom states the decision of the Wick Sheriff Court Fining UKAEA for plutonium exposure (2007). Concerning Usa the judgment of the US Court of Appeals on environment Analysis of the effects of terrorism (2006) and the vacatur of US Court of Federal Claims Decision regarding Price-Anderson Compensation of Costs in a private Tort Claim (2007) are reported. (N.C.)

  9. Endoscopic case

    Directory of Open Access Journals (Sweden)

    Fernando Pereira

    2017-01-01

    Full Text Available We present the case of a ten-year-old female patient referred to Gastroenterolgy consultation for abdominal pain and cramping, usually worse after eating, recurring diarrhoea, hypochromic and microcytic anaemia with low serum iron and ferritin levels. Moderate to severe Crohn’s disease of the terminal ileum e right colon (L3 was diagnosed, based on endoscopic image and biopsy. The patient was treated with prednisone and azathioprine, but after one year of treatment she was steroids dependent and treatment was switched to infliximab. One year after beginning this treatment, the patient achieved remission (clinical and laboratorial parameters. A control colonoscopy showed mucosal healing with scars and deformation with stenosis of ileocecal valve (Figures 1-2. Surgical intervention will be probably necessary in near future.

  10. Case Series.

    Science.gov (United States)

    Vetrayan, Jayachandran; Othman, Suhana; Victor Paulraj, Smily Jesu Priya

    2017-01-01

    To assess the effectiveness and feasibility of behavioral sleep intervention for medicated children with ADHD. Six medicated children (five boys, one girl; aged 6-12 years) with ADHD participated in a 4-week sleep intervention program. The main behavioral strategies used were Faded Bedtime With Response Cost (FBRC) and positive reinforcement. Within a case-series design, objective measure (Sleep Disturbance Scale for Children [SDSC]) and subjective measure (sleep diaries) were used to record changes in children's sleep. For all six children, significant decrease was found in the severity of children's sleep problems (based on SDSC data). Bedtime resistance and mean sleep onset latency were reduced following the 4-week intervention program according to sleep diaries data. Gains were generally maintained at the follow-up. Parents perceived the intervention as being helpful. Based on the initial data, this intervention shows promise as an effective and feasible treatment.

  11. Case Study: Testing with Case Studies

    Science.gov (United States)

    Herreid, Clyde Freeman

    2015-01-01

    This column provides original articles on innovations in case study teaching, assessment of the method, as well as case studies with teaching notes. This month's issue discusses using case studies to test for knowledge or lessons learned.

  12. The Importance of Pressure Sampling Frequency in Models for Determination of Critical Wave Loadings on Monolithic Structures

    DEFF Research Database (Denmark)

    Burcharth, Hans F.; Andersen, Thomas Lykke; Meinert, Palle

    2008-01-01

    Wave induced pressures on model scale monolithic structures like caissons and concrete superstructures on rubble mound breakwaters show very peaky variations, even in cases without impacts from slamming waves....

  13. Case law

    International Nuclear Information System (INIS)

    2013-01-01

    This section reports on 7 case laws from 4 countries: - France: Conseil d'Etat decision, 28 June 2013, refusing to suspend operation of the Fessenheim nuclear power plant; - Slovak Republic: New developments including the Supreme Court's judgment in a matter involving Greenpeace Slovakia's claims regarding the Mochovce nuclear power plant; New developments in the matter involving Greenpeace's demands for information under the Freedom of Information Act; - Switzerland: Judgment of the Federal Supreme Court in the matter of the Departement federal de l'environnement, des transports, de l'energie et de la communication (DETEC) against Ursula Balmer-Schafroth and others on consideration of admissibility of a request to withdraw the operating licence for the Muehleberg nuclear power plant; - United States: Judgment of the Court of Appeals for the District of Columbia Circuit granting petition for writ of mandamus ordering US Nuclear Regulatory Commission (NRC) to resume Yucca Mountain licensing; Judgment of the Court of Appeals for the Second Circuit invalidating two Vermont statutes as preempted by the Atomic Energy Act; Judgment of the NRC on transferring Shieldalloy site to New Jersey's jurisdiction

  14. Case law

    International Nuclear Information System (INIS)

    Anon.

    2006-01-01

    Five articles are tackled: in France, the judgement of the Court of Appeal of Limoges concerning the dumping of radioactive waste by Areva N.C.(2006). The Court of Appeal of Limoges ruled that Areva N.C. was not guilty of dumping radioactive waste, and neither had it infringed radiation protection regulations or general mining industry regulations. there was no proof of damage to fish fauna. In Sweden, judgement on Plans for the dismantling of Barsebaeck (2006). This court case resulted from a dispute between the operator and the Swedish government Swedish radiation Protection Institute. The Swedish Government wanted decommissioning to commence immediately whereas plant management at Barsebaeck had indicated its intention to wait until 2020, when the radiation dose to workers during decommissioning work would be lower. The court approved the plans to commence dismantling in 2020, when a repository for large reactor components will be ready at the national final repository for radioactive waste at the Forsmark plant. In United Kingdom, on October 2006, British Nuclear group Sellafield Ltd. (B.N.G.S.L.) was fined 500 000 pounds (G.B.P.) plus G.B.P. 68000 in costs in a case brought by the UK health and Safety Executive (H.S.E.) for failing to identify and stop an eight-month long leak of 83 400 litres of radioactive liquid at the Thermal Oxide reprocessing Plant (T.H.O.R.P.) at Sellafield in Cumbria. The fine was levied at Carlisle Crown Court after B.N.G.S.L. pleaded guilty, at an earlier hearing, to the three counts of breaching conditions attached to the Sellafield site licence, granted under the 1965 Nuclear Installations Act as amended. These conditions require the licensee to make and comply with written instructions; to ensure safety systems are in good working order; and to ensure radioactive material is contained and, if leaks occur, they are detected and reported. In Usa, in accordance with the Nuclear Waste Policy Act of 1982, as amended (N.W.P.A.) the US

  15. Case law

    International Nuclear Information System (INIS)

    2017-01-01

    This section treats of the following case laws (United States): 1 - Virginia Uranium, Inc. v. Warren, 848 F.3d 590 (4. Cir. 2017): In the United States District Court for the Western District of Virginia, the plaintiffs, a collection of uranium mining companies and owners of land containing uranium deposits, challenged a Commonwealth of Virginia moratorium on conventional uranium mining. The plaintiffs alleged that the state moratorium was preempted by federal law under the Supremacy Clause of the US Constitution.; 2 - United States v. Energy Solutions, Inc.; Rockwell Holdco, Inc.; Andrews County; Holdings, Inc.; and Waste Control Specialists, LLC. (D. Del. June 21, 2017): In 2016, the United States, acting through the US Department of Justice, commenced an action in United States District Court in Delaware seeking to enjoin the acquisition of Waste Control Specialists, LLC (WCS) and its parent company by Energy Solutions, Inc., and its parent. WCS and Energy Solutions are competitors in the market for the disposal of low-level radioactive waste (LLRW) produced by commercial generators of such material. The United States alleged that the proposed acquisition was unlawful. 3 - Cooper v. Tokyo Electric Power Company, No. 15-56426 (9. Cir. 2017): The plaintiffs are US Navy service members who were deployed off the Japanese coast as part of the US effort to provide earthquake relief after the 9.0 earthquake and tsunami that struck Japan on 11 March 2011. Plaintiffs sued alleging 'that TEPCO was negligent in operating the Fukushima Daiichi Nuclear Power Plant and in reporting the extent of the radiation leak

  16. Case law

    International Nuclear Information System (INIS)

    2015-01-01

    This section treats of the following case laws: 1 - Canada: Decision of the Canadian Federal Court of Appeal overturning a decision to send back for reconsideration an environmental assessment of a proposed new nuclear power plant in Ontario; 2 - France: Council of State decision, 28 November 2014, Federation 'Reseau sortir du nucleaire' (Nuclear Phase-Out network) and others vs. Electricite de France (EDF), Request No. 367013 for the annulment of: - The resolution of the French Nuclear Safety Authority (ASN) dated 4 July 2011 specifying additional regulations for Electricite de France (EDF) designed to strengthen the reactor basemat of reactor No. 1 in the Fessenheim nuclear power plant, and - The resolution of ASN dated 19 December 2012 approving the start of work on reinforcing the reactor basemat in accordance with the dossier submitted by EDF; 3 - Germany: Judgment of the European Court of Justice on the nuclear fuel tax; 4 - India: Judgment of the High Court of Kerala in a public interest litigation challenging the constitutional validity of the Civil Liability for Nuclear Damage Act, 2010; 5 - Japan - District court decisions on lawsuits related to the restart of Sendai NPP and Takahama NPP; 6 - Poland: Decision of the Masovian Voivod concerning the legality of the resolution on holding a local referendum in the Commune of Rozan regarding a new radioactive waste repository; Certain provisions of the Regulation of the Minister of Health of 18 February 2011 on the conditions for safe use of ionising radiation for all types of medical exposure have been declared unconstitutional by a judgment pronounced by the Constitutional Tribunal; 7 - Slovak Republic: Developments in relation to the disclosure of information concerning the Mochovce nuclear power plant

  17. CASE REPORT CASE CASE Post-traumatic cholesteatoma … a ...

    African Journals Online (AJOL)

    CASE REPORT. CASE. 46. SA JOURNAL OF RADIOLOGY • July 2008. CASE. Abstract. Temporal bone fractures and their acute complications have been well described in radiology and ENT journals; this is in contrast to ... post-traumatic cholesteatomas and made postulations on their origin. Since then, there have been ...

  18. CASE STUDY CRITIQUE; UPPER CLINCH CASE STUDY

    Science.gov (United States)

    Case study critique: Upper Clinch case study (from Research on Methods for Integrating Ecological Economics and Ecological Risk Assessment: A Trade-off Weighted Index Approach to Integrating Economics and Ecological Risk Assessment). This critique answers the questions: 1) does ...

  19. Clinical Case Registries (CCR)

    Data.gov (United States)

    Department of Veterans Affairs — The Clinical Case Registries (CCR) replaced the former Immunology Case Registry and the Hepatitis C Case Registry with local and national databases. The CCR:HIV and...

  20. Project management case studies

    CERN Document Server

    Kerzner, Harold R

    2013-01-01

    A new edition of the most popular book of project management case studies, expanded to include more than 100 cases plus a ""super case"" on the Iridium Project Case studies are an important part of project management education and training. This Fourth Edition of Harold Kerzner''s Project Management Case Studies features a number of new cases covering value measurement in project management. Also included is the well-received ""super case,"" which covers all aspects of project management and may be used as a capstone for a course. This new edition:Contains 100-plus case studies drawn from re