Motion planning for multiple robots

NARCIS (Netherlands)

Aronov, B.; Berg, de M.; van der Stappen, A.F.; Svestka, P.; Vleugels, J.M.

1999-01-01

We study the motion-planning problem for pairs and triples of robots operating in a shared workspace containing n obstacles. A standard way to solve such problems is to view the collection of robots as one composite robot, whose number of degrees of freedom is d , the sum of the numbers of degrees

Optimal motion planning using navigation measure

Science.gov (United States)

Vaidya, Umesh

2018-05-01

We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.

Impact of leaf motion constraints on IMAT plan quality, deliver accuracy, and efficiency

International Nuclear Information System (INIS)

Chen Fan; Rao Min; Ye Jinsong; Shepard, David M.; Cao Daliang

2011-01-01

Purpose: Intensity modulated arc therapy (IMAT) is a radiation therapy delivery technique that combines the efficiency of arc based delivery with the dose painting capabilities of intensity modulated radiation therapy (IMRT). A key challenge in developing robust inverse planning solutions for IMAT is the need to account for the connectivity of the beam shapes as the gantry rotates from one beam angle to the next. To overcome this challenge, inverse planning solutions typically impose a leaf motion constraint that defines the maximum distance a multileaf collimator (MLC) leaf can travel between adjacent control points. The leaf motion constraint ensures the deliverability of the optimized plan, but it also impacts the plan quality, the delivery accuracy, and the delivery efficiency. In this work, the authors have studied leaf motion constraints in detail and have developed recommendations for optimizing the balance between plan quality and delivery efficiency. Methods: Two steps were used to generate optimized IMAT treatment plans. The first was the direct machine parameter optimization (DMPO) inverse planning module in the Pinnacle 3 planning system. Then, a home-grown arc sequencer was applied to convert the optimized intensity maps into deliverable IMAT arcs. IMAT leaf motion constraints were imposed using limits of between 1 and 30 mm/deg. Dose distributions were calculated using the convolution/superposition algorithm in the Pinnacle 3 planning system. The IMAT plan dose calculation accuracy was examined using a finer sampling calculation and the quality assurance verification. All plans were delivered on an Elekta Synergy with an 80-leaf MLC and were verified using an IBA MatriXX 2D ion chamber array inserted in a MultiCube solid water phantom. Results: The use of a more restrictive leaf motion constraint (less than 1-2 mm/deg) results in inferior plan quality. A less restrictive leaf motion constraint (greater than 5 mm/deg) results in improved plan quality

Analyzing the effects of human-aware motion planning on close-proximity human-robot collaboration.

Science.gov (United States)

Lasota, Przemyslaw A; Shah, Julie A

2015-02-01

The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human-robot interaction. We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human-robot team fluency and human worker satisfaction. Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human-robot collaboration.

Using Load Balancing to Scalably Parallelize Sampling-Based Motion Planning Algorithms

KAUST Repository

Fidel, Adam; Jacobs, Sam Ade; Sharma, Shishir; Amato, Nancy M.; Rauchwerger, Lawrence

2014-01-01

Motion planning, which is the problem of computing feasible paths in an environment for a movable object, has applications in many domains ranging from robotics, to intelligent CAD, to protein folding. The best methods for solving this PSPACE-hard problem are so-called sampling-based planners. Recent work introduced uniform spatial subdivision techniques for parallelizing sampling-based motion planning algorithms that scaled well. However, such methods are prone to load imbalance, as planning time depends on region characteristics and, for most problems, the heterogeneity of the sub problems increases as the number of processors increases. In this work, we introduce two techniques to address load imbalance in the parallelization of sampling-based motion planning algorithms: an adaptive work stealing approach and bulk-synchronous redistribution. We show that applying these techniques to representatives of the two major classes of parallel sampling-based motion planning algorithms, probabilistic roadmaps and rapidly-exploring random trees, results in a more scalable and load-balanced computation on more than 3,000 cores. © 2014 IEEE.

Using Load Balancing to Scalably Parallelize Sampling-Based Motion Planning Algorithms

KAUST Repository

Fidel, Adam

2014-05-01

Motion planning, which is the problem of computing feasible paths in an environment for a movable object, has applications in many domains ranging from robotics, to intelligent CAD, to protein folding. The best methods for solving this PSPACE-hard problem are so-called sampling-based planners. Recent work introduced uniform spatial subdivision techniques for parallelizing sampling-based motion planning algorithms that scaled well. However, such methods are prone to load imbalance, as planning time depends on region characteristics and, for most problems, the heterogeneity of the sub problems increases as the number of processors increases. In this work, we introduce two techniques to address load imbalance in the parallelization of sampling-based motion planning algorithms: an adaptive work stealing approach and bulk-synchronous redistribution. We show that applying these techniques to representatives of the two major classes of parallel sampling-based motion planning algorithms, probabilistic roadmaps and rapidly-exploring random trees, results in a more scalable and load-balanced computation on more than 3,000 cores. © 2014 IEEE.

The effects of tumor motion on planning and delivery of respiratory-gated IMRT

International Nuclear Information System (INIS)

Hugo, Geoffrey D.; Agazaryan, Nzhde; Solberg, Timothy D.

2003-01-01

The purpose of this study is to investigate the effects of object motion on the planning and delivery of IMRT. Two phantoms containing objects were imaged using CT under a variety of motion conditions. The effects of object motion on axial CT acquisition with and without gating were assessed qualitatively and quantitatively. Measurements of effective slice width and position for the CT scans were made. Mutual information image fusion was adapted for use as a quantitative measure of object deformation in CT images. IMRT plans were generated on the CT scans of the moving and gated object images. These plans were delivered with motion, with and without gating, and the delivery error between the moving deliveries and a nonmoving delivery was assessed using a scalable vector-based index. Motion during CT acquisition produces motion artifact, object deformation, and object mispositioning, which can be substantially reduced with gating. Objects that vary in cross section in the direction of motion exhibit the most deformation in CT images. Mutual information provides a useful quantitative estimate of object deformation. The delivery of IMRT in the presence of target motion significantly alters the delivered dose distribution in relation to the planned distribution. The utilization of gating for IMRT treatment, including imaging, planning, and delivery, significantly reduces the errors introduced by object motion

Integrated Task and Motion Planning with Verification via Formal Methods

Data.gov (United States)

National Aeronautics and Space Administration — This proposal lays out a research plan to "lift" current state-of-the-art results combining discrete and continuous layers of planning in motion planning to the more...

Analyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human–Robot Collaboration

Science.gov (United States)

Shah, Julie A.

2015-01-01

Objective: The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. Background: The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human–robot interaction. Method: We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. Results: When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. Conclusion: People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human–robot team fluency and human worker satisfaction. Application: Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human–robot collaboration. PMID:25790568

The Toggle Local Planner for sampling-based motion planning

KAUST Repository

Denny, Jory; Amato, Nancy M.

2012-01-01

Sampling-based solutions to the motion planning problem, such as the probabilistic roadmap method (PRM), have become commonplace in robotics applications. These solutions are the norm as the dimensionality of the planning space grows, i.e., d > 5

Multi-Robot Motion Planning: A Timed Automata Approach

DEFF Research Database (Denmark)

Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

2004-01-01

This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar...... grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achieved through synchronization, and the verification software UPPAAL is used for a symbolic verification...... then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research....

Multi-Robot Motion Planning: A Timed Automata Approach

DEFF Research Database (Denmark)

Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar...... grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achieved through synchronization, and the verification software UPPAAL is used for a symbolic verification...... then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research....

TECHNOLOGICAL IMPLEMENTATION PLAN

DEFF Research Database (Denmark)

Bellini, Anna

2004-01-01

This document has the purpose to describe the technological implementation plan in the IDEAL project.......This document has the purpose to describe the technological implementation plan in the IDEAL project....

A Motion Planning Approach to Studying Molecular Motions

KAUST Repository

Amato, Nancy M.

2010-01-01

While structurally very different, protein and RNA molecules share an important attribute. The motions they undergo are strongly related to the function they perform. For example, many diseases such as Mad Cow disease or Alzheimer\\'s disease are associated with protein misfolding and aggregation. Similarly, RNA folding velocity may regulate the plasmid copy number, and RNA folding kinetics can regulate gene expression at the translational level. Knowledge of the stability, folding, kinetics and detailed mechanics of the folding process may help provide insight into how proteins and RNAs fold. In this paper, we present an overview of our work with a computational method we have adapted from robotic motion planning to study molecular motions. We have validated against experimental data and have demonstrated that our method can capture biological results such as stochastic folding pathways, population kinetics of various conformations, and relative folding rates. Thus, our method provides both a detailed view (e.g., individual pathways) and a global view (e.g., population kinetics, relative folding rates, and reaction coordinates) of energy landscapes of both proteins and RNAs. We have validated these techniques by showing that we observe the same relative folding rates as shown in experiments for structurally similar protein molecules that exhibit different folding behaviors. Our analysis has also been able to predict the same relative gene expression rate for wild-type MS2 phage RNA and three of its mutants.

Study on State Transition Method Applied to Motion Planning for a Humanoid Robot

Directory of Open Access Journals (Sweden)

Xuyang Wang

2008-11-01

Full Text Available This paper presents an approach of motion planning for a humanoid robot using a state transition method. In this method, motion planning is simplified by introducing a state-space to describe the whole motion series. And each state in the state-space corresponds to a contact state specified during the motion. The continuous motion is represented by a sequence of discrete states. The concept of the transition between two neighboring states, that is the state transition, can be realized by using some traditional path planning methods. Considering the dynamical stability of the robot, a state transition method based on search strategy is proposed. Different sets of trajectories are generated by using a variable 5th-order polynomial interpolation method. After quantifying the stabilities of these trajectories, the trajectories with the largest stability margin are selected as the final state transition trajectories. Rising motion process is exemplified to validate the method and the simulation results show the proposed method to be feasible and effective.

Repetitive motion planning and control of redundant robot manipulators

CERN Document Server

Zhang, Yunong

2013-01-01

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

Lazy Toggle PRM: A single-query approach to motion planning

KAUST Repository

Denny, Jory; Shi, Kensen; Amato, Nancy M.

2013-01-01

Probabilistic RoadMaps (PRMs) are quite suc-cessful in solving complex and high-dimensional motion plan-ning problems. While particularly suited for multiple-query scenarios and expansive spaces, they lack efficiency in both solving single

A test case of computer aided motion planning for nuclear maintenance operation

International Nuclear Information System (INIS)

Schmitzberger, E.; Bouchet, J.L.; Schmitzberger, E.

2001-01-01

Needs for improved tools for nuclear power plant maintenance preparation are expressed by EDF engineering. These are an easier and better management of logistics constraints such as free spaces for motions or handling tasks. The lack of generic or well suited tools and the specificity of nuclear maintenance operation have led EDF R and D to develop its own motion planning tools in collaboration with LAAS-CNRS, Utrecht University and the software publisher CADCENTRE within the framework of the three years Esprit LTR project MOLOG. EDF users needs will be summed up in the first part of the paper under the title ''Motion feasibility studies for maintenance operation'' and then compared to the current industrial offer in the ''Software's background'''s part. The definition and objectives ''Towards motion planning tools'' follows. It explains why maintenance preparation pertains to automatic motion planning and how it makes studies much simpler. The ''MOLOG's Benchmark and first result'''s part describes the test-case used to evaluate the MOLOG project and gives an outlook at the results obtained so far. (author)

Technology Implementation Plan

DEFF Research Database (Denmark)

Jensen, Karsten Ingerslev; Schultz, Jørgen Munthe

The Technology Implementation Plan (TIP) describes the main project results and the intended future use. The TIP is confidential.......The Technology Implementation Plan (TIP) describes the main project results and the intended future use. The TIP is confidential....

Human-like motion planning model for driving in signalized intersections

Directory of Open Access Journals (Sweden)

Yanlei Gu

2017-10-01

Full Text Available Highly automated and fully autonomous vehicles are much more likely to be accepted if they react in the same way as human drivers do, especially in a hybrid traffic situation, which allows autonomous vehicles and human-driven vehicles to share the same road. This paper proposes a human-like motion planning model to represent how human drivers assess environments and operate vehicles in signalized intersections. The developed model consists of a pedestrian intention detection model, gap detection model, and vehicle control model. These three submodels are individually responsible for situation assessment, decision making, and action, and also depend on each other in the process of motion planning. In addition, these submodels are constructed and learned on the basis of human drivers' data collected from real traffic environments. To verify the effectiveness of the proposed motion planning model, we compared the proposed model with actual human driver and pedestrian data. The experimental results showed that our proposed model and actual human driver behaviors are highly similar with respect to gap acceptance in intersections.

Validation of the Leap Motion Controller using markered motion capture technology.

Science.gov (United States)

Smeragliuolo, Anna H; Hill, N Jeremy; Disla, Luis; Putrino, David

2016-06-14

The Leap Motion Controller (LMC) is a low-cost, markerless motion capture device that tracks hand, wrist and forearm position. Integration of this technology into healthcare applications has begun to occur rapidly, making validation of the LMC׳s data output an important research goal. Here, we perform a detailed evaluation of the kinematic data output from the LMC, and validate this output against gold-standard, markered motion capture technology. We instructed subjects to perform three clinically-relevant wrist (flexion/extension, radial/ulnar deviation) and forearm (pronation/supination) movements. The movements were simultaneously tracked using both the LMC and a marker-based motion capture system from Motion Analysis Corporation (MAC). Adjusting for known inconsistencies in the LMC sampling frequency, we compared simultaneously acquired LMC and MAC data by performing Pearson׳s correlation (r) and root mean square error (RMSE). Wrist flexion/extension and radial/ulnar deviation showed good overall agreement (r=0.95; RMSE=11.6°, and r=0.92; RMSE=12.4°, respectively) with the MAC system. However, when tracking forearm pronation/supination, there were serious inconsistencies in reported joint angles (r=0.79; RMSE=38.4°). Hand posture significantly influenced the quality of wrist deviation (P<0.005) and forearm supination/pronation (P<0.001), but not wrist flexion/extension (P=0.29). We conclude that the LMC is capable of providing data that are clinically meaningful for wrist flexion/extension, and perhaps wrist deviation. It cannot yet return clinically meaningful data for measuring forearm pronation/supination. Future studies should continue to validate the LMC as updated versions of their software are developed. Copyright © 2016 Elsevier Ltd. All rights reserved.

A test case of computer aided motion planning for nuclear maintenance operation

Energy Technology Data Exchange (ETDEWEB)

Schmitzberger, E.; Bouchet, J.L. [Electricite de France (EDF), Dept. Surveillance Diagnostic Maintenance, 78 - Chatou (France); Schmitzberger, E. [Institut National Polytechnique, CRAN, 54 - Vandoeuvre les Nancy (France)

2001-07-01

Needs for improved tools for nuclear power plant maintenance preparation are expressed by EDF engineering. These are an easier and better management of logistics constraints such as free spaces for motions or handling tasks. The lack of generic or well suited tools and the specificity of nuclear maintenance operation have led EDF R and D to develop its own motion planning tools in collaboration with LAAS-CNRS, Utrecht University and the software publisher CADCENTRE within the framework of the three years Esprit LTR project MOLOG. EDF users needs will be summed up in the first part of the paper under the title ''Motion feasibility studies for maintenance operation'' and then compared to the current industrial offer in the ''Software's background'''s part. The definition and objectives ''Towards motion planning tools'' follows. It explains why maintenance preparation pertains to automatic motion planning and how it makes studies much simpler. The ''MOLOG's Benchmark and first result'''s part describes the test-case used to evaluate the MOLOG project and gives an outlook at the results obtained so far. (author)

Dose/volume–response relations for rectal morbidity using planned and simulated motion-inclusive dose distributions

International Nuclear Information System (INIS)

Thor, Maria; Apte, Aditya; Deasy, Joseph O.; Karlsdóttir, Àsa; Moiseenko, Vitali; Liu, Mitchell; Muren, Ludvig Paul

2013-01-01

Background and purpose: Many dose-limiting normal tissues in radiotherapy (RT) display considerable internal motion between fractions over a course of treatment, potentially reducing the appropriateness of using planned dose distributions to predict morbidity. Accounting explicitly for rectal motion could improve the predictive power of modelling rectal morbidity. To test this, we simulated the effect of motion in two cohorts. Materials and methods: The included patients (232 and 159 cases) received RT for prostate cancer to 70 and 74 Gy. Motion-inclusive dose distributions were introduced as simulations of random or systematic motion to the planned dose distributions. Six rectal morbidity endpoints were analysed. A probit model using the QUANTEC recommended parameters was also applied to the cohorts. Results: The differences in associations using the planned over the motion-inclusive dose distributions were modest. Statistically significant associations were obtained with four of the endpoints, mainly at high doses (55–70 Gy), using both the planned and the motion-inclusive dose distributions, primarily when simulating random motion. The strongest associations were observed for GI toxicity and rectal bleeding (Rs = 0.12–0.21; Rs = 0.11–0.20). Applying the probit model, significant associations were found for tenesmus and rectal bleeding (Rs = 0.13, p = 0.02). Conclusion: Equally strong associations with rectal morbidity were observed at high doses (>55 Gy), for the planned and the simulated dose distributions including in particular random rectal motion. Future studies should explore patient-specific descriptions of rectal motion to achieve improved predictive power

A scalable distributed RRT for motion planning

KAUST Repository

Jacobs, Sam Ade

2013-05-01

Rapidly-exploring Random Tree (RRT), like other sampling-based motion planning methods, has been very successful in solving motion planning problems. Even so, sampling-based planners cannot solve all problems of interest efficiently, so attention is increasingly turning to parallelizing them. However, one challenge in parallelizing RRT is the global computation and communication overhead of nearest neighbor search, a key operation in RRTs. This is a critical issue as it limits the scalability of previous algorithms. We present two parallel algorithms to address this problem. The first algorithm extends existing work by introducing a parameter that adjusts how much local computation is done before a global update. The second algorithm radially subdivides the configuration space into regions, constructs a portion of the tree in each region in parallel, and connects the subtrees,i removing cycles if they exist. By subdividing the space, we increase computation locality enabling a scalable result. We show that our approaches are scalable. We present results demonstrating almost linear scaling to hundreds of processors on a Linux cluster and a Cray XE6 machine. © 2013 IEEE.

A scalable distributed RRT for motion planning

KAUST Repository

Jacobs, Sam Ade; Stradford, Nicholas; Rodriguez, Cesar; Thomas, Shawna; Amato, Nancy M.

2013-01-01

Rapidly-exploring Random Tree (RRT), like other sampling-based motion planning methods, has been very successful in solving motion planning problems. Even so, sampling-based planners cannot solve all problems of interest efficiently, so attention is increasingly turning to parallelizing them. However, one challenge in parallelizing RRT is the global computation and communication overhead of nearest neighbor search, a key operation in RRTs. This is a critical issue as it limits the scalability of previous algorithms. We present two parallel algorithms to address this problem. The first algorithm extends existing work by introducing a parameter that adjusts how much local computation is done before a global update. The second algorithm radially subdivides the configuration space into regions, constructs a portion of the tree in each region in parallel, and connects the subtrees,i removing cycles if they exist. By subdividing the space, we increase computation locality enabling a scalable result. We show that our approaches are scalable. We present results demonstrating almost linear scaling to hundreds of processors on a Linux cluster and a Cray XE6 machine. © 2013 IEEE.

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

Science.gov (United States)

Lauretti, Clemente; Cordella, Francesca; Ciancio, Anna Lisa; Trigili, Emilio; Catalan, Jose Maria; Badesa, Francisco Javier; Crea, Simona; Pagliara, Silvio Marcello; Sterzi, Silvia; Vitiello, Nicola; Garcia Aracil, Nicolas; Zollo, Loredana

2018-01-01

The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in the whole human-robot workspace. This paper proposes a motion planning system, based on Learning by Demonstration, for upper-limb exoskeletons that allow successfully assisting patients during Activities of Daily Living (ADLs) in unstructured environment, while ensuring that anthropomorphic criteria are satisfied in the whole human-robot workspace. The motion planning system combines Learning by Demonstration with the computation of Dynamic Motion Primitives and machine learning techniques to construct task- and patient-specific joint trajectories based on the learnt trajectories. System validation was carried out in simulation and in a real setting with a 4-DoF upper-limb exoskeleton, a 5-DoF wrist-hand exoskeleton and four patients with Limb Girdle Muscular Dystrophy. Validation was addressed to (i) compare the performance of the proposed motion planning with traditional methods; (ii) assess the generalization capabilities of the proposed method with respect to the environment variability. Three ADLs were chosen to validate the system: drinking, pouring and lifting a light sphere. The achieved results showed a 100% success rate in the task fulfillment, with a high level of generalization with respect to the environment variability. Moreover, an anthropomorphic configuration of the exoskeleton is always ensured. PMID:29527161

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

Directory of Open Access Journals (Sweden)

Clemente Lauretti

2018-02-01

Full Text Available The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in the whole human-robot workspace. This paper proposes a motion planning system, based on Learning by Demonstration, for upper-limb exoskeletons that allow successfully assisting patients during Activities of Daily Living (ADLs in unstructured environment, while ensuring that anthropomorphic criteria are satisfied in the whole human-robot workspace. The motion planning system combines Learning by Demonstration with the computation of Dynamic Motion Primitives and machine learning techniques to construct task- and patient-specific joint trajectories based on the learnt trajectories. System validation was carried out in simulation and in a real setting with a 4-DoF upper-limb exoskeleton, a 5-DoF wrist-hand exoskeleton and four patients with Limb Girdle Muscular Dystrophy. Validation was addressed to (i compare the performance of the proposed motion planning with traditional methods; (ii assess the generalization capabilities of the proposed method with respect to the environment variability. Three ADLs were chosen to validate the system: drinking, pouring and lifting a light sphere. The achieved results showed a 100% success rate in the task fulfillment, with a high level of generalization with respect to the environment variability. Moreover, an anthropomorphic configuration of the exoskeleton is always ensured.

Towards a European Energy Technology Policy - The European Strategic Energy Technology Plan (Set-Plan)

International Nuclear Information System (INIS)

Mercier, A.; Petric, H.; Peteves, E.

2008-01-01

The transition to a low carbon economy will take decades and affect the entire economy. There is a timely opportunity for investment in energy infrastructure. However, decisions to invest in technologies that are fully aligned with policy and society priorities do not necessarily come naturally, although it will profoundly affect the level of sustainability of the European energy system for decades to come. Technology development needs to be accelerated and prioritized at the highest level of the European policy agenda. This is the essence of the European Strategic Energy Technology Plan (SET-Plan). The SET-Plan makes concrete proposals for action to establish an energy technology policy for Europe, with a new mind-set for planning and working together and to foster science for transforming energy technologies to achieve EU energy and climate change goals for 2020, and to contribute to the worldwide transition to a low carbon economy by 2050. This paper gives an overview of the SET-Plan initiative and highlights its latest developments. It emphasises the importance of information in support of decision-making for investing in the development of low carbon technologies and shows the first results of the technology mapping undertaken by the newly established Information System of the SET-Plan (SETIS).(author)

A scalable method for parallelizing sampling-based motion planning algorithms

KAUST Repository

Jacobs, Sam Ade; Manavi, Kasra; Burgos, Juan; Denny, Jory; Thomas, Shawna; Amato, Nancy M.

2012-01-01

This paper describes a scalable method for parallelizing sampling-based motion planning algorithms. It subdivides configuration space (C-space) into (possibly overlapping) regions and independently, in parallel, uses standard (sequential) sampling-based planners to construct roadmaps in each region. Next, in parallel, regional roadmaps in adjacent regions are connected to form a global roadmap. By subdividing the space and restricting the locality of connection attempts, we reduce the work and inter-processor communication associated with nearest neighbor calculation, a critical bottleneck for scalability in existing parallel motion planning methods. We show that our method is general enough to handle a variety of planning schemes, including the widely used Probabilistic Roadmap (PRM) and Rapidly-exploring Random Trees (RRT) algorithms. We compare our approach to two other existing parallel algorithms and demonstrate that our approach achieves better and more scalable performance. Our approach achieves almost linear scalability on a 2400 core LINUX cluster and on a 153,216 core Cray XE6 petascale machine. © 2012 IEEE.

A scalable method for parallelizing sampling-based motion planning algorithms

KAUST Repository

Jacobs, Sam Ade

2012-05-01

This paper describes a scalable method for parallelizing sampling-based motion planning algorithms. It subdivides configuration space (C-space) into (possibly overlapping) regions and independently, in parallel, uses standard (sequential) sampling-based planners to construct roadmaps in each region. Next, in parallel, regional roadmaps in adjacent regions are connected to form a global roadmap. By subdividing the space and restricting the locality of connection attempts, we reduce the work and inter-processor communication associated with nearest neighbor calculation, a critical bottleneck for scalability in existing parallel motion planning methods. We show that our method is general enough to handle a variety of planning schemes, including the widely used Probabilistic Roadmap (PRM) and Rapidly-exploring Random Trees (RRT) algorithms. We compare our approach to two other existing parallel algorithms and demonstrate that our approach achieves better and more scalable performance. Our approach achieves almost linear scalability on a 2400 core LINUX cluster and on a 153,216 core Cray XE6 petascale machine. © 2012 IEEE.

Fuzzy Logic Unmanned Air Vehicle Motion Planning

Directory of Open Access Journals (Sweden)

Chelsea Sabo

2012-01-01

Full Text Available There are a variety of scenarios in which the mission objectives rely on an unmanned aerial vehicle (UAV being capable of maneuvering in an environment containing obstacles in which there is little prior knowledge of the surroundings. With an appropriate dynamic motion planning algorithm, UAVs would be able to maneuver in any unknown environment towards a target in real time. This paper presents a methodology for two-dimensional motion planning of a UAV using fuzzy logic. The fuzzy inference system takes information in real time about obstacles (if within the agent's sensing range and target location and outputs a change in heading angle and speed. The FL controller was validated, and Monte Carlo testing was completed to evaluate the performance. Not only was the path traversed by the UAV often the exact path computed using an optimal method, the low failure rate makes the fuzzy logic controller (FLC feasible for exploration. The FLC showed only a total of 3% failure rate, whereas an artificial potential field (APF solution, a commonly used intelligent control method, had an average of 18% failure rate. These results highlighted one of the advantages of the FLC method: its adaptability to complex scenarios while maintaining low control effort.

NASA Technology Plan 1998

Science.gov (United States)

1998-01-01

This NASA Strategic Plan describes an ambitious, exciting vision for the Agency across all its Strategic Enterprises that addresses a series of fundamental questions of science and research. This vision is so challenging that it literally depends on the success of an aggressive, cutting-edge advanced technology development program. The objective of this plan is to describe the NASA-wide technology program in a manner that provides not only the content of ongoing and planned activities, but also the rationale and justification for these activities in the context of NASA's future needs. The scope of this plan is Agencywide, and it includes technology investments to support all major space and aeronautics program areas, but particular emphasis is placed on longer term strategic technology efforts that will have broad impact across the spectrum of NASA activities and perhaps beyond. Our goal is to broaden the understanding of NASA technology programs and to encourage greater participation from outside the Agency. By relating technology goals to anticipated mission needs, we hope to stimulate additional innovative approaches to technology challenges and promote more cooperative programs with partners outside NASA who share common goals. We also believe that this will increase the transfer of NASA-sponsored technology into nonaerospace applications, resulting in an even greater return on the investment in NASA.

Hanford Waste Vitrification Plant Technology Plan

International Nuclear Information System (INIS)

Sexton, R.A.

1988-06-01

The reference Hanford plan for disposal of defense high-level waste is based on waste immobilization in glass by the vitrification process and temporary vitrified waste storage at the Hanford Site until final disposal in a geologic repository. A companion document to the Hanford Waste Management Plan (HWMP) is the Draft, Interim Hanford Waste Management Technology Plan (HWMTP), which provides a description of the technology that must be developed to meet the reference waste management plan. One of the issues in the HWMTP is DST-6, Immobilization (Glass). The HWMTP includes all expense funding needed to complete the Hanford Waste Vitrification Plant (HWVP) project. A preliminary HWVP Technology Plan was prepared in 1985 as a supporting document to the HWMTP to provide a more detailed description of the technology needed to construct and operate a vitrification facility. The plan was updated and issued in 1986, and revised in 1987. This document is an annual update of the plan. The HWVP Technology Plan is limited in scope to technology that requires development or confirmation testing. Other expense-funded activities are not included. The relationship between the HWVP Technology Plan and other waste management issues addressed in the HWMTP is described in section 1.6 of this plan. 6 refs., 4 figs., 34 tabs

Constrained optimal motion planning for autonomous vehicles using PRONTO

NARCIS (Netherlands)

Aguiar, A.P.; Bayer, F.A.; Hauser, J.; Häusler, A.J.; Notarstefano, G.; Pascoal, A.M.; Rucco, A.; Saccon, A.

2017-01-01

This chapter provides an overview of the authors’ efforts in vehicle trajectory exploration and motion planning based on PRONTO, a numerical method for solving optimal control problems developed over the last two decades. The chapter reviews the basics of PRONTO, providing the appropriate references

Information Communication Technology Planning in Developing Countries

Science.gov (United States)

Malapile, Sandy; Keengwe, Jared

2014-01-01

This article explores major issues related to Information Communication Technology (ICT) in education and technology planning. Using the diffusion of innovation theory, the authors examine technology planning opportunities and challenges in Developing countries (DCs), technology planning trends in schools, and existing technology planning models…

Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

Energy Technology Data Exchange (ETDEWEB)

Wang, Hesheng; Lai, Yinping [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Cao, Qixin [Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240 (China)

2015-12-15

Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function.

Adaptive Motion Planning in Bin-Picking with Object Uncertainties

DEFF Research Database (Denmark)

Iversen, Thomas Fridolin; Ellekilde, Lars-Peter; Miró, Jaime Valls

2017-01-01

Doing motion planning for bin-picking with object uncertainties requires either a re-grasp of picked objects or an online sensor system. Using the latter is advantageous in terms of computational time, as no time is wasted doing an extra pick and place action. It does, however, put extra...... requirements on the motion planner, as the target position may change on-the-fly. This paper solves that problem by using a state adjusting Partial Observable Markov Decision Process, where the state space is modified between runs, to better fit earlier solved problems. The approach relies on a set...

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Directory of Open Access Journals (Sweden)

Xuyang Wang

2012-05-01

Full Text Available A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots. To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion.

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Directory of Open Access Journals (Sweden)

Xuyang Wang

2008-11-01

Full Text Available A new approach to generate the original motion data for humanoid motion planning is presented in this paper. And a state generator is developed based on the genetic algorithm, which enables users to generate various motion states without using any reference motion data. By specifying various types of constraints such as configuration constraints and contact constraints, the state generator can generate stable states that satisfy the constraint conditions for humanoid robots.To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching. In our method, we introduce a convenient mathematic representation for the constraints involved in the state generator, and solve the optimization problem with the genetic algorithm to acquire a desired state. To demonstrate the effectiveness and advantage of the method, a number of motion states are generated according to the requirements of the motion.

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

International Nuclear Information System (INIS)

Zhang Peng; Hugo, Geoffrey D.; Yan Di

2008-01-01

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

The motion planning problem and exponential stabilization of a heavy chain. Part II

OpenAIRE

Piotr Grabowski

2008-01-01

This is the second part of paper [P. Grabowski, The motion planning problem and exponential stabilization of a heavy chain. Part I, to appear in International Journal of Control], where a model of a heavy chain system with a punctual load (tip mass) in the form of a system of partial differential equations was interpreted as an abstract semigroup system and then analysed on a Hilbert state space. In particular, in [P. Grabowski, The motion planning problem and exponential stabilization of a h...

The Motion Planning of Overhead Crane Based on Suppressing Payload Residual Swing

Directory of Open Access Journals (Sweden)

Liu Hua-sen

2016-01-01

Full Text Available Since the overhead crane system is subject to under actuation system due to that overhead crane and payload are connected by flexibility wire rope. The payload generates residual swing when the overhead crane is accelerating/ decelerating the motions. This may cause trouble for the payload precise positioning and motion planning. Hence, an optimization input shaping control method is presented to reduce the under actuated overhead crane’s payload swing caused via the inertia force. The dynamic model of the overhead crane is proposed according to the physics structure of the crane. The input shaper based on the motion planning of the crane is used as the feed forward input to suppress payload residual swing. Simulation and experiment results indicate that the ZV input shaper and ZVD input shaper can reduce the payload swing of the overhead crane.

Motion planning with complete knowledge using a colored SOM.

Science.gov (United States)

Vleugels, J; Kok, J N; Overmars, M

1997-01-01

The motion planning problem requires that a collision-free path be determined for a robot moving amidst a fixed set of obstacles. Most neural network approaches to this problem are for the situation in which only local knowledge about the configuration space is available. The main goal of the paper is to show that neural networks are also suitable tools in situations with complete knowledge of the configuration space. In this paper we present an approach that combines a neural network and deterministic techniques. We define a colored version of Kohonen's self-organizing map that consists of two different classes of nodes. The network is presented with random configurations of the robot and, from this information, it constructs a road map of possible motions in the work space. The map is a growing network, and different nodes are used to approximate boundaries of obstacles and the Voronoi diagram of the obstacles, respectively. In a second phase, the positions of the two kinds of nodes are combined to obtain the road map. In this way a number of typical problems with small obstacles and passages are avoided, and the required number of nodes for a given accuracy is within reasonable limits. This road map is searched to find a motion connecting the given source and goal configurations of the robot. The algorithm is simple and general; the only specific computation that is required is a check for intersection of two polygons. We implemented the algorithm for planar robots allowing both translation and rotation and experiments show that compared to conventional techniques it performs well, even for difficult motion planning scenes.

Bio-inspired motion planning algorithms for autonomous robots facilitating greater plasticity for security applications

Science.gov (United States)

Guo, Yi; Hohil, Myron; Desai, Sachi V.

2007-10-01

Proposed are techniques toward using collaborative robots for infrastructure security applications by utilizing them for mobile sensor suites. A vast number of critical facilities/technologies must be protected against unauthorized intruders. Employing a team of mobile robots working cooperatively can alleviate valuable human resources. Addressed are the technical challenges for multi-robot teams in security applications and the implementation of multi-robot motion planning algorithm based on the patrolling and threat response scenario. A neural network based methodology is exploited to plan a patrolling path with complete coverage. Also described is a proof-of-principle experimental setup with a group of Pioneer 3-AT and Centibot robots. A block diagram of the system integration of sensing and planning will illustrate the robot to robot interaction to operate as a collaborative unit. The proposed approach singular goal is to overcome the limits of previous approaches of robots in security applications and enabling systems to be deployed for autonomous operation in an unaltered environment providing access to an all encompassing sensor suite.

Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty

OpenAIRE

Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan

2017-01-01

Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a knowledge-oriented physics-based motion planning approach for a hand-arm system that uses a high-level knowledge-based reasoning to partition the wor...

Technology Planning Strategies

Science.gov (United States)

Decker, Kathy

2004-01-01

Effective planning strategies drive achievement of an overall technology goal to increase access to electronic information in real time in order to increase efficiency, productivity, and communication across campus. Planning relies on providing access, 'Anytime Anywhere' to student information, calendar, email, course management tools, and the…

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

International Nuclear Information System (INIS)

Pin, Francois G.

2003-01-01

Our overall objective is the development of a generalized methodology and code for the automated generation of the kinematics equations of robots and for the analytical solution of their motion planning equations subject to time-varying constraints, behavioral objectives and modular configuration

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

International Nuclear Information System (INIS)

Pin, Grancois G.

2004-01-01

Our overall objective is the development of a generalized methodology and code for the automated generation of the kinematics equations of robots and for the analytical solution of their motion planning equations subject to time-varying constraints, behavioral objectives, and modular configuration

Rough terrain motion planning for actively reconfigurable mobile robots

International Nuclear Information System (INIS)

Brunner, Michael

2015-01-01

In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

Rough terrain motion planning for actively reconfigurable mobile robots

Energy Technology Data Exchange (ETDEWEB)

Brunner, Michael

2015-02-05

In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

Frustration-guided motion planning reveals conformational transitions in proteins.

Science.gov (United States)

Budday, Dominik; Fonseca, Rasmus; Leyendecker, Sigrid; van den Bedem, Henry

2017-10-01

Proteins exist as conformational ensembles, exchanging between substates to perform their function. Advances in experimental techniques yield unprecedented access to structural snapshots of their conformational landscape. However, computationally modeling how proteins use collective motions to transition between substates is challenging owing to a rugged landscape and large energy barriers. Here, we present a new, robotics-inspired motion planning procedure called dCC-RRT that navigates the rugged landscape between substates by introducing dynamic, interatomic constraints to modulate frustration. The constraints balance non-native contacts and flexibility, and instantaneously redirect the motion towards sterically favorable conformations. On a test set of eight proteins determined in two conformations separated by, on average, 7.5 Å root mean square deviation (RMSD), our pathways reduced the Cα atom RMSD to the goal conformation by 78%, outperforming peer methods. We then applied dCC-RRT to examine how collective, small-scale motions of four side-chains in the active site of cyclophilin A propagate through the protein. dCC-RRT uncovered a spatially contiguous network of residues linked by steric interactions and collective motion connecting the active site to a recently proposed, non-canonical capsid binding site 25 Å away, rationalizing NMR and multi-temperature crystallography experiments. In all, dCC-RRT can reveal detailed, all-atom molecular mechanisms for small and large amplitude motions. Source code and binaries are freely available at https://github.com/ExcitedStates/KGS/. © 2017 Wiley Periodicals, Inc.

The lucky image-motion prediction for simple scene observation based soft-sensor technology

Science.gov (United States)

Li, Yan; Su, Yun; Hu, Bin

2015-08-01

High resolution is important to earth remote sensors, while the vibration of the platforms of the remote sensors is a major factor restricting high resolution imaging. The image-motion prediction and real-time compensation are key technologies to solve this problem. For the reason that the traditional autocorrelation image algorithm cannot meet the demand for the simple scene image stabilization, this paper proposes to utilize soft-sensor technology in image-motion prediction, and focus on the research of algorithm optimization in imaging image-motion prediction. Simulations results indicate that the improving lucky image-motion stabilization algorithm combining the Back Propagation Network (BP NN) and support vector machine (SVM) is the most suitable for the simple scene image stabilization. The relative error of the image-motion prediction based the soft-sensor technology is below 5%, the training computing speed of the mathematical predication model is as fast as the real-time image stabilization in aerial photography.

Universal CNC platform motion control technology for industrial CT

International Nuclear Information System (INIS)

Cheng Senlin; Wang Yang

2011-01-01

According to the more scanning methods and the higher speed of industrial CT, the higher precision of the motion location and the data collection sync-control is required at present, a new motion control technology was proposed, which was established based on the universal CNC system with high precision of multi-axis control. Aiming at the second and the third generation of CT scanning motion, a control method was researched, and achieved the demands of the changeable parameters and network control, Through the simulation of the second and the third generation of CT scanning motion process, the control precision of the rotation axis reached 0.001° and the linear axis reached 0.002 mm, Practical tests showed this system can meet the requirements of the multi-axis motion integration and the sync signal control, it also have advantages in the control precision and the performance. (authors)

Sci-Fri PM: Radiation Therapy, Planning, Imaging, and Special Techniques - 05: A novel respiratory motion simulation program for VMAT treatment plans: a phantom validation study

Energy Technology Data Exchange (ETDEWEB)

Hubley, Emily; Pierce, Greg; Ploquin, Nicolas [University of Calgary, Tom Baker Cancer Centre, Tom Baker Cancer Centre (Canada)

2016-08-15

Purpose: To develop and validate a computational method to simulate craniocaudal respiratory motion in a VMAT treatment plan. Methods: Three 4DCTs of the QUASAR respiratory motion phantom were acquired with a 2cm water-density spherical tumour embedded in cedar to simulate lung. The phantom was oscillating sinusoidally with an amplitude of 2cm and periods of 3, 4, and 5 seconds. An ITV was contoured and 5mm PTV margin was added. High and a low modulation factor VMAT plans were created for each scan. An in-house program was developed to simulate respiratory motion in the treatment plans by shifting the MLC leaf positions relative to the phantom. Each plan was delivered to the phantom and the dose was measured using Gafchromic film. The measured and calculated plans were compared using an absolute dose gamma analysis (3%/3mm). Results: The average gamma pass rate for the low modulation plan and high modulation plans were 91.1% and 51.4% respectively. The difference between the high and low modulation plans gamma pass rates is likely related to the different sampling frequency of the respiratory curve and the higher MLC leaf speeds in the high modulation plan. A high modulation plan has a slower gantry speed and therefore samples the breathing cycle at a coarser frequency leading to inaccuracies between the measured and planned doses. Conclusion: A simple program, including a novel method for increasing sampling frequency beyond the control point frequency, has been developed to simulate respiratory motion in VMAT plans by shifting the MLC leaf positions.

Sci-Fri PM: Radiation Therapy, Planning, Imaging, and Special Techniques - 05: A novel respiratory motion simulation program for VMAT treatment plans: a phantom validation study

International Nuclear Information System (INIS)

Hubley, Emily; Pierce, Greg; Ploquin, Nicolas

2016-01-01

Purpose: To develop and validate a computational method to simulate craniocaudal respiratory motion in a VMAT treatment plan. Methods: Three 4DCTs of the QUASAR respiratory motion phantom were acquired with a 2cm water-density spherical tumour embedded in cedar to simulate lung. The phantom was oscillating sinusoidally with an amplitude of 2cm and periods of 3, 4, and 5 seconds. An ITV was contoured and 5mm PTV margin was added. High and a low modulation factor VMAT plans were created for each scan. An in-house program was developed to simulate respiratory motion in the treatment plans by shifting the MLC leaf positions relative to the phantom. Each plan was delivered to the phantom and the dose was measured using Gafchromic film. The measured and calculated plans were compared using an absolute dose gamma analysis (3%/3mm). Results: The average gamma pass rate for the low modulation plan and high modulation plans were 91.1% and 51.4% respectively. The difference between the high and low modulation plans gamma pass rates is likely related to the different sampling frequency of the respiratory curve and the higher MLC leaf speeds in the high modulation plan. A high modulation plan has a slower gantry speed and therefore samples the breathing cycle at a coarser frequency leading to inaccuracies between the measured and planned doses. Conclusion: A simple program, including a novel method for increasing sampling frequency beyond the control point frequency, has been developed to simulate respiratory motion in VMAT plans by shifting the MLC leaf positions.

Multi-Robot Motion Planning: A Timed Automata Approach

OpenAIRE

Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

2004-01-01

This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achi...

On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles

DEFF Research Database (Denmark)

Xiao, Lin; Jouffroy, Jerome

2011-01-01

Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first...... considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing...

The Concept of Collision-Free Motion Planning Using a Dynamic Collision Map

Directory of Open Access Journals (Sweden)

Keum-Bae Cho

2014-09-01

Full Text Available In this paper, we address a new method for the collision-free motion planning of a mobile robot in dynamic environments. The motion planner is based on the concept of a conventional collision map (CCM, represented on the L(travel length-T(time plane. We extend the CCM with dynamic information about obstacles, such as linear acceleration and angular velocity, providing useful information for estimating variation in the collision map. We first analyse the effect of the dynamic motion of an obstacle in the collision region. We then define the measure of collision dispersion (MOCD. The dynamic collision map (DCM is generated by drawing the MOCD on the CCM. To evaluate a collision-free motion planner using the DCM, we extend the DCM with MOCD, then draw the unreachable region and deadlocked regions. Finally, we construct a collision-free motion planner using the information from the extended DCM.

Effects of Respiratory Motion on Passively Scattered Proton Therapy Versus Intensity Modulated Photon Therapy for Stage III Lung Cancer: Are Proton Plans More Sensitive to Breathing Motion?

International Nuclear Information System (INIS)

Matney, Jason; Park, Peter C.; Bluett, Jaques; Chen, Yi Pei; Liu, Wei; Court, Laurence E.; Liao, Zhongxing; Li, Heng; Mohan, Radhe

2013-01-01

Purpose: To quantify and compare the effects of respiratory motion on paired passively scattered proton therapy (PSPT) and intensity modulated photon therapy (IMRT) plans; and to establish the relationship between the magnitude of tumor motion and the respiratory-induced dose difference for both modalities. Methods and Materials: In a randomized clinical trial comparing PSPT and IMRT, radiation therapy plans have been designed according to common planning protocols. Four-dimensional (4D) dose was computed for PSPT and IMRT plans for a patient cohort with respiratory motion ranging from 3 to 17 mm. Image registration and dose accumulation were performed using grayscale-based deformable image registration algorithms. The dose–volume histogram (DVH) differences (4D-3D [3D = 3-dimensional]) were compared for PSPT and IMRT. Changes in 4D-3D dose were correlated to the magnitude of tumor respiratory motion. Results: The average 4D-3D dose to 95% of the internal target volume was close to zero, with 19 of 20 patients within 1% of prescribed dose for both modalities. The mean 4D-3D between the 2 modalities was not statistically significant (P<.05) for all dose–volume histogram indices (mean ± SD) except the lung V5 (PSPT: +1.1% ± 0.9%; IMRT: +0.4% ± 1.2%) and maximum cord dose (PSPT: +1.5 ± 2.9 Gy; IMRT: 0.0 ± 0.2 Gy). Changes in 4D-3D dose were correlated to tumor motion for only 2 indices: dose to 95% planning target volume, and heterogeneity index. Conclusions: With our current margin formalisms, target coverage was maintained in the presence of respiratory motion up to 17 mm for both PSPT and IMRT. Only 2 of 11 4D-3D indices (lung V5 and spinal cord maximum) were statistically distinguishable between PSPT and IMRT, contrary to the notion that proton therapy will be more susceptible to respiratory motion. Because of the lack of strong correlations with 4D-3D dose differences in PSPT and IMRT, the extent of tumor motion was not an adequate predictor of potential

Effects of Respiratory Motion on Passively Scattered Proton Therapy Versus Intensity Modulated Photon Therapy for Stage III Lung Cancer: Are Proton Plans More Sensitive to Breathing Motion?

Energy Technology Data Exchange (ETDEWEB)

Matney, Jason; Park, Peter C. [Department of Radiation Physics, University of Texas MD Anderson Cancer Center, Houston, Texas (United States); The University of Texas Graduate School of Biomedical Sciences, Houston, Texas (United States); Bluett, Jaques [Department of Radiation Oncology, University of Texas MD Anderson Cancer Center, Houston, Texas (United States); Chen, Yi Pei [Department of Radiation Physics, University of Texas MD Anderson Cancer Center, Houston, Texas (United States); The University of Texas Graduate School of Biomedical Sciences, Houston, Texas (United States); Liu, Wei; Court, Laurence E. [Department of Radiation Physics, University of Texas MD Anderson Cancer Center, Houston, Texas (United States); Liao, Zhongxing [Department of Radiation Oncology, University of Texas MD Anderson Cancer Center, Houston, Texas (United States); Li, Heng [Department of Radiation Physics, University of Texas MD Anderson Cancer Center, Houston, Texas (United States); Mohan, Radhe, E-mail: rmohan@mdanderson.org [Department of Radiation Physics, University of Texas MD Anderson Cancer Center, Houston, Texas (United States)

2013-11-01

Purpose: To quantify and compare the effects of respiratory motion on paired passively scattered proton therapy (PSPT) and intensity modulated photon therapy (IMRT) plans; and to establish the relationship between the magnitude of tumor motion and the respiratory-induced dose difference for both modalities. Methods and Materials: In a randomized clinical trial comparing PSPT and IMRT, radiation therapy plans have been designed according to common planning protocols. Four-dimensional (4D) dose was computed for PSPT and IMRT plans for a patient cohort with respiratory motion ranging from 3 to 17 mm. Image registration and dose accumulation were performed using grayscale-based deformable image registration algorithms. The dose–volume histogram (DVH) differences (4D-3D [3D = 3-dimensional]) were compared for PSPT and IMRT. Changes in 4D-3D dose were correlated to the magnitude of tumor respiratory motion. Results: The average 4D-3D dose to 95% of the internal target volume was close to zero, with 19 of 20 patients within 1% of prescribed dose for both modalities. The mean 4D-3D between the 2 modalities was not statistically significant (P<.05) for all dose–volume histogram indices (mean ± SD) except the lung V5 (PSPT: +1.1% ± 0.9%; IMRT: +0.4% ± 1.2%) and maximum cord dose (PSPT: +1.5 ± 2.9 Gy; IMRT: 0.0 ± 0.2 Gy). Changes in 4D-3D dose were correlated to tumor motion for only 2 indices: dose to 95% planning target volume, and heterogeneity index. Conclusions: With our current margin formalisms, target coverage was maintained in the presence of respiratory motion up to 17 mm for both PSPT and IMRT. Only 2 of 11 4D-3D indices (lung V5 and spinal cord maximum) were statistically distinguishable between PSPT and IMRT, contrary to the notion that proton therapy will be more susceptible to respiratory motion. Because of the lack of strong correlations with 4D-3D dose differences in PSPT and IMRT, the extent of tumor motion was not an adequate predictor of potential

Use of portable in motion weight control technologies at landfill sites

CSIR Research Space (South Africa)

Fisher, D

2006-09-01

Full Text Available Requirements for landfilling. In-motion weighing technology currently available in South Africa was investigated to assess its suitability as a 'portable landfill weighbridge'. The experience gained through testing the portable weighpad technology has indicated...

Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles

Science.gov (United States)

Grymin, David J.

This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the l 2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation. Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discretetime feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory

The eigenmode analysis of human motion

International Nuclear Information System (INIS)

Park, Juyong; Lee, Deok-Sun; González, Marta C

2010-01-01

Rapid advances in modern communication technology are enabling the accumulation of large-scale, high-resolution observational data of the spatiotemporal movements of humans. Classification and prediction of human mobility based on the analysis of such data has great potential in applications such as urban planning in addition to being a subject of theoretical interest. A robust theoretical framework is therefore required to study and properly understand human motion. Here we perform the eigenmode analysis of human motion data gathered from mobile communication records, which allows us to explore the scaling properties and characteristics of human motion

Sample-Based Motion Planning in High-Dimensional and Differentially-Constrained Systems

Science.gov (United States)

2010-02-01

path planning and motion primitives to enable crawling gaits on rough terrain e.g. [Rebula et al., 2007, Kolter et al., 2008,Pongas et al., 2007,Ratliff...demonstrating robust planning and locomotion over quite challenging terrain (e.g., [Rebula et al., 2007, Kolter et al., 2008, Pongas et al., 2007, Zucker, 2009...and Systems. [ Kolter et al., 2008] Kolter , J. Z., Rodgers, M. P., and Ng, A. Y. (2008). A control architecture for quadruped locomotion over rough

Impact of tumour motion compensation and delineation methods on FDG PET-based dose painting plan quality for NSCLC radiation therapy

International Nuclear Information System (INIS)

Thomas, Hannah M.; Kinahan, Paul E.; Samuel, James J.E.; Bowen, Stephen R.

2018-01-01

To quantitatively estimate the impact of different methods for both boost volume delineation and respiratory motion compensation of [18F] FDG PET/CT images on the fidelity of planned non-uniform ‘dose painting’ plans to the prescribed boost dose distribution. Six locally advanced non-small cell lung cancer (NSCLC) patients were retrospectively reviewed. To assess the impact of respiratory motion, time-averaged (3D AVG), respiratory phase-gated (4D GATED) and motion-encompassing (4D MIP) PET images were used. The boost volumes were defined using manual contour (MANUAL), fixed threshold (FIXED) and gradient search algorithm (GRADIENT). The dose painting prescription of 60 Gy base dose to the planning target volume and an integral dose of 14 Gy (total 74 Gy) was discretized into seven treatment planning substructures and linearly redistributed according to the relative SUV at every voxel in the boost volume. Fifty-four dose painting plan combinations were generated and conformity was evaluated using quality index VQ0.95–1.05, which represents the sum of planned dose voxels within 5% deviation from the prescribed dose. Trends in plan quality and magnitude of achievable dose escalation were recorded. Different segmentation techniques produced statistically significant variations in maximum planned dose (P < 0.02), as well as plan quality between segmentation methods for 4D GATED and 4D MIP PET images (P < 0.05). No statistically significant differences in plan quality and maximum dose were observed between motion-compensated PET-based plans (P > 0.75). Low variability in plan quality was observed for FIXED threshold plans, while MANUAL and GRADIENT plans achieved higher dose with lower plan quality indices. The dose painting plans were more sensitive to segmentation of boost volumes than PET motion compensation in this study sample. Careful consideration of boost target delineation and motion compensation strategies should guide the design of NSCLC dose painting

Impact of tumour motion compensation and delineation methods on FDG PET-based dose painting plan quality for NSCLC radiation therapy.

Science.gov (United States)

Thomas, Hannah Mary; Kinahan, Paul E; Samuel, James Jebaseelan E; Bowen, Stephen R

2018-02-01

To quantitatively estimate the impact of different methods for both boost volume delineation and respiratory motion compensation of [18F] FDG PET/CT images on the fidelity of planned non-uniform 'dose painting' plans to the prescribed boost dose distribution. Six locally advanced non-small cell lung cancer (NSCLC) patients were retrospectively reviewed. To assess the impact of respiratory motion, time-averaged (3D AVG), respiratory phase-gated (4D GATED) and motion-encompassing (4D MIP) PET images were used. The boost volumes were defined using manual contour (MANUAL), fixed threshold (FIXED) and gradient search algorithm (GRADIENT). The dose painting prescription of 60 Gy base dose to the planning target volume and an integral dose of 14 Gy (total 74 Gy) was discretized into seven treatment planning substructures and linearly redistributed according to the relative SUV at every voxel in the boost volume. Fifty-four dose painting plan combinations were generated and conformity was evaluated using quality index VQ0.95-1.05, which represents the sum of planned dose voxels within 5% deviation from the prescribed dose. Trends in plan quality and magnitude of achievable dose escalation were recorded. Different segmentation techniques produced statistically significant variations in maximum planned dose (P plan quality between segmentation methods for 4D GATED and 4D MIP PET images (P plan quality and maximum dose were observed between motion-compensated PET-based plans (P > 0.75). Low variability in plan quality was observed for FIXED threshold plans, while MANUAL and GRADIENT plans achieved higher dose with lower plan quality indices. The dose painting plans were more sensitive to segmentation of boost volumes than PET motion compensation in this study sample. Careful consideration of boost target delineation and motion compensation strategies should guide the design of NSCLC dose painting trials. © 2017 The Royal Australian and New Zealand College of

Forward-Looking Planning of Technology Development

Directory of Open Access Journals (Sweden)

Katarzyna Halicka

2015-12-01

Full Text Available The main aim of this article is to adapt the Future-Oriented Technology Analysis (FTA to prospective planning of technology development. Firstly, the article presents the assumptions, methods and idea, as well as the concept of the FTA method. Moreover, selected publications on the use of this method were analysed. Then, an original, base model of forward-looking planning of technology development was constructed and presented. The end result of this process will be the development of the localized in time, presented in graphic form, action plan referred to as the route of technology development. Basing on the literature review and the research projects a preliminary route of development of arbitrarily chosen technology was also built and presented.

A Framework for Multi-Robot Motion Planning from Temporal Logic Specifications

DEFF Research Database (Denmark)

Koo, T. John; Li, Rongqing; Quottrup, Michael Melholt

2012-01-01

-time Temporal Logic, Computation Tree Logic, and -calculus can be preserved. Motion planning can then be performed at a discrete level by considering the parallel composition of discrete abstractions of the robots with a requirement specification given in a suitable temporal logic. The bisimilarity ensures...

Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments

National Research Council Canada - National Science Library

Bruce, James R

2006-01-01

.... While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due...

Advanced Reactor Technologies - Regulatory Technology Development Plan (RTDP)

Energy Technology Data Exchange (ETDEWEB)

Moe, Wayne L. [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2017-08-23

This DOE-NE Advanced Small Modular Reactor (AdvSMR) regulatory technology development plan (RTDP) will link critical DOE nuclear reactor technology development programs to important regulatory and policy-related issues likely to impact a “critical path” for establishing a viable commercial AdvSMR presence in the domestic energy market. Accordingly, the regulatory considerations that are set forth in the AdvSMR RTDP will not be limited to any one particular type or subset of advanced reactor technology(s) but rather broadly consider potential regulatory approaches and the licensing implications that accompany all DOE-sponsored research and technology development activity that deal with commercial non-light water reactors. However, it is also important to remember that certain “minimum” levels of design and safety approach knowledge concerning these technology(s) must be defined and available to an extent that supports appropriate pre-licensing regulatory analysis within the RTDP. Final resolution to advanced reactor licensing issues is most often predicated on the detailed design information and specific safety approach as documented in a facility license application and submitted for licensing review. Because the AdvSMR RTDP is focused on identifying and assessing the potential regulatory implications of DOE-sponsored reactor technology research very early in the pre-license application development phase, the information necessary to support a comprehensive regulatory analysis of a new reactor technology, and the resolution of resulting issues, will generally not be available. As such, the regulatory considerations documented in the RTDP should be considered an initial “first step” in the licensing process which will continue until a license is issued to build and operate the said nuclear facility. Because a facility license application relies heavily on the data and information generated by technology development studies, the anticipated regulatory

Advanced Reactor Technology -- Regulatory Technology Development Plan (RTDP)

Energy Technology Data Exchange (ETDEWEB)

Moe, Wayne Leland [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2015-05-01

This DOE-NE Advanced Small Modular Reactor (AdvSMR) regulatory technology development plan (RTDP) will link critical DOE nuclear reactor technology development programs to important regulatory and policy-related issues likely to impact a “critical path” for establishing a viable commercial AdvSMR presence in the domestic energy market. Accordingly, the regulatory considerations that are set forth in the AdvSMR RTDP will not be limited to any one particular type or subset of advanced reactor technology(s) but rather broadly consider potential regulatory approaches and the licensing implications that accompany all DOE-sponsored research and technology development activity that deal with commercial non-light water reactors. However, it is also important to remember that certain “minimum” levels of design and safety approach knowledge concerning these technology(s) must be defined and available to an extent that supports appropriate pre-licensing regulatory analysis within the RTDP. Final resolution to advanced reactor licensing issues is most often predicated on the detailed design information and specific safety approach as documented in a facility license application and submitted for licensing review. Because the AdvSMR RTDP is focused on identifying and assessing the potential regulatory implications of DOE-sponsored reactor technology research very early in the pre-license application development phase, the information necessary to support a comprehensive regulatory analysis of a new reactor technology, and the resolution of resulting issues, will generally not be available. As such, the regulatory considerations documented in the RTDP should be considered an initial “first step” in the licensing process which will continue until a license is issued to build and operate the said nuclear facility. Because a facility license application relies heavily on the data and information generated by technology development studies, the anticipated regulatory

Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

NARCIS (Netherlands)

Häusler, A.J.; Saccon, A.; Aguiar, A.P.; Hauser, J.; Pascoal, A.M.

2016-01-01

We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of

Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H infinity Techniques

National Research Council Canada - National Science Library

Toussaint, Gregory

2000-01-01

This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback...

Interim Hanford Waste Management Technology Plan

International Nuclear Information System (INIS)

1985-09-01

The Interim Hanford Waste Management Technology Plan (HWMTP) is a companion document to the Interim Hanford Waste Management Plan (HWMP). A reference plan for management and disposal of all existing and certain projected future radioactive Hanford Site Defense Wastes (HSDW) is described and discussed in the HWMP. Implementation of the reference plan requires that various open technical issues be satisfactorily resolved. The principal purpose of the HWMTP is to present detailed descriptions of the technology which must be developed to close each of the technical issues associated with the reference plan identified in the HWMP. If alternative plans are followed, however, technology development efforts including costs and schedules must be changed accordingly. Technical issues addressed in the HWMTP and HWMP are those which relate to disposal of single-shell tank wastes, contaminated soil sites, solid waste burial sites, double-shell tank wastes, encapsulated 137 CsCl and 90 SrF 2 , stored and new solid transuranic (TRU) wastes, and miscellaneous wastes such as contaminated sodium metal. Among the high priority issues to be resolved are characterization of various wastes including early determination of the TRU content of future cladding removal wastes; completion of development of vitrification (Hanford Waste Vitrification Plant) and grout technology; control of subsidence in buried waste sites; and development of criteria and standards including performance assessments of systems proposed for disposal of HSDW. Estimates of the technology costs shown in this report are made on the basis that all identified tasks for all issues associated with the reference disposal plan must be performed. Elimination of, consolidation of, or reduction in the scope of individual tasks will, of course, be reflected in corresponding reduction of overall technology costs

Research on NC motion controller based on SOPC technology

Science.gov (United States)

Jiang, Tingbiao; Meng, Biao

2006-11-01

With the rapid development of the digitization and informationization, the application of numerical control technology in the manufacturing industry becomes more and more important. However, the conventional numerical control system usually has some shortcomings such as the poor in system openness, character of real-time, cutability and reconfiguration. In order to solve these problems, this paper investigates the development prospect and advantage of the application in numerical control area with system-on-a-Programmable-Chip (SOPC) technology, and puts forward to a research program approach to the NC controller based on SOPC technology. Utilizing the characteristic of SOPC technology, we integrate high density logic device FPGA, memory SRAM, and embedded processor ARM into a single programmable logic device. We also combine the 32-bit RISC processor with high computing capability of the complicated algorithm with the FPGA device with strong motivable reconfiguration logic control ability. With these steps, we can greatly resolve the defect described in above existing numerical control systems. For the concrete implementation method, we use FPGA chip embedded with ARM hard nuclear processor to construct the control core of the motion controller. We also design the peripheral circuit of the controller according to the requirements of actual control functions, transplant real-time operating system into ARM, design the driver of the peripheral assisted chip, develop the application program to control and configuration of FPGA, design IP core of logic algorithm for various NC motion control to configured it into FPGA. The whole control system uses the concept of modular and structured design to develop hardware and software system. Thus the NC motion controller with the advantage of easily tailoring, highly opening, reconfigurable, and expandable can be implemented.

SU-E-T-622: Planning Technique for Passively-Scattered Involved-Node Proton Therapy of Mediastinal Lymphoma with Consideration of Cardiac Motion

Energy Technology Data Exchange (ETDEWEB)

Flampouri, S; Li, Z; Hoppe, B [University of Florida Health Proton Therapy Institute, Jacksonville, FL (United States)

2015-06-15

Purpose: To develop a treatment planning method for passively-scattered involved-node proton therapy of mediastinal lymphoma robust to breathing and cardiac motions. Methods: Beam-specific planning treatment volumes (bsPTV) are calculated for each proton field to incorporate pertinent uncertainties. Geometric margins are added laterally to each beam while margins for range uncertainty due to setup errors, breathing, and calibration curve uncertainties are added along each beam. The calculation of breathing motion and deformation effects on proton range includes all 4DCT phases. The anisotropic water equivalent margins are translated to distances on average 4DCT. Treatment plans are designed so each beam adequately covers the corresponding bsPTV. For targets close to the heart, cardiac motion effects on dosemaps are estimated by using a library of anonymous ECG-gated cardiac CTs (cCT). The cCT, originally contrast-enhanced, are partially overridden to allow meaningful proton dose calculations. Targets similar to the treatment targets are drawn on one or more cCT sets matching the anatomy of the patient. Plans based on the average cCT are calculated on individual phases, then deformed to the average and accumulated. When clinically significant dose discrepancies occur between planned and accumulated doses, the patient plan is modified to reduce the cardiac motion effects. Results: We found that bsPTVs as planning targets create dose distributions similar to the conventional proton planning distributions, while they are a valuable tool for visualization of the uncertainties. For large targets with variability in motion and depth, integral dose was reduced because of the anisotropic margins. In most cases, heart motion has a clinically insignificant effect on target coverage. Conclusion: A treatment planning method was developed and used for proton therapy of mediastinal lymphoma. The technique incorporates bsPTVs compensating for all common sources of uncertainties

Planning for Integrating Teaching Technologies

Directory of Open Access Journals (Sweden)

Mandie Aaron

2004-06-01

Full Text Available Teaching technologies offer pedagogical advantages which vary with specific contexts. Successfully integrating them hinges on clearly identifying pedagogical goals, then planning for the many decisions that technological change demands. In examining different ways of organizing this process, we have applied planning tools from other domains - Fault Tree Analysis and Capability Maturity Modeling- at the school and college levels. In another approach, we have examined attempts to broadly model the integration process at the university level. Our studies demonstrate that the use of a variety of tools and techniques can render the integration of teaching technologies more systematic.

Advanced Reactor Technology -- Regulatory Technology Development Plan (RTDP)

International Nuclear Information System (INIS)

Moe, Wayne Leland

2015-01-01

This DOE-NE Advanced Small Modular Reactor (AdvSMR) regulatory technology development plan (RTDP) will link critical DOE nuclear reactor technology development programs to important regulatory and policy-related issues likely to impact a ''critical path'' for establishing a viable commercial AdvSMR presence in the domestic energy market. Accordingly, the regulatory considerations that are set forth in the AdvSMR RTDP will not be limited to any one particular type or subset of advanced reactor technology(s) but rather broadly consider potential regulatory approaches and the licensing implications that accompany all DOE-sponsored research and technology development activity that deal with commercial non-light water reactors. However, it is also important to remember that certain ''minimum'' levels of design and safety approach knowledge concerning these technology(s) must be defined and available to an extent that supports appropriate pre-licensing regulatory analysis within the RTDP. Final resolution to advanced reactor licensing issues is most often predicated on the detailed design information and specific safety approach as documented in a facility license application and submitted for licensing review. Because the AdvSMR RTDP is focused on identifying and assessing the potential regulatory implications of DOE-sponsored reactor technology research very early in the pre-license application development phase, the information necessary to support a comprehensive regulatory analysis of a new reactor technology, and the resolution of resulting issues, will generally not be available. As such, the regulatory considerations documented in the RTDP should be considered an initial ''first step'' in the licensing process which will continue until a license is issued to build and operate the said nuclear facility. Because a facility license application relies heavily on the data and information generated by

TU-AB-BRB-02: Stochastic Programming Methods for Handling Uncertainty and Motion in IMRT Planning

Energy Technology Data Exchange (ETDEWEB)

Unkelbach, J. [Massachusetts General Hospital (United States)

2015-06-15

The accepted clinical method to accommodate targeting uncertainties inherent in fractionated external beam radiation therapy is to utilize GTV-to-CTV and CTV-to-PTV margins during the planning process to design a PTV-conformal static dose distribution on the planning image set. Ideally, margins are selected to ensure a high (e.g. >95%) target coverage probability (CP) in spite of inherent inter- and intra-fractional positional variations, tissue motions, and initial contouring uncertainties. Robust optimization techniques, also known as probabilistic treatment planning techniques, explicitly incorporate the dosimetric consequences of targeting uncertainties by including CP evaluation into the planning optimization process along with coverage-based planning objectives. The treatment planner no longer needs to use PTV and/or PRV margins; instead robust optimization utilizes probability distributions of the underlying uncertainties in conjunction with CP-evaluation for the underlying CTVs and OARs to design an optimal treated volume. This symposium will describe CP-evaluation methods as well as various robust planning techniques including use of probability-weighted dose distributions, probability-weighted objective functions, and coverage optimized planning. Methods to compute and display the effect of uncertainties on dose distributions will be presented. The use of robust planning to accommodate inter-fractional setup uncertainties, organ deformation, and contouring uncertainties will be examined as will its use to accommodate intra-fractional organ motion. Clinical examples will be used to inter-compare robust and margin-based planning, highlighting advantages of robust-plans in terms of target and normal tissue coverage. Robust-planning limitations as uncertainties approach zero and as the number of treatment fractions becomes small will be presented, as well as the factors limiting clinical implementation of robust planning. Learning Objectives: To understand

42 CFR 495.336 - Health information technology planning advance planning document requirements (HIT PAPD).

Science.gov (United States)

2010-10-01

... 42 Public Health 5 2010-10-01 2010-10-01 false Health information technology planning advance... STANDARDS FOR THE ELECTRONIC HEALTH RECORD TECHNOLOGY INCENTIVE PROGRAM Requirements Specific to the Medicaid Program § 495.336 Health information technology planning advance planning document requirements...

Technology for Democracy in Smart City Planning

Directory of Open Access Journals (Sweden)

Paolo De Pascali

2014-02-01

Full Text Available In recent history the relationship between technology and urban planning has been variously taken into account (and possibly also undervalued, but lately it has come into focus with the maturation ofthe concept of the Smart City. Building on an analysis of documents dealing with the issue andcurrent experiences, this paper tries to determine which opportunity factors the new technologies are offering for the improvement of urban planning. In particular it considers how these technologies arebeing integrated into the processes of participatory planning thus supporting the development of direct democracy. The resulting complex framework suggests four main fields of application where the new technologies can contribute to addressing contents and governance of the plan for an urban organisation that enhances virtuous behaviours and steers the town’s residents towardsadopting them.

The Toggle Local Planner for sampling-based motion planning

KAUST Repository

Denny, Jory

2012-05-01

Sampling-based solutions to the motion planning problem, such as the probabilistic roadmap method (PRM), have become commonplace in robotics applications. These solutions are the norm as the dimensionality of the planning space grows, i.e., d > 5. An important primitive of these methods is the local planner, which is used for validation of simple paths between two configurations. The most common is the straight-line local planner which interpolates along the straight line between the two configurations. In this paper, we introduce a new local planner, Toggle Local Planner (Toggle LP), which extends local planning to a two-dimensional subspace of the overall planning space. If no path exists between the two configurations in the subspace, then Toggle LP is guaranteed to correctly return false. Intuitively, more connections could be found by Toggle LP than by the straight-line planner, resulting in better connected roadmaps. As shown in our results, this is the case, and additionally, the extra cost, in terms of time or storage, for Toggle LP is minimal. Additionally, our experimental analysis of the planner shows the benefit for a wide array of robots, with DOF as high as 70. © 2012 IEEE.

ISV technology development plan for buried waste

International Nuclear Information System (INIS)

Nickelson, D.F.; Callow, R.A.; Luey, J.K.

1992-07-01

This report identifies the main technical issues facing the in situ vitrification (ISV) application to buried waste, and presents a plan showing the top-level schedule and projected resources needed to develop and demonstrate the technology for meeting Environmental Restoration Department (ERD) needs. The plan also proposes a model strategy for the technology transfer from the Department of Energy's Office of Technology Development (DOE-OTD) to the Office of Environmental Restoration (DOE-ER) as the technology proceeds from issues resolution (development) to demonstration and remedial readiness. Implementation of the plan would require $34,91 1K in total funding to be spread in the years FY-93 through FY-98. Of this amount, $10,183K is planned to be funded by DOE-OTD through the ISV Integrated Program. The remaining amount, $24,728K, is recommended to be split between the Department of Energy (DOE) Office of Technology Development ($6,670K) and DOE Office of Environmental Restoration ($18,058K)

Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Directory of Open Access Journals (Sweden)

Yang Li

2017-01-01

Full Text Available Motion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT, that is, liveness-based RRT (Li-RRT, to address autonomous underwater vehicles (AUVs motion problem. Different from typical RRT, we define an index of each node in the random searching tree, called “liveness” in this paper, to describe the potential effectiveness during the expanding process. We show that Li-RRT is provably probabilistic completeness as original RRT. In addition, the expected time of returning a valid path with Li-RRT is obviously reduced. To verify the efficiency of our algorithm, numerical experiments are carried out in this paper.

Reflections on Students’ Projects with Motion Sensor Technologies in a Problem-Based Learning Environment

DEFF Research Database (Denmark)

Triantafyllou, Eva; Timcenko, Olga; Triantafyllidis, George

2014-01-01

Game-based learning (GBL) has been applied in many fields to enhance learning motivations. In recent years, motion sensor technologies have been also introduced in GBL with the aim of using active, physical modalities to facilitate the learning process, while fostering social development...... and collaboration (when these activities involve more than one student at a time). The approaches described in literature, which used motion sensors in GBL, cover a broad spectrum of educational fields. These approaches investigated the effect of learning games using motion sensors on the development of specific...... skills or on the learning experience. This paper presents our experiences on the educational use of motion sensor technologies. Our research was conducted at the department of Medialogy in Aalborg University Copenhagen. Aalborg University applies a problem-based, project-organized model of teaching...

MRI-based measurements of respiratory motion variability and assessment of imaging strategies for radiotherapy planning

International Nuclear Information System (INIS)

Blackall, J M; Ahmad, S; Miquel, M E; McClelland, J R; Landau, D B; Hawkes, D J

2006-01-01

Respiratory organ motion has a significant impact on the planning and delivery of radiotherapy (RT) treatment for lung cancer. Currently widespread techniques, such as 4D-computed tomography (4DCT), cannot be used to measure variability of this motion from one cycle to the next. In this paper, we describe the use of fast magnetic resonance imaging (MRI) techniques to investigate the intra- and inter-cycle reproducibility of respiratory motion and also to estimate the level of errors that may be introduced into treatment delivery by using various breath-hold imaging strategies during lung RT planning. A reference model of respiratory motion is formed to enable comparison of different breathing cycles at any arbitrary position in the respiratory cycle. This is constructed by using free-breathing images from the inhale phase of a single breathing cycle, then co-registering the images, and thereby tracking landmarks. This reference model is then compared to alternative models constructed from images acquired during the exhale phase of the same cycle and the inhale phase of a subsequent cycle, to assess intra- and inter-cycle variability ('hysteresis' and 'reproducibility') of organ motion. The reference model is also compared to a series of models formed from breath-hold data at exhale and inhale. Evaluation of these models is carried out on data from ten healthy volunteers and five lung cancer patients. Free-breathing models show good levels of intra- and inter-cycle reproducibility across the tidal breathing range. Mean intra-cycle errors in the position of organ surface landmarks of 1.5(1.4)-3.5(3.3) mm for volunteers and 2.8(1.8)-5.2(5.2) mm for patients. Equivalent measures of inter-cycle variability across this range are 1.7(1.0)-3.9(3.3) mm for volunteers and 2.8(1.8)-3.3(2.2) mm for patients. As expected, models based on breath-hold sequences do not represent normal tidal motion as well as those based on free-breathing data, with mean errors of 4

Supporting teachers' technology integration in lesson plans

NARCIS (Netherlands)

Janssen, Noortje

2017-01-01

Lesson planning offers rich opportunities for teachers to consider and implement technology in the classroom. This dissertation investigated the design and effectiveness of supplementary information to assist pre-service teachers during the lesson planning process. Based on the Technological,

Multi-agent System for Off-line Coordinated Motion Planning of Multiple Industrial Robots

Directory of Open Access Journals (Sweden)

Shital S. Chiddarwar

2011-03-01

Full Text Available This article presents an agent based framework for coordinated motion planning of multiple robots. The emerging paradigm of agent based systems is implemented to address various issues related to safe and fast task execution when multiple robots share a common workspace. In the proposed agent based framework, each issue vital for coordinated motion planning of multiple robots and every robot participating in coordinated task is considered as an agent. The identified agents are interfaced with each other in order to incorporate the desired flexibility in the developed framework. This framework gives a complete strategy for determination of optimal trajectories of robots working in coordination with due consideration to their kinematic, dynamic and payload constraint. The complete architecture of the proposed framework and the detailed discussion on various modules are covered in this paper.

Sodium-Bearing Waste Treatment, Applied Technology Plan

International Nuclear Information System (INIS)

Lance Lauerhass; Vince C. Maio; S. Kenneth Merrill; Arlin L. Olson; Keith J. Perry

2003-01-01

Settlement Agreement between the Department of Energy and the State of Idaho mandates treatment of sodium-bearing waste at the Idaho Nuclear Technology and Engineering Center within the Idaho National Engineering and Environmental Laboratory. One of the requirements of the Settlement Agreement is to complete treatment of sodium-bearing waste by December 31, 2012. Applied technology activities are required to provide the data necessary to complete conceptual design of four identified alternative processes and to select the preferred alternative. To provide a technically defensible path forward for the selection of a treatment process and for the collection of needed data, an applied technology plan is required. This document presents that plan, identifying key elements of the decision process and the steps necessary to obtain the required data in support of both the decision and the conceptual design. The Sodium-Bearing Waste Treatment Applied Technology Plan has been prepared to provide a description/roadmap of the treatment alternative selection process. The plan details the results of risk analyzes and the resulting prioritized uncertainties. It presents a high-level flow diagram governing the technology decision process, as well as detailed roadmaps for each technology. The roadmaps describe the technical steps necessary in obtaining data to quantify and reduce the technical uncertainties associated with each alternative treatment process. This plan also describes the final products that will be delivered to the Department of Energy Idaho Operations Office in support of the office's selection of the final treatment technology

Sodium-Bearing Waste Treatment, Applied Technology Plan

Energy Technology Data Exchange (ETDEWEB)

Lance Lauerhass; Vince C. Maio; S. Kenneth Merrill; Arlin L. Olson; Keith J. Perry

2003-06-01

Settlement Agreement between the Department of Energy and the State of Idaho mandates treatment of sodium-bearing waste at the Idaho Nuclear Technology and Engineering Center within the Idaho National Engineering and Environmental Laboratory. One of the requirements of the Settlement Agreement is to complete treatment of sodium-bearing waste by December 31, 2012. Applied technology activities are required to provide the data necessary to complete conceptual design of four identified alternative processes and to select the preferred alternative. To provide a technically defensible path forward for the selection of a treatment process and for the collection of needed data, an applied technology plan is required. This document presents that plan, identifying key elements of the decision process and the steps necessary to obtain the required data in support of both the decision and the conceptual design. The Sodium-Bearing Waste Treatment Applied Technology Plan has been prepared to provide a description/roadmap of the treatment alternative selection process. The plan details the results of risk analyzes and the resulting prioritized uncertainties. It presents a high-level flow diagram governing the technology decision process, as well as detailed roadmaps for each technology. The roadmaps describe the technical steps necessary in obtaining data to quantify and reduce the technical uncertainties associated with each alternative treatment process. This plan also describes the final products that will be delivered to the Department of Energy Idaho Operations Office in support of the office's selection of the final treatment technology.

The Application of KINECT Motion Sensing Technology in Game-Oriented Study

Directory of Open Access Journals (Sweden)

Hui Yu Yang

2014-03-01

Full Text Available The learning environment based on the KINECT Motion Sensing technology is able to fully mobilize the learners' multi-sensory organs, closely combine study with sports and enhance human-computer interactions, which can be conducive to the learners' health, greatly increase the relishes of learning and promote effective learning in the game, and finally compensate for the shortage of human-computer interactions in the traditional mouse and keyboard mode. The article elaborates on the KINECT Motion Sensing Technology and its educational applications status by analyzing its effective supports for game-oriented studying environment, based on which the article establishes a game-oriented learning environment. Eventually the article reveals an applicable case of game-oriented teaching and learning as a reference for related researches.

Motion control report

CERN Document Server

2013-01-01

Please note this is a short discount publication. In today's manufacturing environment, Motion Control plays a major role in virtually every project.The Motion Control Report provides a comprehensive overview of the technology of Motion Control:* Design Considerations* Technologies* Methods to Control Motion* Examples of Motion Control in Systems* A Detailed Vendors List

Manipulator motion planning for high-speed robotic laser cutting

OpenAIRE

Dolgui , Alexandre; Pashkevich , Anatol

2009-01-01

Abstract Recent advances in laser technology, and especially the essential increase of the cutting speed, motivate amending the existing robot path methods, which do not allow the complete utilisation of the actuator capabilities as well as neglect some particularities in the mechanical design of the wrist of the manipulator arm. This research addresses the optimisation of the 6-axes robot motions for continuous contour tracking while considering the redundancy caused by the tool a...

Kinodynamic Motion Planning for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Jiwung Choi

2014-06-01

Full Text Available This article proposes a computationally effective motion planning algorithm for autonomous ground vehicles operating in a semi-structured environment with a mission specified by waypoints, corridor widths and obstacles. The algorithm switches between two kinds of planners, (i static planners and (ii moving obstacle avoidance manoeuvre planners, depending on the mobility of any detected obstacles. While the first is broken down into a path planner and a controller, the second generates a sequence of controls without global path planning. Each subsystem is implemented as follows. The path planner produces an optimal piecewise linear path by applying a variant of cell decomposition and dynamic programming. The piecewise linear path is smoothed by Bézier curves such that the maximum curvatures of the curves are minimized. The controller calculates the highest allowable velocity profile along the path, consistent with the limits on both tangential and radial acceleration and the steering command for the vehicle to track the trajectory using a pure pursuit method. The moving obstacle avoidance manoeuvre produces a sequence of time-optimal local velocities, by minimizing the cost as determined by the safety of the current velocity against obstacles in the velocity obstacle paradigm and the deviation of the current velocity relative to the desired velocity, to satisfy the waypoint constraint. The algorithms are shown to be robust and computationally efficient, and to demonstrate a viable methodology for autonomous vehicle control in the presence of unknown obstacles.

EMI Architecture and Technology Development Plan

CERN Document Server

Balazs, K.

2013-01-01

This document provides a brief overview of the EMI architecture and the technology development directions presented by the four EMI technology areas and by EMI partners. The report represents the final revision of EMI technology planning covering a time period beyond the project end.

Improving truck safety: Potential of weigh-in-motion technology

Directory of Open Access Journals (Sweden)

Bernard Jacob

2010-07-01

Full Text Available Trucks exceeding the legal mass limits increase the risk of traffic accidents and damage to the infrastructure. They also result in unfair competition between transport modes and companies. It is therefore important to ensure truck compliance to weight regulation. New technologies are being developed for more efficient overload screening and enforcement. Weigh-in-Motion (WIM technologies allow trucks to be weighed in the traffic flow, without any disruption to operations. Much progress has been made recently to improve and implement WIM systems, which can contribute to safer and more efficient operation of trucks.

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

Science.gov (United States)

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

2014-11-18

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

Clinical Implementation of an Online Adaptive Plan-of-the-Day Protocol for Nonrigid Motion Management in Locally Advanced Cervical Cancer IMRT

Energy Technology Data Exchange (ETDEWEB)

Heijkoop, Sabrina T., E-mail: s.heijkoop@erasmusmc.nl; Langerak, Thomas R.; Quint, Sandra; Bondar, Luiza; Mens, Jan Willem M.; Heijmen, Ben J.M.; Hoogeman, Mischa S.

2014-11-01

Purpose: To evaluate the clinical implementation of an online adaptive plan-of-the-day protocol for nonrigid target motion management in locally advanced cervical cancer intensity modulated radiation therapy (IMRT). Methods and Materials: Each of the 64 patients had four markers implanted in the vaginal fornix to verify the position of the cervix during treatment. Full and empty bladder computed tomography (CT) scans were acquired prior to treatment to build a bladder volume-dependent cervix-uterus motion model for establishment of the plan library. In the first phase of clinical implementation, the library consisted of one IMRT plan based on a single model-predicted internal target volume (mpITV), covering the target for the whole pretreatment observed bladder volume range, and a 3D conformal radiation therapy (3DCRT) motion-robust backup plan based on the same mpITV. The planning target volume (PTV) combined the ITV and nodal clinical target volume (CTV), expanded with a 1-cm margin. In the second phase, for patients showing >2.5-cm bladder-induced cervix-uterus motion during planning, two IMRT plans were constructed, based on mpITVs for empty-to-half-full and half-full-to-full bladder. In both phases, a daily cone beam CT (CBCT) scan was acquired to first position the patient based on bony anatomy and nodal targets and then select the appropriate plan. Daily post-treatment CBCT was used to verify plan selection. Results: Twenty-four and 40 patients were included in the first and second phase, respectively. In the second phase, 11 patients had two IMRT plans. Overall, an IMRT plan was used in 82.4% of fractions. The main reasons for selecting the motion-robust backup plan were uterus outside the PTV (27.5%) and markers outside their margin (21.3%). In patients with two IMRT plans, the half-full-to-full bladder plan was selected on average in 45% of the first 12 fractions, which was reduced to 35% in the last treatment fractions. Conclusions: The implemented

Visibility-based optimal path and motion planning

CERN Document Server

Wang, Paul Keng-Chieh

2015-01-01

This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases. The intended readers of this monograph are primarily studen...

A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics

Directory of Open Access Journals (Sweden)

Chuntao Leng

2008-11-01

Full Text Available A more suitable motion planning method for an omni-directional mobile robot (OMR, an improved APF method (iAPF, is proposed in this paper by introducing the revolving factor into the artificial potential field (APF. Accordingly, the motion direction derived from traditional artificial potential field (tAPF is regulated. The maximum velocity, maximum acceleration and energy consumption of the OMR moving in different directions are analyzed, based on the kinematic and dynamic constraints of an OMR, and the anisotropy of OMR is presented in this paper. Then the novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time-optimality, stability and efficacy-optimality. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. Finally, simulations and experiments are carried out to demonstrate that the motion resulting from the iAPF is high-speed, highly stable and highly efficient when compared to the tAPF.

Hanford Waste Vitrification Plant applied technology plan

International Nuclear Information System (INIS)

Kruger, O.L.

1990-09-01

This Applied Technology Plan describes the process development, verification testing, equipment adaptation, and waste form qualification technical issues and plans for resolution to support the design, permitting, and operation of the Hanford Waste Vitrification Plant. The scope of this Plan includes work to be performed by the research and development contractor, Pacific Northwest Laboratory, other organizations within Westinghouse Hanford Company, universities and companies with glass technology expertise, and other US Department of Energy sites. All work described in this Plan is funded by the Hanford Waste Vitrification Plant Project and the relationship of this Plan to other waste management documents and issues is provided for background information. Work to performed under this Plan is divided into major areas that establish a reference process, develop an acceptable glass composition envelope, and demonstrate feed processing and glass production for the range of Hanford Waste Vitrification Plant feeds. Included in this work is the evaluation and verification testing of equipment and technology obtained from the Defense Waste Processing Facility, the West Valley Demonstration Project, foreign countries, and the Hanford Site. Development and verification of product and process models and other data needed for waste form qualification documentation are also included in this Plan. 21 refs., 4 figs., 33 tabs

System analysis of sagittal plane human motion wearing an exoskeleton using marker technology

Directory of Open Access Journals (Sweden)

Jatsun Sergey

2016-01-01

Full Text Available This paper discusses various methods of obtaining time functions for joint angle that describe a exoskeleton’s motion during sit-to-stand motion. This article demonstrates that functions obtained by solving the inverse kinematics problem can be effectively used as inputs to the control system of the robot. Comparison with experimentally data obtained using marker technology is done.

National Security Technology Incubation Project Continuation Plan

Energy Technology Data Exchange (ETDEWEB)

None

2008-09-30

This document contains a project continuation plan for the National Security Technology Incubator (NSTI). The plan was developed as part of the National Security Preparedness Project (NSPP) funded by a Department of Energy (DOE)/National Nuclear Security Administration (NNSA) grant. This continuation plan describes the current status of NSTI (staffing and clients), long-term goals, strategies, and long-term financial solvency goals.The Arrowhead Center of New Mexico State University (NMSU) is the operator and manager of the NSTI. To realize the NSTI, Arrowhead Center must meet several performance objectives related to planning, development, execution, evaluation, and sustainability. This continuation plan is critical to the success of NSTI in its mission of incubating businesses with security technology products and services.

76 FR 58020 - Prescription Drug User Fee Act IV Information Technology Plan

Science.gov (United States)

2011-09-19

...] Prescription Drug User Fee Act IV Information Technology Plan AGENCY: Food and Drug Administration, HHS. ACTION... information technology (IT) plan entitled ``PDUFA IV Information Technology Plan'' (updated plan) to achieve... Information Technology Plan.'' This plan will meet one of the performance goals agreed to under the 2007...

New technology planning and approval: critical factors for success.

Science.gov (United States)

Haselkorn, Ateret; Rosenstein, Alan H; Rao, Anil K; Van Zuiden, Michele; Coye, Molly J

2007-01-01

The steady evolution of technology, with the associated increased costs, is a major factor affecting health care delivery. In the face of limited capital resources, it is important for hospitals to integrate technology management with the strategic plan, mission, and resource availability of the organization. Experiences in technology management have shown that having a well-organized, consistent approach to technology planning, assessment, committee membership, approval, evaluation, implementation, and monitoring are key factors necessary to ensure a successful program. We examined the results of a survey that assessed the structure, processes, and cultural support behind hospital committees for new technology planning and approval.

Real-time Planning Support: A Task-technology Fit Perspective

NARCIS (Netherlands)

E. Krauth (Elfriede)

2008-01-01

textabstractPlanning technology by itself is not sufficient to improve planning performance. What are the factors that determine the extent to which the benefits of planning technology are realized? In order to answer this question, this dissertation studies four mechanisms of fit between task and

Validation of a computational method for assessing the impact of intra-fraction motion on helical tomotherapy plans

Energy Technology Data Exchange (ETDEWEB)

Ngwa, Wilfred; Meeks, Sanford L; Kupelian, Patrick A; Langen, Katja M [Department of Radiation Oncology, M D Anderson Cancer Center Orlando, 1400 South Orange Avenue, Orlando, FL 32806 (United States); Schnarr, Eric [TomoTherapy, Inc., 1240 Deming Way, Madison, WI 53717 (United States)], E-mail: wilfred.ngwa@orlandohealth.com

2009-11-07

In this work, a method for direct incorporation of patient motion into tomotherapy dose calculations is developed and validated. This computational method accounts for all treatment dynamics and can incorporate random as well as cyclical motion data. Hence, interplay effects between treatment dynamics and patient motion are taken into account during dose calculation. This allows for a realistic assessment of intra-fraction motion on the dose distribution. The specific approach entails modifying the position and velocity events in the tomotherapy delivery plan to accommodate any known motion. The computational method is verified through phantom and film measurements. Here, measured prostate motion and simulated respiratory motion tracks were incorporated in the dose calculation. The calculated motion-encoded dose profiles showed excellent agreement with the measurements. Gamma analysis using 3 mm and 3% tolerance criteria showed over 97% and 96% average of points passing for the prostate and breathing motion tracks, respectively. The profile and gamma analysis results validate the accuracy of this method for incorporating intra-fraction motion into the dose calculation engine for assessment of dosimetric effects on helical tomotherapy dose deliveries.

Nuclear electric propulsion for planetary science missions: NASA technology program planning

International Nuclear Information System (INIS)

Doherty, M.P.

1993-05-01

This paper presents the status of technology program planning to develop those Nuclear Electric Propulsion technologies needed to meet the advanced propulsion system requirements for planetary science missions in the next century. The technology program planning is based upon technologies with significant development heritage: ion electric propulsion and the SP-100 space nuclear power technologies. Detailed plans are presented for the required ion electric propulsion technology development and demonstration. Closer coordination between space nuclear power and space electric propulsion technology programs is a necessity as technology plans are being further refined in light of NEP concept definition and possible early NEP flight activities

A Technology Plan for Enabling Commercial Space Business

Science.gov (United States)

Lyles, Garry M.

1997-01-01

The National Aeronautics and Space Administration's (NASA) Advanced Space Transportation Program is a customer driven, focused technology program that supports the NASA Strategic Plan and considers future commercial space business projections. The initial cycle of the Advanced Space Transportation Program implementation planning was conducted from December 1995 through February 1996 and represented increased NASA emphasis on broad base technology development with the goal of dramatic reductions in the cost of space transportation. The second planning cycle, conducted in January and February 1997, updated the program implementation plan based on changes in the external environment, increased maturity of advanced concept studies, and current technology assessments. The program has taken a business-like approach to technology development with a balanced portfolio of near, medium, and long-term strategic targets. Strategic targets are influenced by Earth science, space science, and exploration objectives as well as commercial space markets. Commercial space markets include those that would be enhanced by lower cost transportation as well as potential markets resulting in major increases in space business induced by reductions in transportation cost. The program plan addresses earth-to-orbit space launch, earth orbit operations and deep space systems. It also addresses all critical transportation system elements; including structures, thermal protection systems, propulsion, avionics, and operations. As these technologies are matured, integrated technology flight experiments such as the X-33 and X-34 flight demonstrator programs support near-term (one to five years) development or operational decisions. The Advanced Space Transportation Program and the flight demonstrator programs combine business planning, ground-based technology demonstrations and flight demonstrations that will permit industry and NASA to commit to revolutionary new space transportation systems

A Virtual Reality Dance Training System Using Motion Capture Technology

Science.gov (United States)

Chan, J. C. P.; Leung, H.; Tang, J. K. T.; Komura, T.

2011-01-01

In this paper, a new dance training system based on the motion capture and virtual reality (VR) technologies is proposed. Our system is inspired by the traditional way to learn new movements-imitating the teacher's movements and listening to the teacher's feedback. A prototype of our proposed system is implemented, in which a student can imitate…

Strategic Planning for Computer-Based Educational Technology.

Science.gov (United States)

Bozeman, William C.

1984-01-01

Offers educational practitioners direction for the development of a master plan for the implementation and application of computer-based educational technology by briefly examining computers in education, discussing organizational change from a theoretical perspective, and presenting an overview of the planning strategy known as the planning and…

Reimagining the Role of Technology in Education: 2017 National Education Technology Plan Update

Science.gov (United States)

Office of Educational Technology, US Department of Education, 2017

2017-01-01

The National Education Technology Plan (NETP) sets a national vision and plan for learning enabled by technology through building on the work of leading education researchers; district, school, and higher education leaders; classroom teachers; developers; entrepreneurs; and nonprofit organizations. The principles and examples provided in this…

Turnaround Operations Analysis for OTV. Volume 3: Technology Development Plan

Science.gov (United States)

1988-01-01

An integrated technology development plan for the technologies required to process both GBOTVs and SBOTVs are described. The plan includes definition of the tests and experiments to be accomplished on the ground, in a Space Shuttle Sortie Mission, on an Expendable Launch Vehicle, or at the Space Station as a Technology Development Mission (TDM). The plan reflects and accommodates current and projected research and technology programs where appropriate.

A Technological Teacher Education Program Planning Model.

Science.gov (United States)

Hansen, Ronald E.

1993-01-01

A model for technology teacher education curriculum has three facets: (1) purpose (experiential learning, personal development, technological enlightenment, economic well-being); (2) content (professional knowledge, curriculum development competence, pedagogical knowledge and skill, technological foundations); and (3) process (planned reflection,…

Nuclear electric propulsion for planetary science missions: NASA technology program planning

International Nuclear Information System (INIS)

Doherty, M.P.

1993-01-01

This paper presents the status of technology program planning to achieve readiness of Nuclear Electric Propulsion technologies needed to meet the advanced propulsion system requirements for planetary science missions in the next century. The technology program planning is based upon technologies of significant maturity: ion electric propulsion and the SP-100 space nulcear power technologies. Detailed plans are presented herein for the required ion electric propulsion technology development and demonstration. Closer coordination between space nuclear power and space electric propulsion technology programs is a necessity as technology plans are being further refined in light of NEP concept definition and possible early NEP flight activities

Global Nuclear Energy Partnership Technology Development Plan

Energy Technology Data Exchange (ETDEWEB)

David J. Hill

2007-07-01

This plan describes the GNEP Technology Demonstration Program (GNEP-TDP). It has been prepared to guide the development of integrated plans and budgets for realizing the domestic portion of the GNEP vision as well as providing the basis for developing international cooperation. Beginning with the GNEP overall goals, it describes the basic technical objectives for each element of the program, summarizes the technology status and identifies the areas of greatest technical risk. On this basis a proposed technology demonstration program is described that can deliver the required information for a Secretarial decision in the summer of 2008 and support construction of facilities.

Requirements for cross-border spatial planning technologies in the European context

Directory of Open Access Journals (Sweden)

Frank Susanne

2017-01-01

Full Text Available This communication paper investigates requirements for cross-border spatial planning technologies. We refer to European cross-border regions, which are located in the European Baltic Sea Region. We hypothesize that there is no efficient cross-border spatial planning without engagement from various stakeholders, supported by novel spatial planning technologies. This study presents the results from a survey that identifies the requirements for spatial planning technologies adequate for cross - border regions. On the basis of this survey, carried out within the INTECRE project partners coming from the Baltic Sea Region, the study provides general recommendations about cross - border spatial planning technologies. Addressed in the survey are the following central issues: definition of the scope of such technologies, the data base and international planning data provision, features and properties of planning technologies, and stakeholder involvement. The research findings are transferable to wider European and extra- European contexts.

A Motion Planning Approach to Studying Molecular Motions

KAUST Repository

Amato, Nancy M.; Tapia, Lydia; Thomas, Shawna

2010-01-01

While structurally very different, protein and RNA molecules share an important attribute. The motions they undergo are strongly related to the function they perform. For example, many diseases such as Mad Cow disease or Alzheimer's disease

Triangular Geometrized Sampling Heuristics for Fast Optimal Motion Planning

Directory of Open Access Journals (Sweden)

Ahmed Hussain Qureshi

2015-02-01

Full Text Available Rapidly-exploring Random Tree (RRT-based algorithms have become increasingly popular due to their lower computational complexity as compared with other path planning algorithms. The recently presented RRT* motion planning algorithm improves upon the original RRT algorithm by providing optimal path solutions. While RRT determines an initial collision-free path fairly quickly, RRT* guarantees almost certain convergence to an optimal, obstacle-free path from the start to the goal points for any given geometrical environment. However, the main limitations of RRT* include its slow processing rate and high memory consumption, due to the large number of iterations required for calculating the optimal path. In order to overcome these limitations, we present another improvement, i.e, the Triangular Geometerized-RRT* (TG-RRT* algorithm, which utilizes triangular geometrical methods to improve the performance of the RRT* algorithm in terms of the processing time and a decreased number of iterations required for an optimal path solution. Simulations comparing the performance results of the improved TG-RRT* with RRT* are presented to demonstrate the overall improvement in performance and optimal path detection.

Projecting technology change to improve space technology planning and systems management

Science.gov (United States)

Walk, Steven Robert

2011-04-01

Projecting technology performance evolution has been improving over the years. Reliable quantitative forecasting methods have been developed that project the growth, diffusion, and performance of technology in time, including projecting technology substitutions, saturation levels, and performance improvements. These forecasts can be applied at the early stages of space technology planning to better predict available future technology performance, assure the successful selection of technology, and improve technology systems management strategy. Often what is published as a technology forecast is simply scenario planning, usually made by extrapolating current trends into the future, with perhaps some subjective insight added. Typically, the accuracy of such predictions falls rapidly with distance in time. Quantitative technology forecasting (QTF), on the other hand, includes the study of historic data to identify one of or a combination of several recognized universal technology diffusion or substitution patterns. In the same manner that quantitative models of physical phenomena provide excellent predictions of system behavior, so do QTF models provide reliable technological performance trajectories. In practice, a quantitative technology forecast is completed to ascertain with confidence when the projected performance of a technology or system of technologies will occur. Such projections provide reliable time-referenced information when considering cost and performance trade-offs in maintaining, replacing, or migrating a technology, component, or system. This paper introduces various quantitative technology forecasting techniques and illustrates their practical application in space technology and technology systems management.

Control of nonholonomic systems from sub-Riemannian geometry to motion planning

CERN Document Server

Jean, Frédéric

2014-01-01

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

Decision support software technology demonstration plan

Energy Technology Data Exchange (ETDEWEB)

SULLIVAN,T.; ARMSTRONG,A.

1998-09-01

The performance evaluation of innovative and alternative environmental technologies is an integral part of the US Environmental Protection Agency's (EPA) mission. Early efforts focused on evaluating technologies that supported the implementation of the Clean Air and Clean Water Acts. In 1986 the Agency began to demonstrate and evaluate the cost and performance of remediation and monitoring technologies under the Superfund Innovative Technology Evaluation (SITE) program (in response to the mandate in the Superfund Amendments and Reauthorization Act of 1986 (SARA)). In 1990, the US Technology Policy was announced. This policy placed a renewed emphasis on making the best use of technology in achieving the national goals of improved quality of life for all Americans, continued economic growth, and national security. In the spirit of the technology policy, the Agency began to direct a portion of its resources toward the promotion, recognition, acceptance, and use of US-developed innovative environmental technologies both domestically and abroad. Decision Support Software (DSS) packages integrate environmental data and simulation models into a framework for making site characterization, monitoring, and cleanup decisions. To limit the scope which will be addressed in this demonstration, three endpoints have been selected for evaluation: Visualization; Sample Optimization; and Cost/Benefit Analysis. Five topics are covered in this report: the objectives of the demonstration; the elements of the demonstration plan; an overview of the Site Characterization and Monitoring Technology Pilot; an overview of the technology verification process; and the purpose of this demonstration plan.

System Development Guidelines From a Review of Motion-Based Technology for People With Dementia or MCI

Directory of Open Access Journals (Sweden)

Arlene J. Astell

2018-05-01

Full Text Available As the population ages and the number of people living with dementia or mild cognitive impairment (MCI continues to increase, it is critical to identify creative and innovative ways to support and improve their quality of life. Motion-based technology has shown significant potential for people living with dementia or MCI by providing opportunities for cognitive stimulation, physical activity and participation in meaningful leisure activities, while simultaneously functioning as a useful tool for research and development of interventions. However, many of the current systems created using motion-based technology have not been designed specifically for people with dementia or MCI. Additionally, the usability and accessibility of these systems for these populations has not been thoroughly considered. This paper presents a set of system development guidelines derived from a review of the state of the art of motion-based technologies for people with dementia or MCI. These guidelines highlight three overarching domains of consideration for systems targeting people with dementia or MCI: (i cognitive, (ii physical, and (iii social. We present the guidelines in terms of relevant design and use considerations within these domains and the emergent design themes within each domain. Our hope is that these guidelines will aid in designing motion-based software to meet the needs of people with dementia or MCI such that the potential of these technologies can be realized.

Future Ready Learning: Reimagining the Role of Technology in Education. 2016 National Education Technology Plan

Science.gov (United States)

Thomas, Susan

2016-01-01

The National Education Technology Plan is the flagship educational technology policy document for the United States. The 2016 Plan, "Future Ready Learning: Reimagining the Role of Technology in Education," articulates a vision of equity, active use, and collaborative leadership to make everywhere, all-the-time learning possible. While…

Mobile technology and telemedicine for shoulder range of motion: validation of a motion-based machine-learning software development kit.

Science.gov (United States)

Ramkumar, Prem N; Haeberle, Heather S; Navarro, Sergio M; Sultan, Assem A; Mont, Michael A; Ricchetti, Eric T; Schickendantz, Mark S; Iannotti, Joseph P

2018-03-07

Mobile technology offers the prospect of delivering high-value care with increased patient access and reduced costs. Advances in mobile health (mHealth) and telemedicine have been inhibited by the lack of interconnectivity between devices and software and inability to process consumer sensor data. The objective of this study was to preliminarily validate a motion-based machine learning software development kit (SDK) for the shoulder compared with a goniometer for 4 arcs of motion: (1) abduction, (2) forward flexion, (3) internal rotation, and (4) external rotation. A mobile application for the SDK was developed and "taught" 4 arcs of shoulder motion. Ten subjects without shoulder pain or prior shoulder surgery performed the arcs of motion for 5 repetitions. Each motion was measured by the SDK and compared with a physician-measured manual goniometer measurement. Angular differences between SDK and goniometer measurements were compared with univariate and power analyses. The comparison between the SDK and goniometer measurement detected a mean difference of less than 5° for all arcs of motion (P > .05), with a 94% chance of detecting a large effect size from a priori power analysis. Mean differences for the arcs of motion were: abduction, -3.7° ± 3.2°; forward flexion, -4.9° ± 2.5°; internal rotation, -2.4° ± 3.7°; and external rotation -2.6° ± 3.4°. The SDK has the potential to remotely substitute for a shoulder range of motion examination within 5° of goniometer measurements. An open-source motion-based SDK that can learn complex movements, including clinical shoulder range of motion, from consumer sensors offers promise for the future of mHealth, particularly in telemonitoring before and after orthopedic surgery. Copyright © 2018 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

Project Management Plan for the INEL technology logic diagrams

International Nuclear Information System (INIS)

Rudin, M.J.

1992-10-01

This Project Management Plan (PjMP) describes the elements of project planning and control that apply to activities outlined in Technical Task Plan (TTP) ID-121117, ''Technology Logic Diagrams For The INEL.'' The work on this project will be conducted by personnel in EG ampersand G Idaho, Inc.'s Waste Technology Development Program. Technology logic diagrams represent a formal methodology to identify technology gaps or needs within Environmental Restoration/Waste Management Operations, which will focus on Office of Environmental Restoration and Waste Management (EM-50) research and development, demonstration, test, and evaluation efforts throughout the US Department of Energy complex. This PjMP describes the objectives, organization, roles and responsibilities, workscope and processes for implementing and managing the technology logic diagram for the Idaho National Engineering Laboratory project

The development of advanced robotic technology - A study on the development of Motion capturing system

Energy Technology Data Exchange (ETDEWEB)

Kim, Dong Hyun; Kim, Ki Ho; Lee, Yong Woo; Park, Soo Il; Choi, Jin Sung; Kim, Hae Dong; Park, Chan Yong [System Engineering Research Institute, Taejon= (Korea, Republic of)

1996-07-01

Robots are used to perform jobs where the performer are exposed to the radioactivity. Good human-robot-interface is required to operate the robots easily and smoothly. It is believed that virtual reality and 3D graphics technology will be the beat solution for the good human-robot-interface. Using 3D computer graphics, complex human motions can be captured and displayed on the screen. The captured motion data can be used as the input to= control the remote robots using virtual reality technologies. Thus good human-robot-interface can be constructed. The motion capturing system developed in this study are very convenient and easy to be used to operate the robot. And the required time to operate the robot with the developed system is much shorter than to operate the robots without our motion capturing system. Therefore, efficient usage of the robot and related facilities will prolong the life time of them and reduce the manpower of the operators. The 3D data produced by our system will be used to generate commands to control the robot. 6 refs., 60 figs. (author)

National Security Technology Incubator Business Plan

Energy Technology Data Exchange (ETDEWEB)

None, None

2007-12-31

This document contains a business plan for the National Security Technology Incubator (NSTI), developed as part of the National Security Preparedness Project (NSPP) and performed under a Department of Energy (DOE)/National Nuclear Security Administration (NNSA) grant. This business plan describes key features of the NSTI, including the vision and mission, organizational structure and staffing, services, evaluation criteria, marketing strategies, client processes, a budget, incubator evaluation criteria, and a development schedule. The purpose of the NSPP is to promote national security technologies through business incubation, technology demonstration and validation, and workforce development. The NSTI will focus on serving businesses with national security technology applications by nurturing them through critical stages of early development. The vision of the NSTI is to be a successful incubator of technologies and private enterprise that assist the NNSA in meeting new challenges in national safety, security, and protection of the homeland. The NSTI is operated and managed by the Arrowhead Center, responsible for leading the economic development mission of New Mexico State University (NMSU). The Arrowhead Center will recruit business with applications for national security technologies recruited for the NSTI program. The Arrowhead Center and its strategic partners will provide business incubation services, including hands-on mentoring in general business matters, marketing, proposal writing, management, accounting, and finance. Additionally, networking opportunities and technology development assistance will be provided.

Building Technologies Program Multi-Year Program Plan Technology Validation and Market Introduction 2008

Energy Technology Data Exchange (ETDEWEB)

None, None

2008-01-01

Building Technologies Program Multi-Year Program Plan 2008 for technology validation and market introduction, including ENERGY STAR, building energy codes, technology transfer application centers, commercial lighting initiative, EnergySmart Schools, EnergySmar

Radiofrequency identification: exploiting an old technology for measuring nurse time and motion.

Science.gov (United States)

Jones, Terry L

2012-09-01

A national campaign is underway to increase the amount of time staff nurses spend at the bedside of hospitalized patients through redesign of the work environment. This kind of work redesign requires robust data depicting what nurses do and how they spend their time. Historically, these kinds of data have been difficult, costly, and time consuming to collect. Wireless capture of data on the movement of humans within the work environment (ie, time and motion) is now possible through radiofrequency identification technology. When small tracking devices the size of a quarter are affixed to their clothing, the movement of nurses throughout a patient care unit can be monitored. The duration and frequency of patient interaction are captured along with the duration of time spent in other locations of interest to include nurses' station, supply room, medication room, doctors' station, electronic documentation stations, family waiting rooms, and the hallway. Patterns of nurse movement and time allocation can be efficiently identified, and the effects of staffing practices, workflows, and unit layout evaluated. Integration of radiofrequency identification time and motion data with other databases enables nurse leaders to link nursing time to important cost and quality outcomes. Nurse leaders should explore the usefulness of radiofrequency identification technology in addressing data needs for nurse time and motion.

Nuclear science and technology plan (1989-1993)

International Nuclear Information System (INIS)

1989-01-01

The nuclear science and technology plan embodies the objectives strategies and activities of the Philippine Nuclear Research Institute (PNRI). It is an integral component of the national effort to make the Philippines a newly industrialized country (NIC) by the year 2000. The four major plans under the program are as follows: 1) Radiation protection and nuclear safety, 2) Radiation technology and engineering, 3) Radioisotopes and nuclear techniques application and 4) special projects. The cost of the plan is estimated to be two hundred ninety three million pesos (293, 000,000) for 1989-1993 covering personnel services (39.7%), maintenance and operating expenses (42.7%), equipment outlay (4.8%) and infrastructure (12.8%). The details of the different programs are given. (ELC). 7 figs.; 8 tabs

Development planning and appropriate technology: a dilemma and a proposal

Energy Technology Data Exchange (ETDEWEB)

Ellis, G.

1981-03-01

This paper examines the present system of project paper preparation and project planning used by the US Agency for International Development and many donor agencies. Three approaches for meeting the evident weaknesses of the system - a holistic approach to the planning problem, an operant-conditioning approach to implementation, and a process approach to planning and implementation - are presented and critiqued. On the basis of the critique, an approach grounded in a search for an approximately appropriate technology is supported; and a proposal for an appropriate-technology evaluation system which would analyze alternative technologies, deliver information to the field level, supply needed information on technologies and implementation, constrain donor planners, reduce lag time, incorporate evaluations into future planning, and reduce dependence upon planners is presented. 66 references.

Applied research of embedded WiFi technology in the motion capture system

Science.gov (United States)

Gui, Haixia

2012-04-01

Embedded wireless WiFi technology is one of the current wireless hot spots in network applications. This paper firstly introduces the definition and characteristics of WiFi. With the advantages of WiFi such as using no wiring, simple operation and stable transmission, this paper then gives a system design for the application of embedded wireless WiFi technology in the motion capture system. Also, it verifies the effectiveness of design in the WiFi-based wireless sensor hardware and software program.

Planning, design and technological criteria of conventional and nuclear shelters

International Nuclear Information System (INIS)

Sadoon, A.S.

1989-01-01

The thesis aims to establish a special criteria for building the shelters in two types. The conventional and nuclear, in respect to planning design and technological aspects, and finally establishing a special reference of planning, design and technology for Iraq which can be used when planning or designing a conventional or nuclear shelter. The thesis included four chapters, the first chapter included definition of shelters, and explanation of the effects of all types of weapons on buildings, and the second chapter included definition of planning and design concepts of shelters in its two types and analytical studies for international examples. The third chapter covered definition for technologies of structural, mechanical, electrical and sanitary systems. The fourth chapter included details of a case study in order to approach the results of research which included the conclusions, recommendations, criteria and prospects of planning design and technological aspects. 51 tabs.; 180 figs.; 32 refs.; 15 apps

Plans for modeling rational acceptance of technology

NARCIS (Netherlands)

Houkes, W.N.; Pols, A.J.K.; Michelfelder, D.P.; McCarthy, N.; Goldberg, D.E.

2013-01-01

We argue that the use-plan analysis of artefact use and design can be combined with the Unified Theory of Acceptance and Use of Technology (UTAUT), a well-tested model for predicting the adoption of information systems in organizational contexts. After presenting the outlines of the use-plan

A planning framework for transferring building energy technologies

Energy Technology Data Exchange (ETDEWEB)

Farhar, B C; Brown, M A; Mohler, B L; Wilde, M; Abel, F H

1990-07-01

Accelerating the adoption of new and existing cost-effective technologies has significant potential to reduce the energy consumed in US buildings. This report presents key results of an interlaboratory technology transfer planning effort in support of the US Department of Energy's Office of Building Technologies (OBT). A guiding assumption for planning was that OBT's R D program should forge linkages with existing programs whose goals involved enhancing energy efficiency in buildings. An ad hoc Technology Transfer Advisory Group reviewed the existing analysis and technology transfer program, brainstormed technology transfer approaches, interviewed DOE program managers, identified applicable research results, and developed a framework that management could use in deciding on the best investments of technology transfer resources. Representatives of 22 organizations were interviewed on their views of the potential for transferring energy efficiency technologies through active linking with OBT. The report describes these programs and interview results; outlines OBT tools, technologies, and practices to be transferred; defines OBT audiences; identifies technology transfer functions and presents a framework devised using functions and audiences; presents some 60 example technology transfer activities; and documents the Advisory Group's recommendations. 37 refs., 3 figs., 12 tabs.

Applied technology center business plan and market survey

Science.gov (United States)

Hodgin, Robert F.; Marchesini, Roberto

1990-01-01

Business plan and market survey for the Applied Technology Center (ATC), computer technology transfer and development non-profit corporation, is presented. The mission of the ATC is to stimulate innovation in state-of-the-art and leading edge computer based technology. The ATC encourages the practical utilization of late-breaking computer technologies by firms of all variety.

Relationship of Imaging Frequency and Planning Margin to Account for Intrafraction Prostate Motion: Analysis Based on Real-Time Monitoring Data

International Nuclear Information System (INIS)

Curtis, William; Khan, Mohammad; Magnelli, Anthony; Stephans, Kevin; Tendulkar, Rahul; Xia, Ping

2013-01-01

Purpose: Correction for intrafraction prostate motion becomes important for hypofraction treatment of prostate cancer. The purpose of this study was to estimate an ideal planning margin to account for intrafraction prostate motion as a function of imaging and repositioning frequency in the absence of continuous prostate motion monitoring. Methods and Materials: For 31 patients receiving intensity modulated radiation therapy treatment, prostate positions sampled at 10 Hz during treatment using the Calypso system were analyzed. Using these data, we simulated multiple, less frequent imaging protocols, including intervals of every 10, 15, 20, 30, 45, 60, 90, 120, 180, and 240 seconds. For each imaging protocol, the prostate displacement at the imaging time was corrected by subtracting prostate shifts from the subsequent displacements in that fraction. Furthermore, we conducted a principal component analysis to quantify the direction of prostate motion. Results: Averaging histograms of every 240 and 60 seconds for all patients, vector displacements of the prostate were, respectively, within 3 and 2 mm for 95% of the treatment time. A vector margin of 1 mm achieved 91.2% coverage of the prostate with 30 second imaging. The principal component analysis for all fractions showed the largest variance in prostate position in the midsagittal plane at 54° from the anterior direction, indicating that anterosuperior to inferoposterior is the direction of greatest motion. The smallest prostate motion is in the left-right direction. Conclusions: The magnitudes of intrafraction prostate motion along the superior-inferior and anterior-posterior directions are comparable, and the smallest motion is in the left-right direction. In the absence of continuous prostate motion monitoring, and under ideal circumstances, 1-, 2-, and 3-mm vector planning margins require a respective imaging frequency of every 15, 60, and 240 to account for intrafraction prostate motion while achieving

Integrated Motion Planning and Autonomous Control Technology for Autonomous ISR, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — SSCI and MIT propose to design, implement and test a comprehensive Integrated Mission Planning \\ (ii) Develop, Implement (iii) Develop, Implement and (iii) Carry...

48 CFR 652.239-70 - Information Technology Security Plan and Accreditation.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 4 2010-10-01 2010-10-01 false Information Technology... Clauses 652.239-70 Information Technology Security Plan and Accreditation. As prescribed in 639.107-70(a), insert the following provision: Information Technology Security Plan and Accreditation (SEP 2007) All...

48 CFR 1252.239-71 - Information technology security plan and accreditation.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Information technology... Provisions and Clauses 1252.239-71 Information technology security plan and accreditation. As prescribed in (TAR) 48 CFR 1239.70, insert the following provision: Information Technology Security Plan and...

Using Motion Planning to Determine the Existence of an Accessible Route in a CAD Environment

Science.gov (United States)

Pan, Xiaoshan; Han, Charles S.; Law, Kincho H.

2010-01-01

We describe an algorithm based on motion-planning techniques to determine the existence of an accessible route through a facility for a wheeled mobility device. The algorithm is based on LaValle's work on rapidly exploring random trees and is enhanced to take into consideration the particularities of the accessible route domain. Specifically, the…

Motion-encoded dose calculation through fluence/sinogram modification

International Nuclear Information System (INIS)

Lu, Weiguo; Olivera, Gustavo H.; Mackie, Thomas R.

2005-01-01

Conventional radiotherapy treatment planning systems rely on a static computed tomography (CT) image for planning and evaluation. Intra/inter-fraction patient motions may result in significant differences between the planned and the delivered dose. In this paper, we develop a method to incorporate the knowledge of intra/inter-fraction patient motion directly into the dose calculation. By decomposing the motion into a parallel (to beam direction) component and perpendicular (to beam direction) component, we show that the motion effects can be accounted for by simply modifying the fluence distribution (sinogram). After such modification, dose calculation is the same as those based on a static planning image. This method is superior to the 'dose-convolution' method because it is not based on 'shift invariant' assumption. Therefore, it deals with material heterogeneity and surface curvature very well. We test our method using extensive simulations, which include four phantoms, four motion patterns, and three plan beams. We compare our method with the 'dose-convolution' and the 'stochastic simulation' methods (gold standard). As for the homogeneous flat surface phantom, our method has similar accuracy as the 'dose-convolution' method. As for all other phantoms, our method outperforms the 'dose-convolution'. The maximum motion encoded dose calculation error using our method is within 4% of the gold standard. It is shown that a treatment planning system that is based on 'motion-encoded dose calculation' can incorporate random and systematic motion errors in a very simple fashion. Under this approximation, in principle, a planning target volume definition is not required, since it already accounts for the intra/inter-fraction motion variations and it automatically optimizes the cumulative dose rather than the single fraction dose

Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments

Science.gov (United States)

2010-05-10

until they’re not. Jean-Luc Picard (Star Trek : The Next Generation) viii Contents 1 Introduction 1 1.1 Approach...Planning in very rough terrain. In NASA Science Technology Conference 2007 (NSTC 2007), 2007. 10.2 [68] D.J. Montana. The kinematics of contact and grasp

Intelligent robot action planning

Energy Technology Data Exchange (ETDEWEB)

Vamos, T; Siegler, A

1982-01-01

Action planning methods used in intelligent robot control are discussed. Planning is accomplished through environment understanding, environment representation, task understanding and planning, motion analysis and man-machine communication. These fields are analysed in detail. The frames of an intelligent motion planning system are presented. Graphic simulation of the robot's environment and motion is used to support the planning. 14 references.

Fiscal years 1994--1998 Information Technology Strategic Plan

International Nuclear Information System (INIS)

1993-11-01

A team of senior managers from across the US Nuclear Regulatory Commission (NRC), working with the Office of Information Resources Management (IRM), has completed an NRC Strategic Information Technology (IT) Plan. The Plan addresses three major areas: (1) IT Program Management, (2) IT Infrastructure, and (3) Information and Applications Management. Key recommendations call for accelerating the replacement of Agency workstations, implementing a new document management system, applying business process reengineering to selected Agency work processes, and establishing an Information Technology Council to advise the Director of IRM

AEA Technology, Harwell site emergency plan

International Nuclear Information System (INIS)

1993-01-01

This plan, describes the site arrangements and facilities for dealing with an emergency at Harwell. These arrangements consist of amongst other things provision of suitably qualified, experienced and trained staff to take up posts, provision of suitable facilities and equipment, arrangements to alert and protect persons on and off the site, liaison and contact arrangements with external agencies and organisations and supply of information before and during any emergency. Other organisations have their own arrangements for dealing with an emergency at AEA Technology Harwell. The arrangements for dealing with any off-site consequences are drawn together in the ''Oxfordshire County Council Essential Services Emergency Plan (Off-Site) for AEA Technology, Harwell''. Prior information for members of the public who may be affected in the event of an emergency at Harwell is issued in the form of leaflets. (author)

Business plan for a technology innovation

OpenAIRE

Leikas, Anniina

2015-01-01

The aim of this thesis was to create a business plan to understand the potential of the business idea and offer guidance when establishing a new business. The basis was to study the business environment in Finland and what factors need to considered in business planning process. Entrepreneurship is one pos-sibility for the author in the future. Large generations are retiring and the market has place for new entrepreneurs and ideas. The Technology industry is constantly evolving and new i...

Science and technology planning in LDCs: major policy issues

Energy Technology Data Exchange (ETDEWEB)

Wionczek, M S

1979-05-01

Science in the less-developed countries (LDCs) should be underplanned rather than overplanned. Furthermore, the planning should be directed to the outer fringes of the scientific endeavor and to its infrastructure and not to the substance of scientific research itself. Planning of applied research and technological development in the LDC is another story. It cannot be done without entering into the substantive problems of applied research and technological development. Attempts to set the broad overall national targets for science and technology (S and T) expenditures -in terms of the proportion of the (GNP) or the per capita income- which do not consider the science and technology system's financial and human resources absorption capacity, are useless. 8 references.

FY 1991--FY 1995 Information Technology Resources Long-Range Plan

Energy Technology Data Exchange (ETDEWEB)

1989-12-01

The Department of Energy has consolidated its plans for Information Systems, Computing Resources, and Telecommunications into a single document, the Information Technology Resources Long-Range Plan. The consolidation was done as a joint effort by the Office of ADP Management and the Office of Computer Services and Telecommunications Management under the Deputy Assistant Secretary for Administration, Information, and Facilities Management. This Plan is the product of a long-range planning process used to project both future information technology requirements and the resources necessary to meet those requirements. It encompasses the plans of the various organizational components within the Department and its management and operating contractors over the next 5 fiscal years, 1991 through 1995.

The Application of KINECT Motion Sensing Technology in Game-Oriented Study

OpenAIRE

Hui Yu Yang; Hao Zhang; Wei Xu; Ping Jian Zhang; Liang Ming Xu

2014-01-01

The learning environment based on the KINECT Motion Sensing technology is able to fully mobilize the learners' multi-sensory organs, closely combine study with sports and enhance human-computer interactions, which can be conducive to the learners' health, greatly increase the relishes of learning and promote effective learning in the game, and finally compensate for the shortage of human-computer interactions in the traditional mouse and keyboard mode. The article elaborates on the KINECT Mot...

Plans & Policies for Technology in Education: A Compendium. A Technology Leadership Network Special Report.

Science.gov (United States)

National School Boards Association, Alexandria, VA. Inst. for the Transfer of Technology to Education.

This document shows how education leaders nationwide--many of them part of the National School Boards Association's 345-district Technology Leadership Network--have addressed technology-related policy issues such as copyright, purchasing, network/Internet use, and ethics as well as technology planning topics including staff development, classroom…

A Needs Analysis for Technology Integration Plan: Challenges and Needs of Teachers

Science.gov (United States)

Vatanartiran, Sinem; Karadeniz, Sirin

2015-01-01

Lack of technology leadership and technology integration plans are important obstacles for using technology effectively in schools. We carried out a large-scale study to be able to design a technology integration plan for one of the pilot provinces that Fatih Project was initiated. The purpose of this research is to examine the perceived…

A motion-planning method for dexterous hand operating a tool based on bionic analysis

Directory of Open Access Journals (Sweden)

Wei Bo

2017-01-01

Full Text Available In order to meet the needs of robot’s operating tools for different types and sizes, the dexterous hand is studied by many scientific research institutions. However, the large number of joints in a dexterous hand leads to the difficulty of motion planning. Aiming at this problem, this paper proposes a planning method abased on BPNN inspired by human hands. Firstly, this paper analyses the structure and function of the human hand and summarizes its typical strategy of operation. Secondly, based on the manual operation strategy, the tools are classified according to the shape and the operation mode of the dexterous hand is presented. Thirdly, the BPNN is used to train the humanoid operation, and then output the operation plan. Finally, the simulating experiments of grasping simple tools and operating complex tools are made by MATLAB and ADAMS. The simulation verifies the effectiveness of this method.

The development of human factors experimental evaluation technology - 3-dimensional measurement system for motion analysis

Energy Technology Data Exchange (ETDEWEB)

Park, Kyung Soo; Pan, Young Hwan; Lee, Ahn Jae; Lee, Kyung Tae; Lim, Chi Hwan; Chang, Pil Sik; Lee, Seok Woo; Han, Sung Wook; Park, Chul Wook [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

1996-07-01

Measurement of human motion is important in the application of ergonomics. We developed a system which can measure body movement, especially= hand movement using advanced direct video measurement technology. This system has as dynamic accuracy with 1% error and the sampling rate to 6 - 10 Hz, and can analyse the trajectory and speed of the marker. The use of passive marker obviates the need for a marker telemetry system and minimize motion disruption. 18 refs., 4 tabs., 6 figs. (author)

DMLC motion tracking of moving targets for intensity modulated arc therapy treatment

DEFF Research Database (Denmark)

Zimmerman, Jens; Korreman, Stine; Persson, Gitte

2009-01-01

(DMLC). The aim of this work was to evaluate the dose delivered to moving targets using the RapidArc (Varian Medical Systems, Inc.) technology with and without a DMLC tracking algorithm. MATERIAL AND METHODS: A Varian Clinac iX was equipped with a preclinical RapidArc and a 3D DMLC tracking application......) and state (1). CONCLUSIONS: DMLC tracking together with RapidArc make a feasible combination and is capable of improving the dose distribution delivered to a moving target. It seems to be of importance to minimize noise influencing the tracking, to gain the full benefit from the application........ A motion platform was placed on the couch, with the detectors on top: a PTW seven29 and a Scandidos Delta4. One lung plan and one prostate plan were delivered. Motion was monitored using a Real-time Position Management (RPM) system. Reference measurements were performed for both plans with both detectors...

Advanced Education and Technology Business Plan, 2008-11

Science.gov (United States)

Alberta Advanced Education and Technology, 2008

2008-01-01

The Ministry of Advanced Education and Technology's 2008-11 business plan identifies how it plans to work over the next three years to enhance advanced learning opportunities and innovation for all Albertans. Alberta's advanced learning system is composed of public board-governed institutions, the apprenticeship and industry training system,…

XML technology planning database : lessons learned

Science.gov (United States)

Some, Raphael R.; Neff, Jon M.

2005-01-01

A hierarchical Extensible Markup Language(XML) database called XCALIBR (XML Analysis LIBRary) has been developed by Millennium Program to assist in technology investment (ROI) analysis and technology Language Capability the New return on portfolio optimization. The database contains mission requirements and technology capabilities, which are related by use of an XML dictionary. The XML dictionary codifies a standardized taxonomy for space missions, systems, subsystems and technologies. In addition to being used for ROI analysis, the database is being examined for use in project planning, tracking and documentation. During the past year, the database has moved from development into alpha testing. This paper describes the lessons learned during construction and testing of the prototype database and the motivation for moving from an XML taxonomy to a standard XML-based ontology.

Advanced Education and Technology Business Plan, 2010-13

Science.gov (United States)

Alberta Advanced Education and Technology, 2010

2010-01-01

This paper presents the business plan of the Ministry of Advanced Education and Technology for 2010 to 2013. Advanced Education and Technology supports the advanced learning system by providing funding for advanced learning providers, coordinating and approving programs of study at public institutions, licensing and approving programs at private…

MDOT implementation plan for GPS technology in planning, design, and construction delivery

Science.gov (United States)

2010-09-13

Global Positioning System (GPS) technology offers advantages to transportation agencies in the planning, design and construction stages of project delivery. This research study will develop a guide for Mississippi Department of Transportation (MDOT) ...

Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

International Nuclear Information System (INIS)

1991-01-01

This plan covers robotics Research, Development, Demonstration, Testing, activities in the Program for the next five years. These activities range from bench-scale R ampersand D to fullscale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and an initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. This 5-Year Program Plan discusses the overall approach to be adopted by the RTDP to aggressively develop robotics technology and contains discussions of the Program Management Plan, Site Visit and Needs Summary, Approach to Needs-Directed Technical Development, Application-Specific Technical Development, and Cross-Cutting and Advanced Technology. Integrating application-specific ER ampersand WM needs, the current state of robotics technology, and the potential benefits (in terms of faster, safer, and cheaper) of new technology, the Plan develops application-specific road maps for robotics RDDT ampersand E for the period FY 1991 through FY 1995. In addition, the Plan identifies areas where longer-term research in robotics will have a high payoff in the 5- to 20-year time frame. 12 figs

Field test plan: Buried waste technologies, Fiscal Year 1995

International Nuclear Information System (INIS)

Heard, R.E.; Hyde, R.A.; Engleman, V.S.; Evans, J.D.; Jackson, T.W.

1995-06-01

The US Department of Energy, Office of Technology Development, supports the applied research, development, demonstration, testing, and evaluation of a suite of advanced technologies that, when integrated with commercially available baseline technologies, form a comprehensive remediation system for the effective and efficient remediation of buried waste. The Fiscal Year 1995 effort is to deploy and test multiple technologies from four functional areas of buried waste remediation: site characterization, waste characterization, retrieval, and treatment. This document is the basic operational planning document for the deployment and testing of the technologies that support the field testing in Fiscal Year 1995. Discussed in this document are the scope of the tests; purpose and objective of the tests; organization and responsibilities; contingency plans; sequence of activities; sampling and data collection; document control; analytical methods; data reduction, validation, and verification; quality assurance; equipment and instruments; facilities and utilities; health and safety; residuals management; and regulatory management

Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

Science.gov (United States)

Zadeh, S. M.; Powers, D. M. W.; Sammut, K.; Yazdani, A. M.

2016-12-01

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle's mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.

Consider the Four-Legged Stool as You Plan for Information Technology.

Science.gov (United States)

Baltzer, Jan A.

2000-01-01

Discusses the need for strategic planning in libraries for the use of information technology that will add value to the library and better serve the users. Explains a model for developing information technology strategic plans that includes vision statements, goals and strategies, and an implementation timeline. (LRW)

Lazy Toggle PRM: A single-query approach to motion planning

KAUST Repository

Denny, Jory

2013-05-01

Probabilistic RoadMaps (PRMs) are quite suc-cessful in solving complex and high-dimensional motion plan-ning problems. While particularly suited for multiple-query scenarios and expansive spaces, they lack efficiency in both solving single-query scenarios and mapping narrow spaces. Two PRM variants separately tackle these gaps. Lazy PRM reduces the computational cost of roadmap construction for single-query scenarios by delaying roadmap validation until query time. Toggle PRM is well suited for mapping narrow spaces by mapping both Cfree and Cobst, which gives certain theoretical benefits. However, fully validating the two resulting roadmaps can be costly. We present a strategy, Lazy Toggle PRM, for integrating these two approaches into a method which is both suited for narrow passages and efficient single-query calculations. This simultaneously addresses two challenges of PRMs. Like Lazy PRM, Lazy Toggle PRM delays validation of roadmaps until query time, but if no path is found, the algorithm augments the roadmap using the Toggle PRM methodology. We demonstrate the effectiveness of Lazy Toggle PRM in a wide range of scenarios, including those with narrow passages and high descriptive complexity (e.g., those described by many triangles), concluding that it is more effective than existing methods in solving difficult queries. © 2013 IEEE.

KSC Education Technology Research and Development Plan

Science.gov (United States)

Odell, Michael R. L.

2003-01-01

Educational technology is facilitating new approaches to teaching and learning science, technology, engineering, and mathematics (STEM) education. Cognitive research is beginning to inform educators about how students learn providing a basis for design of more effective learning environments incorporating technology. At the same time, access to computers, the Internet and other technology tools are becoming common features in K-20 classrooms. Encouraged by these developments, STEM educators are transforming traditional STEM education into active learning environments that hold the promise of enhancing learning. This document illustrates the use of technology in STEM education today, identifies possible areas of development, links this development to the NASA Strategic Plan, and makes recommendations for the Kennedy Space Center (KSC) Education Office for consideration in the research, development, and design of new educational technologies and applications.

Trends in Technology Planning and Funding in Florida K-12 Public Schools

Directory of Open Access Journals (Sweden)

ALBERT DIETER RITZHAUPT

2008-12-01

Full Text Available This empirical research investigates trends in technology planning and funding in Florida’s K–12 public schools between the 2003–04 and 2005–06 academic years. Survey items that focused on funding and planning issues on Florida’s statewide school technology integration survey were analyzed using logistic models. Results indicate a significant increase in the number of schools revising their technology plans on a regular basis; a significant increase in the frequency with which Florida’s K–12 public schools are seeking funding for technology-related initiatives; a significant increase in parent, administrator, teacher, and student involvement in the technology planning process; and a significant decline in adequate funding for software and hardware needs. In addition, schools with low proportions of economically disadvantaged students sought and were awarded significantly more funds from donations and federal and state grants. Implications for educational leadership and policy are provided.

SU-F-T-337: Accounting for Patient Motion During Volumetric Modulated Ac Therapy (VMAT) Planning for Post Mastectomy Chest Wall Irradiation

Energy Technology Data Exchange (ETDEWEB)

Hernandez, M; Fontenot, J [Mary Bird Perkins Cancer Center, Baton Rouge, LA (United States); Heins, D [Louisiana State University, Baton Rouge, LA (United States)

2016-06-15

Purpose: To evaluate two dose optimization strategies for maintaining target volume coverage of inversely-planned post mastectomy radiotherapy (PMRT) plans during patient motion. Methods: Five patients previously treated with VMAT for PMRT at our clinical were randomly selected for this study. For each patient, two plan optimization strategies were compared. Plan 1 was optimized to a volume that included the physician’s planning target volume (PTV) plus an expansion up to 0.3 cm from the bolus surface. Plan 2 was optimized to the PTV plus an expansion up to 0.3 cm from the patient surface (i.e., not extending into the bolus). VMAT plans were optimized to deliver 95% of the prescription to 95% of the PTV while sparing organs at risk based on clinical dose limits. PTV coverage was then evaluated following the simulation of patient shifts by 1.0 cm in the anterior and posterior directions using the treatment planning system. Results: Posterior patient shifts produced a difference in D95% of around 11% in both planning approaches from the non-shifted dose distributions. Coverage of the medial and lateral borders of the evaluation volume was reduced in both the posteriorly shifted plans (Plan 1 and Plan 2). Anterior patient shifts affected Plan 2 more than Plan 1 with a difference in D95% of 1% for Plan 1 versus 6% for Plan 2 from the non-shifted dose distributions. The least variation in PTV dose homogeneity for both shifts was obtained with Plan 1. However, all posteriorly shifted plans failed to deliver 95% of the prescription to 95% of the PTV. Whereas, only a few anteriorly shifted plans failed this criteria. Conclusion: The results of this study suggest both planning volume methods are sensitive to patient motion, but that a PTV extended into a bolus volume is slightly more robust for anterior patient shifts.

SU-F-T-337: Accounting for Patient Motion During Volumetric Modulated Ac Therapy (VMAT) Planning for Post Mastectomy Chest Wall Irradiation

International Nuclear Information System (INIS)

Hernandez, M; Fontenot, J; Heins, D

2016-01-01

Purpose: To evaluate two dose optimization strategies for maintaining target volume coverage of inversely-planned post mastectomy radiotherapy (PMRT) plans during patient motion. Methods: Five patients previously treated with VMAT for PMRT at our clinical were randomly selected for this study. For each patient, two plan optimization strategies were compared. Plan 1 was optimized to a volume that included the physician’s planning target volume (PTV) plus an expansion up to 0.3 cm from the bolus surface. Plan 2 was optimized to the PTV plus an expansion up to 0.3 cm from the patient surface (i.e., not extending into the bolus). VMAT plans were optimized to deliver 95% of the prescription to 95% of the PTV while sparing organs at risk based on clinical dose limits. PTV coverage was then evaluated following the simulation of patient shifts by 1.0 cm in the anterior and posterior directions using the treatment planning system. Results: Posterior patient shifts produced a difference in D95% of around 11% in both planning approaches from the non-shifted dose distributions. Coverage of the medial and lateral borders of the evaluation volume was reduced in both the posteriorly shifted plans (Plan 1 and Plan 2). Anterior patient shifts affected Plan 2 more than Plan 1 with a difference in D95% of 1% for Plan 1 versus 6% for Plan 2 from the non-shifted dose distributions. The least variation in PTV dose homogeneity for both shifts was obtained with Plan 1. However, all posteriorly shifted plans failed to deliver 95% of the prescription to 95% of the PTV. Whereas, only a few anteriorly shifted plans failed this criteria. Conclusion: The results of this study suggest both planning volume methods are sensitive to patient motion, but that a PTV extended into a bolus volume is slightly more robust for anterior patient shifts.

4D computed tomography scans for conformal thoracic treatment planning: is a single scan sufficient to capture thoracic tumor motion?

Science.gov (United States)

Tseng, Yolanda D.; Wootton, Landon; Nyflot, Matthew; Apisarnthanarax, Smith; Rengan, Ramesh; Bloch, Charles; Sandison, George; St. James, Sara

2018-01-01

Four dimensional computed tomography (4DCT) scans are routinely used in radiation therapy to determine the internal treatment volume for targets that are moving (e.g. lung tumors). The use of these studies has allowed clinicians to create target volumes based upon the motion of the tumor during the imaging study. The purpose of this work is to determine if a target volume based on a single 4DCT scan at simulation is sufficient to capture thoracic motion. Phantom studies were performed to determine expected differences between volumes contoured on 4DCT scans and those on the evaluation CT scans (slow scans). Evaluation CT scans acquired during treatment of 11 patients were compared to the 4DCT scans used for treatment planning. The images were assessed to determine if the target remained within the target volume determined during the first 4DCT scan. A total of 55 slow scans were compared to the 11 planning 4DCT scans. Small differences were observed in phantom between the 4DCT volumes and the slow scan volumes, with a maximum of 2.9%, that can be attributed to minor differences in contouring and the ability of the 4DCT scan to adequately capture motion at the apex and base of the motion trajectory. Larger differences were observed in the patients studied, up to a maximum volume difference of 33.4%. These results demonstrate that a single 4DCT scan is not adequate to capture all thoracic motion throughout treatment.

MotorSense: Using Motion Tracking Technology to Support the Identification and Treatment of Gross-Motor Dysfunction.

Science.gov (United States)

Arnedillo-Sánchez, Inmaculada; Boyle, Bryan; Bossavit, Benoît

2017-01-01

MotorSense is a motion detection and tracking technology that can be implemented across a range of environments to assist in detecting delays in gross-motor skills development. The system utilises the motion tracking functionality of Microsoft's Kinect™. It features games that require children to perform graded gross-motor tasks matched with their chronological and developmental ages. This paper describes the rationale for MotorSense, provides an overview of the functionality of the system and illustrates sample activities.

77 FR 24483 - Wausau Paper Mills, LLC; Notice of Final Land Management Plan and Soliciting Comments, Motions To...

Science.gov (United States)

2012-04-24

... Mills, LLC; Notice of Final Land Management Plan and Soliciting Comments, Motions To Intervene, and...: Wausau Paper Mills, LLC. e. Name of Project: Rhinelander Hydroelectric Project. f. Location: The upper.... Applicant Contact: Mr. Tim Hasbargen, Wausau Paper Mills, LLC, 515 Davenport St., Rhinelander, Wisconsin...

Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes

Directory of Open Access Journals (Sweden)

Rahul Kala

2015-01-01

Full Text Available The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the “wrong” side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the “wrong” side of the road and safely going to and returning from the “wrong” side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres.

Variable Cycle Engine Technology Program Planning and Definition Study

Science.gov (United States)

Westmoreland, J. S.; Stern, A. M.

1978-01-01

The variable stream control engine, VSCE-502B, was selected as the base engine, with the inverted flow engine concept selected as a backup. Critical component technologies were identified, and technology programs were formulated. Several engine configurations were defined on a preliminary basis to serve as demonstration vehicles for the various technologies. The different configurations present compromises in cost, technical risk, and technology return. Plans for possible variably cycle engine technology programs were formulated by synthesizing the technology requirements with the different demonstrator configurations.

National rf technology research and development program plan

International Nuclear Information System (INIS)

1983-05-01

This plan was prepared by the Oak Ridge National Laboratory at the request of the Office of Fusion Energy, Division of Development and Technology, to define the technology development needs and priorities. The US rf research and development community, with a wide representation from universities, laboratories and industries, participated in many discussions, meetings and in a three-day workshop in developing the needs and priorities definition. This very active and effective involvement of the rf leaders from all of these groups was an essential feature of the activity and results in the plan representing a broad consensus from the magnetic fusion energy development community. In addition, a number of scientists from Japan and Europe participated by providing data

Information Technology Investment Strategy Planning: Balance Scorecard Approach

Directory of Open Access Journals (Sweden)

Henny Hendarti

2011-05-01

Full Text Available Purpose of this research are to prepare the IT investment strategy using Balanced Scorecard approach in the company where the appropriate planning of this IT investment strategy can maximize the competitive benefit in the company, and it also to recommended a strategy of IT investment that can be implemented and measure the rate of return from the IT investment in the company. Research Method used book studies, field studies, and analysis system. Book studies from the books and journal. Field studies done by observation, interview, and questioner, and analysis system done by analyzed the ongoing system in the company. The result from this analysis is a recommendation in investment IT such as sales module, payment module, and report module. Then for the conclusion, this information technology investment planning can be develop to another investment implementation such authorized website of the company and using PDA (Personal Digital AssistantIndex Terms - Planning, Information Technology, Investment, Balance Scorecard

Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.

Science.gov (United States)

Park, Wooram; Liu, Yan; Zhou, Yu; Moses, Matthew; Chirikjian, Gregory S

2008-04-11

A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker-Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subsequent motions from the current state are to be made so as to move the system to a desired state with high probability, then modeling how the probability density of the system evolves is critical. Methods for solving Fokker-Planck equations that evolve on Lie groups then become important. Such equations can be solved using the operational properties of group Fourier transforms in which irreducible unitary representation (IUR) matrices play a critical role. Therefore, we develop a simple approach for the numerical approximation of all the IUR matrices for two of the groups of most interest in robotics: the rotation group in three-dimensional space, SO(3), and the Euclidean motion group of the plane, SE(2). This approach uses the exponential mapping from the Lie algebras of these groups, and takes advantage of the sparse nature of the Lie algebra representation matrices. Other techniques for density estimation on groups are also explored. The computed densities are applied in the context of probabilistic path planning for kinematic cart in the plane and flexible needle steering in three-dimensional space. In these examples the injection of artificial noise into the computational models (rather than noise in the actual physical systems) serves as a tool to search the configuration spaces and plan paths. Finally, we illustrate how density estimation problems arise in the characterization of physical noise in orientational sensors such as gyroscopes.

Medical technology management: from planning to application.

Science.gov (United States)

David, Y; Jahnke, E

2005-01-01

Appropriate deployment of technological innovation contributes to improvement in the quality of healthcare delivered, the containment of cost, and access to the healthcare system. Hospitals have been allocating a significant portion of their resources to procuring and managing capital assets; they are continuously faced with demands for new medical equipment and are asked to manage existing inventory for which they are not well prepared. To objectively manage their investment, hospitals are developing medical technology management programs that need pertinent information and planning methodology for integrating new equipment into existing operations as well as for optimizing costs of ownership of all equipment. Clinical engineers can identify technological solutions based on the matching of new medical equipment with hospital's objectives. They can review their institution's overall technological position, determine strengths and weaknesses, develop equipment-selection criteria, supervise installations, train users and monitor post procurement performance to assure meeting of goals. This program, together with cost accounting analysis, will objectively guide the capital assets decision-making process. Cost accounting analysis is a multivariate function that includes determining the amount, based upon a strategic plan and financial resources, of funding to be allocated annually for medical equipment acquisition and replacement. Often this function works closely with clinical engineering to establish equipment useful life and prioritization of acquisition, upgrade, and replacement of inventory within budget confines and without conducting time consuming, individual financial capital project evaluations.

An algorithmic interactive planning framework in support of sustainable technologies

Science.gov (United States)

Prica, Marija D.

This thesis addresses the difficult problem of generation expansion planning that employs the most effective technologies in today's changing electric energy industry. The electrical energy industry, in both the industrialized world and in developing countries, is experiencing transformation in a number of different ways. This transformation is driven by major technological breakthroughs (such as the influx of unconventional smaller-scale resources), by industry restructuring, changing environmental objectives, and the ultimate threat of resource scarcity. This thesis proposes a possible planning framework in support of sustainable technologies where sustainability is viewed as a mix of multiple attributes ranging from reliability and environmental impact to short- and long-term efficiency. The idea of centralized peak-load pricing, which accounts for the tradeoffs between cumulative operational effects and the cost of new investments, is the key concept in support of long-term planning in the changing industry. To start with, an interactive planning framework for generation expansion is posed as a distributed decision-making model. In order to reconcile the distributed sub-objectives of different decision makers with system-wide sustainability objectives, a new concept of distributed interactive peak load pricing is proposed. To be able to make the right decisions, the decision makers must have sufficient information about the estimated long-term electricity prices. The sub-objectives of power plant owners and load-serving entities are profit maximization. Optimized long-term expansion plans based on predicted electricity prices are communicated to the system-wide planning authority as long-run bids. The long-term expansion bids are cleared by the coordinating planner so that the system-wide long-term performance criteria are satisfied. The interactions between generation owners and the coordinating planning authority are repeated annually. We view the proposed

The Columbia River Protection Supplemental Technologies Quality Assurance Project Plan

International Nuclear Information System (INIS)

Fix, Anne

2007-01-01

The U.S. Department of Energy (DOE) has conducted interim groundwater remedial activities on the Hanford Site since the mid-1990s for several groundwater contamination plumes. DOE established the Columbia River Protection Supplemental Technologies Project (Technologies Project) in 2006 to evaluate alternative treatment technologies. The objectives for the technology project are as follows: develop a 300 Area polyphosphate treatability test to immobilize uranium, design and test infiltration of a phosphate/apatite technology for Sr-90 at 100-N, perform carbon tetrachloride and chloroform attenuation parameter studies, perform vadose zone chromium characterization and geochemistry studies, perform in situ biostimulation of chromium studies for a reducing barrier at 100-D, and perform a treatability test for phytoremediation for Sr-90 at 100-N. This document provides the quality assurance guidelines that will be followed by the Technologies Project. This Quality Assurance Project Plan is based on the quality assurance requirements of DOE Order 414.1C, Quality Assurance, and 10 CFR 830, Subpart A--Quality Assurance Requirements as delineated in Pacific Northwest National Laboratory?s Standards-Based Management System. In addition, the technology project is subject to the Environmental Protection Agency (EPA) Requirements for Quality Assurance Project Plans (EPA/240/B-01/003, QA/R-5). The Hanford Analytical Services Quality Assurance Requirements Documents (HASQARD, DOE/RL-96-68) apply to portions of this project and to the subcontractors. HASQARD requirements are discussed within applicable sections of this plan.

Marketing Plan for the National Security Technology Incubator

Energy Technology Data Exchange (ETDEWEB)

None

2008-03-31

This marketing plan was developed as part of the National Security Preparedness Project by the Arrowhead Center of New Mexico State University. The vision of the National Security Technology Incubator program is to be a successful incubator of technologies and private enterprise that assist the NNSA in meeting new challenges in national safety and security. The plan defines important aspects of developing the incubator, such as defining the target market, marketing goals, and creating strategies to reach the target market while meeting those goals. The three main marketing goals of the incubator are: 1) developing marketing materials for the incubator program; 2) attracting businesses to become incubator participants; and 3) increasing name recognition of the incubator program on a national level.

Motion induced interplay effects for VMAT radiotherapy

Science.gov (United States)

Edvardsson, Anneli; Nordström, Fredrik; Ceberg, Crister; Ceberg, Sofie

2018-04-01

The purpose of this study was to develop a method to simulate breathing motion induced interplay effects for volumetric modulated arc therapy (VMAT), to verify the proposed method with measurements, and to use the method to investigate how interplay effects vary with different patient- and machine specific parameters. VMAT treatment plans were created on a virtual phantom in a treatment planning system (TPS). Interplay effects were simulated by dividing each plan into smaller sub-arcs using an in-house developed software and shifting the isocenter for each sub-arc to simulate a sin6 breathing motion in the superior–inferior direction. The simulations were performed for both flattening-filter (FF) and flattening-filter free (FFF) plans and for different breathing amplitudes, period times, initial breathing phases, dose levels, plan complexities, CTV sizes, and collimator angles. The resulting sub-arcs were calculated in the TPS, generating a dose distribution including the effects of motion. The interplay effects were separated from dose blurring and the relative dose differences to 2% and 98% of the CTV volume (ΔD98% and ΔD2%) were calculated. To verify the simulation method, measurements were carried out, both static and during motion, using a quasi-3D phantom and a motion platform. The results of the verification measurements during motion were comparable to the results of the static measurements. Considerable interplay effects were observed for individual fractions, with the minimum ΔD98% and maximum ΔD2% being  ‑16.7% and 16.2%, respectively. The extent of interplay effects was larger for FFF compared to FF and generally increased for higher breathing amplitudes, larger period times, lower dose levels, and more complex treatment plans. Also, the interplay effects varied considerably with the initial breathing phase, and larger variations were observed for smaller CTV sizes. In conclusion, a method to simulate motion induced interplay effects was

Motion induced interplay effects for VMAT radiotherapy.

Science.gov (United States)

Edvardsson, Anneli; Nordström, Fredrik; Ceberg, Crister; Ceberg, Sofie

2018-04-19

The purpose of this study was to develop a method to simulate breathing motion induced interplay effects for volumetric modulated arc therapy (VMAT), to verify the proposed method with measurements, and to use the method to investigate how interplay effects vary with different patient- and machine specific parameters. VMAT treatment plans were created on a virtual phantom in a treatment planning system (TPS). Interplay effects were simulated by dividing each plan into smaller sub-arcs using an in-house developed software and shifting the isocenter for each sub-arc to simulate a sin 6 breathing motion in the superior-inferior direction. The simulations were performed for both flattening-filter (FF) and flattening-filter free (FFF) plans and for different breathing amplitudes, period times, initial breathing phases, dose levels, plan complexities, CTV sizes, and collimator angles. The resulting sub-arcs were calculated in the TPS, generating a dose distribution including the effects of motion. The interplay effects were separated from dose blurring and the relative dose differences to 2% and 98% of the CTV volume (ΔD 98% and ΔD 2% ) were calculated. To verify the simulation method, measurements were carried out, both static and during motion, using a quasi-3D phantom and a motion platform. The results of the verification measurements during motion were comparable to the results of the static measurements. Considerable interplay effects were observed for individual fractions, with the minimum ΔD 98% and maximum ΔD 2% being  -16.7% and 16.2%, respectively. The extent of interplay effects was larger for FFF compared to FF and generally increased for higher breathing amplitudes, larger period times, lower dose levels, and more complex treatment plans. Also, the interplay effects varied considerably with the initial breathing phase, and larger variations were observed for smaller CTV sizes. In conclusion, a method to simulate motion induced interplay effects was

Task and Motion Planning for Selective Weed Conrol using a Team of Autonomous Vehicles

DEFF Research Database (Denmark)

Hameed, Ibrahim; la Cour-Harbo, Anders; Hansen, Karl Damkjær

2014-01-01

with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals in farming is presented. Field data are collected by small unmanned helicopters equipped with a range of sensors, including multispectral and thermal cameras. Data collected are transmitted...... to a ground station to be analyzed and triggers aerial and ground-based vehicles to start close inspection and/or plant/weed treatment in specified areas. A complete trajectory is generated to enable ground-based vehicle to visit infested areas and start chemical/mechanical weed treatment....

Analysing Models as a Knowledge Technology in Transport Planning

DEFF Research Database (Denmark)

Gudmundsson, Henrik

2011-01-01

critical analytic literature on knowledge utilization and policy influence. A simple scheme based in this literature is drawn up to provide a framework for discussing the interface between urban transport planning and model use. A successful example of model use in Stockholm, Sweden is used as a heuristic......Models belong to a wider family of knowledge technologies, applied in the transport area. Models sometimes share with other such technologies the fate of not being used as intended, or not at all. The result may be ill-conceived plans as well as wasted resources. Frequently, the blame...... device to illuminate how such an analytic scheme may allow patterns of insight about the use, influence and role of models in planning to emerge. The main contribution of the paper is to demonstrate that concepts and terminologies from knowledge use literature can provide interpretations of significance...

High-level waste management technology program plan

Energy Technology Data Exchange (ETDEWEB)

Harmon, H.D.

1995-01-01

The purpose of this plan is to document the integrated technology program plan for the Savannah River Site (SRS) High-Level Waste (HLW) Management System. The mission of the SRS HLW System is to receive and store SRS high-level wastes in a see and environmentally sound, and to convert these wastes into forms suitable for final disposal. These final disposal forms are borosilicate glass to be sent to the Federal Repository, Saltstone grout to be disposed of on site, and treated waste water to be released to the environment via a permitted outfall. Thus, the technology development activities described herein are those activities required to enable successful accomplishment of this mission. The technology program is based on specific needs of the SRS HLW System and organized following the systems engineering level 3 functions. Technology needs for each level 3 function are listed as reference, enhancements, and alternatives. Finally, FY-95 funding, deliverables, and schedules are s in Chapter IV with details on the specific tasks that are funded in FY-95 provided in Appendix A. The information in this report represents the vision of activities as defined at the beginning of the fiscal year. Depending on emergent issues, funding changes, and other factors, programs and milestones may be adjusted during the fiscal year. The FY-95 SRS HLW technology program strongly emphasizes startup support for the Defense Waste Processing Facility and In-Tank Precipitation. Closure of technical issues associated with these operations has been given highest priority. Consequently, efforts on longer term enhancements and alternatives are receiving minimal funding. However, High-Level Waste Management is committed to participation in the national Radioactive Waste Tank Remediation Technology Focus Area. 4 refs., 5 figs., 9 tabs.

High-level waste management technology program plan

International Nuclear Information System (INIS)

Harmon, H.D.

1995-01-01

The purpose of this plan is to document the integrated technology program plan for the Savannah River Site (SRS) High-Level Waste (HLW) Management System. The mission of the SRS HLW System is to receive and store SRS high-level wastes in a see and environmentally sound, and to convert these wastes into forms suitable for final disposal. These final disposal forms are borosilicate glass to be sent to the Federal Repository, Saltstone grout to be disposed of on site, and treated waste water to be released to the environment via a permitted outfall. Thus, the technology development activities described herein are those activities required to enable successful accomplishment of this mission. The technology program is based on specific needs of the SRS HLW System and organized following the systems engineering level 3 functions. Technology needs for each level 3 function are listed as reference, enhancements, and alternatives. Finally, FY-95 funding, deliverables, and schedules are s in Chapter IV with details on the specific tasks that are funded in FY-95 provided in Appendix A. The information in this report represents the vision of activities as defined at the beginning of the fiscal year. Depending on emergent issues, funding changes, and other factors, programs and milestones may be adjusted during the fiscal year. The FY-95 SRS HLW technology program strongly emphasizes startup support for the Defense Waste Processing Facility and In-Tank Precipitation. Closure of technical issues associated with these operations has been given highest priority. Consequently, efforts on longer term enhancements and alternatives are receiving minimal funding. However, High-Level Waste Management is committed to participation in the national Radioactive Waste Tank Remediation Technology Focus Area. 4 refs., 5 figs., 9 tabs

A multicentre 'end to end' dosimetry audit of motion management (4DCT-defined motion envelope) in radiotherapy.

Science.gov (United States)

Palmer, Antony L; Nash, David; Kearton, John R; Jafari, Shakardokht M; Muscat, Sarah

2017-12-01

External dosimetry audit is valuable for the assurance of radiotherapy quality. However, motion management has not been rigorously audited, despite its complexity and importance for accuracy. We describe the first end-to-end dosimetry audit for non-SABR (stereotactic ablative body radiotherapy) lung treatments, measuring dose accumulation in a moving target, and assessing adequacy of target dose coverage. A respiratory motion lung-phantom with custom-designed insert was used. Dose was measured with radiochromic film, employing triple-channel dosimetry and uncertainty reduction. The host's 4DCT scan, outlining and planning techniques were used. Measurements with the phantom static and then moving at treatment delivery separated inherent treatment uncertainties from motion effects. Calculated and measured dose distributions were compared by isodose overlay, gamma analysis, and we introduce the concept of 'dose plane histograms' for clinically relevant interpretation of film dosimetry. 12 radiotherapy centres and 19 plans were audited: conformal, IMRT (intensity modulated radiotherapy) and VMAT (volumetric modulated radiotherapy). Excellent agreement between planned and static-phantom results were seen (mean gamma pass 98.7% at 3% 2 mm). Dose blurring was evident in the moving-phantom measurements (mean gamma pass 88.2% at 3% 2 mm). Planning techniques for motion management were adequate to deliver the intended moving-target dose coverage. A novel, clinically-relevant, end-to-end dosimetry audit of motion management strategies in radiotherapy is reported. Copyright © 2017 Elsevier B.V. All rights reserved.

Inter-fraction variations in respiratory motion models

Energy Technology Data Exchange (ETDEWEB)

McClelland, J R; Modat, M; Ourselin, S; Hawkes, D J [Centre for Medical Image Computing, University College London (United Kingdom); Hughes, S; Qureshi, A; Ahmad, S; Landau, D B, E-mail: j.mcclelland@cs.ucl.ac.uk [Department of Oncology, Guy' s and St Thomas' s Hospitals NHS Trust, London (United Kingdom)

2011-01-07

Respiratory motion can vary dramatically between the planning stage and the different fractions of radiotherapy treatment. Motion predictions used when constructing the radiotherapy plan may be unsuitable for later fractions of treatment. This paper presents a methodology for constructing patient-specific respiratory motion models and uses these models to evaluate and analyse the inter-fraction variations in the respiratory motion. The internal respiratory motion is determined from the deformable registration of Cine CT data and related to a respiratory surrogate signal derived from 3D skin surface data. Three different models for relating the internal motion to the surrogate signal have been investigated in this work. Data were acquired from six lung cancer patients. Two full datasets were acquired for each patient, one before the course of radiotherapy treatment and one at the end (approximately 6 weeks later). Separate models were built for each dataset. All models could accurately predict the respiratory motion in the same dataset, but had large errors when predicting the motion in the other dataset. Analysis of the inter-fraction variations revealed that most variations were spatially varying base-line shifts, but changes to the anatomy and the motion trajectories were also observed.

PET Motion Compensation for Radiation Therapy Using a CT-Based Mid-Position Motion Model: Methodology and Clinical Evaluation

International Nuclear Information System (INIS)

Kruis, Matthijs F.; Kamer, Jeroen B. van de; Houweling, Antonetta C.; Sonke, Jan-Jakob; Belderbos, José S.A.; Herk, Marcel van

2013-01-01

Purpose: Four-dimensional positron emission tomography (4D PET) imaging of the thorax produces sharper images with reduced motion artifacts. Current radiation therapy planning systems, however, do not facilitate 4D plan optimization. When images are acquired in a 2-minute time slot, the signal-to-noise ratio of each 4D frame is low, compromising image quality. The purpose of this study was to implement and evaluate the construction of mid-position 3D PET scans, with motion compensated using a 4D computed tomography (CT)-derived motion model. Methods and Materials: All voxels of 4D PET were registered to the time-averaged position by using a motion model derived from the 4D CT frames. After the registration the scans were summed, resulting in a motion-compensated 3D mid-position PET scan. The method was tested with a phantom dataset as well as data from 27 lung cancer patients. Results: PET motion compensation using a CT-based motion model improved image quality of both phantoms and patients in terms of increased maximum SUV (SUV max ) values and decreased apparent volumes. In homogenous phantom data, a strong relationship was found between the amplitude-to-diameter ratio and the effects of the method. In heterogeneous patient data, the effect correlated better with the motion amplitude. In case of large amplitudes, motion compensation may increase SUV max up to 25% and reduce the diameter of the 50% SUV max volume by 10%. Conclusions: 4D CT-based motion-compensated mid-position PET scans provide improved quantitative data in terms of uptake values and volumes at the time-averaged position, thereby facilitating more accurate radiation therapy treatment planning of pulmonary lesions

Genre, technology and embodied interaction: The evolution of digital game genres and motion gaming

Directory of Open Access Journals (Sweden)

Andreas Gregersen

2011-11-01

Full Text Available Technology has been given relatively little attention in genre theory, but this article argues that material technologies can be important components in genre development. The argument is based on a historically informed analysis of digital games, with special attention paid to home console video games and recent genre developments within this domain commonly referred to as motion gaming. The main point is that digital game genres imply structured embodied activity. A constitutive element of digital game mediation is a control interface geared to player embodiment, and I propose the concept of ‘interaction modes’ to describe the coupling of technology and player embodiment and show how this can be integrated with genre theory. The resulting framework allows for increased attention to continuity and change in game and communication genres, material and digital technologies, and the related interaction modes.

PlanJury: probabilistic plan evaluation revisited

Science.gov (United States)

Witte, M.; Sonke, J.-J.; van Herk, M.

2014-03-01

Purpose: Over a decade ago, the 'Van Herk margin recipe paper' introduced plan evaluation through DVH statistics based on population distributions of systematic and random errors. We extended this work for structures with correlated uncertainties (e.g. lymph nodes or parotid glands), and considered treatment plans containing multiple (overlapping) dose distributions (e.g. conventional lymph node and hypo-fractionated tumor doses) for which different image guidance protocols may lead to correlated errors. Methods: A command-line software tool 'PlanJury' was developed which reads 3D dose and structure data exported from a treatment planning system. Uncertainties are specified by standard deviations and correlation coefficients. Parameters control the DVH statistics to be computed: e.g. the probability of reaching a DVH constraint, or the dose absorbed at given confidence in a (combined) volume. Code was written in C++ and parallelized using OpenMP. Testing geometries were constructed using idealized spherical volumes and dose distributions. Results: Negligible stochastic noise could be attained within two minutes computation time for a single target. The confidence to properly cover both of two targets was 90% for two synchronously moving targets, but decreased by 7% if the targets moved independently. For two partially covered organs at risk the confidence of at least one organ below the mean dose threshold was 40% for synchronous motion, 36% for uncorrelated motion, but only 20% for either of the organs separately. Two abutting dose distributions ensuring 91% confidence of proper target dose for correlated motions led to 28% lower confidence for uncorrelated motions as relative displacements between the doses resulted in cold spots near the target. Conclusions: Probabilistic plan evaluation can efficiently be performed for complicated treatment planning situations, thus providing important plan quality information unavailable in conventional PTV based evaluations.

Visual Motion Perception

Science.gov (United States)

1991-08-15

displace- ment limit for motion in random dots," Vision Res., 24, 293-300. Pantie , A. & K. Turano (1986) "Direct comparisons of apparent motions...Hicks & AJ, Pantie (1978) "Apparent movement of successively generated subjec. uve figures," Perception, 7, 371-383. Ramachandran. V.S. & S.M. Anstis...thanks think deaf girl until world uncle flag home talk finish short thee our screwdiver sonry flower wrCstlir~g plan week wait accident guilty tree

Sampling-Based Motion Planning Algorithms for Replanning and Spatial Load Balancing

Energy Technology Data Exchange (ETDEWEB)

Boardman, Beth Leigh [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

2017-10-12

The common theme of this dissertation is sampling-based motion planning with the two key contributions being in the area of replanning and spatial load balancing for robotic systems. Here, we begin by recalling two sampling-based motion planners: the asymptotically optimal rapidly-exploring random tree (RRT*), and the asymptotically optimal probabilistic roadmap (PRM*). We also provide a brief background on collision cones and the Distributed Reactive Collision Avoidance (DRCA) algorithm. The next four chapters detail novel contributions for motion replanning in environments with unexpected static obstacles, for multi-agent collision avoidance, and spatial load balancing. First, we show improved performance of the RRT* when using the proposed Grandparent-Connection (GP) or Focused-Refinement (FR) algorithms. Next, the Goal Tree algorithm for replanning with unexpected static obstacles is detailed and proven to be asymptotically optimal. A multi-agent collision avoidance problem in obstacle environments is approached via the RRT*, leading to the novel Sampling-Based Collision Avoidance (SBCA) algorithm. The SBCA algorithm is proven to guarantee collision free trajectories for all of the agents, even when subject to uncertainties in the knowledge of the other agents’ positions and velocities. Given that a solution exists, we prove that livelocks and deadlock will lead to the cost to the goal being decreased. We introduce a new deconfliction maneuver that decreases the cost-to-come at each step. This new maneuver removes the possibility of livelocks and allows a result to be formed that proves convergence to the goal configurations. Finally, we present a limited range Graph-based Spatial Load Balancing (GSLB) algorithm which fairly divides a non-convex space among multiple agents that are subject to differential constraints and have a limited travel distance. The GSLB is proven to converge to a solution when maximizing the area covered by the agents. The analysis

Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

International Nuclear Information System (INIS)

1991-01-01

This plan covers robotics Research, Development, Demonstration, Testing and Evaluation activities in the Program for the next five years. These activities range from bench-scale R ampersand D to full-scale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development Program (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management (ER ampersand WM) operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. In July 1990 a forum was held announcing the robotics program. Over 60 organizations (industrial, university, and federal laboratory) made presentations on their robotics capabilities. To stimulate early interactions with the ER ampersand WM activities at DOE sites, as well as with the robotics community, the RTDP sponsored four technology demonstrations related to ER ampersand WM needs. These demonstrations integrated commercial technology with robotics technology developed by DOE in support of areas such as nuclear reactor maintenance and the civilian reactor waste program. 2 figs

Markerless motion estimation for motion-compensated clinical brain imaging

Science.gov (United States)

Kyme, Andre Z.; Se, Stephen; Meikle, Steven R.; Fulton, Roger R.

2018-05-01

Motion-compensated brain imaging can dramatically reduce the artifacts and quantitative degradation associated with voluntary and involuntary subject head motion during positron emission tomography (PET), single photon emission computed tomography (SPECT) and computed tomography (CT). However, motion-compensated imaging protocols are not in widespread clinical use for these modalities. A key reason for this seems to be the lack of a practical motion tracking technology that allows for smooth and reliable integration of motion-compensated imaging protocols in the clinical setting. We seek to address this problem by investigating the feasibility of a highly versatile optical motion tracking method for PET, SPECT and CT geometries. The method requires no attached markers, relying exclusively on the detection and matching of distinctive facial features. We studied the accuracy of this method in 16 volunteers in a mock imaging scenario by comparing the estimated motion with an accurate marker-based method used in applications such as image guided surgery. A range of techniques to optimize performance of the method were also studied. Our results show that the markerless motion tracking method is highly accurate (brain imaging and holds good promise for a practical implementation in clinical PET, SPECT and CT systems.

Technical and dosimetric aspects of respiratory gating using a pressure-sensor motion monitoring system

International Nuclear Information System (INIS)

Li, X. Allen; Stepaniak, Christopher; Gore, Elizabeth

2006-01-01

This work introduces a gating technique that uses 4DCT to determine gating parameters and to plan gated treatment, and employs a Siemens linear accelerator to deliver the gated treatment. Because of technology incompatibility, the 4DCT scanner (LightSpeed, GE) and the Siemens accelerator require two different motion-monitoring systems. The motion monitoring system (AZ-773V, Anzai Med.) used for the gated delivery utilizes a pressure sensor to detect the external respiratory motion (pressure change) in real time. Another system (RPM, Varian) used for the 4DCT scanner (LightSpeed, GE) is based on an infrared camera to detect motion of external markers. These two motion monitoring systems (RPM and Anzai systems) were found to correlate well with each other. The depth doses and profile measured for gated delivery (with a duty cycle of 25% or 50%) were found to agree within 1.0% with those measured for ungated delivery, indicating that gating did not significantly alter beam characteristics. The measurement verified also that the MU linearity and beam output remained unchanged (within 0.3%). A practical method of using 4DCT to plan a gated treatment was developed. The duty cycle for either phase or amplitude gating can be determined based on 4DCT with consideration of set-up error and delivery efficiency. The close-loop measurement involving the entire gating process (imaging, planning, and delivery) showed that the measured isodose distributions agreed with those intended, validating the accuracy and reliability of the gating technique. Based these observations, we conclude that the gating technique introduced in this work, integrating Siemens linear accelerator and Anzai pressure sensor device with GE/Varian RPM 4DCT, is reliable and effective, and it can be used clinically to account for respiratory motion during radiation therapy

Proposed plan for the development of advanced instrumentation and control technology in Korea

International Nuclear Information System (INIS)

Kwon, Kee-Choon; Ham, Chang-Shik

1995-01-01

All of the nuclear power plants in Korea are operating with analog instrumentation and control (I and C) equipment which are increasingly faced with frequent troubles, obsolescence and high maintenance expense. Electrical and computer technology has improved rapidly in recent years and has been applied to other industries. So it is strongly recommended to adopt the modern digital and computer technology to improve plant safety and availability. The plan, which is aimed at replacement of existing I and C systems, and at improving planned as well as next generation digital I and C systems is divided into three major parts: (1) Plan for domestic design of I and C systems and components, (2) Plan for domestic manufacturing of I and C equipment, and (3) Plan for development of future technologies. This plan provides advanced digital I and C requirements equivalent to Electric Power Research Institute Utility Requirements Document (Chapter 10) Man Machine Interface Systems. Also this plan includes the critical issue of digital I and C, namely software verification and validation strategy. (6 refs., 1 fig., 2 tabs.)

Core science and technology development plan for indirect-drive ICF ignition. Revision 1

Energy Technology Data Exchange (ETDEWEB)

Powell, H.T.; Kilkenny, J.D. [eds.

1995-12-01

To define the development work needed to support inertial confinement fusion (ICF) program goals, the authors have assembled this Core Science and Technology (CS and T) Plan that encompasses nearly all science research and technology development in the ICF program. The objective of the CS and T Plan described here is to identify the development work needed to ensure the success of advanced ICF facilities, in particular the National Ignition Facility (NIF). This plan is intended as a framework to facilitate planning and coordination of future ICF programmatic activities. The CS and T Plan covers all elements of the ICF program including laser technology, optic manufacturing, target chamber, target diagnostics, target design and theory, target components and fabrication, and target physics experiments. The CS and T Plan has been divided into these seven different technology development areas, and they are used as level-1 categories in a work breakdown structure (WBS) to facilitate the organization of all activities in this plan. The scope of the CS and T Plan includes all research and development required to support the NIF leading up to the activation and initial operation as an indirect-drive facility. In each of the CS and T main development areas, the authors describe the technology and issues that need to be addressed to achieve NIF performance goals. To resolve all issues and achieve objectives, an extensive assortment of tasks must be performed in a coordinated and timely manner. The authors describe these activities and present planning schedules that detail the flow of work to be performed over a 10-year period corresponding to estimated time needed to demonstrate fusion ignition with the NIF. Besides the benefits to the ICF program, the authors also discuss how the commercial sector and the nuclear weapons science may profit from the proposed research and development program.

Core science and technology development plan for indirect-drive ICF ignition. Revision 1

International Nuclear Information System (INIS)

Powell, H.T.; Kilkenny, J.D.

1995-12-01

To define the development work needed to support inertial confinement fusion (ICF) program goals, the authors have assembled this Core Science and Technology (CS and T) Plan that encompasses nearly all science research and technology development in the ICF program. The objective of the CS and T Plan described here is to identify the development work needed to ensure the success of advanced ICF facilities, in particular the National Ignition Facility (NIF). This plan is intended as a framework to facilitate planning and coordination of future ICF programmatic activities. The CS and T Plan covers all elements of the ICF program including laser technology, optic manufacturing, target chamber, target diagnostics, target design and theory, target components and fabrication, and target physics experiments. The CS and T Plan has been divided into these seven different technology development areas, and they are used as level-1 categories in a work breakdown structure (WBS) to facilitate the organization of all activities in this plan. The scope of the CS and T Plan includes all research and development required to support the NIF leading up to the activation and initial operation as an indirect-drive facility. In each of the CS and T main development areas, the authors describe the technology and issues that need to be addressed to achieve NIF performance goals. To resolve all issues and achieve objectives, an extensive assortment of tasks must be performed in a coordinated and timely manner. The authors describe these activities and present planning schedules that detail the flow of work to be performed over a 10-year period corresponding to estimated time needed to demonstrate fusion ignition with the NIF. Besides the benefits to the ICF program, the authors also discuss how the commercial sector and the nuclear weapons science may profit from the proposed research and development program

Industrial Technologies Program Research Plan for Energy-Intensive Process Industries

Energy Technology Data Exchange (ETDEWEB)

Chapas, Richard B. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Colwell, Jeffery A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2007-10-01

In this plan, the Industrial Technologies Program (ITP) identifies the objectives of its cross-cutting strategy for conducting research in collaboration with industry and U.S. Department of Energy national laboratories to develop technologies that improve the efficiencies of energy-intensive process industries.

Curiosity driven reinforcement learning for motion planning on humanoids

Science.gov (United States)

Frank, Mikhail; Leitner, Jürgen; Stollenga, Marijn; Förster, Alexander; Schmidhuber, Jürgen

2014-01-01

Most previous work on artificial curiosity (AC) and intrinsic motivation focuses on basic concepts and theory. Experimental results are generally limited to toy scenarios, such as navigation in a simulated maze, or control of a simple mechanical system with one or two degrees of freedom. To study AC in a more realistic setting, we embody a curious agent in the complex iCub humanoid robot. Our novel reinforcement learning (RL) framework consists of a state-of-the-art, low-level, reactive control layer, which controls the iCub while respecting constraints, and a high-level curious agent, which explores the iCub's state-action space through information gain maximization, learning a world model from experience, controlling the actual iCub hardware in real-time. To the best of our knowledge, this is the first ever embodied, curious agent for real-time motion planning on a humanoid. We demonstrate that it can learn compact Markov models to represent large regions of the iCub's configuration space, and that the iCub explores intelligently, showing interest in its physical constraints as well as in objects it finds in its environment. PMID:24432001

Project planning of Gen-IV sodium cooled fast reactor technology

Energy Technology Data Exchange (ETDEWEB)

Yoo, Jaewoon; Joo, H. K.; Cho, C. H.; Kim, Y. G.; Lee, D. U.; Jin, M. W.

2013-05-15

The project program will be established to shorten the design schedule by sharing the design man power and experimental facility, and by introducing the proven technology through international collaboration and the project plan including preliminary specific design, technology validation and fuel design validation plan will be more detail by reviewing the plan at the International Technical Review Meeting (ITRM). Periodic project progress review meeting will be held to find the technical issues and to resolve them. The results of the progress review meeting will be reflected into the final assessment of research project. The project progress review meeting will be held every quarter and external expert will also participate in the meeting. In parallel with the PGSFR development, innovative small modular SFR will be developed aiming to the international nuclear market. The system and component technologies of both system can be shared but innovative concept will be implemented into the design. Ultra long life core design concept and supercritical CO{sub 2} Brayton cycle will be considered as the innovative concept for enhancing the plant economy and safety.

Project planning of Gen-IV sodium cooled fast reactor technology

International Nuclear Information System (INIS)

Yoo, Jaewoon; Joo, H. K.; Cho, C. H.; Kim, Y. G.; Lee, D. U.; Jin, M. W.

2013-05-01

The project program will be established to shorten the design schedule by sharing the design man power and experimental facility, and by introducing the proven technology through international collaboration and the project plan including preliminary specific design, technology validation and fuel design validation plan will be more detail by reviewing the plan at the International Technical Review Meeting (ITRM). Periodic project progress review meeting will be held to find the technical issues and to resolve them. The results of the progress review meeting will be reflected into the final assessment of research project. The project progress review meeting will be held every quarter and external expert will also participate in the meeting. In parallel with the PGSFR development, innovative small modular SFR will be developed aiming to the international nuclear market. The system and component technologies of both system can be shared but innovative concept will be implemented into the design. Ultra long life core design concept and supercritical CO 2 Brayton cycle will be considered as the innovative concept for enhancing the plant economy and safety

Quantifying motion for pancreatic radiotherapy margin calculation

International Nuclear Information System (INIS)

Whitfield, Gillian; Jain, Pooja; Green, Melanie; Watkins, Gillian; Henry, Ann; Stratford, Julie; Amer, Ali; Marchant, Thomas; Moore, Christopher; Price, Patricia

2012-01-01

Background and purpose: Pancreatic radiotherapy (RT) is limited by uncertain target motion. We quantified 3D patient/organ motion during pancreatic RT and calculated required treatment margins. Materials and methods: Cone-beam computed tomography (CBCT) and orthogonal fluoroscopy images were acquired post-RT delivery from 13 patients with locally advanced pancreatic cancer. Bony setup errors were calculated from CBCT. Inter- and intra-fraction fiducial (clip/seed/stent) motion was determined from CBCT projections and orthogonal fluoroscopy. Results: Using an off-line CBCT correction protocol, systematic (random) setup errors were 2.4 (3.2), 2.0 (1.7) and 3.2 (3.6) mm laterally (left–right), vertically (anterior–posterior) and longitudinally (cranio-caudal), respectively. Fiducial motion varied substantially. Random inter-fractional changes in mean fiducial position were 2.0, 1.6 and 2.6 mm; 95% of intra-fractional peak-to-peak fiducial motion was up to 6.7, 10.1 and 20.6 mm, respectively. Calculated clinical to planning target volume (CTV–PTV) margins were 1.4 cm laterally, 1.4 cm vertically and 3.0 cm longitudinally for 3D conformal RT, reduced to 0.9, 1.0 and 1.8 cm, respectively, if using 4D planning and online setup correction. Conclusions: Commonly used CTV–PTV margins may inadequately account for target motion during pancreatic RT. Our results indicate better immobilisation, individualised allowance for respiratory motion, online setup error correction and 4D planning would improve targeting.

Magnetic Resonance Imaging Assessment of Spinal Cord and Cauda Equina Motion in Supine Patients With Spinal Metastases Planned for Spine Stereotactic Body Radiation Therapy

Energy Technology Data Exchange (ETDEWEB)

Tseng, Chia-Lin [Department of Radiation Oncology, Sunnybrook Health Sciences Centre, University of Toronto, Toronto, Ontario (Canada); Department of Radiation Oncology, Princess Margaret Cancer Centre, University of Toronto, Toronto, Ontario (Canada); Sussman, Marshall S. [Department of Medical Imaging, University Health Network, University of Toronto, Toronto, Ontario (Canada); Atenafu, Eshetu G. [Department of Biostatistics, University Health Network, University of Toronto, Toronto, Ontario (Canada); Letourneau, Daniel [Department of Radiation Oncology, Princess Margaret Cancer Centre, University of Toronto, Toronto, Ontario (Canada); Ma, Lijun [Department of Radiation Oncology, University of California San Francisco, San Francisco, California (United States); Soliman, Hany; Thibault, Isabelle [Department of Radiation Oncology, Sunnybrook Health Sciences Centre, University of Toronto, Toronto, Ontario (Canada); Cho, B. C. John; Simeonov, Anna [Department of Radiation Oncology, Princess Margaret Cancer Centre, University of Toronto, Toronto, Ontario (Canada); Yu, Eugene [Department of Medical Imaging, University Health Network, University of Toronto, Toronto, Ontario (Canada); Fehlings, Michael G. [Department of Neurosurgery and Spine Program, Toronto Western Hospital, University of Toronto, Toronto, Ontario (Canada); Sahgal, Arjun, E-mail: arjun.sahgal@sunnybrook.ca [Department of Radiation Oncology, Sunnybrook Health Sciences Centre, University of Toronto, Toronto, Ontario (Canada); Department of Radiation Oncology, Princess Margaret Cancer Centre, University of Toronto, Toronto, Ontario (Canada)

2015-04-01

Purpose: To assess motion of the spinal cord and cauda equina, which are critical neural tissues (CNT), which is important when evaluating the planning organ-at-risk margin required for stereotactic body radiation therapy. Methods and Materials: We analyzed CNT motion in 65 patients with spinal metastases (11 cervical, 39 thoracic, and 24 lumbar spinal segments) in the supine position using dynamic axial and sagittal magnetic resonance imaging (dMRI, 3T Verio, Siemens) over a 137-second interval. Motion was segregated according to physiologic cardiorespiratory oscillatory motion (characterized by the average root mean square deviation) and random bulk shifts associated with gross patient motion (characterized by the range). Displacement was evaluated in the anteroposterior (AP), lateral (LR), and superior-inferior (SI) directions by use of a correlation coefficient template matching algorithm, with quantification of random motion measure error over 3 separate trials. Statistical significance was defined according to P<.05. Results: In the AP, LR, and SI directions, significant oscillatory motion was observed in 39.2%, 35.1%, and 10.8% of spinal segments, respectively, and significant bulk motions in all cases. The median oscillatory CNT motions in the AP, LR, and SI directions were 0.16 mm, 0.17 mm, and 0.44 mm, respectively, and the maximal statistically significant oscillatory motions were 0.39 mm, 0.41 mm, and 0.77 mm, respectively. The median bulk displacements in the AP, LR, and SI directions were 0.51 mm, 0.59 mm, and 0.66 mm, and the maximal statistically significant displacements were 2.21 mm, 2.87 mm, and 3.90 mm, respectively. In the AP, LR, and SI directions, bulk displacements were greater than 1.5 mm in 5.4%, 9.0%, and 14.9% of spinal segments, respectively. No significant differences in axial motion were observed according to cord level or cauda equina. Conclusions: Oscillatory CNT motion was observed to be relatively minor. Our results

Technology decision making. A constructive approach to planning and acquisition will require a paradigm shift.

Science.gov (United States)

Berkowitz, D A; Swan, M M

1993-01-01

Technology should be viewed as an integrating rather than a divisive element in hospital planning. In the past, technology decision-making responsibility has often been diffused throughout hospitals, but providers are beginning to take a more considered and coherent approach. The process of making decisions about technology has four key elements: assessment, planning, acquisition, and management. The most important aspect of the assessment phase is the formation of a technology advisory committee to review and evaluate requests for new and emerging technology; review capital budget requests for new and replacement technology; and set mission-based and strategic priorities for new, emerging, and replacement technologies. Technology planning allows hospitals to set long-term goals for technology acquisition. The process involves an audit of existing technologies, evaluation of other hospitals' technologies, and review of technology trends. A well-defined technology plan will, in turn, facilitate the acquisition and management process, allowing hospitals greater flexibility in negotiating costs and budgeting for training, spare parts, service, upgrades, and support. By pooling resources with other providers in their region, hospitals can further enhance the effectiveness of their use and acquisition of technology. Collaboration allows providers to share the risks of technologically volatile and intensive services and avoid costly duplication of equipment and facilities.

Structural motion engineering

CERN Document Server

Connor, Jerome

2014-01-01

This innovative volume provides a systematic treatment of the basic concepts and computational procedures for structural motion design and engineering for civil installations. The authors illustrate the application of motion control to a wide spectrum of buildings through many examples. Topics covered include optimal stiffness distributions for building-type structures, the role of damping in controlling motion, tuned mass dampers, base isolation systems, linear control, and nonlinear control. The book's primary objective is the satisfaction of motion-related design requirements, such as restrictions on displacement and acceleration. The book is ideal for practicing engineers and graduate students. This book also: ·         Broadens practitioners' understanding of structural motion control, the enabling technology for motion-based design ·         Provides readers the tools to satisfy requirements of modern, ultra-high strength materials that lack corresponding stiffness, where the motion re...

Candidate functions for advanced technology implementation in the Columbus mission planning environment

Science.gov (United States)

Loomis, Audrey; Kellner, Albrecht

1988-01-01

The Columbus Project is the European Space Agency's contribution to the International Space Station program. Columbus is planned to consist of three elements (a laboratory module attached to the Space Station base, a man-tended freeflyer orbiting with the Space Station base, and a platform in polar orbit). System definition and requirements analysis for Columbus are underway, scheduled for completion in mid-1990. An overview of the Columbus mission planning environment and operations concept as currently defined is given, and some of the challenges presented to software maintainers and ground segment personnel during mission operators are identified. The use of advanced technologies in system implementation is being explored. Both advantages of such solutions and potential problems they present are discussed, and the next steps to be taken by Columbus before targeting any functions for advanced technology implementation are summarized. Several functions in the mission planning process were identified as candidates for advanced technology implementation. These range from expert interaction with Columbus' data bases through activity scheduling and near-real-time response to departures from the planned timeline. Each function is described, and its potential for advanced technology implementation briefly assessed.

Strategy Planning of Technology Development for High Speed Railways : Electrical Parts

Energy Technology Data Exchange (ETDEWEB)

Kim, Y. J.; Kim, K. H.; Rim, G. H.; Ha, H. D.; Park, K. Y.; Lee, J. D.; Kang, D. H. [Korea Electrotechnology Research Institute (Korea, Republic of)

1996-11-01

At the beginning of 1996, Government has set up the Technology Development Program for High Speed Railways as a national project. Accordingly, the detailed action planning has been established with the collaboration works between Ministry of Construction and Transport and Ministry of Commerce and Trade. On the other hand, the current technology status of domestic manufacturer and many related organizations in Korea only reveals the lack of capabilities in producing the high speed trains. Without the technology transfer programs from the advanced foreign manufacturer (GEC-Alsthom), the domestic manufacturers could not produce HSR. Korea Electrotechnology Research Institute has steered the study to integrate the domestic engineering and technology units specialized in the diversified areas by formulating the feasible collaboration structure between KERI and many organizations on the technology basis. The long term action planning both with the strategic guide and on the technology basis shall be the key function to upgrade the current technology status feasibly for development of the advanced high speed train of 350 km/h. (author). refs., figs., tabs.

Renewable energy technology portfolio planning with scenario analysis: A case study for Taiwan

International Nuclear Information System (INIS)

Chen, T.-Y.; Yu, Oliver S.; Hsu, George Jyh-yih; Hsu, Fang-Ming; Sung, W.-N.

2009-01-01

This paper presents the results of a case study of applying a systematic and proven process of technology portfolio planning with the use of scenario analysis to renewable energy developments in Taiwan. The planning process starts with decision values of technology development based on a survey of society leaders. It then generates, based on expert opinions and literature search, a set of major technology alternatives, which in this study include: wind energy, photovoltaic, bio-energy, solar thermal power, ocean energy, and geothermal energy. Through a committee of technical experts with diversified professional backgrounds, the process in this study next constructs three scenarios ('Season in the Sun', 'More Desire than Energy', and 'Castle in the Air') to encompass future uncertainties in the relationships between the technology alternatives and the decision values. Finally, through a second committee of professionals, the process assesses the importance and risks of these alternative technologies and develops a general strategic plan for the renewable energy technology portfolio that is responsive and robust for the future scenarios. The most important contributions of this paper are the clear description of the systematic process of technology portfolio planning and scenario analysis, the detailed demonstration of their application through a case study on the renewable energy development in Taiwan, and the valuable results and insights gained from the application.

Exploration Technology Program plans and directions

Science.gov (United States)

Aldrich, A.; Rosen, R.; Craig, M.; Mankins, J. C.

During the first part of the next century, the United States will return to the Moon to create a permanent lunar base, and, before the year 2019, we will send a human mission to Mars. In addition to these human operations, the Space Exploration Initiative will integrally incorporate robotic lunar and Mars missions. In achieving these efforts to expand human presence and activity in space and also exerted and frontiers of human knowledge, the SEI will require an array of new technologies. Mission architecture definition is still underway, but previous studies indicate that the SEI will require developments in areas such as advanced engines for space transportation, in-space assembly and construction to support permanent basing of exploration systems in space, and advanced surface operations capabilities including adequate levels of power and surface roving vehicles, and technologies to support safely long-duration human operations in space. Plans are now being put into place to implement an Exploration Technology Program (ETP) which will develop the major technologies needed for SEI. In close coordination with other ongoing U.S. government research and development efforts, the ETP will provide in the near term clear demonstrations of potential exploration technologies, research results to support SEI architecture decisions, and a foundation of mature technology that is ready to be applied in the first round of SEI missions. In addition to the technology needed for the first round of SEI missions, the ETP will also put in place a foundation of research for longer-term technology needs—ultimately leading the human missions to Mars. The Space Exploration Initiative and the Exploration Technology Program will challenge the best and the brightest minds across government, industry and academia, inspiring students of all ages and making possible future terrestial applications of SEI technologies that may create whole new industries for the future.

Adaptive local learning in sampling based motion planning for protein folding.

Science.gov (United States)

Ekenna, Chinwe; Thomas, Shawna; Amato, Nancy M

2016-08-01

Simulating protein folding motions is an important problem in computational biology. Motion planning algorithms, such as Probabilistic Roadmap Methods, have been successful in modeling the folding landscape. Probabilistic Roadmap Methods and variants contain several phases (i.e., sampling, connection, and path extraction). Most of the time is spent in the connection phase and selecting which variant to employ is a difficult task. Global machine learning has been applied to the connection phase but is inefficient in situations with varying topology, such as those typical of folding landscapes. We develop a local learning algorithm that exploits the past performance of methods within the neighborhood of the current connection attempts as a basis for learning. It is sensitive not only to different types of landscapes but also to differing regions in the landscape itself, removing the need to explicitly partition the landscape. We perform experiments on 23 proteins of varying secondary structure makeup with 52-114 residues. We compare the success rate when using our methods and other methods. We demonstrate a clear need for learning (i.e., only learning methods were able to validate against all available experimental data) and show that local learning is superior to global learning producing, in many cases, significantly higher quality results than the other methods. We present an algorithm that uses local learning to select appropriate connection methods in the context of roadmap construction for protein folding. Our method removes the burden of deciding which method to use, leverages the strengths of the individual input methods, and it is extendable to include other future connection methods.

MO-C-17A-06: Online Adaptive Re-Planning to Account for Independent Motions Between Multiple Targets During Radiotherapy of Lung Cancer

International Nuclear Information System (INIS)

Liu, F; Tai, A; Ahunbay, E; Gore, E; Johnstone, C; Li, X

2014-01-01

Purpose: To quantify interfractional independent motions between multiple targets in radiotherapy (RT) of lung cancer, and to study the dosimetric benefits of an online adaptive replanning method to account for these variations. Methods: Ninety five diagnostic-quality daily CTs acquired for 9 lung cancer patients treated with IGRT using an in-room CT (CTVision, Siemens) were analyzed. On each daily CT set, contours of the targets (GTV, CTV, or involved nodes) and organs at risk were generated by populating the planning contours using an auto-segmentation tool (ABAS, Elekta) with manual editing. For each patient, an IMRT plan was generated based on the planning CT with a prescription dose of 60 Gy in 2Gy fractions. Three plans were generated and compared for each daily CT set: an IGRT (repositioning) plan by copying the original plan with the required shifts, an online adaptive plan by rapidly modifying the aperture shapes and segment weights of the original plan to conform to the daily anatomy, and a new fully re-optimized plan based on the daily CT using a planning system (Panther, Prowess). Results: The daily deviations of the distance between centers of masses of the targets from the plans varied daily from -10 to 8 mm with an average −0.9±4.1 mm (one standard deviation). The average CTV V100 are 99.0±0.7%, 97.9±2.8%, 99.0±0.6%, and 99.1±0.6%, and the lung V20 Gy 928±332 cc, 944±315 cc, 917±300 cc, and 891±295 cc for the original, repositioning, adaptive, and re-optimized plans, respectively. Wilcoxon signed-rank tests show that the adaptive plans are statistically significantly better than the repositioning plans and comparable with the reoptimized plans. Conclusion: There exist unpredictable, interfractional, relative volume changes and independent motions between multiple targets during lung cancer RT which cannot be accounted for by the current IGRT repositioning but can be corrected by the online adaptive replanning method

MO-C-17A-06: Online Adaptive Re-Planning to Account for Independent Motions Between Multiple Targets During Radiotherapy of Lung Cancer

Energy Technology Data Exchange (ETDEWEB)

Liu, F; Tai, A; Ahunbay, E; Gore, E; Johnstone, C; Li, X [Medical College of Wisconsin, Milwaukee, WI (United States)

2014-06-15

Purpose: To quantify interfractional independent motions between multiple targets in radiotherapy (RT) of lung cancer, and to study the dosimetric benefits of an online adaptive replanning method to account for these variations. Methods: Ninety five diagnostic-quality daily CTs acquired for 9 lung cancer patients treated with IGRT using an in-room CT (CTVision, Siemens) were analyzed. On each daily CT set, contours of the targets (GTV, CTV, or involved nodes) and organs at risk were generated by populating the planning contours using an auto-segmentation tool (ABAS, Elekta) with manual editing. For each patient, an IMRT plan was generated based on the planning CT with a prescription dose of 60 Gy in 2Gy fractions. Three plans were generated and compared for each daily CT set: an IGRT (repositioning) plan by copying the original plan with the required shifts, an online adaptive plan by rapidly modifying the aperture shapes and segment weights of the original plan to conform to the daily anatomy, and a new fully re-optimized plan based on the daily CT using a planning system (Panther, Prowess). Results: The daily deviations of the distance between centers of masses of the targets from the plans varied daily from -10 to 8 mm with an average −0.9±4.1 mm (one standard deviation). The average CTV V100 are 99.0±0.7%, 97.9±2.8%, 99.0±0.6%, and 99.1±0.6%, and the lung V20 Gy 928±332 cc, 944±315 cc, 917±300 cc, and 891±295 cc for the original, repositioning, adaptive, and re-optimized plans, respectively. Wilcoxon signed-rank tests show that the adaptive plans are statistically significantly better than the repositioning plans and comparable with the reoptimized plans. Conclusion: There exist unpredictable, interfractional, relative volume changes and independent motions between multiple targets during lung cancer RT which cannot be accounted for by the current IGRT repositioning but can be corrected by the online adaptive replanning method.

Understanding Motion Capture for Computer Animation

CERN Document Server

Menache, Alberto

2010-01-01

The power of today's motion capture technology has taken animated characters and special effects to amazing new levels of reality. And with the release of blockbusters like Avatar and Tin-Tin, audiences continually expect more from each new release. To live up to these expectations, film and game makers, particularly technical animators and directors, need to be at the forefront of motion capture technology. In this extensively updated edition of Understanding Motion Capture for Computer Animation and Video Games, an industry insider explains the latest research developments in digital design

National Aeronautics and Space Administration plans for space communication technology

Science.gov (United States)

Alexovich, R. E.

1979-01-01

A program plan is presented for a space communications application utilizing the 30/20 GHz frequency bands (30 GHz uplink and 20 GHz downlink). Results of market demand studies and spacecraft systems studies which significantly affect the supporting research and technology program are also presented, along with the scheduled activities of the program plan.

Motion Capture Technique Applied Research in Sports Technique Diagnosis

Directory of Open Access Journals (Sweden)

Zhiwu LIU

2014-09-01

Full Text Available The motion capture technology system definition is described in the paper, and its components are researched, the key parameters are obtained from motion technique, the quantitative analysis are made on technical movements, the method of motion capture technology is proposed in sport technical diagnosis. That motion capture step includes calibration system, to attached landmarks to the tester; to capture trajectory, and to analyze the collected data.

Technology disaster response and recovery planning a LITA guide

CERN Document Server

Mallery, Mary

2015-01-01

Featuring contributions from librarians who offer hard-won advice gained from personal experience, this compendium leads readers through a step-by-step process of creating a library technology disaster response and recovery plan.

MDOT implementation plan for global positioning systems (GPS) technology in planning, design, and construction delivery.

Science.gov (United States)

2010-09-13

Global Positioning System (GPS) technology offers advantages to transportation agencies in the planning, design and construction stages of project delivery. This research study will develop a guide for Mississippi Department of Transportation (MDOT) ...

From Server to Desktop: Capital and Institutional Planning for Client/Server Technology.

Science.gov (United States)

Mullig, Richard M.; Frey, Keith W.

1994-01-01

Beginning with a request for an enhanced system for decision/strategic planning support, the University of Chicago's biological sciences division has developed a range of administrative client/server tools, instituted a capital replacement plan for desktop technology, and created a planning and staffing approach enabling rapid introduction of new…

Motion/imagery secure cloud enterprise architecture analysis

Science.gov (United States)

DeLay, John L.

2012-06-01

Cloud computing with storage virtualization and new service-oriented architectures brings a new perspective to the aspect of a distributed motion imagery and persistent surveillance enterprise. Our existing research is focused mainly on content management, distributed analytics, WAN distributed cloud networking performance issues of cloud based technologies. The potential of leveraging cloud based technologies for hosting motion imagery, imagery and analytics workflows for DOD and security applications is relatively unexplored. This paper will examine technologies for managing, storing, processing and disseminating motion imagery and imagery within a distributed network environment. Finally, we propose areas for future research in the area of distributed cloud content management enterprises.

Large Deployable Reflector (LDR) system concept and technology definition study. Volume 2: Technology assessment and technology development plan

Science.gov (United States)

Agnew, Donald L.; Jones, Peter A.

1989-01-01

A study was conducted to define reasonable and representative LDR system concepts for the purpose of defining a technology development program aimed at providing the requisite technological capability necessary to start LDR development by the end of 1991. This volume presents thirteen technology assessments and technology development plans, as well as an overview and summary of the LDR concepts. Twenty-two proposed augmentation projects are described (selected from more than 30 candidates). The five LDR technology areas most in need of supplementary support are: cryogenic cooling; astronaut assembly of the optically precise LDR in space; active segmented primary mirror; dynamic structural control; and primary mirror contamination control. Three broad, time-phased, five-year programs were synthesized from the 22 projects, scheduled, and funding requirements estimated.

Business Plan Competition open for CERN technologies

CERN Multimedia

TT Helpdesk

2005-01-01

Helping researchers turn great research into great business - that's the aim of the UK Research Council's Business Plan Competition. Every good business starts with two things: a good idea and a robust business plan. You supply the idea, and we'll give you the skills, knowledge and support you need to develop a first-rate business plan! This will be provided through expert trainers, coaches and mentors. Plus - the opportunity to win funds to help with the development of your business idea. The competition is open to researchers at CERN, promoted and supported by PPARC, together with the whole spectrum of academic research supported by the eight UK Research Councils - from the arts and biosciences, to environmental physical and social sciences to technology. Postgraduates, postdocs and academic staff who have a business idea arising from research and want to develop this further are encouraged to participate. Taking part is easy - just contact the TT group (TT Helpdesk) for details and support before 16 D...

The Columbia River Protection Supplemental Technologies Quality Assurance Project Plan

Energy Technology Data Exchange (ETDEWEB)

Fix, N. J.

2008-03-12

Pacific Northwest National Laboratory researchers are working on the Columbia River Protection Supplemental Technologies Project. This project is a U. S. Department of Energy, Office of Environmental Management-funded initiative designed to develop new methods, strategies, and technologies for characterizing, modeling, remediating, and monitoring soils and groundwater contaminated with metals, radionuclides, and chlorinated organics. This Quality Assurance Project Plan provides the quality assurance requirements and processes that will be followed by the Technologies Project staff.

Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion

Directory of Open Access Journals (Sweden)

Saeed Abdolshah

2014-12-01

Full Text Available Walking trajectory generation for a humanoid robot is a challenging control  issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment.

Research and Technology Objectives and Plans Summary (RTOPS)

Science.gov (United States)

1993-01-01

This publication represents the NASA research and technology program for FY-93. It is a compilation of the Summary portions of each of the RTOP's (Research and Technology Objectives and Plans) used for management review and control of research currently in progress throughout NASA. The RTOP Summary is designed to facilitate communication and coordination among concerned technical personnel in government, in industry, and in universities. The first section containing citations and abstracts of the RTOP's is followed by four indexes: Subject, Technical Monitor, Responsible NASA Organization, and RTOP Number.

Planning Target Margin Calculations for Prostate Radiotherapy Based on Intrafraction and Interfraction Motion Using Four Localization Methods

International Nuclear Information System (INIS)

Beltran, Chris; Herman, Michael G.; Davis, Brian J.

2008-01-01

Purpose: To determine planning target volume (PTV) margins for prostate radiotherapy based on the internal margin (IM) (intrafractional motion) and the setup margin (SM) (interfractional motion) for four daily localization methods: skin marks (tattoo), pelvic bony anatomy (bone), intraprostatic gold seeds using a 5-mm action threshold, and using no threshold. Methods and Materials: Forty prostate cancer patients were treated with external radiotherapy according to an online localization protocol using four intraprostatic gold seeds and electronic portal images (EPIs). Daily localization and treatment EPIs were obtained. These data allowed inter- and intrafractional analysis of prostate motion. The SM for the four daily localization methods and the IM were determined. Results: A total of 1532 fractions were analyzed. Tattoo localization requires a SM of 6.8 mm left-right (LR), 7.2 mm inferior-superior (IS), and 9.8 mm anterior-posterior (AP). Bone localization requires 3.1, 8.9, and 10.7 mm, respectively. The 5-mm threshold localization requires 4.0, 3.9, and 3.7 mm. No threshold localization requires 3.4, 3.2, and 3.2 mm. The intrafractional prostate motion requires an IM of 2.4 mm LR, 3.4 mm IS and AP. The PTV margin using the 5-mm threshold, including interobserver uncertainty, IM, and SM, is 4.8 mm LR, 5.4 mm IS, and 5.2 mm AP. Conclusions: Localization based on EPI with implanted gold seeds allows a large PTV margin reduction when compared with tattoo localization. Except for the LR direction, bony anatomy localization does not decrease the margins compared with tattoo localization. Intrafractional prostate motion is a limiting factor on margin reduction

78 FR 60700 - Source Specific Federal Implementation Plan for Implementing Best Available Retrofit Technology...

Science.gov (United States)

2013-10-02

... ENVIRONMENTAL PROTECTION AGENCY 40 CFR Part 49 [EPA-R09-OAR-2013-0489; FRL-9901-58-Region 9] Source Specific Federal Implementation Plan for Implementing Best Available Retrofit Technology for Four... Plan (FIP) to implement the Best Available Retrofit Technology (BART) requirement of the Regional Haze...

78 FR 41731 - Source Specific Federal Implementation Plan for Implementing Best Available Retrofit Technology...

Science.gov (United States)

2013-07-11

... ENVIRONMENTAL PROTECTION AGENCY 40 CFR Part 49 [EPA-R09-OAR-2013-0489; FRL-9830-5] Source Specific Federal Implementation Plan for Implementing Best Available Retrofit Technology for Four Corners Power... Implementation Plan (FIP) to implement the Best Available Retrofit Technology (BART) requirement of the Regional...

Leap Motion controller application in augmented reality technology

OpenAIRE

Artemčiukas, Edgaras; Sakalauskas, Leonidas

2014-01-01

In this work the analysis of interaction techniques, devices and its’ possibilities were accomplished. It was determined that the problem, which many researchers tries to solve – more natural interaction between users and computers. Interaction system in augmented reality environment using Leap Motion controller was developed. To achieve this goal augmented reality NyARToolkit and Leap Motion controller libraries were used. Solution ensures extensive information about hand, finger...

Direct aperture optimization of breast IMRT and the dosimetric impact of respiration motion

International Nuclear Information System (INIS)

Zhang Guowei; Jiang Ziping; Shepard, David; Zhang Bin; Yu, Cedric

2006-01-01

We have studied the application of direct aperture optimization (DAO) as an inverse planning tool for breast IMRT. Additionally, we have analysed the impact of respiratory motion on the quality of the delivered dose distribution. From this analysis, we have developed guidelines for balancing the desire for a high-quality optimized plan with the need to create a plan that will not degrade significantly in the presence of respiratory motion. For a DAO optimized breast IMRT plan, the tangential fields incorporate a flash field to cover the range of respiratory motion. The inverse planning algorithm then optimizes the shapes and weights of additional segments that are delivered in combination with the open fields. IMRT plans were generated using DAO with the relative weights of the open segments varied from 0% to 95%. To assess the impact of breathing motion, the dose distribution for the optimized IMRT plan was recalculated with the isocentre sampled from a predefined distribution in a Monte Carlo convolution/superposition dose engine with the breast simulated as a rigid object. The motion amplitudes applied in this study ranged from 0.5 to 2.0 cm. For a range of weighting levels assigned to the open field, comparisons were made between the static plans and the plans recalculated with motion. For the static plans, we found that uniform dose distributions could be generated with relative weights for the open segments equal to and below 80% and unacceptable levels of underdosage were observed with the weights larger than 80%. When simulated breathing motion was incorporated into the dose calculation, we observed a loss in dose uniformity as the weight of the open field was decreased to below 65%. More quantitatively, for each 1% decrease in the weight, the per cent volume of the target covered by at least 95% of the prescribed dose decreased by approximately 0.10% and 0.16% for motion amplitudes equal to 1.5 cm and 2.0 cm, respectively. When taking into account the

Hanford Integrated Planning Process: 1993 Hanford Site-specific science and technology plan

International Nuclear Information System (INIS)

1993-12-01

This document is the FY 1993 report on Hanford Site-specific science and technology (S ampersand T) needs for cleanup of the Site as developed via the Hanford Integrated Planning Process (HIPP). It identifies cleanup problems that lack demonstrated technology solutions and technologies that require additional development. Recommendations are provided regarding allocation of funding to address Hanford's highest-priority technology improvement needs, technology development needs, and scientific research needs, all compiled from a Sitewide perspective. In the past, the S ampersand T agenda for Hanford Site cleanup was sometimes driven by scientists and technologists, with minimal input from the ''problem owners'' (i.e., Westinghouse Hanford Company [WHC] staff who are responsible for cleanup activities). At other times, the problem-owners made decisions to proceed with cleanup without adequate scientific and technological inputs. Under both of these scenarios, there was no significant stakeholder involvement in the decision-making process. One of the key objectives of HIPP is to develop an understanding of the integrated S ampersand T requirements to support the cleanup mission, (a) as defined by the needs of the problem owners, the values of the stakeholders, and the technology development expertise that exists at Hanford and elsewhere. This requires a periodic, systematic assessment of these needs and values to appropriately define a comprehensive technology development program and a complementary scientific research program. Basic to our success is a methodology that is defensible from a technical perspective and acceptable to the stakeholders

School District Information Technology Disaster Recovery Planning: An Explanatory Case Study

Science.gov (United States)

Gray, Shaun L.

2017-01-01

Despite research and practitioner articles outlining the importance information technology disaster plans (ITDRPs) to organizational success, barriers have impeded the process of disaster preparation for Burlington County New Jersey school districts. The purpose of this explanatory qualitative case study was to understand how technology leader…

76 FR 45645 - 10-Day Notice of Proposed Information Collection: Technology Security/Clearance Plans, Screening...

Science.gov (United States)

2011-07-29

...: Technology Security/Clearance Plans, Screening Records, and Non-Disclosure Agreements ACTION: Notice of... Information Collection: Technology Security/ Clearance Plans, Screening Records, and Non-Disclosure Agreements...: None. Respondents: Business and Nonprofit Organizations, Foreign Governments. Estimated Number of...

Behavior-based evacuation planning

KAUST Repository

Rodriguez, Samuel

2010-05-01

In this work, we present a formulation of an evacuation planning problem that is inspired by motion planning and describe an integrated behavioral agent-based and roadmap-based motion planning approach to solve it. Our formulation allows users to test the effect on evacuation of a number of different environmental factors. One of our main focuses is to provide a mechanism to investigate how the interaction between agents influences the resulting evacuation plans. Specifically, we explore how various types of control provided by a set of directing agents effects the overall evacuation planning strategies of the evacuating agents. ©2010 IEEE.

Behavior-based evacuation planning

KAUST Repository

Rodriguez, Samuel; Amato, Nancy M

2010-01-01

In this work, we present a formulation of an evacuation planning problem that is inspired by motion planning and describe an integrated behavioral agent-based and roadmap-based motion planning approach to solve it. Our formulation allows users to test the effect on evacuation of a number of different environmental factors. One of our main focuses is to provide a mechanism to investigate how the interaction between agents influences the resulting evacuation plans. Specifically, we explore how various types of control provided by a set of directing agents effects the overall evacuation planning strategies of the evacuating agents. ©2010 IEEE.

Hospital-based expert model for health technology procurement planning in hospitals.

Science.gov (United States)

Miniati, R; Cecconi, G; Frosini, F; Dori, F; Regolini, J; Iadanza, E; Biffi Gentili, G

2014-01-01

Although in the last years technology innovation in healthcare brought big improvements in care level and patient quality of life, hospital complexity and management cost became higher. For this reason, necessity of planning for medical equipment procurement within hospitals is getting more and more important in order to sustainable provide appropriate technology for both routine activity and innovative procedures. In order to support hospital decision makers for technology procurement planning, an expert model was designed as reported in the following paper. It combines the most widely used approaches for technology evaluation by taking into consideration Health Technology Assessment (HTA) and Medical Equipment Replacement Model (MERM). The designing phases include a first definition of prioritization algorithms, then the weighting process through experts' interviews and a final step for the model validation that included both statistical testing and comparison with real decisions. In conclusion, the designed model was able to provide a semi-automated tool that through the use of multidisciplinary information is able to prioritize different requests of technology acquisition in hospitals. Validation outcomes improved the model accuracy and created different "user profiles" according to the specific needs of decision makers.

A human motion model based on maps for navigation systems

Directory of Open Access Journals (Sweden)

Kaiser Susanna

2011-01-01

Full Text Available Abstract Foot-mounted indoor positioning systems work remarkably well when using additionally the knowledge of floor-plans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as particle filters (PFs, long-term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians' motion. In this article, a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floor-plans than a simple binary weighting of particles (i.e., eliminating those that crossed walls and keeping the rest. We will show that the motion model will help for obtaining better performance in critical navigation scenarios where two or more modes may be competing for some of the time (multi-modal scenarios.

78 FR 69462 - National Nanotechnology Initiative Strategic Plan; National Science and Technology Council...

Science.gov (United States)

2013-11-19

... OFFICE OF SCIENCE AND TECHNOLOGY POLICY OFFICE National Nanotechnology Initiative Strategic Plan; National Science and Technology Council; National Nanotechnology Coordination Office AGENCY: Executive... Science, Engineering, and Technology Subcommittee requests public comments on the draft 2014 National...

Impact of the planning CT scan time on the reflection of the lung tumor motion

International Nuclear Information System (INIS)

Kim, Su San; Choi, Eun Kyung; Yi, Byong Yong; Ha, Sung Whan

2004-01-01

To evaluate the reflection of tumor motion according to the planning CT scan time. A model of N-shape, which moved along the longitudinal axis during the ventilation caused by a mechanical ventilator, was produced. The model was scanned by planning CT, while setting the relative CT scan time (T; CT scan time/ventilatory period) to 0.33, 0.50, 0.67, 0.75, 1.00, 1.33 T, and 1.53 T. In addition, three patients with non-small cell lung cancer who received stereotactic radiosurgery in the Department of Radiation Oncology, Asan Medical Center from 03/19/2002 to 05/21/2002 were scanned. Slow (IQ Premier, Picker, scan time 2.0 seconds per slice) and fast CT scans (Light Speed, GE Medical System, with a scan time of 0.8 second per slice) were performed for each patient. The magnitude of reflected movement of the N-shaped model was evaluated by measuring the transverse length, which reflected the movement of the declined bar of the model at each slice. For patients' scans, all CT data sets were registered using a stereotactic body frame scale with the gross tumor volumes delineated in one CT image set. The volume and three-dimensional diameter of the gross tumor volume were measured and analyzed between the slow and fast CT scans. The reflection degree of longitudinal movement of the model increased in proportion to the relative CT scan times below 1.00 T, but remained constant above 1.00 T. Assuming the mean value of scanned transverse lengths with CT scan time 1.00 T to be 100%, CT scans with scan times of 0.33, 0.50, 0.67, and 0.75 T missed the tumor motion by 30, 27, 20, and 7.0% respectively. Slow (scan time 2.0 sec) and Fast (scan time 0.8 sec) CT scans of three patients with longitudinal movement of 3, 5, and 10 mm measured by fluoroscopy revealed the increases in the diameter along the longitudinal axis increased by 6.3, 17, and 23% in the slow CT scans. As the relative CT scan time increased, the reflection of the respiratory tumor movement on planning CT also

Optimum motion track planning for avoiding obstacles

International Nuclear Information System (INIS)

Attia, A.A.A

2008-01-01

A genetic algorithm (GA) is a stochastic search and optimization technique based on the mechanism of natural selection. A population of candidate solutions (Chromosomes) is held and interacts over a number of iterations (Generations) to produce better solutions. In canonical GA, the chromosomes are encoded as binary strings. Driving the process is the fitness of the chromosomes, which relates the quality of a candidate in quantitative terms. The fitness function encapsulates the problem- specific knowledge. The fitness is used in a stochastic selection of pairs of chromosomes which are 'reproduced' to generate new solution strings. Reproduction involves crossover, which generates new children by combining chromosomes in a process which swaps portions of each others genes. The other reproduction operator is called mutation. Mutation randomly changes genes and is used to introduce new information into the search. Both crossover and mutation make heavy use of random numbers.The aim of this thesis is to investigate the H/W implementation of genetic algorithm based motion path planning of robot. The potential benefit of using genetic algorithm hardware is that it allows both the huge parallelism which is suited to random number generation, crossover, mutation and fitness evaluation. For many real-world applications, GA can run for days, even when it is executed on a high performance workstation. According to the extensive computation of GA, it follows that hardware-based GA has been put forward. There are aspects of GA approach attract H/W implementation. The operation of selection and reproduction are basically problem independent and involve basic string manipulation tasks. These can be achieved by logical circuits.The fitness evaluation task, which is problem dependent, however proves a major difficulty in H/W implementation. Another difficulty comes from that designs can only be used for the individual problem their fitness function represents. Therefore, in this

2010 Strategic national plan of Science Technology and Innovation PENCTI

International Nuclear Information System (INIS)

2010-07-01

The document presents the national strategic plan for Science Technology and Innovation, its history, premises, conceptual framework, the starting situation, guiding principles, strategic objectives and priority area such as new energy sources to diversify the national energy matrix, environment environment and preservation of natural resources, governance and private management with increasing levels of dependency with the development of strategic technology knowledge and innovation

Rotec Theory: planning tool to position hospitals on the technology curve.

Science.gov (United States)

Roberts, R

1990-06-01

The mission statement of a prominent California hospital has been revised as part of a strategic planning process less than two years before the hospital began experiencing substantial financial difficulties. When the "red numbers" began to appear, management was quick to blame changing demographic patterns and the competitive environment. Those were not the only problems. A major contributing factor that management failed to recognize was a delay in how quickly the hospital moved to adopt high technology or new medical procedures. In a few short years, it had changed from being the first community hospital to implement state-of-the-art programs to one that was slow to introduce technology. In retrospect, the hospital's mission statement did not address the role of technology and therefore it could not detect the movement away from one of its critical success factors. The Rotec Theory was developed to assist this hospital to understand the economics of technology on its current and planned operations.

Feasibility of four-dimensional conformal planning for robotic radiosurgery

International Nuclear Information System (INIS)

Schlaefer, A.; Fisseler, J.; Dieterich, S.; Shiomi, H.; Cleary, K.; Schweikard, A.

2005-01-01

Organ motion can have a severe impact on the dose delivered by radiation therapy, and different procedures have been developed to address its effects. Conventional techniques include breath hold methods and gating. A different approach is the compensation for target motion by moving the treatment beams synchronously. Practical results have been reported for robot based radiosurgery, where a linear accelerator mounted on a robotic arm delivers the dose. However, not all organs move in the same way, which results in a relative motion of the beams with respect to the body and the tissues in the proximity of the tumor. This relative motion can severely effect the dose delivered to critical structures. We propose a method to incorporate motion in the treatment planning for robotic radiosurgery to avoid potential overdosing of organs surrounding the target. The method takes into account the motion of all considered volumes, which is discretized for dose calculations. Similarly, the beam motion is taken into account and the aggregated dose coefficient over all discrete steps is used for planning. We simulated the treatment of a moving target with three different planning methods. First, we computed beam weights based on a 3D planning situation and simulated treatment with organ motion and the beams moving synchronously to the target. Second, beam weights were computed by the 4D planning method incorporating the organ and beam motion and treatment was simulated for beams moving synchronously to the target. Third, the beam weights were determined by the 4D planning method with the beams fixed during planning and simulation. For comparison we also give results for the 3D treatment plan if there was no organ motion and when the plan is delivered by fixed beams in the presence of organ motion. The results indicate that the new 4D method is preferable and can further improve the overall conformality of motion compensated robotic radiosurgery

Employing mobile media technologies as a participatory planning tool in the suburban housing estate

DEFF Research Database (Denmark)

Andersson, Lasse; Knudsen, Anne-Marie Sanvig

2013-01-01

an on-going process, informed by mobile citizen generated information loops (open-source), the aim was to move beyond the master plan as a detached expert-driven product and towards an instant master planning process. In order to explore this iterative take on the planning process the research team...... and consulting firm employed mobile media technologies as a tool for creating new forms of citizen engagement. Based on the lessons learned from the research and development project we conclude by looking at what mobile media technologies afforded this planning process and what these experiences might add...

Using a Strategic Plan to Promote Technology in Rural School Districts.

Science.gov (United States)

VanSciver, James H.

1994-01-01

About six years ago, a rural Delaware school district formed a community/staff long-range planning committee to craft a strategic plan that would identify school system values and reallocate resources. As vision and mission statements emerged, technology evolved as a major value, with three goals related to funding and accessibility. Collaborative…

Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

Science.gov (United States)

Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig

2012-01-01

In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

Fast Numerical Simulation of Focused Ultrasound Treatments During Respiratory Motion With Discontinuous Motion Boundaries.

Science.gov (United States)

Schwenke, Michael; Georgii, Joachim; Preusser, Tobias

2017-07-01

Focused ultrasound (FUS) is rapidly gaining clinical acceptance for several target tissues in the human body. Yet, treating liver targets is not clinically applied due to a high complexity of the procedure (noninvasiveness, target motion, complex anatomy, blood cooling effects, shielding by ribs, and limited image-based monitoring). To reduce the complexity, numerical FUS simulations can be utilized for both treatment planning and execution. These use-cases demand highly accurate and computationally efficient simulations. We propose a numerical method for the simulation of abdominal FUS treatments during respiratory motion of the organs and target. Especially, a novel approach is proposed to simulate the heating during motion by solving Pennes' bioheat equation in a computational reference space, i.e., the equation is mathematically transformed to the reference. The approach allows for motion discontinuities, e.g., the sliding of the liver along the abdominal wall. Implementing the solver completely on the graphics processing unit and combining it with an atlas-based ultrasound simulation approach yields a simulation performance faster than real time (less than 50-s computing time for 100 s of treatment time) on a modern off-the-shelf laptop. The simulation method is incorporated into a treatment planning demonstration application that allows to simulate real patient cases including respiratory motion. The high performance of the presented simulation method opens the door to clinical applications. The methods bear the potential to enable the application of FUS for moving organs.

Development of a Motion Sensing and Automatic Positioning Universal Planisphere Using Augmented Reality Technology

Directory of Open Access Journals (Sweden)

Wernhuar Tarng

2017-01-01

Full Text Available This study combines the augmented reality technology and the sensor functions of GPS, electronic compass, and 3-axis accelerometer on mobile devices to develop a motion sensing and automatic positioning universal planisphere. It can create local star charts according to the current date, time, and position and help users locate constellations on the planisphere easily through motion sensing operation. By holding the mobile device towards the target constellation in the sky, the azimuth and elevation angles are obtained automatically for mapping to its correct position on the star chart. The proposed system combines observational activities with physical operation and spatial cognition for developing correct astronomical concepts, thus making learning more effective. It contains a built-in 3D virtual starry sky to enable observation in classroom for supporting teaching applications. The learning process can be shortened by setting varying observation date, time, and latitude. Therefore, it is a useful tool for astronomy education.

National technology needs assessment for the preparation and implementation of climate change action plans

Energy Technology Data Exchange (ETDEWEB)

Berkel, C.W.M. van; Blonk, T.J.; Westra, C.A.

1996-12-31

In the United National Framework Convention on Climate Change (FCCC) it is recognised that developed countries have a responsibility in assisting developing countries and countries in economic transition in building a national capacity for the development, acquisition and transfer of Climate-related Technologies (CTs). Such assistance is most likely to be successful once it is tailored to the results of a sound assessment of the country`s development needs and once the results of this assessment have been endorsed by the most important stakeholders in the country. Recent insight in the opportunities and constraints for National (technology) Needs Assessments (NNAs) as planning tool for both capacity building and technology transfer regarding Environmentally Sound Technologies (ESTs) is applied here to propose a participatory Climate Change Action Planning (CCAP) process. This participatory planning process is thought to serve the dual objective of defining a national Climate Change Action Plan (CCAP) while at the same time contributing to the creation of a broad supportive basis for its acceptance and implementation among stakeholders in the developing country.

Test plan guidance for transuranic-contaminated arid landfill remedial technology development

International Nuclear Information System (INIS)

Evans, J.; Shaw, P.

1995-05-01

This document provides guidance for preparing plans to test or demonstrate buried waste assessment or remediation technologies supported by the U.S. Department of Energy's Landfill Stabilization Focus Area, Transuranic-Contaminated Arid Landfill Product Line. This document also provides guidance for development of data quality objectives, along with the necessary data to meet the project objectives. The purpose is to ensure that useful data of known quality are collected to support conclusions associated with the designated demonstration or test. A properly prepared test plan will integrate specific and appropriate objectives with needed measurements to ensure data will reflect the Department of Energy Office of Technology Development's mission, be consistent with Landfill Stabilization Focus Area test goals, and be useful for the Department of Energy Environmental Restoration and Waste Management programs and other potential partners (e.g., commercial concerns). The test plan becomes the planning and working document for the demonstration or test to be conducted ensuring procedures are followed that will allow data of sufficient quality to be collected for comparison and evaluation

Improving Information Access through Technology: A Plan for Louisiana's Public Libraries.

Science.gov (United States)

Jaques, Thomas F.

Strengthening technology in Louisiana's public libraries will support equitable and convenient access to electronic information resources for all citizens at library sites, in homes, and in business. The plan presented in this document is intended to enhance and expand technology in the state's public libraries. After discussion of the crucial…

Application of virtual surgical planning with computer assisted design and manufacturing technology to cranio-maxillofacial surgery.

Science.gov (United States)

Zhao, Linping; Patel, Pravin K; Cohen, Mimis

2012-07-01

Computer aided design and manufacturing (CAD/CAM) technology today is the standard in manufacturing industry. The application of the CAD/CAM technology, together with the emerging 3D medical images based virtual surgical planning (VSP) technology, to craniomaxillofacial reconstruction has been gaining increasing attention to reconstructive surgeons. This article illustrates the components, system and clinical management of the VSP and CAD/CAM technology including: data acquisition, virtual surgical and treatment planning, individual implant design and fabrication, and outcome assessment. It focuses primarily on the technical aspects of the VSP and CAD/CAM system to improve the predictability of the planning and outcome.

Development of Gravity Acceleration Measurement Using Simple Harmonic Motion Pendulum Method Based on Digital Technology and Photogate Sensor

Science.gov (United States)

Yulkifli; Afandi, Zurian; Yohandri

2018-04-01

Development of gravitation acceleration measurement using simple harmonic motion pendulum method, digital technology and photogate sensor has been done. Digital technology is more practical and optimizes the time of experimentation. The pendulum method is a method of calculating the acceleration of gravity using a solid ball that connected to a rope attached to a stative pole. The pendulum is swung at a small angle resulted a simple harmonic motion. The measurement system consists of a power supply, Photogate sensors, Arduino pro mini and seven segments. The Arduino pro mini receives digital data from the photogate sensor and processes the digital data into the timing data of the pendulum oscillation. The calculation result of the pendulum oscillation time is displayed on seven segments. Based on measured data, the accuracy and precision of the experiment system are 98.76% and 99.81%, respectively. Based on experiment data, the system can be operated in physics experiment especially in determination of the gravity acceleration.

Simulation of respiratory motion during IMRT dose delivery

International Nuclear Information System (INIS)

Mohn, Silje; Wasboe, Ellen

2011-01-01

Background. When intensity modulated radiation therapy (IMRT) is realised with dynamic multi-leaf collimators (MLC) and given under respiratory motion, dosimetric errors may occur. These errors are a consequence of the dose blurring and the interplay between the organ motion and the leaf motion. In the present study, a model for evaluating these dosimetric effects for patient-specific cases has been developed and tested. Material and methods. In the purpose written software, three dimensional (3D) dose distributions can be calculated both with and without a generated breathing cycle. To validate the presented model and illustrate its application, periodic breathing cycles were generated, where the starting phase was set randomly for each field during the calculations. Respiration in the anterior-posterior (AP), superior-inferior (SI) and left-right (LR) direction was tested and verified. To illustrate the application of the presented model, two 5-fields IMRT plans with different complexity were calculated with a 2 cm peak-to-peak motion in the AP direction for one fraction and for 25 fractions. Results. The results showed that the calculation method is of good accuracy, in particular for IMRT plans consisting of several fields, where 97% of the pixels within the body fulfilled a tolerance set to 4% dose difference and 4 mm distance to agreement (DTA). For the two IMRT plans with different complexity, pronounced respiratory induced dose errors, which increased with increasing complexity, were found for both one fraction and 25 fractions, but due to the random stating phase the interplay effect was considerably reduced for the plans consisting of 25 fractions. This illustrates how the dosimetric effects will vary depending on the dose plan and on the number of fractions investigated. Conclusion. For patient specific cases, the model can with good accuracy calculate 3D dose distributions both with and without respiratory motion, and evaluate the dosimetric effects

The establishment of master plan for developing advanced I and C technology -The development of advanced instrumentation and control technology-

International Nuclear Information System (INIS)

Ham, Chang Shik; Lee, Byung Sun; Kwon, Kee Choon; Lee, Dong Young; Hwang, In Koo; Lee, Jang Soo; Kim, Jung Soo; Kim, Chang Hwoi; Jung, Chul Hwan; Na, Nan Ju; Dong, In Sook; Kang, Soon Gu; Lyu, Chan Ho; Song, Soon Ja

1994-07-01

Although several organizations are performing their tasks making efforts to develop new digital technology for application to existing nuclear power plants as well as new plants of the future, their projects are similar to each other and have possibilities of redundant investment. Therefore, KAERI have established a Master Plan to define the suitable work-scope of each Instrumentation and Control (I and C) development project and proceed its development items continuously. Furthermore, in the project, several kinds of advanced technology for application of computer science and digital electronics were studied to obtain better reliability of the I and C systems and reduce opertor's burden. For establishing the Master Plan, functions of I and C system of NPPs were surveyed. Especially EPRI URD was deeply analyzed for setting up a basis of the foreign countries were referred for the Master Plan. For the new technology survey, fault-tolerant control technology and control system performance analysis methods were studied. Requirements of alarm and information system as well as technology of I and C network system of NPPs were also established to introduce the advantages of commercial distributed control system. (Author)

The application of virtual reality technology to testing resistance to motion sickness

Directory of Open Access Journals (Sweden)

Menshikova G. Ya.

2017-09-01

Full Text Available Background. Prolonged exposure to moving images in virtual reality systems can cause virtual reality induced motion sickness (VIMS. The ability to resist motion sickness may be associated with the level of vestibular function development. objective. The aim of the present research is to study the oculomotor characteristics of individuals whose observation of moving virtual environments causes the VIMS effect. We hypothesized that people who have a robust vestibular function as a result of their professional activity, are less susceptible to VIMS than people who have no such professional abilities. The differences in people’s abilities to resist the effects of the virtual environment may be revealed in the oculomotor characteristics registered during their interaction with a virtual environment. Design. Figure skaters, football players, wushu fighters, and non-trained people were tested. e CAVE virtual reality system was used to initiate the VIMS effect. three virtual scenes were constructed consisting of many bright balls moving as a whole around the observer. e scenes differed in the width of the visual field; all balls subtended either 45°, 90° or 180°. Results. The results showed more active eye movements for athletes compared to non-trained people, i.e. an increase in blink, fixation, and saccade counts. A decrease in saccadic amplitudes was revealed for figure skaters. These characteristics were considered specific indicators of the athletes’ ability to resist motion sickness. Conclusions. It was found that the strength of the VIMS effect increased with the increasing width of the visual field. The effectiveness of virtual reality and eye-tracking technologies to test the VIMS effect was demonstrated.

Motion Learning Based on Bayesian Program Learning

Directory of Open Access Journals (Sweden)

Cheng Meng-Zhen

2017-01-01

Full Text Available The concept of virtual human has been highly anticipated since the 1980s. By using computer technology, Human motion simulation could generate authentic visual effect, which could cheat human eyes visually. Bayesian Program Learning train one or few motion data, generate new motion data by decomposing and combining. And the generated motion will be more realistic and natural than the traditional one.In this paper, Motion learning based on Bayesian program learning allows us to quickly generate new motion data, reduce workload, improve work efficiency, reduce the cost of motion capture, and improve the reusability of data.

Comparison of dosimetry distribution between three-dimension conformal and intensity modulated plan integrated with breath motion in postoperative radiation of gastric cancer

International Nuclear Information System (INIS)

Sun Wenjie; Zhang Zhen; Hu Weigang; Gu Weilie; Zhu Ji; Li Guichao; Cai Gang; Ma Xuejun

2010-01-01

Objective: To compare the dose distribution of the target and normal tissues in gastric cancers between three-dimension conformal radiation therapy (3DCRT) and intensity modulated radiation therapy (IMRT) plan when respiratory motion factors integrated in the plan. Methods: From January 2005 to November 2006, 10 patients with post-operatively radiation of gastric cancer were enrolled in this study. Planning CT were acquired conventionally with free-breath mode and the static treatment plans of the 3DCRT and IMRT were designed respectively. Probability distribution functions (PDF) were generated and convoluted with the static dose distributions from 3DCRT and IMRT plans to obtain the integrated plans. The dose distributions of the target and normal tissues were compared between 3DCRT and IMRT integration treatment plans, such as V 45 of clinical target volume, V 40 of liver and V 15 , V 18 of left and right kidney. Results: In the respiratory integrated treatment planning, the target volume coverage and homogeneity with IMRT are superior to those with 3DCRT ((V 45 98% : 87% (t = -3.35, P =0.010), mean dose 46.81 Gy ±0.75 Gy : 45.99 Gy ± 1.12 Gy (t = -0.31, P=0.020)). The V 40 of the liver in IMRT are smaller than those in 3DCRT ( 12% : 16%; t=3.75, P=0.010). For the left kidney, the V 15 and V 18 in IMRT are smaller than those in 3DCRT ((34% : 50% (t = 2.17, P = 0.050) and 27% : 46% (t = 3.11, P = 0.020) ),but for the right kidney, V 15 and V 18 in 3DCRT are smaller than those in IMRT ((15% : 21% (t = - 2.42, P=0.040) and 11% : 15% (t= -2.71, P=0.030)). Conclusions: When respiratory motion factor integrated in the treatment plan, IMRT showed advantage both in target coverage and normal tissue sparing in the high dose region of liver and left kidney. (authors)

A Study on the Planning of Technology Development and Research for Generation IV Nuclear Energy Systems

Energy Technology Data Exchange (ETDEWEB)

Chang, Moon Hee; Kim, H. R.; Kim, H. J. and others

2005-08-15

This study aimed at the planning the domestic technology development of the Gen IV and the formulating the international collaborative project contents and executive plan for 'A Validity Assessment and Policies of the R and D of Generation IV Nuclear Energy Systems'. The results of the study include follows; - Survey of the technology state in the fields of the Gen IV system specific technologies and the common technologies, and the plans of the international collaborative research - Drawing up the executive research and development plan by the experts of the relevant technology field for the systems which Korean will participate in. - Formulating the effective conduction plan of the program reflecting the view of the experts from the industry, the university and the research institute. - Establishing the plan for estimation of the research fund and the manpower for the efficient utilization of the domestic available resources. This study can be useful material for evaluating the appropriateness of the Korea's participation in the international collaborative development of the Gen IV, and can be valuably utilized to establish the strategy for the effective conduction of the program. The executive plan of the research and development which was produced in this study will be used to the basic materials for the establishing the guiding direction and the strategic conduction of the program when the research and development is launched in the future.

DEPARTMENT OF ENERGY SOIL AND GROUNDWATER SCIENCE AND TECHNOLOGY NEEDS, PLANS AND INITIATIVES

Energy Technology Data Exchange (ETDEWEB)

Aylward, B; V. ADAMS, V; G. M. CHAMBERLAIN, G; T. L. STEWART, T

2007-12-12

This paper presents the process used by the Department of Energy (DOE) Environmental Management (EM) Program to collect and prioritize DOE soil and groundwater site science and technology needs, develop and document strategic plans within the EM Engineering and Technology Roadmap, and establish specific program and project initiatives for inclusion in the EM Multi-Year Program Plan. The paper also presents brief summaries of the goals and objectives for the established soil and groundwater initiatives.

Commercially available video motion detectors

International Nuclear Information System (INIS)

1979-01-01

A market survey of commercially available video motion detection systems was conducted by the Intrusion Detection Systems Technology Division of Sandia Laboratories. The information obtained from this survey is summarized in this report. The cutoff date for this information is May 1978. A list of commercially available video motion detection systems is appended

Study on engineering technologies in the Mizunami Underground Research Laboratory (FY 2015). Development of design and construction planning and countermeasure technologies (Contract research)

International Nuclear Information System (INIS)

Toguri, Satohito; Kobayashi, Shinji; Tsuji, Masakuni; Yahagi, Ryoji; Yamada, Toshiko; Matsui, Hiroya; Mikake, Shinichiro; Aoyagi, Yoshiaki; Sato, Toshinori

2017-03-01

The study on engineering technology in the Mizunami Underground Research Laboratory (MIU) project roughly consists of (1)development of design and construction planning technologies, (2)development of construction technology, (3)development of countermeasure technology, (4)development of technology for security, and (5) development of technologies regarding restoration and mitigating of the excavation effect. So far, the verification of the initial design based on the data obtained during excavation was mainly conducted as a research in the Construction Phase, also the countermeasure technologies to control groundwater inflow were examined as a research in the Operation Phase. In FY2015, as a part of the important issues on the research program, “Development of countermeasure technologies for reducing groundwater inflow” in the Japan Atomic Energy Agency 3rd Midterm Plan, water-tight grouting method has been developed. Grouting methods utilized in the MIU were evaluated and the post-excavation grouting at the -500m Access/Research Gallery-South was planned based on these evaluation results. Also, technology development from the viewpoint of geological disposal was summarized, and information on the alternative method to the grouting method was collected and organized. (author)

USGS Information Technology Strategic Plan: Fiscal Years 2007-2011

Science.gov (United States)

,

2006-01-01

Introduction: The acquisition, management, communication, and long-term stewardship of natural science data, information, and knowledge are fundamental mission responsibilities of the U.S. Geological Survey (USGS). USGS scientists collect, maintain, and exchange raw scientific data and interpret and analyze it to produce a wide variety of science-based products. Managers throughout the Bureau access, summarize, and analyze administrative or business-related information to budget, plan, evaluate, and report on programs and projects. Information professionals manage the extensive and growing stores of irreplaceable scientific information and knowledge in numerous databases, archives, libraries, and other digital and nondigital holdings. Information is the primary currency of the USGS, and it flows to scientists, managers, partners, and a wide base of customers, including local, State, and Federal agencies, private sector organizations, and individual citizens. Supporting these information flows is an infrastructure of computer systems, telecommunications equipment, software applications, digital and nondigital data stores and archives, technical expertise, and information policies and procedures. This infrastructure has evolved over many years and consists of tools and technologies acquired or built to address the specific requirements of particular projects or programs. Developed independently, the elements of this infrastructure were typically not designed to facilitate the exchange of data and information across programs or disciplines, to allow for sharing of information resources or expertise, or to be combined into a Bureauwide and broader information infrastructure. The challenge to the Bureau is to wisely and effectively use its information resources to create a more Integrated Information Environment that can reduce costs, enhance the discovery and delivery of scientific products, and improve support for science. This Information Technology Strategic Plan

105-C Reactor interim safe storage project technology integration plan

International Nuclear Information System (INIS)

Pulsford, S.K.

1997-01-01

The 105-C Reactor Interim Safe Storage Project Technology Integration Plan involves the decontamination, dismantlement, and interim safe storage of a surplus production reactor. A major goal is to identify and demonstrate new and innovative D and D technologies that will reduce costs, shorten schedules, enhance safety, and have the potential for general use across the RL complex. Innovative technologies are to be demonstrated in the following areas: Characterization; Decontamination; Waste Disposition; Dismantlement, Segmentation, and Demolition; Facility Stabilization; and Health and Safety. The evaluation and ranking of innovative technologies has been completed. Demonstrations will be selected from the ranked technologies according to priority. The contractor team members will review and evaluate the demonstration performances and make final recommendations to DOE

Adaptive Motion Compensation in Radiotherapy

CERN Document Server

Murphy, Martin J

2011-01-01

External-beam radiotherapy has long been challenged by the simple fact that patients can (and do) move during the delivery of radiation. Recent advances in imaging and beam delivery technologies have made the solution--adapting delivery to natural movement--a practical reality. Adaptive Motion Compensation in Radiotherapy provides the first detailed treatment of online interventional techniques for motion compensation radiotherapy. This authoritative book discusses: Each of the contributing elements of a motion-adaptive system, including target detection and tracking, beam adaptation, and pati

Motion planning and synchronized control of the dental arch generator of the tooth-arrangement robot.

Science.gov (United States)

Jiang, Jin-Gang; Zhang, Yong-De

2013-03-01

The traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi-manipulator tooth-arrangement robot for use in full denture manufacture. First, the mathematical model of the dental arch generator was derived. Then the kinematics and control point position of the dental arch generator of the tooth arrangement robot were calculated and motion planning of each control point was analysed. A hardware control scheme is presented, based on the industrial personal computer and control card PC6401. In order to gain single-axis, precise control of the dental arch generator, we studied the control pulse realization of high-resolution timing. Real-time, closed-loop, synchronous control was applied to the dental arch generator. Experimental control of the dental arch generator and preliminary tooth arrangement were gained by using the multi-manipulator tooth-arrangement robotic system. The dental arch generator can automatically generate a dental arch to fit a patient according to the patient's arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways that drive the dental arch generator. The maximum value of single-point error is 1.83 mm, while the arc-width direction (x axis) is -33.29 mm. A novel system that generates the dental arch has been developed. The traditional method of manually determining the dental arch may soon be replaced by a robot to assist in generating a more individual dental arch. The system can be used to fabricate full dentures and bend orthodontic wires. Copyright © 2012 John Wiley & Sons, Ltd.

42 CFR 495.332 - State Medicaid health information technology (HIT) plan requirements.

Science.gov (United States)

2010-10-01

... and strategic plan for the next 5 years. (2) A description of how the State Medicaid HIT plan will be... processes that enable improved program administration for the Medicaid enterprise; (ii) Includes business... used certified EHR technology during the EHR reporting period, and that they have adopted, implemented...

First online real-time evaluation of motion-induced 4D dose errors during radiotherapy delivery

DEFF Research Database (Denmark)

Ravkilde, Thomas; Skouboe, Simon; Hansen, Rune

2018-01-01

PURPOSE: In radiotherapy, dose deficits caused by tumor motion often far outweigh the discrepancies typically allowed in plan-specific quality assurance (QA). Yet, tumor motion is not usually included in present QA. We here present a novel method for online treatment verification by real......-time motion-including 4D dose reconstruction and dose evaluation and demonstrate its use during stereotactic body radiotherapy (SBRT) delivery with and without MLC tracking. METHODS: Five volumetric modulated arc therapy (VMAT) plans were delivered with and without MLC tracking to a motion stage carrying...... a Delta4 dosimeter. The VMAT plans have previously been used for (non-tracking) liver SBRT with intra-treatment tumor motion recorded by kilovoltage intrafraction monitoring (KIM). The motion stage reproduced the KIM-measured tumor motions in 3D while optical monitoring guided the MLC tracking. Linac...

Emerging Requirements for Technology Management: A Sector-based Scenario Planning Approach

Directory of Open Access Journals (Sweden)

Simon Patrick Philbin

2013-09-01

Full Text Available Identifying the emerging requirements for technology management will help organisations to prepare for the future and remain competitive. Indeed technology management as a discipline needs to develop and respond to societal and industrial needs as well as the corresponding technology challenges. Therefore, following a review of technology forecasting methodologies, a sector-based scenario planning approach has been used to derive the emerging requirements for technology management. This structured framework provided an analytical lens to focus on the requirements for managing technology in the healthcare, energy and higher education sectors over the next 5-10 years. These requirements include the need for new business models to support the adoption of technologies; integration of new technologies with existing delivery channels; management of technology options including R&D project management; technology standards, validation and interoperability; and decision-making tools to support technology investment.

On the Unsteady-Motion Theory of Magnetic Forces for Maglev

Science.gov (United States)

1993-11-01

DivisionEnergy Technology Division Forces for Maglev Energy Technology DivisionEnergy Technology Division by S. S. Chen, S. Zhu, and Y. Cai APQ 4 袲...On the Unsteady-Motion Theory of Magnetic Forces for Maglev by S. S. Chen, S. Zhu, and Y. Cai Energy Technology Division November 1993 Work supported...vi On The Unsteady-Motion Theory of Magnetic Forces for Maglev by S. S

MO-FG-BRA-07: Intrafractional Motion Effect Can Be Minimized in Tomotherapy Stereotactic Body Radiotherapy (SBRT)

Energy Technology Data Exchange (ETDEWEB)

Price, A; Chang, S; Matney, J; Wang, A; Lian, J [University of North Carolina, Chapel Hill, NC (United States); Chao, E [Accuray Incorporated, Madison, WI (United States)

2016-06-15

Purpose: Tomotherapy has unique challenges in handling intrafractional motion compared to conventional LINAC. In this study, we analyzed the impact of intrafractional motion on cumulative dosimetry using actual patient motion data and investigated real time jaw/MLC compensation approaches to minimize the motion-induced dose discrepancy in Tomotherapy SBRT treatment. Methods: Intrafractional motion data recorded in two CyberKnife lung treatment cases through fiducial tracking and two LINAC prostate cases through Calypso tracking were used in this study. For each treatment site, one representative case has an average motion (6mm) and one has a large motion (10mm for lung and 15mm for prostate). The cases were re-planned on Tomotherapy for SBRT. Each case was planned with 3 different jaw settings: 1cm static, 2.5cm dynamic, and 5cm dynamic. 4D dose accumulation software was developed to compute dose with the recorded motions and theoretically compensate motions by modifying original jaw and MLC to track the trajectory of the tumor. Results: PTV coverage in Tomotherapy SBRT for patients with intrafractional motion depends on motion type, amplitude and plan settings. For the prostate patient with large motion, PTV coverage changed from 97.2% (motion-free) to 47.1% (target motion-included), 96.6% to 58.5% and 96.3% to 97.8% for the 1cm static jaw, 2.5cm dynamic jaw and 5cm dynamic jaw setting, respectively. For the lung patient with large motion, PTV coverage discrepancies showed a similar trend of change. When the jaw and MLC compensation program was engaged, the motion compromised PTV coverage was recovered back to >95% for all cases and plans. All organs at risk (OAR) were spared with < 5% increase from original motion-free plans. Conclusion: Tomotherapy SBRT is less motion-impacted when 5cm dynamic jaw is used. Once the motion pattern is known, the jaw and MLC compensation program can largely minimize the compromised target coverage and OAR sparing.

MO-FG-BRA-07: Intrafractional Motion Effect Can Be Minimized in Tomotherapy Stereotactic Body Radiotherapy (SBRT)

International Nuclear Information System (INIS)

Price, A; Chang, S; Matney, J; Wang, A; Lian, J; Chao, E

2016-01-01

Purpose: Tomotherapy has unique challenges in handling intrafractional motion compared to conventional LINAC. In this study, we analyzed the impact of intrafractional motion on cumulative dosimetry using actual patient motion data and investigated real time jaw/MLC compensation approaches to minimize the motion-induced dose discrepancy in Tomotherapy SBRT treatment. Methods: Intrafractional motion data recorded in two CyberKnife lung treatment cases through fiducial tracking and two LINAC prostate cases through Calypso tracking were used in this study. For each treatment site, one representative case has an average motion (6mm) and one has a large motion (10mm for lung and 15mm for prostate). The cases were re-planned on Tomotherapy for SBRT. Each case was planned with 3 different jaw settings: 1cm static, 2.5cm dynamic, and 5cm dynamic. 4D dose accumulation software was developed to compute dose with the recorded motions and theoretically compensate motions by modifying original jaw and MLC to track the trajectory of the tumor. Results: PTV coverage in Tomotherapy SBRT for patients with intrafractional motion depends on motion type, amplitude and plan settings. For the prostate patient with large motion, PTV coverage changed from 97.2% (motion-free) to 47.1% (target motion-included), 96.6% to 58.5% and 96.3% to 97.8% for the 1cm static jaw, 2.5cm dynamic jaw and 5cm dynamic jaw setting, respectively. For the lung patient with large motion, PTV coverage discrepancies showed a similar trend of change. When the jaw and MLC compensation program was engaged, the motion compromised PTV coverage was recovered back to >95% for all cases and plans. All organs at risk (OAR) were spared with < 5% increase from original motion-free plans. Conclusion: Tomotherapy SBRT is less motion-impacted when 5cm dynamic jaw is used. Once the motion pattern is known, the jaw and MLC compensation program can largely minimize the compromised target coverage and OAR sparing.

Strategic Program Planning Lessons Learned In Developing The Long-Term Stewardship Science and Technology Roadmap

Energy Technology Data Exchange (ETDEWEB)

Dixon, B.W.; Hanson, D.J.; Matthern, G.E.

2003-04-24

Technology roadmapping is a strategic planning method used by companies to identify and plan the development of technologies necessary for new products. The U.S. Department of Energy's Office of Environmental Management has used this same method to refine requirements and identify knowledge and tools needed for completion of defined missions. This paper describes the process of applying roadmapping to clarify mission requirements and identify enhancing technologies for the Long-Term Stewardship (LTS) of polluted sites after site cleanup has been completed. The nature of some contamination problems is such that full cleanup is not achievable with current technologies and some residual hazards remain. LTS maintains engineered contaminant barriers and land use restriction controls, and monitors residual contaminants until they no longer pose a risk to the public or the environment. Roadmapping was used to clarify the breadth of the LTS mission, to identify capability enhancements needed to improve mission effectiveness and efficiency, and to chart out the research and development efforts to provide those enhancements. This paper is a case study of the application of roadmapping for program planning and technical risk management. Differences between the planned and actual application of the roadmapping process are presented along with lessons learned. Both the process used and lessons learned should be of interest for anyone contemplating a similar technology based planning effort.

Building Technologies Program Multi-Year Program Plan Research and Development 2008

Energy Technology Data Exchange (ETDEWEB)

None, None

2008-01-01

Building Technologies Program Multi-Year Program Plan 2008 for research and development, including residential and commercial integration, lighting, HVAC and water heating, envelope, windows, and analysis tools.

Advanced Education and Technology Business Plan, 2009-12. Highlights

Science.gov (United States)

Alberta Advanced Education and Technology, 2009

2009-01-01

Advanced Education and Technology provides strategic leadership for the development of the next generation economy in Alberta through the provision of accessible, affordable and quality learning opportunities for all Albertans and support for a dynamic and integrated innovation system. This paper provides the highlights of the business plan of the…

Research and development plan of fusion technologies in JAERI toward DEMO reactors

International Nuclear Information System (INIS)

Nishitani, Takeo; Hayashi, Takumi; Abe, Tetsuya; Akiba, Masato; Isono, Takaaki; Inoue, Takashi; Enoeda, Mikio; Okuno, Kiyoshi; Koizumi, Norikiyo; Sakamoto, Keishi; Sato, Satoshi; Jitsukawa, Shiro; Sugimoto, Masayoshi; Suzuki, Satoshi; Seki, Shogo; Takatsu, Hideyuki; Tanzawa, Sadamitsu; Tsuchiya, Kunihiko; Nishi, Masataka; Hayashi, Kimio; Matsui, Hideki; Yamanishi, Toshihiko; Watanabe, Kazuhiro

2005-03-01

In accordance with the 'Third Phase Basic Program on Fusion Research and Development' established by the Fusion Council of the Japan Atomic Energy Commission, research and development (R and D) of fusion technologies aim at realization of two elements: development of ITER key components and their improvement for higher performances; and construction of sound technical basis of fusion nuclear technologies essential for fusion energy utilization. JAERI has been assigned in the Third Phase Basic Program as a responsible institute for developing the above two elements, and accordingly has been implementing technology R and Ds categorized in the following three areas: R and D for ITER construction and operation; R and D for ITER utilization (blanket testing in ITER) and toward DEMO; and R and D on basic fusion technologies. The present report reviews the status and the plan of fusion technology R and Ds in the latter two areas, and presents the technical objectives, technical issues, status of R and D and near-term R and D plans for: breeding blankets; structural materials; the IFMIF program; improvements of the key ITER components for higher performances toward DEMO; and basic fusion technologies. (author)

A programmable motion phantom for quality assurance of motion management in radiotherapy

International Nuclear Information System (INIS)

Dunn, L.; Franich, R.D.; Kron, T.; Taylor, M.L.; Johnston, P.N.; McDermott, L.N.; Callahan, J.

2012-01-01

A commercially available motion phantom (QUASAR, Modus Medical) was modified for programmable motion control with the aim of reproducing patient respiratory motion in one dimension in both the anterior–posterior and superior–inferior directions, as well as, providing controllable breath-hold and sinusoidal patterns for the testing of radiotherapy gating systems. In order to simulate realistic patient motion, the DC motor was replaced by a stepper motor. A separate 'chest-wall' motion platform was also designed to accommodate a variety of surrogate marker systems. The platform employs a second stepper motor that allows for the decoupling of the chest-wall and insert motion. The platform's accuracy was tested by replicating patient traces recorded with the Varian real-time position management (RPM) system and comparing the motion platform's recorded motion trace with the original patient data. Six lung cancer patient traces recorded with the RPM system were uploaded to the motion platform's in-house control software and subsequently replicated through the phantom motion platform. The phantom's motion profile was recorded with the RPM system and compared to the original patient data. Sinusoidal and breath-hold patterns were simulated with the motion platform and recorded with the RPM system to verify the systems potential for routine quality assurance of commercial radiotherapy gating systems. There was good correlation between replicated and actual patient data (P 0.003). Mean differences between the location of maxima in replicated and patient data-sets for six patients amounted to 0.034 cm with the corresponding minima mean equal to 0.010 cm. The upgraded motion phantom was found to replicate patient motion accurately as well as provide useful test patterns to aid in the quality assurance of motion management methods and technologies.

A Typology of Communication Dynamics in Families Living a Slow-Motion Technological Disaster.

Science.gov (United States)

Orom, Heather; Cline, Rebecca J W; Hernandez, Tanis; Berry-Bobovski, Lisa; Schwartz, Ann G; Ruckdeschel, John C

2012-10-01

With increasing numbers of communities harmed by exposures to toxic substances, greater understanding of the psychosocial consequences of these technological disasters is needed. One community living the consequences of a slow-motion technological disaster is Libby, Montana, where, for nearly 70 years, amphibole asbestos-contaminated vermiculite was mined and processed. Former mine employees and Libby area residents continue to cope with the health consequences of occupational and environmental asbestos exposure and with the psychosocial challenges accompanying chronic and often fatal asbestos-related diseases (ARD). Nine focus groups were conducted with Libby area residents. Transcripts were analyzed to explore patterns of family communication about ARD. The following five patterns emerged: Open/Supportive, Silent/Supportive, Open/Conflictual, Silent/Conflictual, and Silent/Denial. Open/Supportive communication included encouragement to be screened for ARD, information about ARD and related disaster topics, and emotional support for people with ARD. In contrast, communication patterns characterized by silence or conflict have the potential to hinder health-promoting communication and increase psychological distress.

US country studies program: Support for climate change studies, national plans, and technology assessments

Energy Technology Data Exchange (ETDEWEB)

NONE

1996-12-31

This paper describes the objectives of the next phase of the U.S. Country Studies Program which was launched in support of the Framework Convention on Climate Change (FCCC). The next phases of this program aim to: assist countries in preparing Climate Change Action plans; support technology assessments and development of technology initiatives; enhance exchange of information and expertise in support of FCCC. The program offers support for these processes in the form of handbooks which have been published to aid in preparing action plans, and to provide information on methane, forestry, and energy technologies. In addition an array of training workshops have been and are scheduled to offer hands on instruction to participants, expert advice is available from trained personnel, and modeling tools are available to aid in development of action plans.

Implementation Plan for Qualification of Sodium-Cooled Fast Reactor Technology Information

Energy Technology Data Exchange (ETDEWEB)

Moe, Wayne [Idaho National Lab. (INL), Idaho Falls, ID (United States); Honma, George [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2016-03-01

This document identifies and discusses implementation elements that can be used to facilitate consistent and systematic evaluation processes relating to quality attributes of technical information (with focus on SFR technology) that will be used to support licensing of advanced reactor designs. Information may include, but is not limited to, design documents for SFRs, research-and-development (R&D) data and associated documents, test plans and associated protocols, operations and test data, international research data, technical reports, and information associated with past U.S. Nuclear Regulatory Commission (NRC) reviews of SFR designs. The approach for determining acceptability of test data, analysis, and/or other technical information is based on guidance provided in INL/EXT-15-35805, “Guidance on Evaluating Historic Technology Information for Use in Advanced Reactor Licensing.” The implementation plan can be adopted into a working procedure at each of the national laboratories performing data qualification, or by applicants seeking future license application for advanced reactor technology.

Information technology and emergency management: preparedness and planning in US states.

Science.gov (United States)

Reddick, Christopher

2011-01-01

The purpose of this paper is to examine the impact of information technology (IT) on emergency preparedness and planning by analysing a survey of US state government departments of emergency management. The research results show that there has been a significant impact of IT on emergency planning. IT has proven to be effective for all phases of emergency management, but especially for the response phase. There are numerous technologies used in emergency management, ranging from the internet, Geographic Information Systems and wireless technologies to more advanced hazard analysis models. All were generally viewed as being effective. Lack of financial resources and support from elected officials is a perennial problem in public administration, and was found to be prevalent in this study of IT and emergency management. There was evidence that state governments rating high on a performance index were more likely to use IT for emergency management. © 2011 The Author(s). Disasters © Overseas Development Institute, 2011.

Bioenergy Technologies Office Multi-Year Program Plan: November 2014 Update

Energy Technology Data Exchange (ETDEWEB)

None

2014-11-01

This is the November 2014 Update to the Multi-Year Program Plan, which sets forth the goals and structure of the Bioenergy Technologies Office. It identifies the RDD&D activities the Office will focus on over the next four years.

Bioenergy Technologies Office Multi-Year Program Plan: March 2015 Update

Energy Technology Data Exchange (ETDEWEB)

none,

2015-03-01

This is the March 2015 Update to the Multi-Year Program Plan, which sets forth the goals and structure of the Bioenergy Technologies Office. It identifies the RDD&D activities the Office will focus on over the next four years.

Bioenergy Technologies Office Multi-Year Program Plan. March 2016

Energy Technology Data Exchange (ETDEWEB)

Schwab, Amy [Bioenergy Technologies Office, Washington, DC (United States)

2016-03-01

The Bioenergy Technologies Office is one of the 10 technology development offices within the Office of Energy Efficiency and Renewable Energy at the U.S. Department of Energy. This Multi-Year Program Plan (MYPP) sets forth the goals and structure of the Bioenergy Technologies Office (the Office). It identifies the research, development, and demonstration (RD&D), and market transformation and crosscutting activities the Office will focus on over the next five years and outlines why these activities are important to meeting the energy and sustainability challenges facing the nation. This MYPP is intended for use as an operational guide to help the Office manage and coordinate its activities, as well as a resource to help communicate its mission and goals to stakeholders and the public.

A Planning Process Addresses an Organizational and Support Crisis in Information Technology.

Science.gov (United States)

Nelson, Keith R.; Davenport, Richard W.

1996-01-01

An institutionwide strategic planning effort at Central Michigan University, in response to a need for rapid and significant changes in its information technology infrastructure, is outlined. The effort resulted in a matrix governance structure for information technology that acknowledges the value of both distributed support and a strong central…

42 CFR 495.338 - Health information technology implementation advance planning document requirements (HIT IAPD).

Science.gov (United States)

2010-10-01

... 42 Public Health 5 2010-10-01 2010-10-01 false Health information technology implementation... CERTIFICATION STANDARDS FOR THE ELECTRONIC HEALTH RECORD TECHNOLOGY INCENTIVE PROGRAM Requirements Specific to the Medicaid Program § 495.338 Health information technology implementation advance planning document...

MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

Institute of Scientific and Technical Information of China (English)

无

2000-01-01

Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a "Dynamic Coordinator" strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.

An Architecture for Robot Assemblt Task Planning

DEFF Research Database (Denmark)

Sun, Hongyan

1999-01-01

This paper discusses an integrated robot assembly task planning system architecture. In such an integrated system, the robot motion commands produced from the planning system can be validated before done-loading for actual execution.......This paper discusses an integrated robot assembly task planning system architecture. In such an integrated system, the robot motion commands produced from the planning system can be validated before done-loading for actual execution....

Elaboration of technology organizational models of constructing high-rise buildings in plans of construction organization

Science.gov (United States)

Osipenkova, Irina; Simankina, Tatyana; Syrygina, Taisiia; Lukinov, Vitaliy

2018-03-01

This article represents features of the elaboration of technology organizational models of high-rise building construction in technology organizational documentation on the example of the plan of construction organization. Some examples of enhancing the effectiveness of high-rise building construction based on developments of several options of the organizational and technological plan are examined. Qualitative technology organizational documentation allows to increase the competitiveness of construction companies and provides prime cost of construction and assembly works reductions. Emphasis is placed on the necessity to comply with the principle of comprehensiveness of engineering, scientific and research works, development activities and scientific and technical support.

Maslow and Motherboards: Taking a Hierarchical View of Technology Planning.

Science.gov (United States)

Johnson, Doug

2003-01-01

Presents a planning model for educational uses of technology that is based on Maslow's hierarchy of needs. Topics include established infrastructure; effective administration; extensive resources; enhanced teaching, including creating distance learning opportunities; empowered students, including evaluation methods and information literacy skills;…

Planning of Medium- and Long-Term Strategy for the Safeguards Technology Development

International Nuclear Information System (INIS)

Shin, Dong Hoon; Ahn, Gil Hoon; Choi, Kwan Gyu

2009-01-01

In Rep. of Korea, active safeguards technology development suitable to phase of a nuclear advanced country is necessary because of below reasons. First reasons are '6th ranked position in the nuclear energy generation all over the world', 'continuously increased outcomes in the various nuclear fields such as research or patent', 'strengthened intention of the new government for nuclear industries', and 'weakness of the R and D foundation related to the safeguards technology'. Second reasons are optimization necessity of the effectiveness and efficiency of safeguards according to enlargement of the SSAC (State Systems of Accounting for and Control) role. The reason of the enlargement of the SSAC is IAEA IS (Integrated Safeguards) application for Korea. Third reasons are necessity for the systematic national development plan considering the Korea R and D level and the degree of the difficulty of technology. This is to say, there is necessity of the system construction of safeguards technology development connected to the NuTRM(Nuclear Technology Road Map), integrated national nuclear energy promotion plans because of necessity for concentration of the technology level and development abilities which are spread in the industry fields, the academic world and research fields. So, in this study, the foundation of the advanced safeguards technology is provided through determining the priority of the individual technology of National Safeguards, establishing development strategy for the middle or long term of Safeguards technology, based on domestic and foreign status

Technology transfer in the CNEA: Between 'supply-slide' and nuclear plan

International Nuclear Information System (INIS)

Enriquez, Santiago N

2012-01-01

This paper reflects on linkage activities and technology transfer of Atomic Energy National Commission (CNEA). Given that the CNEA was a S and T institution, which was pioneer in activities to reach out the productive sector; it will show that, since 1961, the year of the creation of the Service of Technical Assistance to Industry (SATI) -; until today -where the Law 23.877 of Promotion of the Technological Innovation is fully implemented, different modes of technology transfer based on certain S and T policies are detected. First, it will describe the characteristics of the technology transfer made by SATI, and its connection with the political decisions made by the Department of Metallurgy of CNEA to relate the domestic industry and the Nuclear Plan. In a second instance, it will describe the effects on the technology transfer after the disabling of the Nuclear Plan in 1994, the enforcement of Law 23,877 in CNEA and progressive deactivation of SATI. Finally, it will reflect on the two main stages of technology transfer in CNEA for potential S and T policies (author)

Linear Temporal Logic-based Mission Planning

OpenAIRE

Anil Kumar; Rahul Kala

2016-01-01

In this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Tem...

Linear Temporal Logic-based Mission Planning

Directory of Open Access Journals (Sweden)

Anil Kumar

2016-06-01

Full Text Available In this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Temporal Logic to give a representation for such complex task specification and constraints. The specifications are used by a verification engine to judge the feasibility and suitability of plans. The planner gives a motion strategy as output. Finally a controller is used to generate the desired trajectory to achieve such a goal. The approach is tested using simulations on the LTLMoP mission planning tool, operating over the Robot Operating System. Simulation results generated using high level planners and low level controllers work simultaneously for mission planning and controlling the physical behavior of the robot.

Individualized planning target volumes for intrafraction motion during hypofractionated intensity-modulated radiotherapy boost for prostate cancer

International Nuclear Information System (INIS)

Cheung, Patrick; Sixel, Katharina; Morton, Gerard; Loblaw, D. Andrew; Tirona, Romeo; Pang, Geordi; Choo, Richard; Szumacher, Ewa; DeBoer, Gerrit; Pignol, Jean-Philippe

2005-01-01

Purpose: The objective of the study was to access toxicities of delivering a hypofractionated intensity-modulated radiotherapy (IMRT) boost with individualized intrafraction planning target volume (PTV) margins and daily online correction for prostate position. Methods and materials: Phase I involved delivering 42 Gy in 21 fractions using three-dimensional conformal radiotherapy, followed by a Phase II IMRT boost of 30 Gy in 10 fractions. Digital fluoroscopy was used to measure respiratory-induced motion of implanted fiducial markers within the prostate. Electronic portal images were taken of fiducial marker positions before and after each fraction of radiotherapy during the first 9 days of treatment to calculate intrafraction motion. A uniform 10-mm PTV margin was used for the first phase of treatment. PTV margins for Phase II were patient-specific and were calculated from the respiratory and intrafraction motion data obtained from Phase I. The IMRT boost was delivered with daily online correction of fiducial marker position. Acute toxicity was measured using National Cancer Institute Common Toxicity Criteria, version 2.0. Results: In 33 patients who had completed treatment, the average PTV margin used during the hypofractionated IMRT boost was 3 mm in the lateral direction, 3 mm in the superior-inferior direction, and 4 mm in the anteroposterior direction. No patients developed acute Grade 3 rectal toxicity. Three patients developed acute Grade 3 urinary frequency and urgency. Conclusions: PTV margins can be reduced significantly with daily online correction of prostate position. Delivering a hypofractionated boost with this high-precision IMRT technique resulted in acceptable acute toxicity

SU-G-BRA-13: An Advanced Deformable Lung Phantom for Analyzing the Dosimetric Impact of Respiratory Motion

International Nuclear Information System (INIS)

Shin, D; Kang, S; Kim, D; Kim, T; Kim, K; Cho, M; Suh, T

2016-01-01

Planning of Korea (NRF-2014R1A2A1A10050270) and by the Radiation Technology R&D program through the National Research Foundation of Korea funded by the Ministry of Science, ICT & Future Planning (No. 2013M2A2A7038291)

Planning low-carbon electricity systems under uncertainty considering operational flexibility and smart grid technologies.

Science.gov (United States)

Moreno, Rodrigo; Street, Alexandre; Arroyo, José M; Mancarella, Pierluigi

2017-08-13

Electricity grid operators and planners need to deal with both the rapidly increasing integration of renewables and an unprecedented level of uncertainty that originates from unknown generation outputs, changing commercial and regulatory frameworks aimed to foster low-carbon technologies, the evolving availability of market information on feasibility and costs of various technologies, etc. In this context, there is a significant risk of locking-in to inefficient investment planning solutions determined by current deterministic engineering practices that neither capture uncertainty nor represent the actual operation of the planned infrastructure under high penetration of renewables. We therefore present an alternative optimization framework to plan electricity grids that deals with uncertain scenarios and represents increased operational details. The presented framework is able to model the effects of an array of flexible, smart grid technologies that can efficiently displace the need for conventional solutions. We then argue, and demonstrate via the proposed framework and an illustrative example, that proper modelling of uncertainty and operational constraints in planning is key to valuing operationally flexible solutions leading to optimal investment in a smart grid context. Finally, we review the most used practices in power system planning under uncertainty, highlight the challenges of incorporating operational aspects and advocate the need for new and computationally effective optimization tools to properly value the benefits of flexible, smart grid solutions in planning. Such tools are essential to accelerate the development of a low-carbon energy system and investment in the most appropriate portfolio of renewable energy sources and complementary enabling smart technologies.This article is part of the themed issue 'Energy management: flexibility, risk and optimization'. © 2017 The Author(s).

Planning a revolution in nuclear power technology

International Nuclear Information System (INIS)

Egan, J.R.

1987-01-01

Approaching the marketing and deployment of small, inherently safe reactors from the standpoint of the legal and financial community, the author suggests various ideal planning criteria that should be adhered to by designers and suppliers in order for the new plants to achieve political and financial acceptability. Although new nuclear technology based on those criteria promise to rekindle the prospects for nuclear fission, neither governments nor suppliers are likely to undertake the requisite investments. Rather, the author proposes a private development initiative between the political community, private investors, and would-be suppliers. (author)

Technology management: a perspective on system support, procurement, and replacement planning.

Science.gov (United States)

Dickerson, M L; Jackson, M E

1992-01-01

The escalating costs associated with medical technology present a host of challenges for the hospital clinical engineering department. As service and support costs comprise ever larger portions of a system's life cycle cost, innovative management of service provider mix and mechanisms can provide substantial savings in operating expenses. In addition to full-service contracts, the use of demand service and independents has become commonplace. Medical equipment maintenance insurance programs provide yet another service alternative, combining the flexibility of demand service with the safety of a capped budget. These programs have gained acceptance among hospitals as their providers have become more focused on the healthcare market and its many needs. In view of the long-term cost impact surrounding technology procurement, the authors recommend that hospitals refine system evaluation methodologies and develop more comprehensive techniques directed at capital equipment replacement planning. One replacement planning approach, based on an estimation of system value changes, is described and illustrated using data collected through client consultations. Although the validity of this method has not been demonstrated, it represents a simplified approach to life cycle cost analysis and is intended to provide a standard method by which system replacement planning may be quantified. As a departure from system devaluation based solely on depreciation, this method estimates prospective system values derived from anticipated operations and maintenance costs, projected revenue, and the availability of new technology.

Using virtual reality technology for decommissioning and outage planning

International Nuclear Information System (INIS)

Lirvall, Peter

1998-01-01

The VR Decom. Tool is a decommissioning, planning, and training tool. It is not yet in use, but appropriate technology has been identified to develop such a tool The tool is intended to be used as an interactive virtual mock-up of a process plant to plan and practice decommissioning activities. The tool will be able to create or import existing CAD drawing to be visualised in an interactive Virtual Reality (VR) environment, with links to data bases containing useful information about all the process components for planning the decommissioning. The most use of the tool is foreseen to be in areas that have limited access, such as, radioactive or hazardous. The main advantages are summarised below: (1) virtual mock-up for visualisation of non-accessible areas to plan and provide training for decommissioning procedures, (2) visualisation of three dimensional radiation maps for As Low As Reasonably Achievable (A.L.A.R.A.) staff dose management, (3) raining of special tele-operations procedures, (4) special tools prototyping and testing, (5) information access and team vision sharing. (author)

Planning of the development of the MMIS core technology based on nuclear-IT convergence

International Nuclear Information System (INIS)

Kwon, Kee Choon; Kim, Chang Hwoi; Hwang, In Koo

2012-01-01

- Drive nuclear-IT convergence technologies such as middleware applied new concept nuclear instrumentation and control architecture, automated operation of future nuclear power plant, virtual reality/augmented reality, design and verification technology of a nuclear power plant main control room, software dependability, and cyber security technology - Write state-of-the-art report for the nuclear instrumentation and control based on IT convergence - A prototype which implemented related equipment and software subject to nuclear reactor operator that reside in the main control room (Reactor Operator, RO) order to a on-site operator (Local Operator, LO) and confirm the task performance matches the RO's intention - 'IT Convergence intelligent instrumentation and control technology' project planning for the Fourth Nuclear Power Research and Development in the long-term plan

3D hra s technologií Leap Motion

OpenAIRE

Mainuš, Matěj

2014-01-01

Cílem této bakalářské práce bylo navrhnout a implementovat 3D hru labyrint ovládanou pomocí gest rukou. Pro rozpoznávání pohybu a gest hra využívá technologii Leap Motion, aplikace samotná je vytvořena v herním enginu Unity. Výsledkem práce je multiplatformní 3D hra s vlastní knihovnou, která integruje Leap Motion SDK do Unity a eliminuje chyby v detekci rukou. The goal of this bachelor's thesis is to design and create a 3D labyrinth game controlled by hand gestures. This is achieved by us...

Effects of interactive technology, teacher scaffolding and feedback on university students' conceptual development in motion and force concepts

Science.gov (United States)

Stecklein, Jason Jeffrey

The utilization of interactive technologies will affect learning in science classrooms of the future. And although these technologies have improved in form and function, their effective employment in university science classrooms has lagged behind the rapid development of new constructivist pedagogies and means of instruction. This dissertation examines the enlistment of instructional technologies, in particular tablet PCs and DyKnow Interactive Software, in a technologically enhanced, university-level, introductory physics course. Results of this qualitative case study of three university students indicate that (1) the use of interactive technology positively affects both student learning within force and motion and self-reported beliefs about physics, (2) ad hoc use of instructional technologies may not sufficient for effective learning in introductory physics, (3) student learners dictate the leveraging of technology in any classroom, and (4) that purposeful teacher structuring of classroom activities with technologies are essential for student construction of knowledge. This includes designing activities to elicit attention and make knowledge visible for low-level content, while augmenting student interactions and modelling procedural steps for higher-level content.

Real-time motion-adaptive-optimization (MAO) in TomoTherapy

Energy Technology Data Exchange (ETDEWEB)

Lu Weiguo; Chen Mingli; Ruchala, Kenneth J; Chen Quan; Olivera, Gustavo H [TomoTherapy Inc., 1240 Deming Way, Madison, WI (United States); Langen, Katja M; Kupelian, Patrick A [MD Anderson Cancer Center-Orlando, Orlando, FL (United States)], E-mail: wlu@tomotherapy.com

2009-07-21

IMRT delivery follows a planned leaf sequence, which is optimized before treatment delivery. However, it is hard to model real-time variations, such as respiration, in the planning procedure. In this paper, we propose a negative feedback system of IMRT delivery that incorporates real-time optimization to account for intra-fraction motion. Specifically, we developed a feasible workflow of real-time motion-adaptive-optimization (MAO) for TomoTherapy delivery. TomoTherapy delivery is characterized by thousands of projections with a fast projection rate and ultra-fast binary leaf motion. The technique of MAO-guided delivery calculates (i) the motion-encoded dose that has been delivered up to any given projection during the delivery and (ii) the future dose that will be delivered based on the estimated motion probability and future fluence map. These two pieces of information are then used to optimize the leaf open time of the upcoming projection right before its delivery. It consists of several real-time procedures, including 'motion detection and prediction', 'delivered dose accumulation', 'future dose estimation' and 'projection optimization'. Real-time MAO requires that all procedures are executed in time less than the duration of a projection. We implemented and tested this technique using a TomoTherapy (registered) research system. The MAO calculation took about 100 ms per projection. We calculated and compared MAO-guided delivery with two other types of delivery, motion-without-compensation delivery (MD) and static delivery (SD), using simulated 1D cases, real TomoTherapy plans and the motion traces from clinical lung and prostate patients. The results showed that the proposed technique effectively compensated for motion errors of all test cases. Dose distributions and DVHs of MAO-guided delivery approached those of SD, for regular and irregular respiration with a peak-to-peak amplitude of 3 cm, and for medium and large

Real-time motion-adaptive-optimization (MAO) in TomoTherapy

International Nuclear Information System (INIS)

Lu Weiguo; Chen Mingli; Ruchala, Kenneth J; Chen Quan; Olivera, Gustavo H; Langen, Katja M; Kupelian, Patrick A

2009-01-01

IMRT delivery follows a planned leaf sequence, which is optimized before treatment delivery. However, it is hard to model real-time variations, such as respiration, in the planning procedure. In this paper, we propose a negative feedback system of IMRT delivery that incorporates real-time optimization to account for intra-fraction motion. Specifically, we developed a feasible workflow of real-time motion-adaptive-optimization (MAO) for TomoTherapy delivery. TomoTherapy delivery is characterized by thousands of projections with a fast projection rate and ultra-fast binary leaf motion. The technique of MAO-guided delivery calculates (i) the motion-encoded dose that has been delivered up to any given projection during the delivery and (ii) the future dose that will be delivered based on the estimated motion probability and future fluence map. These two pieces of information are then used to optimize the leaf open time of the upcoming projection right before its delivery. It consists of several real-time procedures, including 'motion detection and prediction', 'delivered dose accumulation', 'future dose estimation' and 'projection optimization'. Real-time MAO requires that all procedures are executed in time less than the duration of a projection. We implemented and tested this technique using a TomoTherapy (registered) research system. The MAO calculation took about 100 ms per projection. We calculated and compared MAO-guided delivery with two other types of delivery, motion-without-compensation delivery (MD) and static delivery (SD), using simulated 1D cases, real TomoTherapy plans and the motion traces from clinical lung and prostate patients. The results showed that the proposed technique effectively compensated for motion errors of all test cases. Dose distributions and DVHs of MAO-guided delivery approached those of SD, for regular and irregular respiration with a peak-to-peak amplitude of 3 cm, and for medium and large prostate motions. The results conceptually

DEVELOPMENT OF INFORMATION TECHNOLOGY STRATEGIC PLANNING FOR MANUFACTURING INDUSTRY (CASE STUDY: PT MCM

Directory of Open Access Journals (Sweden)

Leonardus Hardjo

2013-10-01

Full Text Available IT Department in PT MCM has to carry out the duties and functions of developing solution to support the business unit in their operation and gain some benefits which should be obtained by using IT in manufacturing such as increasing efficiency, improving the effectivity in making decision and helping to promote the products. This study aims to design information technology strategic planning in accordance with the strategic plan. The research method is using the IT Strategic Planning framework of Alex Cullen and Marc Cecere. This study uses SWOT and IT Balanced Scorecard to analyze the needs of IT at PT MCM. The results of this study are recommended strategic steps to optimize the implementation of IT in the company to improve the performance from IT division to obtain the benefits by implementing IT in manufacturing and to form IT Blueprint, which is part of the information technology strategic plan in PT MCM.

Advanced energy design and operation technologies research: Recommendations for a US Department of Energy multiyear program plan

Energy Technology Data Exchange (ETDEWEB)

Brambley, M.R.; Crawley, D.B.; Hostetler, D.D.; Stratton, R.C.; Addision, M.S.; Deringer, J.J.; Hall, J.D.; Selkowitz, S.E.

1988-12-01

This document describes recommendations for a multiyear plan developed for the US Department of Energy (DOE) as part of the Advanced Energy Design and Operation Technologies (AEDOT) project. The plan is an outgrowth of earlier planning activities conducted for DOE as part of design process research under the Building System Integration Program (BSIP). The proposed research will produce intelligent computer-based design and operation technologies for commercial buildings. In this document, the concept is explained, the need for these new computer-based environments is discussed, the benefits are described, and a plan for developing the AEDOT technologies is presented for the 9-year period beginning FY 1989. 45 refs., 37 figs., 9 tabs.

Markerless Motion Tracking

DEFF Research Database (Denmark)

Brooks, Anthony Lewis; Czarowicz, Alex

2012-01-01

This contribution focuses on the Associated Technologies aspect of the ICDVRAT event. Two industry leading markerless motion capture systems are examined that offer advancement in the field of rehabilitation. Residing at each end of the cost continuum, technical differences such as 3D versus 360 ...

Bioenergy Technologies Office Multi-Year Program Plan: July 2014

Energy Technology Data Exchange (ETDEWEB)

none,

2014-07-09

This is the May 2014 Update to the Bioenergy Technologies Office Multi-Year Program Plan, which sets forth the goals and structure of the Office. It identifies the research, development, demonstration, and deployment activities the Office will focus on over the next five years and outlines why these activities are important to meeting the energy and sustainability challenges facing the nation.

Leap Motion development essentials

CERN Document Server

Spiegelmock, Mischa

2013-01-01

This book is a fast-paced guide with practical examples that aims to help you understand and master the Leap Motion SDK.This book is for developers who are either involved in game development or who are looking to utilize Leap Motion technology in order to create brand new user interaction experiences to distinguish their products from the mass market. You should be comfortable with high-level languages and object-oriented development concepts in order to get the most out of this book.

Threats of Password Pattern Leakage Using Smartwatch Motion Recognition Sensors

Directory of Open Access Journals (Sweden)

Jihun Kim

2017-06-01

Full Text Available Thanks to the development of Internet of Things (IoT technologies, wearable markets have been growing rapidly. Smartwatches can be said to be the most representative product in wearable markets, and involve various hardware technologies in order to overcome the limitations of small hardware. Motion recognition sensors are a representative example of those hardware technologies. However, smartwatches and motion recognition sensors that can be worn by users may pose security threats of password pattern leakage. In the present paper, passwords are inferred through experiments to obtain password patterns inputted by users using motion recognition sensors, and verification of the results and the accuracy of the results is shown.

Planning of the development of the MMIS core technology based on nuclear-IT convergence

Energy Technology Data Exchange (ETDEWEB)

Kwon, Kee Choon; Kim, Chang Hwoi; Hwang, In Koo [KAERI, Daejeon (Korea, Republic of); and others

2012-01-15

- Drive nuclear-IT convergence technologies such as middleware applied new concept nuclear instrumentation and control architecture, automated operation of future nuclear power plant, virtual reality/augmented reality, design and verification technology of a nuclear power plant main control room, software dependability, and cyber security technology - Write state-of-the-art report for the nuclear instrumentation and control based on IT convergence - A prototype which implemented related equipment and software subject to nuclear reactor operator that reside in the main control room (Reactor Operator, RO) order to a on-site operator (Local Operator, LO) and confirm the task performance matches the RO's intention - 'IT Convergence intelligent instrumentation and control technology' project planning for the Fourth Nuclear Power Research and Development in the long-term plan.

TECHNOLOGICAL ELEMENTS OF THE SYSTEM OF STRATEGIC PLANNING AS TOOLS FOR PROVIDING THE ECONOMIC DEVELOPMENT OF THE SERVICES SPHERE

Directory of Open Access Journals (Sweden)

V. V. Gromov

2015-01-01

Full Text Available Topicality article is to determine the composition of the technological elements of the strategic planning system, the interaction of which is aimed at achieving the planned economic results in the changing factors influence macro microenvironments on the activities of institutions and economic activities of services. The articles structurally is made on the basis of respect for the logical sequence of interactions of technological elements of strategic planning and combat their negative factors of external and internal environment. Active interaction of technological elements of strategic planning tools is to ensure long-term development planning authorities of economic entities, economic activities service sector for sustainable economic growth. Contribution of the author in the scope of this article is to generalize the definition of the target composition and installation of technological elements of strategic planning and development institutions and industry components of the service sector.

FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements

KAUST Repository

Agha-mohammadi, A.-a.; Chakravorty, S.; Amato, N. M.

2013-01-01

In this paper we present feedback-based information roadmap (FIRM), a multi-query approach for planning under uncertainty which is a belief-space variant of probabilistic roadmap methods. The crucial feature of FIRM is that the costs associated with the edges are independent of each other, and in this sense it is the first method that generates a graph in belief space that preserves the optimal substructure property. From a practical point of view, FIRM is a robust and reliable planning framework. It is robust since the solution is a feedback and there is no need for expensive replanning. It is reliable because accurate collision probabilities can be computed along the edges. In addition, FIRM is a scalable framework, where the complexity of planning with FIRM is a constant multiplier of the complexity of planning with PRM. In this paper, FIRM is introduced as an abstract framework. As a concrete instantiation of FIRM, we adopt stationary linear quadratic Gaussian (SLQG) controllers as belief stabilizers and introduce the so-called SLQG-FIRM. In SLQG-FIRM we focus on kinematic systems and then extend to dynamical systems by sampling in the equilibrium space. We investigate the performance of SLQG-FIRM in different scenarios. © The Author(s) 2013.

FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements

KAUST Repository

Agha-mohammadi, A.-a.

2013-11-15

In this paper we present feedback-based information roadmap (FIRM), a multi-query approach for planning under uncertainty which is a belief-space variant of probabilistic roadmap methods. The crucial feature of FIRM is that the costs associated with the edges are independent of each other, and in this sense it is the first method that generates a graph in belief space that preserves the optimal substructure property. From a practical point of view, FIRM is a robust and reliable planning framework. It is robust since the solution is a feedback and there is no need for expensive replanning. It is reliable because accurate collision probabilities can be computed along the edges. In addition, FIRM is a scalable framework, where the complexity of planning with FIRM is a constant multiplier of the complexity of planning with PRM. In this paper, FIRM is introduced as an abstract framework. As a concrete instantiation of FIRM, we adopt stationary linear quadratic Gaussian (SLQG) controllers as belief stabilizers and introduce the so-called SLQG-FIRM. In SLQG-FIRM we focus on kinematic systems and then extend to dynamical systems by sampling in the equilibrium space. We investigate the performance of SLQG-FIRM in different scenarios. © The Author(s) 2013.

Tank waste remediation system integrated technology plan. Revision 2

International Nuclear Information System (INIS)

Eaton, B.; Ignatov, A.; Johnson, S.; Mann, M.; Morasch, L.; Ortiz, S.; Novak, P.

1995-01-01

The Hanford Site, located in southeastern Washington State, is operated by the US Department of Energy (DOE) and its contractors. Starting in 1943, Hanford supported fabrication of reactor fuel elements, operation of production reactors, processing of irradiated fuel to separate and extract plutonium and uranium, and preparation of plutonium metal. Processes used to recover plutonium and uranium from irradiated fuel and to recover radionuclides from tank waste, plus miscellaneous sources resulted in the legacy of approximately 227,000 m 3 (60 million gallons) of high-level radioactive waste, currently in storage. This waste is currently stored in 177 large underground storage tanks, 28 of which have two steel walls and are called double-shell tanks (DSTs) an 149 of which are called single-shell tanks (SSTs). Much of the high-heat-emitting nuclides (strontium-90 and cesium-137) has been extracted from the tank waste, converted to solid, and placed in capsules, most of which are stored onsite in water-filled basins. DOE established the Tank Waste Remediation System (TWRS) program in 1991. The TWRS program mission is to store, treat, immobilize and dispose, or prepare for disposal, the Hanford tank waste in an environmentally sound, safe, and cost-effective manner. Technology will need to be developed or improved to meet the TWRS program mission. The Integrated Technology Plan (ITP) is the high-level consensus plan that documents all TWRS technology activities for the life of the program

Tank waste remediation system integrated technology plan. Revision 2

Energy Technology Data Exchange (ETDEWEB)

Eaton, B.; Ignatov, A.; Johnson, S.; Mann, M.; Morasch, L.; Ortiz, S.; Novak, P. [eds.] [Pacific Northwest Lab., Richland, WA (United States)

1995-02-28

The Hanford Site, located in southeastern Washington State, is operated by the US Department of Energy (DOE) and its contractors. Starting in 1943, Hanford supported fabrication of reactor fuel elements, operation of production reactors, processing of irradiated fuel to separate and extract plutonium and uranium, and preparation of plutonium metal. Processes used to recover plutonium and uranium from irradiated fuel and to recover radionuclides from tank waste, plus miscellaneous sources resulted in the legacy of approximately 227,000 m{sup 3} (60 million gallons) of high-level radioactive waste, currently in storage. This waste is currently stored in 177 large underground storage tanks, 28 of which have two steel walls and are called double-shell tanks (DSTs) an 149 of which are called single-shell tanks (SSTs). Much of the high-heat-emitting nuclides (strontium-90 and cesium-137) has been extracted from the tank waste, converted to solid, and placed in capsules, most of which are stored onsite in water-filled basins. DOE established the Tank Waste Remediation System (TWRS) program in 1991. The TWRS program mission is to store, treat, immobilize and dispose, or prepare for disposal, the Hanford tank waste in an environmentally sound, safe, and cost-effective manner. Technology will need to be developed or improved to meet the TWRS program mission. The Integrated Technology Plan (ITP) is the high-level consensus plan that documents all TWRS technology activities for the life of the program.

Frame by frame stop motion non-traditional approaches to stop motion animation

CERN Document Server

Gasek, Tom

2011-01-01

In a world that is dominated by computer images, alternative stop motion techniques like pixilation, time-lapse photography and down-shooting techniques combined with new technologies offer a new, tangible and exciting approach to animation. With over 25 years professional experience, industry veteran, Tom Gasek presents a comprehensive guide to stop motion animation without the focus on puppetry or model animation. With tips, tricks and hands-on exercises, Frame by Frame will help both experienced and novice filmmakers get the most effective results from this underutilized branch of animation

Homeroom Activities in a College of Technology Based on the Master Plan

Science.gov (United States)

Fuchida, Kunihiiko; Murata, Hideaki; Yuji, Junichiro

Homeroom (HR) activities have an important role in engineering education at technical colleges. Yatsushiro National College of Technology has made a master plan for them and has been putting the plan into practical use since 2002. This plan is comprehensive and has two main categories, social education and career guidance, both being composed of three sub-categories (e.g., self-understanding and making future plans) . Based on the master plan, each HR teacher makes his own plan for HR activities for his classroom at the beginning of the academic year. We have reached a consensus to share our practice and to improve HR activities for years to come. We also recognize that to carry out HR activities based on a master plan that reflects the school's educational goals is essential in order to train students who are well-prepared, both as engineers and as humans.

Influence Diagram Use With Respect to Technology Planning and Investment

Science.gov (United States)

Levack, Daniel J. H.; DeHoff, Bryan; Rhodes, Russel E.

2009-01-01

Influence diagrams are relatively simple, but powerful, tools for assessing the impact of choices or resource allocations on goals or requirements. They are very general and can be used on a wide range of problems. They can be used for any problem that has defined goals, a set of factors that influence the goals or the other factors, and a set of inputs. Influence diagrams show the relationship among a set of results and the attributes that influence them and the inputs that influence the attributes. If the results are goals or requirements of a program, then the influence diagram can be used to examine how the requirements are affected by changes to technology investment. This paper uses an example to show how to construct and interpret influence diagrams, how to assign weights to the inputs and attributes, how to assign weights to the transfer functions (influences), and how to calculate the resulting influences of the inputs on the results. A study is also presented as an example of how using influence diagrams can help in technology planning and investment. The Space Propulsion Synergy Team (SPST) used this technique to examine the impact of R&D spending on the Life Cycle Cost (LCC) of a space transportation system. The question addressed was the effect on the recurring and the non-recurring portions of LCC of the proportion of R&D resources spent to impact technology objectives versus the proportion spent to impact operational dependability objectives. The goals, attributes, and the inputs were established. All of the linkages (influences) were determined. The weighting of each of the attributes and each of the linkages was determined. Finally the inputs were varied and the impacts on the LCC determined and are presented. The paper discusses how each of these was accomplished both for credibility and as an example for future studies using influence diagrams for technology planning and investment planning.

Differentially Constrained Motion Planning with State Lattice Motion Primitives

Science.gov (United States)

2012-02-01

underlying sampling lattice. 2.4 IMPLICIT SAMPLING Recent works have also discussed ”lazy” variants of the above planning methods that avoid colli ...settings, at the cost of performing colli - sion checking during the search. An even ”lazier” version is suggested, in which ”the initial graph CHAPTER...cycling at the border of fidelity regions due to obstacles, as suggested in Example 1.2.2. In order to avoid such difficulties, it is sufficient to

Automatic Motion Generation for Robotic Milling Optimizing Stiffness with Sample-Based Planning

Directory of Open Access Journals (Sweden)

Julian Ricardo Diaz Posada

2017-01-01

Full Text Available Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the aim of increasing robot machining accuracy, this contribution describes a solution approach for optimizing the stiffness over a desired milling path using the free degree of freedom of the machining process. The optimal motion is computed based on the semantic and mathematical interpretation of the manufacturing process modeled on its components: product, process and resource; and by configuring automatically a sample-based motion problem and the transition-based rapid-random tree algorithm for computing an optimal motion. The approach is simulated on a CAM software for a machining path revealing its functionality and outlining future potentials for the optimal motion generation for robotic machining processes.

Shenzhen International Low Carbon City in Development: Practice of Low Carbon Planning Technology Strategy Based on Dynamic Demands

Institute of Scientific and Technical Information of China (English)

Yu; Han; Li; Caige

2016-01-01

Targeted at the dynamic demands in the rapid urban construction, the planning technology strategy of the Shenzhen International Low Carbon City studies the fl exible index model based on carbon emission evaluation, and adopts rolling development and micro-circulation construction mode to achieve quick returns with small investment. Meanwhile, it also evaluates the application of low carbon technology and gives feedback in time, so as to constantly optimize and complete the low carbon city planning. In detail, it involves industrial planning, ecological restoration, transport planning, energy resource planning, architectural design, etc., for which appropriate approaches are selected according to the principle of rolling development of unit cells and based on different requirements of different stages. The quick-response and fl exible technology system can help the low carbon city to choose an appropriate technology strategy in line with its own characteristics in the start-up stage and rapid development, thus realizing the sustainable leap-forward development and providing reference for other similar regions.

Shenzhen International Low Carbon City in Development: Practice of Low Carbon Planning Technology Strategy Based on Dynamic Demands

Institute of Scientific and Technical Information of China (English)

Yu Han; Li Caige

2016-01-01

Targeted at the dynamic demands in the rapid urban construction,the planning technology strategy of the Shenzhen International Low Carbon City studies the flexible index model based on carbon emission evaluation,and adopts rolling development and micro-circulation construction mode to achieve quick returns with small investment.Meanwhile,it also evaluates the application of low carbon technology and gives feedback in time,so as to constantly optimize and complete the low carbon city planning.In detail,it involves industrial planning,ecological restoration,transport planning,energy resource planning,architectural design,etc.,for which appropriate approaches are selected according to the principle of rolling development of unit cells and based on different requirements of different stages.The quick-response and flexible technology system can help the low carbon city to choose an appropriate technology strategy in line with its own characteristics in the start-up stage and rapid development,thus realizing the sustainable leap-forward development and providing reference for other similar regions.

Supporting Pre-Service Teachers in Designing Technology-Infused Lesson Plans

Science.gov (United States)

Janssen, N.; Lazonder, A. W.

2016-01-01

The present study compared the effectiveness of two types of just-in-time support for lesson planning. Both types contained the same technological information but differed regarding pedagogical and content information. The first type presented this information separately (i.e., separate support); the second type presented this information in an…

Visual identification and similarity measures used for on-line motion planning of autonomous robots in unknown environments

Science.gov (United States)

Martínez, Fredy; Martínez, Fernando; Jacinto, Edwar

2017-02-01

In this paper we propose an on-line motion planning strategy for autonomous robots in dynamic and locally observable environments. In this approach, we first visually identify geometric shapes in the environment by filtering images. Then, an ART-2 network is used to establish the similarity between patterns. The proposed algorithm allows that a robot establish its relative location in the environment, and define its navigation path based on images of the environment and its similarity to reference images. This is an efficient and minimalist method that uses the similarity of landmark view patterns to navigate to the desired destination. Laboratory tests on real prototypes demonstrate the performance of the algorithm.

Dynamical Systems and Motion Vision.

Science.gov (United States)

1988-04-01

TASK Artificial Inteligence Laboratory AREA I WORK UNIT NUMBERS 545 Technology Square . Cambridge, MA 02139 C\\ II. CONTROLLING OFFICE NAME ANO0 ADDRESS...INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A.I.Memo No. 1037 April, 1988 Dynamical Systems and Motion Vision Joachim Heel Abstract: In this... Artificial Intelligence L3 Laboratory of the Massachusetts Institute of Technology. Support for the Laboratory’s [1 Artificial Intelligence Research is

Effect of Intrafraction Prostate Motion on Proton Pencil Beam Scanning Delivery: A Quantitative Assessment

Energy Technology Data Exchange (ETDEWEB)

Tang, Shikui, E-mail: TangS@uphs.upenn.edu [Department of Radiation Oncology, University of Pennsylvania, Philadelphia, Pennsylvania (United States); Deville, Curtiland; McDonough, James; Tochner, Zelig [Department of Radiation Oncology, University of Pennsylvania, Philadelphia, Pennsylvania (United States); Wang, Ken Kang-Hsin [Department of Radiation Oncology, University of Pennsylvania, Philadelphia, Pennsylvania (United States); Department of Radiation Oncology and Molecular Radiation Sciences, The Johns Hopkins University, Baltimore, Maryland (United States); Vapiwala, Neha; Both, Stefan [Department of Radiation Oncology, University of Pennsylvania, Philadelphia, Pennsylvania (United States)

2013-10-01

Purpose: To assess the dosimetric impact caused by the interplay between intrafraction prostate motion and the intermittent delivery of proton pencil beam scanning (PBS). Methods and Materials: A cohort of 10 prostate patients was treated with PBS using a bilateral single-field uniform dose (SFUD) modality. Bilateral intensity-modulated proton therapy (IMPT) plans were generated for comparison. Because beam-on time in PBS was intermittent, the actual beam-on time was determined from treatment logs. Prostate motion was generalized according to real-time Calypso tracking data from our previously reported prospective photon trial. We investigated potential dose deviations by considering the interplay effect resulting from the worst-case scenario motion and the PBS delivery sequence. Results: For both bilateral-field SFUD and IMPT plans, clinical target volume (CTV) D{sub 99}% coverage was degraded <2% owing to prostate intrafraction motion when averaged over the course of treatment, but was >10% for the worst fraction. The standard deviation of CTV D{sub 99}% distribution was approximately 1.2%. The CTV coverage of individual fields in SFUD plans degraded as time elapsed after the initial alignment, owing to prostate drift. Intensity-modulated proton therapy and SFUD demonstrated comparable results when bilateral opposed fields were used. Single-field SFUD plans that were repainted twice, which could reduce half of the treatment time, resulted in similar CTV coverage as bilateral-field plans. Conclusions: Intrafraction prostate motion affects the actual delivered dose to CTV; however, when averaged over the course of treatment, CTV D{sub 99}% coverage degraded only approximately 2% even for the worst-case scenario. The IMPT plan results are comparable to those of the SFUD plan, and similar coverage can be achieved if treated by SFUD 1 lateral field per day when rescanning the field twice to shorten the treatment time and mitigate intrafraction motion.

Governance of Information And Communication Technology (ICT System Planning

Directory of Open Access Journals (Sweden)

Bahrawi Bahrawi

2015-07-01

Full Text Available The intensity of ICT usage continues to increase. This should be accompanied  by the increase of the government's performance, and one of the important components is governance of the ICT system planning. The ICT system planning with a good management will provide significant benefits to the organization. One cause of insignificant benefits ICT to the organizational goals is there is no ICT governance applied.  It can be caused by many things, one of them is the lack of knowledge and awareness about the ICT governance, so there are still many government agencies which have not yet implemented properly the ICT governance. By using quantitative approaches, questionnaire instrument was adapted from the General Guide of the National ICT Governance. Framework COBIT and data analysis techniques adopted from the COBIT Maturity level. This study aims to explore the guidelines as an evaluation tool for the governance of the ICT system planning in Department of Communications and Information Technology in Bitung City. The results of this study found that the institution is still at low level, level 1 with 0,63 maturity level in governance planning of ICT system.

Intensity modulated proton therapy and its sensitivity to treatment uncertainties 2: the potential effects of inter-fraction and inter-field motions

International Nuclear Information System (INIS)

Lomax, A J

2008-01-01

Simple tools for studying the effects of inter-fraction and inter-field motions on intensity modulated proton therapy (IMPT) plans have been developed, and have been applied to both 3D and distal edge tracking (DET) IMPT plans. For the inter-fraction motion, we have investigated the effects of misaligned density heterogeneities, whereas for the inter-field motion analysis, the effects of field misalignment on the plans have been assessed. Inter-fraction motion problems have been analysed using density differentiated error (DDE) distributions, which specifically show the additional problems resulting from misaligned density heterogeneities for proton plans. Likewise, for inter-field motion, we present methods for calculating motion differentiated error (MDE) distributions. DDE and MDE analysis of all plans demonstrate that the 3D approach is generally more robust to both inter-fraction and inter-field motions than the DET approach, but that strong in-field dose gradients can also adversely affect a plan's robustness. An important additional conclusion is that, for certain IMPT plans, even inter-fraction errors cannot necessarily be compensated for by the use of a simple PTV margins, implying that more sophisticated tools need to be developed for uncertainty management and assessment for IMPT treatments at the treatment planning level

Strong Motion Instrumentation of Seismically-Strengthened Port Structures in California by CSMIP

Science.gov (United States)

Huang, M.J.; Shakal, A.F.

2009-01-01

The California Strong Motion Instrumentation Program (CSMIP) has instrumented five port structures. Instrumentation of two more port structures is underway and another one is in planning. Two of the port structures have been seismically strengthened. The primary goals of the strong motion instrumentation are to obtain strong earthquake shaking data for verifying seismic analysis procedures and strengthening schemes, and for post-earthquake evaluations of port structures. The wharves instrumented by CSMIP were recommended by the Strong Motion Instrumentation Advisory Committee, a committee of the California Seismic Safety Commission. Extensive instrumentation of a wharf is difficult and would be impossible without the cooperation of the owners and the involvement of the design engineers. The instrumentation plan for a wharf is developed through study of the retrofit plans of the wharf, and the strong-motion sensors are installed at locations where specific instrumentation objectives can be achieved and access is possible. Some sensor locations have to be planned during design; otherwise they are not possible to install after construction. This paper summarizes the two seismically-strengthened wharves and discusses the instrumentation schemes and objectives. ?? 2009 ASCE.

SU-E-T-452: Impact of Respiratory Motion On Robustly-Optimized Intensity-Modulated Proton Therapy to Treat Lung Cancers

International Nuclear Information System (INIS)

Liu, W; Schild, S; Bues, M; Liao, Z; Sahoo, N; Park, P; Li, H; Li, Y; Li, X; Shen, J; Anand, A; Dong, L; Zhu, X; Mohan, R

2014-01-01

Purpose: We compared conventionally optimized intensity-modulated proton therapy (IMPT) treatment plans against the worst-case robustly optimized treatment plans for lung cancer. The comparison of the two IMPT optimization strategies focused on the resulting plans' ability to retain dose objectives under the influence of patient set-up, inherent proton range uncertainty, and dose perturbation caused by respiratory motion. Methods: For each of the 9 lung cancer cases two treatment plans were created accounting for treatment uncertainties in two different ways: the first used the conventional Method: delivery of prescribed dose to the planning target volume (PTV) that is geometrically expanded from the internal target volume (ITV). The second employed the worst-case robust optimization scheme that addressed set-up and range uncertainties through beamlet optimization. The plan optimality and plan robustness were calculated and compared. Furthermore, the effects on dose distributions of the changes in patient anatomy due to respiratory motion was investigated for both strategies by comparing the corresponding plan evaluation metrics at the end-inspiration and end-expiration phase and absolute differences between these phases. The mean plan evaluation metrics of the two groups were compared using two-sided paired t-tests. Results: Without respiratory motion considered, we affirmed that worst-case robust optimization is superior to PTV-based conventional optimization in terms of plan robustness and optimality. With respiratory motion considered, robust optimization still leads to more robust dose distributions to respiratory motion for targets and comparable or even better plan optimality [D95% ITV: 96.6% versus 96.1% (p=0.26), D5% - D95% ITV: 10.0% versus 12.3% (p=0.082), D1% spinal cord: 31.8% versus 36.5% (p =0.035)]. Conclusion: Worst-case robust optimization led to superior solutions for lung IMPT. Despite of the fact that robust optimization did not explicitly

Reliability program plan for the Kilowatt Isotope Power System (KIPS) technology verification phase

International Nuclear Information System (INIS)

1978-01-01

Ths document is an integral part of the Kilowatt Isotope Power System (KIPS) Program Plan. This document defines the KIPS Reliability Program Plan for the Technology Verification Phase. This document delineates the reliability assurance tasks that are to be accomplished by Sundstrand and its suppliers during the design, fabrication and testing of the KIPS

National Ignition Facility quality assurance plan for laser materials and optical technology

Energy Technology Data Exchange (ETDEWEB)

Wolfe, C.R.

1996-05-01

Quality achievement is the responsibility of the line organizations of the National Ignition Facility (NIF) Project. This subtier Quality Assurance Plan (QAP) applies to activities of the Laser Materials & Optical Technology (LM&OT) organization and its subcontractors. It responds to the NIF Quality Assurance Program Plan (QAPP, L-15958-2, NIF-95-499) and Department of Energy (DOE) Order 5700.6C. This Plan is organized according to 10 Quality Assurance (QA) criteria and subelements of a management system as outlined in the NIF QAPP. This Plan describes how those QA requirements are met. This Plan is authorized by the Associate Project Leader for the LM&OT organization, who has assigned responsibility to the Optics QA engineer to maintain this plan, with the assistance of the NIF QA organization. This Plan governs quality-affecting activities associated with: design; procurement; fabrication; testing and acceptance; handling and storage; and installation of NIF Project optical components into mounts and subassemblies.

National Ignition Facility quality assurance plan for laser materials and optical technology

International Nuclear Information System (INIS)

Wolfe, C.R.

1996-05-01

Quality achievement is the responsibility of the line organizations of the National Ignition Facility (NIF) Project. This subtier Quality Assurance Plan (QAP) applies to activities of the Laser Materials ampersand Optical Technology (LM ampersand OT) organization and its subcontractors. It responds to the NIF Quality Assurance Program Plan (QAPP, L-15958-2, NIF-95-499) and Department of Energy (DOE) Order 5700.6C. This Plan is organized according to 10 Quality Assurance (QA) criteria and subelements of a management system as outlined in the NIF QAPP. This Plan describes how those QA requirements are met. This Plan is authorized by the Associate Project Leader for the LM ampersand OT organization, who has assigned responsibility to the Optics QA engineer to maintain this plan, with the assistance of the NIF QA organization. This Plan governs quality-affecting activities associated with: design; procurement; fabrication; testing and acceptance; handling and storage; and installation of NIF Project optical components into mounts and subassemblies

Enhancing physics demos using iPhone slow motion

Science.gov (United States)

Lincoln, James

2017-12-01

Slow motion video enhances our ability to perceive and experience the physical world. This can help students and teachers especially in cases of fast moving objects or detailed events that happen too quickly for the eye to follow. As often as possible, demonstrations should be performed by the students themselves and luckily many of them will already have this technology in their pockets. The "S" series of iPhone has the slow motion video feature standard, which also includes simultaneous sound recording (somewhat unusual among slow motion cameras). In this article I share some of my experiences using this feature and provide advice on how to successfully use this technology in the classroom.

Measures for the Diffusion of Solar PV are Aligned in Technology Action Plans for Six Countries in Africa

DEFF Research Database (Denmark)

Nygaard, Ivan; Hansen, Ulrich Elmer; Pedersen, Mathilde Brix

2014-01-01

African countries from 2010 to 2013, dedicated government committees have prioritized climate change mitigation technologies and developed action plans for the diffusion of the selected technologies. The project results show that solar PV is high on the agenda in Africa. Six out of ten countries...... in the region prioritized solar PV, and action plans for the diffusion of solar home systems were put forward in Cote d’Ivoire, Kenya, Mali and Senegal, while the implementation of grid-connected systems was proposed in Rwanda, Mali and Senegal. The project reports and technology action plans prepared...... in these six countries are used as the basis for comparing how solar PV is perceived in these countries and how policy measures enabling environmental adjustments and investment programmes are being planned to promote diffusion of the technology in these different contexts....

Real-Time Motion Management of Prostate Cancer Radiotherapy

DEFF Research Database (Denmark)

Pommer, Tobias

of this thesis is to manage prostate motion in real-time by aligning the radiation beam to the prostate using the novel dynamic multileaf collimator (DMLC) tracking method. Specifically, the delivered dose with tracking was compared to the planned dose, and the impact of treatment plan complexity and limitations...

Research on key technology of planning and design for AC/DC hybrid distribution network

Science.gov (United States)

Shen, Yu; Wu, Guilian; Zheng, Huan; Deng, Junpeng; Shi, Pengjia

2018-04-01

With the increasing demand of DC generation and DC load, the development of DC technology, AC and DC distribution network integrating will become an important form of future distribution network. In this paper, the key technology of planning and design for AC/DC hybrid distribution network is proposed, including the selection of AC and DC voltage series, the design of typical grid structure and the comprehensive evaluation method of planning scheme. The research results provide some ideas and directions for the future development of AC/DC hybrid distribution network.

TU-F-BRB-02: Motion Artifacts and Suppression in MRI

International Nuclear Information System (INIS)

Zhong, X.

2015-01-01

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has high temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant

TU-F-BRB-00: MRI-Based Motion Management for RT

International Nuclear Information System (INIS)

2015-01-01

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has high temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant

TU-F-BRB-00: MRI-Based Motion Management for RT

Energy Technology Data Exchange (ETDEWEB)

NONE

2015-06-15

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has high temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.

TU-F-BRB-02: Motion Artifacts and Suppression in MRI

Energy Technology Data Exchange (ETDEWEB)

Zhong, X. [Siemens (Germany)

2015-06-15

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has high temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.

Basic plan of partitioning and transmutation technology development

International Nuclear Information System (INIS)

Ikegami, Tetsuo; Ozawa, Masaki

2003-04-01

Basic plan of partitioning and transmutation technology development has been made in more detail and concrete manner in terms of development goal, nuclides to be portioned and to be transmuted, and development schedule, based on the pre-evaluation results of the Research Evaluation Committee on Research and development of partitioning and transmutation technology for long life nuclides' held in August 2000. A step by step approach, consists of three steps, to reach the goal of partitioning and transmutation technology has been adopted under the recognition that the partitioning and transmutation technology development should be progressed steadily as a long term them. The first step is supposed to be able to attain within about 5 years by the present technology and on the extension of it. Such researches as collective separation of TRU, MA/Ln effective separation, and irradiation experiment of iodine and technetium. The second step is such a goal that is expected to be able to realize the engineering feasibility, within about 15 years, through the progress of science technology in future, although the engineering feasibility is not sufficiently foreseen at present. It will need revolutionary technology or breakthrough. Nuclides to be partitioned and to be transmuted have been selected in view points of 'radioactivity and radio-toxicity', 'geological repository', and 'effective utilization', corresponding to the each step of the development goal. Collaboration with other research organizations and with universities in the world should be pursued. Especially, such collaborations with France, with which information exchange on JOYO/PHENIX irradiation experiments is progressing, and with USA, which has recently developed positive activities in this field, are strongly expected. (author)

ANSTO's future plans for nuclear science and technology

International Nuclear Information System (INIS)

Blackburne, I.

2003-01-01

There are four key themes in ANSTO's future plans for nuclear science and technology: 1) ANSTO plans for the future - within its established 'core business areas', following a rigorous process, and incorporating extensive interaction with organisations around Australia and overseas. 2) The replacement research reactor (RRR) - a Major National Research Facility and the cornerstone of ANSTO's future activities. 3) A number of business development initiatives that have been launched by ANSTO over the past year, under the banner of Good science is good business at ANSTO. 4) ANSTO involvement in the national research priorities that the Prime Minister announced last December, in particular, by pursuing new research in the security and forensics area; its contribution to the 'Safeguarding Australia' national research priority. The Replacement Research Reactor now under construction will make an enormous difference to the work that ANSTO can undertake, and that others can perform using ANSTO's facilities

Development of a body motion interactive system with a weight voting mechanism and computer vision technology

Science.gov (United States)

Lin, Chern-Sheng; Chen, Chia-Tse; Shei, Hung-Jung; Lay, Yun-Long; Chiu, Chuang-Chien

2012-09-01

This study develops a body motion interactive system with computer vision technology. This application combines interactive games, art performing, and exercise training system. Multiple image processing and computer vision technologies are used in this study. The system can calculate the characteristics of an object color, and then perform color segmentation. When there is a wrong action judgment, the system will avoid the error with a weight voting mechanism, which can set the condition score and weight value for the action judgment, and choose the best action judgment from the weight voting mechanism. Finally, this study estimated the reliability of the system in order to make improvements. The results showed that, this method has good effect on accuracy and stability during operations of the human-machine interface of the sports training system.

Teaching motor skills by means of biomechanical analysis of the motion: the physiological basis and applied information technologies

Directory of Open Access Journals (Sweden)

Razuvanova A.V.

2016-01-01

Full Text Available The article proves the possibility of training athletes using motor skills on the basis of biomechanical analysis of movements with application of information technologies. Motion Tracking – digital single frame shooting photography – is proposed as a method for biomechanical analysis. The relevance of this method is conditioned by the results of the study of a repulsion phase in the performing of the standing jump by athletes of different qualifications. The conclusion about the importance of an optimal model of a jump based on biomechanical analysis is given, and the formation of athletes’ skills, using information technologies and the principle of urgent information, is discussed.

2-D linear motion system. Innovative technology summary report

International Nuclear Information System (INIS)

1998-11-01

The US Department of Energy's (DOE's) nuclear facility decontamination and decommissioning (D and D) program requires buildings to be decontaminated, decommissioned, and surveyed for radiological contamination in an expeditious and cost-effective manner. Simultaneously, the health and safety of personnel involved in the D and D activities is of primary concern. D and D workers must perform duties high off the ground, requiring the use of manlifts or scaffolding, often, in radiologically or chemically contaminated areas or in areas with limited access. Survey and decontamination instruments that are used are sometimes heavy or awkward to use, particularly when the worker is operating from a manlift or scaffolding. Finding alternative methods of performing such work on manlifts or scaffolding is important. The 2-D Linear Motion System (2-D LMS), also known as the Wall Walker trademark, is designed to remotely position tools and instruments on walls for use in such activities as radiation surveys, decontamination, and painting. Traditional (baseline) methods for operating equipment for these tasks require workers to perform duties on elevated platforms, sometimes several meters above the ground surface and near potential sources of contamination. The Wall Walker 2-D LMS significantly improves health and safety conditions by facilitating remote operation of equipment. The Wall Walker 2-D LMS performed well in a demonstration of its precision, accuracy, maneuverability, payload capacity, and ease of use. Thus, this innovative technology is demonstrated to be a viable alternative to standard methods of performing work on large, high walls, especially those that have potential contamination concerns. The Wall Walker was used to perform a final release radiological survey on over 167 m 2 of walls. In this application, surveying using a traditional (baseline) method that employs an aerial lift for manual access was 64% of the total cost of the improved technology. However

A convolution method for predicting mean treatment dose including organ motion at imaging

International Nuclear Information System (INIS)

Booth, J.T.; Zavgorodni, S.F.; Royal Adelaide Hospital, SA

2000-01-01

Full text: The random treatment delivery errors (organ motion and set-up error) can be incorporated into the treatment planning software using a convolution method. Mean treatment dose is computed as the convolution of a static dose distribution with a variation kernel. Typically this variation kernel is Gaussian with variance equal to the sum of the organ motion and set-up error variances. We propose a novel variation kernel for the convolution technique that additionally considers the position of the mobile organ in the planning CT image. The systematic error of organ position in the planning CT image can be considered random for each patient over a population. Thus the variance of the variation kernel will equal the sum of treatment delivery variance and organ motion variance at planning for the population of treatments. The kernel is extended to deal with multiple pre-treatment CT scans to improve tumour localisation for planning. Mean treatment doses calculated with the convolution technique are compared to benchmark Monte Carlo (MC) computations. Calculations of mean treatment dose using the convolution technique agreed with MC results for all cases to better than ± 1 Gy in the planning treatment volume for a prescribed 60 Gy treatment. Convolution provides a quick method of incorporating random organ motion (captured in the planning CT image and during treatment delivery) and random set-up errors directly into the dose distribution. Copyright (2000) Australasian College of Physical Scientists and Engineers in Medicine

Kinematics and Dynamics of Motion Control Based on Acceleration Control

Science.gov (United States)

Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Chemical sensors technology development planning workshop

Energy Technology Data Exchange (ETDEWEB)

Bastiaans, G.J.; Haas, W.J. Jr.; Junk, G.A. [eds.

1993-03-01

The workshop participants were asked to: (1) Assess the current capabilities of chemical sensor technologies for addressing US Department of Energy (DOE) Environmental Restoration and Waste Management (EM) needs; (2) Estimate potential near term (one to two years) and intermediate term (three to five years) capabilities for addressing those needs; and (3) Generate a ranked list of specific recommendations on what research and development (R&D) should be funded to provide the necessary capabilities. The needs were described in terms of two pervasive EM problems, the in situ determination of chlorinated volatile organic compounds (VOCs), and selected metals in various matrices at DOE sites. The R&D recommendations were to be ranked according to the estimated likelihood that the product technology will be ready for application within the time frame it is needed and the estimated return on investment. The principal conclusions and recommendations of the workshop are as follows: Chemical sensors capable of in situ determinations can significantly reduce analytical costs; Chemical sensors have been developed for certain VOCs in gases and water but none are currently capable of in situ determination of VOCs in soils; The DOE need for in situ determination of metals in soils cannot be addressed with existing chemical sensors and the prospects for their availability in three to five years are uncertain; Adaptation, if necessary, and field application of laboratory analytical instruments and those few chemical sensors that are already in field testing is the best approach for the near term; The chemical sensor technology development plan should include balanced support for near- and intermediate-term efforts.

The impact of respiratory motion and treatment technique on stereotactic body radiation therapy for liver cancer

International Nuclear Information System (INIS)

Wu, Q. Jackie; Thongphiew, Danthai; Wang Zhiheng; Chankong, Vira; Yin Fangfang

2008-01-01

Stereotactic body radiation therapy (SBRT), which delivers a much higher fractional dose than conventional treatment in only a few fractions, is an effective treatment for liver metastases. For patients who are treated under free-breathing conditions, however, respiration-induced tumor motion in the liver is a concern. Limited clinical information is available related to the impact of tumor motion and treatment technique on the dosimetric consequences. This study evaluated the dosimetric deviations between planned and delivered SBRT dose in the presence of tumor motion for three delivery techniques: three-dimensional conformal static beams (3DCRT), dynamic conformal arc (DARC), and intensity-modulated radiation therapy (IMRT). Five cases treated with SBRT for liver metastases were included in the study, with tumor motions ranging from 0.5 to 1.75 cm. For each case, three different treatment plans were developed using 3DCRT, DARC, and IMRT. The gantry/multileaf collimator (MLC) motion in the DARC plans and the MLC motion in the IMRT plans were synchronized to the patient's respiratory motion. Retrospectively sorted four-dimensional computed tomography image sets were used to determine patient-organ motion and to calculate the dose delivered during each respiratory phase. Deformable registration, using thin-plate-spline models, was performed to encode the tumor motion and deformation and to register the dose-per-phase to the reference phase images. The different dose distributions resulting from the different delivery techniques and motion ranges were compared to assess the effect of organ motion on dose delivery. Voxel dose variations occurred mostly in the high gradient regions, typically between the target volume and normal tissues, with a maximum variation up to 20%. The greatest CTV variation of all the plans was seen in the IMRT technique with the largest motion range (D99: -8.9%, D95: -8.3%, and D90: -6.3%). The greatest variation for all 3DCRT plans was less

SU-G-BRA-13: An Advanced Deformable Lung Phantom for Analyzing the Dosimetric Impact of Respiratory Motion

Energy Technology Data Exchange (ETDEWEB)

Shin, D; Kang, S; Kim, D; Kim, T; Kim, K; Cho, M; Suh, T [Department of Biomedical Engineering and Research Institute of Biomedical Engineering, College of Medicine, The Catholic University of Korea, Seoul (Korea, Republic of)

2016-06-15

, ICT & Future Planning of Korea (NRF-2014R1A2A1A10050270) and by the Radiation Technology R&D program through the National Research Foundation of Korea funded by the Ministry of Science, ICT & Future Planning (No. 2013M2A2A7038291)

Respiration-correlated spiral CT: A method of measuring respiratory-induced anatomic motion for radiation treatment planning

International Nuclear Information System (INIS)

Ford, E.C.; Mageras, G.S.; Yorke, E.; Ling, C.C.

2003-01-01

irregular respiration. Limitations from x-ray tube heating in our current CT unit restrict the length of the scan region to 9 cm for the RCCT settings used, though this will not be a limitation for a multislice scanner. RCCT offers an alternative to the current method of respiration-triggered axial scans. Multiple phases of respiration are imaged with RCCT in approximately the same scanning time required to image a single phase with a triggered axial scan. RCCT scans can be used in connection with respiratory-gated treatment to identify the patient-specific phase of minimum tumor motion, determine residual tumor motion within the gate interval, and compare treatment plans at different phases

Animation and radiobiological analysis of 3D motion in conformal radiotherapy.

Science.gov (United States)

MacKay, R I; Graham, P A; Moore, C J; Logue, J P; Sharrock, P J

1999-07-01

To allow treatment plans to be evaluated against the range of expected organ motion and set up error anticipated during treatment. Planning tools have been developed to allow concurrent animation and radiobiological analysis of three dimensional (3D) target and organ motion in conformal radiotherapy. Surfaces fitted to structures outlined on CT studies are projected onto pre-treatment images or onto megavoltage images collected during the patient treatment. Visual simulation of tumour and normal tissue movement is then performed by the application of three dimensional affine transformations, to the selected surface. Concurrent registration of the surface motion with the 3D dose distribution allows calculation of the change in dose to the volume. Realistic patterns of motion can be applied to the structure to simulate inter-fraction motion and set-up error. The biologically effective dose for the structure is calculated for each fraction as the surface moves over the course of the treatment and is used to calculate the normal tissue complication probability (NTCP) or tumour control probability (TCP) for the moving structure. The tool has been used to evaluate conformal therapy plans against set up measurements recorded during patient treatments. NTCP and TCP were calculated for a patient whose set up had been corrected after systematic deviations from plan geometry were measured during treatment, the effect of not making the correction were also assessed. TCP for the moving tumour was reduced if inadequate margins were set for the treatment. Modelling suggests that smaller margins could have been set for the set up corrected during the course of the treatment. The NTCP for the rectum was also higher for the uncorrected set up due to a more rectal tissue falling in the high dose region. This approach provides a simple way for clinical users to utilise information incrementally collected throughout the whole of a patient's treatment. In particular it is possible to

Simulation of spatiotemporal CT data sets using a 4D MRI-based lung motion model.

Science.gov (United States)

Marx, Mirko; Ehrhardt, Jan; Werner, René; Schlemmer, Heinz-Peter; Handels, Heinz

2014-05-01

Four-dimensional CT imaging is widely used to account for motion-related effects during radiotherapy planning of lung cancer patients. However, 4D CT often contains motion artifacts, cannot be used to measure motion variability, and leads to higher dose exposure. In this article, we propose using 4D MRI to acquire motion information for the radiotherapy planning process. From the 4D MRI images, we derive a time-continuous model of the average patient-specific respiratory motion, which is then applied to simulate 4D CT data based on a static 3D CT. The idea of the motion model is to represent the average lung motion over a respiratory cycle by cyclic B-spline curves. The model generation consists of motion field estimation in the 4D MRI data by nonlinear registration, assigning respiratory phases to the motion fields, and applying a B-spline approximation on a voxel-by-voxel basis to describe the average voxel motion over a breathing cycle. To simulate a patient-specific 4D CT based on a static CT of the patient, a multi-modal registration strategy is introduced to transfer the motion model from MRI to the static CT coordinates. Differences between model-based estimated and measured motion vectors are on average 1.39 mm for amplitude-based binning of the 4D MRI data of three patients. In addition, the MRI-to-CT registration strategy is shown to be suitable for the model transformation. The application of our 4D MRI-based motion model for simulating 4D CT images provides advantages over standard 4D CT (less motion artifacts, radiation-free). This makes it interesting for radiotherapy planning.

Technological advances in radiotherapy for cervical cancer.

Science.gov (United States)

Walsh, Lorraine; Morgia, Marita; Fyles, Anthony; Milosevic, Michael

2011-09-01

To discuss the important technological advances that have taken place in the planning and delivery of both external beam radiotherapy and brachytherapy for patients with locally advanced cervical cancer, and the implications for improved clinical outcomes. Technological advances in external beam radiation treatment and brachytherapy for patients with cervical cancer allow more precise targeting of tumour and relative sparing of surrounding normal organs and tissues. Early evidence is emerging to indicate that these advances will translate into improvements in tumour control and reduced side effects. However, there are patient, tumour and treatment-related factors that can detract from these benefits. Foremost among these is complex, unpredictable and sometimes dramatic internal tumour and normal organ motion during treatment. The focus of current research and clinical development is on tracking internal anatomic change in individual patients and adapting treatment plans as required to assure that optimal tumour coverage and normal tissue sparing is maintained at all times. The success of this approach will depend on clear definitions of target volumes, high resolution daily soft tissue imaging, and new software tools for rapid contouring, treatment planning and quality assurance. Radiation treatment of locally advanced cervical cancer is evolving rapidly, driven by advances in technology, towards more individualized patient care that has the potential to substantially improve clinical outcomes.

Learning to drive: developing a workable awareness plan for monitoring new technology.

Science.gov (United States)

Berryman, Donna R

2010-04-01

Technology is constantly driving forward, and information professionals need to be informed about developments in order to work more effectively, provide new services, understand what users need and want, and to develop professionally. Learning how to monitor these developments in technology is a skill, just like learning to drive. This article provides information about developing a workable awareness plan and provides some suggested sites to monitor and tools to use.

Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots

Energy Technology Data Exchange (ETDEWEB)

Pin, Francois G.; Love, Lonnie L.; Jung, David L.

2004-03-29

Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. We present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.

A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

Science.gov (United States)

Güler, Fatma; Kasap, Emin

Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.

Developing a Strategic Plan for NASA JSC's Technology Investments

Science.gov (United States)

Stecklein, Jonette M.

2012-01-01

Human space exploration has always been heavily influenced by goals to achieve a specific mission on a specific schedule. This approach drove rapid technology development, the rapidity of which adds risks as well as provides a major driver for costs. The National Aeronautics and Space Administration (NASA) is now approaching the extension of human presence throughout the solar system by balancing a proactive yet less schedule-driven development of technology with opportunistic scheduling of missions as the needed technologies are realized. This approach should provide cost effective, low risk technology development that will enable efficient and effective manned spaceflight missions. As a first step, the NASA Human Spaceflight Architecture Team (HAT) has identified a suite of critical technologies needed to support future manned missions across a range of destinations, including in cislunar space, near earth asteroid visits, lunar exploration, Mars space, and Mars exploration. The challenge now is to develop a strategy and plan for technology development that efficiently enables these missions over a reasonable time period, without increasing technology development costs unnecessarily due to schedule pressure, and subsequently mitigating development and mission risks. NASA fs Johnson Space Center (JSC), as the nation's primary center for human exploration, is addressing this challenge through an innovative approach allocating Internal Research and Development funding to projects that have been prioritized using four focus criteria, with appropriate importance weighting. These four focus criteria are the Human Space Flight Technology Needs, JSC Core Technology Competencies, Commercialization Potential, and Partnership Potential. The inherent coupling in these focus criteria have been captured in a database and have provided an initial prioritization for allocation of technology development research funding. This paper will describe this process and this database

Solar Energy Technologies Program: Multi-Year Technical Plan 2003-2007 and Beyond

Energy Technology Data Exchange (ETDEWEB)

2004-01-01

This publication charts a 5-year planning cycle for the U.S. Department of Energy Solar Energy Technologies Program. The document includes anticipated technical plans for the next 5 years for photovoltaics, concentrating solar power, solar water and space heating, solar hybrid lighting, and other new concepts that can take advantage of the solar resource. Solar energy is described as a clean, abundant, renewable energy resource that can benefit the nation by diversifying our energy supply.

Chemical sensors technology development planning workshop

International Nuclear Information System (INIS)

Bastiaans, G.J.; Haas, W.J. Jr.; Junk, G.A.

1993-03-01

The workshop participants were asked to: (1) Assess the current capabilities of chemical sensor technologies for addressing US Department of Energy (DOE) Environmental Restoration and Waste Management (EM) needs; (2) Estimate potential near term (one to two years) and intermediate term (three to five years) capabilities for addressing those needs; and (3) Generate a ranked list of specific recommendations on what research and development (R ampersand D) should be funded to provide the necessary capabilities. The needs were described in terms of two pervasive EM problems, the in situ determination of chlorinated volatile organic compounds (VOCs), and selected metals in various matrices at DOE sites. The R ampersand D recommendations were to be ranked according to the estimated likelihood that the product technology will be ready for application within the time frame it is needed and the estimated return on investment. The principal conclusions and recommendations of the workshop are as follows: Chemical sensors capable of in situ determinations can significantly reduce analytical costs; Chemical sensors have been developed for certain VOCs in gases and water but none are currently capable of in situ determination of VOCs in soils; The DOE need for in situ determination of metals in soils cannot be addressed with existing chemical sensors and the prospects for their availability in three to five years are uncertain; Adaptation, if necessary, and field application of laboratory analytical instruments and those few chemical sensors that are already in field testing is the best approach for the near term; The chemical sensor technology development plan should include balanced support for near- and intermediate-term efforts

Motion as perturbation. II. Development of the method for dosimetric analysis of motion effects with fixed-gantry IMRT

Energy Technology Data Exchange (ETDEWEB)

Nelms, Benjamin E. [Canis Lupus LLC, Merrimac, Wisconsin 53561 (United States); Opp, Daniel; Zhang, Geoffrey; Moros, Eduardo; Feygelman, Vladimir, E-mail: vladimir.feygelman@moffitt.org [Department of Radiation Oncology, Moffitt Cancer Center, Tampa, Florida 33612 (United States)

2014-06-15

Purpose: In this work, the feasibility of implementing a motion-perturbation approach to accurately estimate volumetric dose in the presence of organ motion—previously demonstrated for VMAT-–is studied for static gantry IMRT. The method's accuracy is improved for the voxels that have very low planned dose but acquire appreciable dose due to motion. The study describes the modified algorithm and its experimental validation and provides an example of a clinical application. Methods: A contoured region-of-interest is propagated according to the predefined motion kernel throughout time-resolved 4D phantom dose grids. This timed series of 3D dose grids is produced by the measurement-guided dose reconstruction algorithm, based on an irradiation of a staticARCCHECK (AC) helical dosimeter array (Sun Nuclear Corp., Melbourne, FL). Each moving voxel collects dose over the dynamic simulation. The difference in dose-to-moving voxel vs dose-to-static voxel in-phantom forms the basis of a motion perturbation correction that is applied to the corresponding voxel in the patient dataset. A new method to synchronize the accelerator and dosimeter clocks, applicable to fixed-gantry IMRT, was developed. Refinements to the algorithm account for the excursion of low dose voxels into high dose regions, causing appreciable dose increase due to motion (LDVE correction). For experimental validation, four plans using TG-119 structure sets and objectives were produced using segmented IMRT direct machine parameters optimization in Pinnacle treatment planning system (v. 9.6, Philips Radiation Oncology Systems, Fitchburg, WI). All beams were delivered with the gantry angle of 0°. Each beam was delivered three times: (1) to the static AC centered on the room lasers; (2) to a static phantom containing a MAPCHECK2 (MC2) planar diode array dosimeter (Sun Nuclear); and (3) to the moving MC2 phantom. The motion trajectory was an ellipse in the IEC XY plane, with 3 and 1.5 cm axes. The period

Storyboard dalam Pembuatan Motion Graphic

Directory of Open Access Journals (Sweden)

Satrya Mahardhika

2013-10-01

Full Text Available Motion graphics is one category in the animation that makes animation with lots of design elements in each component. Motion graphics needs long process including preproduction, production, and postproduction. Preproduction has an important role so that the next stage may provide guidance or instructions for the production process or the animation process. Preproduction includes research, making the story, script, screenplay, character, environment design and storyboards. The storyboard will be determined through camera angles, blocking, sets, and many supporting roles involved in a scene. Storyboard is also useful as a production reference in recording or taping each scene in sequence or as an efficient priority. The example used is an ad creation using motion graphic animation storyboard which has an important role as a blueprint for every scene and giving instructions to make the transition movement, layout, blocking, and defining camera movement that everything should be done periodically in animation production. Planning before making the animation or motion graphic will make the job more organized, presentable, and more efficient in the process.  

A novel respiratory motion compensation strategy combining gated beam delivery and mean target position concept - A compromise between small safety margins and long duty cycles

International Nuclear Information System (INIS)

Guckenberger, Matthias; Kavanagh, Anthony; Webb, Steve; Brada, Michael

2011-01-01

Purpose: To evaluate a novel respiratory motion compensation strategy combining gated beam delivery with the mean target position (MTP) concept for pulmonary stereotactic body radiotherapy (SBRT). Materials and methods: Four motion compensation strategies were compared for 10 targets with motion amplitudes between 6 mm and 31 mm: the internal target volume concept (plan ITV ); the MTP concept where safety margins were adapted based on 4D dose accumulation (plan MTP ); gated beam delivery without margins for motion compensation (plan gated ); a novel approach combining gating and the MTP concept (plan gated and MTP ). Results: For 5/10 targets with an average motion amplitude of 9 mm, the differences in the mean lung dose (MLD) between plan gated and plan MTP were gated and MTP . Despite significantly shorter duty cycles, plan gated reduced the MLD by gated and MTP . The MLD was increased by 18% in plan MTP compared to that of plan gated and MTP . Conclusions: For pulmonary targets with motion amplitudes >10-15 mm, the combination of gating and the MTP concept allowed small safety margins with simultaneous long duty cycles.

Identifying influential factors on integrated marketing planning using information technology

Directory of Open Access Journals (Sweden)

Karim Hamdi

2014-07-01

Full Text Available This paper presents an empirical investigation to identify important factors influencing integrated marketing planning using information technology. The proposed study designs a questionnaire for measuring integrated marketing planning, which consists of three categories of structural factors, behavioral factors and background factors. There are 40 questions associated with the proposed study in Likert scale. Cronbach alphas have been calculated for structural factors, behavioral factors and background factors as 0.89, 0.86 and 0.83, respectively. Using some statistical test, the study has confirmed the effects of three factors on integrated marketing. In addition, the implementation of Freedman test has revealed that structural factors were the most important factor followed by background factors and behavioral factors.

Simultaneous PET-MR acquisition and MR-derived motion fields for correction of non-rigid motion in PET

International Nuclear Information System (INIS)

Tsoumpas, C.; Mackewn, J.E.; Halsted, P.; King, A.P.; Buerger, C.; Totman, J.J.; Schaeffter, T.; Marsden, P.K.

2010-01-01

Positron emission tomography (PET) provides an accurate measurement of radiotracer concentration in vivo, but performance can be limited by subject motion which degrades spatial resolution and quantitative accuracy. This effect may become a limiting factor for PET studies in the body as PET scanner technology improves. In this work, we propose a new approach to address this problem by employing motion information from images measured simultaneously using a magnetic resonance (MR) scanner. The approach is demonstrated using an MR-compatible PET scanner and PET-MR acquisition with a purpose-designed phantom capable of non-rigid deformations. Measured, simultaneously acquired MR data were used to correct for motion in PET, and results were compared with those obtained using motion information from PET images alone. Motion artefacts were significantly reduced and the PET image quality and quantification was significantly improved by the use of MR motion fields, whilst the use of PET-only motion information was less successful. Combined PET-MR acquisitions potentially allow PET motion compensation in whole-body acquisitions without prolonging PET acquisition time or increasing radiation dose. This, to the best of our knowledge, is the first study to demonstrate that simultaneously acquired MR data can be used to estimate and correct for the effects of non-rigid motion in PET. (author)

Current developments in TREAT hodoscope technology

International Nuclear Information System (INIS)

De Volpi, A.

1975-01-01

The development of fuel motion monitoring is traced from its inception through present operation and into future programs. After noting the role of fuel motion studies in terms of safety assurance for the LMFBR, the history of in-pile fuel monitoring is reviewed. The operational record of the present TREAT fast neutron hodoscope is summarized with attention to various performance features. Development plans for the TREAT hodoscope are described in some detail. Application of the hodoscope has been considered for eight safety facilities other than TREAT. In addition, there is a possible role for fuel monitoring techniques to be extended to real-time ex-vessel core surveillance in operating reactors. Certain intrinsic strengths of the hodoscope technique for material monitoring are identified. The pattern of development may be characterized as an adaptation of several technologies to fit available requirements and resources

Systems autonomy technology: Executive summary and program plan

Science.gov (United States)

Bull, John S (Editor)

1987-01-01

The National Space Strategy approved by the President and Congress in 1984 sets for NASA a major goal of conducting effective and productive space applications and technology programs which contribute materially toward United States leadership and security. To contribute to this goal, OAST supports the Nation's civil and defense space programs and overall economic growth. OAST objectives are to ensure timely provision of new concepts and advanced technologies, to support both the development of NASA missions in space and the space activities of industry and other organizations, to utilize the strengths of universities in conducting the NASA space research and technology program, and to maintain the NASA centers in positions of strength in critical space technology areas. In line with these objectives, NASA has established a new program in space automation and robotics that will result in the development and transfer and automation technology to increase the capabilities, productivity, and safety of NASA space programs including the Space Station, automated space platforms, lunar bases, Mars missions, and other deep space ventures. The NASA/OAST Automation and Robotics program is divided into two parts. Ames Research Center has the lead role in developing and demonstrating System Autonomy capabilities for space systems that need to make their own decisions and do their own planning. The Jet Propulsion Laboratory has the lead role for Telerobotics (that portion of the program that has a strong human operator component in the control loop and some remote handling requirement in space). This program is intended to be a working document for NASA Headquarters, Program Offices, and implementing Project Management.

TU-F-BRB-03: Clinical Implementation of MR-Based Motion Management

International Nuclear Information System (INIS)

Glide-Hurst, C.

2015-01-01

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has high temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant

TU-F-BRB-03: Clinical Implementation of MR-Based Motion Management

Energy Technology Data Exchange (ETDEWEB)

Glide-Hurst, C. [Henry Ford Health System (United States)

2015-06-15

The current clinical standard of organ respiratory imaging, 4D-CT, is fundamentally limited by poor soft-tissue contrast and imaging dose. These limitations are potential barriers to beneficial “4D” radiotherapy methods which optimize the target and OAR dose-volume considering breathing motion but rely on a robust motion characterization. Conversely, MRI imparts no known radiation risk and has excellent soft-tissue contrast. MRI-based motion management is therefore highly desirable and holds great promise to improve radiotherapy of moving cancers, particularly in the abdomen. Over the past decade, MRI techniques have improved significantly, making MR-based motion management clinically feasible. For example, cine MRI has high temporal resolution up to 10 f/s and has been used to track and/or characterize tumor motion, study correlation between external and internal motions. New MR technologies, such as 4D-MRI and MRI hybrid treatment machines (i.e. MR-linac or MR-Co60), have been recently developed. These technologies can lead to more accurate target volume determination and more precise radiation dose delivery via direct tumor gating or tracking. Despite all these promises, great challenges exist and the achievable clinical benefit of MRI-based tumor motion management has yet to be fully explored, much less realized. In this proposal, we will review novel MR-based motion management methods and technologies, the state-of-the-art concerning MRI development and clinical application and the barriers to more widespread adoption. Learning Objectives: Discuss the need of MR-based motion management for improving patient care in radiotherapy. Understand MR techniques for motion imaging and tumor motion characterization. Understand the current state of the art and future steps for clinical integration. Henry Ford Health System holds research agreements with Philips Healthcare. Research sponsored in part by a Henry Ford Health System Internal Mentored Grant.

Path planning algorithms for assembly sequence planning. [in robot kinematics

Science.gov (United States)

Krishnan, S. S.; Sanderson, Arthur C.

1991-01-01

Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.

Nuclear-Renewable Hybrid Energy Systems: 2016 Technology Development Program Plan

International Nuclear Information System (INIS)

Bragg-Sitton, Shannon M.; Boardman, Richard; Rabiti, Cristian; Suk Kim, Jong; McKellar, Michael; Sabharwall, Piyush; Chen, Jun; Cetiner, M. Sacit; Harrison, T. Jay; Qualls, A. Lou

2016-01-01

The United States is in the midst of an energy revolution, spurred by advancement of technology to produce unprecedented supplies of oil and natural gas. Simultaneously, there is an increasing concern for climate change attributed to greenhouse gas (GHG) emissions that, in large part, result from burning fossil fuels. An international consensus has concluded that the U.S. and other developed nations have an imperative to reduce GHG emissions to address these climate change concerns. The global desire to reduce GHG emissions has led to the development and deployment of clean energy resources and technologies, particularly renewable energy technologies, at a rapid rate. At the same time, each of the major energy sectors-the electric grid, industrial manufacturing, transportation, and the residential/commercial consumers- is increasingly becoming linked through information and communications technologies, advanced modeling and simulation, and controls. Coordination of clean energy generation technologies through integrated hybrid energy systems, as defined below, has the potential to further revolutionize energy services at the system level by coordinating the exchange of energy currency among the energy sectors in a manner that optimizes financial efficiency (including capital investments), maximizes thermodynamic efficiency (through best use of exergy, which is the potential to use the available energy in producing energy services), reduces environmental impacts when clean energy inputs are maximized, and provides resources for grid management. Rapid buildout of renewable technologies has been largely driven by local, state, and federal policies, such as renewable portfolio standards and production tax credits that incentivize investment in these generation sources. A foundational assumption within this program plan is that renewable technologies will continue to be major contributors to the future U.S. energy infrastructure. While increased use of clean renewable

Nuclear-Renewable Hybrid Energy Systems: 2016 Technology Development Program Plan

Energy Technology Data Exchange (ETDEWEB)

Bragg-Sitton, Shannon M. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Boardman, Richard [Idaho National Lab. (INL), Idaho Falls, ID (United States); Rabiti, Cristian [Idaho National Lab. (INL), Idaho Falls, ID (United States); Suk Kim, Jong [Idaho National Lab. (INL), Idaho Falls, ID (United States); McKellar, Michael [Idaho National Lab. (INL), Idaho Falls, ID (United States); Sabharwall, Piyush [Idaho National Lab. (INL), Idaho Falls, ID (United States); Chen, Jun [Idaho National Lab. (INL), Idaho Falls, ID (United States); Cetiner, M. Sacit [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Harrison, T. Jay [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Qualls, A. Lou [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

2016-03-01

The United States is in the midst of an energy revolution, spurred by advancement of technology to produce unprecedented supplies of oil and natural gas. Simultaneously, there is an increasing concern for climate change attributed to greenhouse gas (GHG) emissions that, in large part, result from burning fossil fuels. An international consensus has concluded that the U.S. and other developed nations have an imperative to reduce GHG emissions to address these climate change concerns. The global desire to reduce GHG emissions has led to the development and deployment of clean energy resources and technologies, particularly renewable energy technologies, at a rapid rate. At the same time, each of the major energy sectors—the electric grid, industrial manufacturing, transportation, and the residential/commercial consumers— is increasingly becoming linked through information and communications technologies, advanced modeling and simulation, and controls. Coordination of clean energy generation technologies through integrated hybrid energy systems, as defined below, has the potential to further revolutionize energy services at the system level by coordinating the exchange of energy currency among the energy sectors in a manner that optimizes financial efficiency (including capital investments), maximizes thermodynamic efficiency (through best use of exergy, which is the potential to use the available energy in producing energy services), reduces environmental impacts when clean energy inputs are maximized, and provides resources for grid management. Rapid buildout of renewable technologies has been largely driven by local, state, and federal policies, such as renewable portfolio standards and production tax credits that incentivize investment in these generation sources. A foundational assumption within this program plan is that renewable technologies will continue to be major contributors to the future U.S. energy infrastructure. While increased use of clean

Teachers and Technology: Development of an Extended Theory of Planned Behavior

Science.gov (United States)

Teo, Timothy; Zhou, Mingming; Noyes, Jan

2016-01-01

This study tests the validity of an extended theory of planned behaviour (TPB) to explain teachers' intention to use technology for teaching and learning. Five hundred and ninety two participants completed a survey questionnaire measuring their responses to eight constructs which form an extended TPB. Using structural equation modelling, the…

Fly-by-light flight control system technology development plan

Science.gov (United States)

Chakravarty, A.; Berwick, J. W.; Griffith, D. M.; Marston, S. E.; Norton, R. L.

1990-01-01

The results of a four-month, phased effort to develop a Fly-by-Light Technology Development Plan are documented. The technical shortfalls for each phase were identified and a development plan to bridge the technical gap was developed. The production configuration was defined for a 757-type airplane, but it is suggested that the demonstration flight be conducted on the NASA Transport Systems Research Vehicle. The modifications required and verification and validation issues are delineated in this report. A detailed schedule for the phased introduction of fly-by-light system components has been generated. It is concluded that a fiber-optics program would contribute significantly toward developing the required state of readiness that will make a fly-by-light control system not only cost effective but reliable without mitigating the weight and high-energy radio frequency related benefits.

TU-C-17A-06: Evaluating IMRT Plan Deliverability Via PTV Shape and MLC Motion

International Nuclear Information System (INIS)

McGurk, R; Smith, VA; Price, M

2014-01-01

Purpose: For step-and-shoot intensity-modulated radiation therapy (IMRT) plans, the dosimetry and deliverability can be affected by the number and shape of the segments used. Thus, plan deliverability is likely related to target volume and shape. We investigated whether the sphericity of target volumes and the previously proposed Modulation Complexity Score (MCS) could be used together to improve the detection of IMRT fields that failed quality assurance (QA). Methods: 526 and 353 IMRT fields from 32 prostate and 28 head-and-neck (H'N) patients, respectively, were analyzed. MCS was used to quantify the complexity of multi-leaf collimator shapes and motion patterns for each field. Sphericity was calculated using the surface area and volume of each patient’s planning target volume (PTV). Logistic regression models with MCS-alone or MCS and sphericity terms were fit to PlanUNC IMRT pass/fail results (5% dose difference, 4mm distance-to-agreement criteria) using SAS 9.3 (Cary, NC). Model concordance, discordance and area under the curve (AUC) were used to quantify model accuracy. Results: Mean (±1 standard deviation) MCS for prostate and H'N were 0.58(±0.15) and 0.40 (±0.14), respectively. Mean sphericity scores were 0.75(±0.05) for prostate and 0.63 (±0.12) for H'N. Both metrics were significantly different between treatment locations (p<0.01, Wilcoxon Rank Sum Test) indicating greater complexity in shape and variations for H'N PTVs. For prostate, concordance, discordance and AUC using MCS alone were 80.8%, 18.7% and 0.811. Including sphericity in the model improved these to 81.7%, 17.7% and 0.820. For H'N, the original concordance, discordance and AUC were of 72.9%, 26.9% and 0.729. Including sphericity into the model improved these metrics to 76.5%, 23.2% and 0.729. Conclusion: Sphericity provides a quantitative measure of PTV shape. While improvement in IMRT QA failure detection was modest for both prostate and H'N plans

Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

International Nuclear Information System (INIS)

1991-01-01

In FY 1990 Robotics Technology Development Program (RTDP) planning teams visited five DOE sites. These sites were selected by the Office of Technology Development to provide a needs basis for developing a 5-Year Plan. Visits to five DOE sites provided identification of needs for robotics technology development to support Environmental Restoration and Waste Management (ER ampersand WM) projects at those sites. Additional site visits will be conducted in the future to expand the planning basis. This volume summarizes both the results of the site visits and the needs and requirements of the priority ER ampersand WM activities at the sites, including potential needs for robotics and remote systems technology. It also discusses hazards associated with the site activities and any problems or technical uncertainties associated with dealing with the hazards in the performance of the ER ampersand WM work. Robotic or remote systems currently under development for remediation projects or waste operations are also discussed. The information in this document is organized principally by site, activity, and priority. Section 2.0, Site Needs, is based on information from the site visit reports and provides a summary which focuses on the site needs and requirements for each priority activity. Section 2.0 also records evaluations and discussions by the RTDP team following the site visit. Section 3.0, Commonality Assessment, documents similar site needs where common, or cross-cutting, robotics technology might be applied to several activities. Section 4.0 contains a summary of the site needs and requirements in tabular form. 1 tab

Strategic planning of the National Direction of Nuclear Technology: period 2002-2005 last report